Merge pull request #22 from senaduka/local_safe_autonomy

Local safe autonomy

controller/README.md

@@ -3,7 +3,7 @@
 ## Installation
 
 1. Go to every subdirectory in drivers directory and follow instructions about installation of drivers
-2. edit controller/config/__init__.py and set your controller ID to unique number 
+2. edit controller/config/__init__.py and set your controller ID to unique number
 3. configure cron to run controller.py every 15 minutes as a superuser:
 
 ```
@@ -11,4 +11,12 @@ crontab -e -u root
 #enter these lines
 */15 * * * * /usr/bin/python /home/pi/projects/tfm/controller/sensors.py "Automatski, Senad Uka" 120
 */1 * * * * /usr/bin/python /home/pi/projects/tfm/controller/sync_state.py "Automatski, Senad Uka" 120
+*/30 * * * * /usr/bin/python /home/pi/projects/tfm/controller/network_check.py
+```
+
+4. add following lines at the end of /etc/rc.local
+
+```
+python /home/pi/projects/tfm/controller/lockdown.py
+python /home/pi/projects/tfm/controller/dweet.py
 ```

controller/dweet.py

@@ -0,0 +1,6 @@
+import config
+import commands
+
+command = """curl -H "Content-Type: application/json" -X POST -d '{"message": "I am aliveeee (again!)", "controller_id": %s}' https://dweet.io:443/dweet/quietly/for/5410ab1e-319c-4f14-a2e4-04725df69121""" % config.CONTROLLER_ID
+
+print commands.getoutput(command)

controller/lockdown.py

@@ -0,0 +1,3 @@
+import state
+
+state.safely_panic()

controller/network_check.py

@@ -0,0 +1,3 @@
+import state
+
+state.reboot_if_network_down()

controller/state/__init__.py

@@ -2,26 +2,44 @@ import config
 from state.server import Server
 from state.changer import Changer
 from state.file import File
+import commands
+
+def safely_panic():
+    safe_state = {}
+    changer = Changer(safe_state,safe_state)
+    changer.stop_everything()
+
+def reboot_if_network_down():
+    try:
+        server = Server(config.API_BASE_URL, config.CONTROLLER_ID)
+        server_state = server.get_state()
+        print "Got state from server: " + repr(server_state)
+    except:
+        print "Problem with the network!"
+        commands.getoutput('/sbin/shutdown -r +3')
 
 def sync():
-    server = Server(config.API_BASE_URL, config.CONTROLLER_ID)
-    local = File(config.STATE_FILE)
-    server_state = server.get_state()
+    try:
+        server = Server(config.API_BASE_URL, config.CONTROLLER_ID)
+        local = File(config.STATE_FILE)
+        server_state = server.get_state()
 
+        if local.present():
+            local.load()
+            print "local present: " + repr(local.data)
+        else:
+            local.data = server_state
+            print "local not present, server: " + repr(local.data)
+            local.save()
 
+        local_state = local.data
 
-    if local.present():
-        local.load()
-        print "local present: " + repr(local.data)
-    else:
-        local.data = server_state
-        print "local not present, server: " + repr(local.data)
-        local.save()
+        changer = Changer(local_state, server_state)
+        current_state = changer.process_change()
 
-
-    local_state = local.data
-
-    changer = Changer(local_state, server_state)
-    current_state = changer.process_change()
-
-    server.post_state(current_state)
+        server.post_state(current_state)
+        print " everything ok, canceling shutdown "
+        commands.getoutput('/sbin/shutdown -c')
+    except:
+        print " panicking safely ! "
+        safely_panic()

controller/state/changer.py

@@ -24,6 +24,10 @@ class Changer(object):
             'closed': self.close_in_valve
         }
 
+    def stop_everything(self):
+        self.close_in_valve()
+        self.close_out_valve()
+
     def safe_remote_state(self, key):
         if key in ['out_valve', 'in_valve']:
             return self.remote_state.get(key, 'closed')

controller/state/server.py

@@ -16,8 +16,6 @@ class Server(object):
         result = requests.post(self.full_url('state/%s') % self.controller_id, local_state)
         return handle_response(result)
 
-
-
     def full_url(self, action):
         if self.controller_id is None:
             raise ClassNotReadyException("Controller id not set!")