harvestingManagementSystem.py

import RPi.GPIO as GPIO
import time, logging, requests
import logging.handlers
from datetime import datetime, timedelta
from harvestingStateMachine import harvestingStateMachine
from read_inputs import read_inputs, read_inputs_st
from input_masks import is_watering, is_collecting, is_full, is_charged 
from read_yaml import readYaml

# https://www.raspberrypi.org/documentation/linux/usage/systemd.md

# setup logs
log = logging.getLogger(__name__)
log.setLevel(logging.DEBUG)
handler = logging.handlers.SysLogHandler(address = '/dev/log')
formatter = logging.Formatter('%(module)s.%(funcName)s: %(message)s')
handler.setFormatter(formatter)
log.addHandler(handler)

# Pin Setup:
GPIO.setmode(GPIO.BCM) # Broadcom pin-numbering scheme
GPIO.setup(6, GPIO.IN, pull_up_down=GPIO.PUD_UP)  #controller master
GPIO.setup(13, GPIO.IN, pull_up_down=GPIO.PUD_UP) #controller collect
GPIO.setup(19, GPIO.IN, pull_up_down=GPIO.PUD_UP) #tank sensor
GPIO.setup(26, GPIO.IN, pull_up_down=GPIO.PUD_UP) #charge sensor

ch1=12
ch2=16
ch3=20
ch4=21
GPIO.setup(ch1, GPIO.OUT, initial=GPIO.LOW) #
GPIO.setup(ch2, GPIO.OUT, initial=GPIO.LOW) #
GPIO.setup(ch3, GPIO.OUT, initial=GPIO.LOW) #
GPIO.setup(ch4, GPIO.OUT, initial=GPIO.LOW) #

class harvestingStateMachineManagement(object):

    def __init__(self, name):
	# start with name
        self.name = name
        self.inputState = 0
        self.prevInputState = [0,0,0,0,0]
        self.prevState = "HelloWorld"
        self.collectStartTime = datetime.now() + timedelta(minutes=90)
        self.chargeTime = 90
        self.dispenseTime = 45 
        self.tenDigit = 0
        self.prevElapsed = 0

def main():
    m=harvestingStateMachineManagement("harvestControllerManager") 
    h=harvestingStateMachine("harvestController")
    i=0
    while 1:
        m.inputState = read_inputs()
        h.read_inputs(m.inputState) 
        i=i+1 
        if ( i%25 == 0) :
            print("%s, %02x, %s, %s, %d, %d" % (h.state, m.inputState[0],  \
             m.collectStartTime.strftime("%m/%d/%Y, %H:%M:%S"), \
             datetime.now().strftime("%m/%d/%Y, %H:%M:%S"), m.chargeTime, m.dispenseTime))
	if h.is_idle():
            if m.prevState != "idle":
                data=readYaml()
                log.debug("%s" % data)
                m.chargeTime=data["chargeTime"]
                m.dispenseTime=data["dispenseTime"]
                m.tenDigit=data["tenDigit"]
            elif is_watering(m.inputState[0]):
                log.debug("water state detected, go to water monitoring state")
                h.water()
            elif is_collecting(m.inputState[0]):
                log.debug("manual collection state detected, go to manual collection state")
                h.collect()
            elif m.collectStartTime < datetime.now():
                m.collectStartTime = datetime.now() + timedelta(minutes=m.chargeTime)
                log.debug("collect state triggered, go collect") 
                h.collectSch()
        elif h.is_charging():
            if is_charged(m.inputState[0]):
                h.idle()
                m.collectStartTime = datetime.now() + timedelta(minutes=m.chargeTime)
                log.debug("charge looks good")
	    else:
                m.collectStartTime = datetime.now() + timedelta(minutes=m.chargeTime)
                if m.prevState != "charging":
                    log.debug("deficient charge, pushing start time out")
        elif h.is_watering():	
            if is_collecting(m.inputState[0]):
                log.debug("collecting state detected, go collect") 
                h.collect()
            elif not is_watering(m.inputState[0]):
                log.debug("watering stopped, go charge") 
                h.charge()
            elif not is_charged(m.inputState[0]):
                t = time.time() 
                log.debug("deficient charge detected, go to dispense state")
                h.dispense()   
        elif h.is_collecting():	
            if not is_collecting(m.inputState[0]):
                log.debug("collecting state stopped, go charge") 
                h.charge()
            elif is_watering(m.inputState[0]):
                log.debug("watering started, go water") 
                h.water()
        elif h.is_dispensing():
            elapsed = int(time.time() - t)
            if not is_watering(m.inputState[0]):
                log.debug("watering stopped, go charge") 
                h.charge()
            elif is_collecting(m.inputState[0]):
                log.debug("collecting state detected, go collect") 
                h.collect()
            elif (elapsed < m.dispenseTime):
                if (elapsed % 10 == 0):
                    if (m.prevElapsed != elapsed): 
                        log.debug("dispensing, waiting for elapsed time %d, current time %d" % (m.dispenseTime, elapsed))
                    m.prevElapsed = elapsed  
            elif is_charged(m.inputState[0]):
                log.debug("proper charge level detected AND elapsed time is greater than T seconds, go water")
                h.water()   
            else:
                log.debug("Error condition: elapsed time is greater than T seconds but proper level NOT DETECTED, go water")
                requests.post('https://textbelt.com/text', {'phone': m.tenDigit, 'message':'Check water tanks', 'key':'textbelt'}) 
                h.water()   
        elif h.is_collectingSch():
            if is_collecting(m.inputState[0]):
                log.debug("manual collect state detected, go collect") 
                h.collect()
            elif is_watering(m.inputState[0]):
                log.debug("watering started, go water")
                h.water()
            elif not is_charged(m.inputState[0]):
                log.debug("deficient charge, go charge")
                h.charge()
            elif is_full(m.inputState[0]):
	    	log.debug("tank full state detected, go charge")
                h.charge()
        if m.prevInputState[0] != m.inputState[0]:
            log.debug("Input Pins; Prev,Curr: %02x,%02x" % (m.prevInputState[0], m.inputState[0]))
        m.prevInputState = m.inputState
        m.prevState = h.state

if __name__ == "__main__":
    try:
       main()
    except KeyboardInterrupt: # If CTRL+C is pressed, exit cleanly:
       print("Cleanup IO") 
       GPIO.cleanup() # cleanup all GPIO