Orchestrator.py

import sys, getopt

from statemachine import StateMachine, State, exceptions

from DeviceServer import DeviceServer
from GiftLightPad import GiftLightPad
from GiftSizeCalculator import GiftSizeCalculator
from LedController import LedController
from OrderHandler import OrderHandler
from PaperLengthController import PaperLengthController
from WebSocket import WebSocket
from AutoConnector import AutoConnector

led_unit_name = "LedUnit0"


class Orchestrator(StateMachine):
    print("Started orchestrator")
    fakeorder = False
    testprojections = False
    optlist, _ = getopt.getopt(sys.argv[1:], "", ["fakeorder=", "testprojections="])
    print(optlist)
    for o,a in optlist:
        if o in ["--fakeorder"]:
            fakeorder = True
        elif o in ["--testprojections"]:
            testprojections = True
        else:
            assert False, "unhandled option " + o

    devices = {}

    # states
    idle = State('Idle', initial=True)
    waitingForGift = State('WaitingForGift')
    start = State('Start')
    sizeCalculated = State('SizeCalculated')
    paperPrepared = State('PaperPrepared')
    paperCutOff = State('PaperCutOff')
    knifeMovedBack = State('KnifeMovedBack')
    giftPlaced = State('GiftProjected')
    giftWrapped = State('GiftWrapped')
    firstFold = State('FirstFold')
    secondFold = State('SecondFold')
    thirdFold = State('ThirdFold')

    # actions
    new_order = idle.to(start)
    finished_size_calc = start.to(sizeCalculated) # when size was calculated continue with preparing paper
    finished_paper_prep = sizeCalculated.to(paperPrepared) # paper is prepared. now project the paper on the table
    paper_not_prepared = paperPrepared.to(sizeCalculated) # paper is not in range anymore
    cut_paper_off = paperPrepared.to(paperCutOff) # paper is laid out (lightpad2 is semi-bright). now project the gift on top of the paper
    moved_knife_back = paperCutOff.to(knifeMovedBack)

    gift_placed = knifeMovedBack.to(giftPlaced)
    gift_removed = giftPlaced.to(knifeMovedBack)

    finish = giftPlaced.to(idle)
    next_order = giftPlaced.to(waitingForGift)
    tape_teared = giftPlaced.to(firstFold) | firstFold.to(secondFold) | secondFold.to(thirdFold)
    finish_order = thirdFold.to(start)

    test_projection = idle.to(knifeMovedBack)

    def __init__(self):
        super().__init__()
        self.led = LedController(None, 43432)
        self.gift_lightpad = GiftLightPad(self)
        self.autoConnector = AutoConnector(self)
        self.autoConnector.start()

        self.webSocket = WebSocket(self)
        self.webSocket.start()
        self.paperLengthWatcher = PaperLengthController(self)
        self.sizeCalculator = GiftSizeCalculator(self.finished_size_calc, self.gift_placed, self.led)

        self.deviceServer = DeviceServer(self)
        self.deviceServer.start()

        self.orderHandler = OrderHandler(self.new_order)
        if not self.fakeorder:
            self.orderHandler.get_open_orders()
        else:
            current_order = {
                "id" : 1,
                "paper_id": 3,
                "deco_ids": [5,6,7]
            }
            self.orderHandler.current_order = current_order

            if self.testprojections:
                self.sizeCalculator.generate_mock_values()
                self.test_projection()
            else:
                self.new_order()

    def on_enter_idle(self):
        print('No orders')

    def on_enter_waitingForGift(self):
        self.webSocket.send_current_state()

    def on_enter_start(self):
        print('New Order')
        self.sizeCalculator.active = True
        self.webSocket.send_current_state()

    def on_enter_sizeCalculated(self):
        print('Size calculated - watching the paper now')
        self.webSocket.send_current_state()
        #self.motorDriver.set_paper_length(self.sizeCalculator.paper_width)
        #self.motorDriver.start()
        self.paperLengthWatcher.set_paper_dimensions(self.sizeCalculator.paper_height)

    def on_enter_paperPrepared(self):
        print('Finished paper prep!')
        # project paper onto the table now
        # send message to ws to render paper projection
        self.webSocket.send_current_state()

    def on_enter_paperCutOff(self):
        print('Paper cut off')
        self.webSocket.send_current_state()

    def on_enter_knifeMovedBack(self):
        print('Knife moved back')
        self.webSocket.send_current_state()
        self.led.set_rgb("0,0,0")
        self.gift_lightpad.active = True

    def on_enter_giftPlaced(self):
        print('Project the arrows onto the paper')
        # project arrows onto the paper now
        # send message to ws to render arrow projection
        self.webSocket.send_current_state()

    def on_enter_giftWrapped(self):
        print('gift was placed')
        # project arrows onto the paper now
        # send message to ws to render arrow projection
        self.webSocket.send_current_state()

    def on_enter_firstFold(self):
        print("first fold done")
        self.webSocket.send_current_state()

    def on_enter_secondFold(self):
        print("second fold done")
        self.webSocket.send_current_state()

    def on_enter_thirdFold(self):
        print("third fold done")
        self.webSocket.send_current_state()

    def handle_lightpad_change(self, id, value):
        try:
            if id == 1:
                self.gift_lightpad.set_value(value)
            elif id == 2:
                if value == 0:
                    self.cut_paper_off()
                else:
                    self.moved_knife_back()
        except exceptions.TransitionNotAllowed:
            pass
            #print("Transition not allowed")
            #print(self.current_state)

    def get_current_message(self):

        state_id = self.current_state.identifier
        if hasattr(self, 'orderHandler'):
            #current_order = self.orderHandler.current_order_items
            current_order = self.orderHandler.current_order
        else:
            current_order = {}
        message = {
            "state": state_id,
            "gift_width": self.sizeCalculator.gift_width,
            "gift_height": self.sizeCalculator.gift_height,
            "gift_depth": self.sizeCalculator.gift_depth,
            "paper_width": self.sizeCalculator.paper_width,
            "paper_height": self.sizeCalculator.paper_height,
            "current_order": current_order
        }
        return str(message).replace("'",'"')

    def update_devices(self, devices):
        self.devices = {**self.devices, **devices}

        if led_unit_name in devices:
            led_ip = devices[led_unit_name]
            self.led.ip = led_ip
            self.led.set_rgb("255,0,0")
            print("Updated LED IP")


if __name__ == "__main__":
    orchestrator = Orchestrator()