import RPi.GPIO as GPIO import time, logging from threading import Lock from functools import partial from collections import namedtuple from auxilary import CountdownTimer, resetUSBDevice from config import stateFile from sensors import setupDoorSensor, setupMotionSensor from gmail import intruderAlert from listeners import KeypadListener, PipeListener from blinkenLights import Blinkenlights from soundLib import SoundLib from webInterface import initWebInterface from stream import Camera, FileDump logger = logging.getLogger(__name__) resetUSBDevice('1-1') class SIGNALS: ARM = 1 INSTANT_ARM = 2 DISARM = 3 TIMOUT = 4 TRIGGER = 5 class State: def __init__(self, stateMachine, name, entryCallbacks=[], exitCallbacks=[], blinkLED=True, sound=None): self.stateMachine = stateMachine self.name = name self.entryCallbacks = entryCallbacks self.exitCallbacks = exitCallbacks self.blinkLED = blinkLED if not sound and name in stateMachine.soundLib.soundEffects: self.sound = stateMachine.soundLib.soundEffects[name] else: self.sound = sound def entry(self): logger.info('entering ' + self.name) if self.sound: self.sound.play() self.stateMachine.LED.blink = self.blinkLED self.stateMachine.keypadListener.resetBuffer() for c in self.entryCallbacks: c() def exit(self): logger.info('exiting ' + self.name) if self.sound: self.sound.stop() for c in self.exitCallbacks: c() def next(self, signal): t = (self, signal) return self if t not in self.stateMachine.transitionTable else self.stateMachine.transitionTable[t] def __str__(self): return self.name def __eq__(self, other): return self.name == other def __hash__(self): return hash(self.name) class StateMachine: def __init__(self): self.soundLib = SoundLib() def startTimer(t, sound): self._timer = CountdownTimer(t, partial(self.selectState, SIGNALS.TIMOUT), sound) def stopTimer(): if self._timer.is_alive(): self._timer.stop() self._timer = None stateObjs = [ State( self, name = 'disarmed', blinkLED = False ), State( self, name='disarmedCountdown', entryCallbacks = [partial(startTimer, 30, self.soundLib.soundEffects['disarmedCountdown'])], exitCallbacks = [stopTimer] ), State( self, name = 'armed' ), State( self, name = 'armedCountdown', entryCallbacks = [partial(startTimer, 30, self.soundLib.soundEffects['armedCountdown'])], exitCallbacks = [stopTimer] ), State( self, name = 'triggered', entryCallbacks = [intruderAlert] ) ] self.states = namedtuple('States', [s.name for s in stateObjs])(*stateObjs) self.currentState = getattr(self.states, stateFile['state']) self.transitionTable = { (self.states.disarmed, SIGNALS.ARM): self.states.disarmedCountdown, (self.states.disarmed, SIGNALS.INSTANT_ARM): self.states.armed, (self.states.disarmedCountdown, SIGNALS.DISARM): self.states.disarmed, (self.states.disarmedCountdown, SIGNALS.TIMOUT): self.states.armed, (self.states.disarmedCountdown, SIGNALS.INSTANT_ARM): self.states.armed, (self.states.armed, SIGNALS.DISARM): self.states.disarmed, (self.states.armed, SIGNALS.TRIGGER): self.states.armedCountdown, (self.states.armedCountdown, SIGNALS.DISARM): self.states.disarmed, (self.states.armedCountdown, SIGNALS.ARM): self.states.armed, (self.states.armedCountdown, SIGNALS.TIMOUT): self.states.triggered, (self.states.triggered, SIGNALS.DISARM): self.states.disarmed, (self.states.triggered, SIGNALS.ARM): self.states.armed, } self._lock = Lock() self.LED = Blinkenlights(17) self.camera = Camera() def action(): if self.currentState == self.states.armed: self.selectState(SIGNALS.TRIGGER) self.fileDump = FileDump() sensitiveStates = (self.states.armed, self.states.armedCountdown, self.states.triggered) def actionVideo(pin): if self.currentState in sensitiveStates: self.selectState(SIGNALS.TRIGGER) self.fileDump.addInitiator(pin) while GPIO.input(pin) and self.currentState in sensitiveStates: time.sleep(0.1) self.fileDump.removeInitiator(pin) setupMotionSensor(5, 'Nate\'s room', action) setupMotionSensor(19, 'front door', action) setupMotionSensor(26, 'Laura\'s room', action) setupMotionSensor(6, 'deck window', partial(actionVideo, 6)) setupMotionSensor(13, 'kitchen bar', partial(actionVideo, 13)) setupDoorSensor(22, action, self.soundLib.soundEffects['door']) secretTable = { "dynamoHum": partial(self.selectState, SIGNALS.DISARM), "zombyWoof": partial(self.selectState, SIGNALS.ARM), "imTheSlime": partial(self.selectState, SIGNALS.INSTANT_ARM) } def secretCallback(secret, logger): if secret in secretTable: secretTable[secret]() logger.debug('Secret pipe listener received: \"%s\"', secret) elif logger: logger.debug('Secret pipe listener received invalid secret') self.secretListener = PipeListener( callback = secretCallback, path = '/tmp/secret' ) self.keypadListener = KeypadListener( stateMachine = self, callbackDisarm = partial(self.selectState, 'disarm'), callbackArm = partial(self.selectState, 'arm'), soundLib = self.soundLib, passwd = '5918462' ) initWebInterface(self) self.currentState.entry() def selectState(self, signal): with self._lock: nextState = self.currentState.next(signal) if nextState != self.currentState: self.currentState.exit() self.currentState = nextState self.currentState.entry() stateFile['state'] = self.currentState.name logger.info('state changed to %s', self.currentState) def __del__(self): for i in ['LED', 'camera', 'fileDump', 'soundLib', 'secretListener', 'keypadListener']: try: getattr(self, i).__del__() except AttributeError: pass