rollercoaster/control.py at master · dubstylee/rollercoaster · GitHub

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import time
from enum import Enum
from shared import *


# set up leds
leds = []
for i in range(2, 2+PLATFORM_CAPACITY):
	led = mraa.Gpio(i)
	led.dir(mraa.DIR_OUT)
	led.write(OFF)
	leds.append(led)


class State(Enum):
	WAITING_FOR_PASSENGERS = 0
	WAITING_FOR_CAR = 1


class Control():
	state = State.WAITING_FOR_PASSENGERS
	passengers = []
	cars = Queue()
	timeout = 0

	def add_passenger(self, passenger):
		self.passengers.append(passenger)
		# walk from the edge of platform
		time.sleep(TOTAL_DELAY*(6-PLATFORM_CAPACITY))
		leds[-1].write(ON)
		time.sleep(WAIT_DELAY)
		for i in range(len(leds)-1, len(self.passengers)-1, -1):
			leds[i-1].write(ON)
			time.sleep(OVERLAP_DELAY)
			leds[i].write(OFF)
			time.sleep(WAIT_DELAY)

	def clear_lights(self):
		for led in leds:
			led.write(OFF)

	def display_cars(self):
		print "CARS %s" % self.cars.items

	def request_pickup(self):
		if self.cars.count() > 0:
			send_message("PICKUP %s %s" % (self.cars.get(), self.passengers))


control = Control()


def control_c_handler(signum, frame):
	control.clear_lights()
	exit_program()

signal.signal(signal.SIGINT, control_c_handler)


def on_message(client, userdata, msg):
	if "TURNSTILE" in msg.payload:
		print "MESSAGE FROM TURNSTILE %s" % msg.payload
		splits = str.split(msg.payload, " ")
		if splits[4] == "requests" and splits[5] == "entry":
			pid = splits[8][1:]
			p = Passenger(int(pid))

			if len(control.passengers) < PLATFORM_CAPACITY:
				control.add_passenger(p)
				send_message("CONTROL allow passenger #%d" % p.id)

				if len(control.passengers) == CAR_CAPACITY:
					control.state = State.WAITING_FOR_CAR
					control.request_pickup()
			else:
				send_message("CONTROL platform is full")

	elif "CAR" in msg.payload:
		print "MESSAGE FROM CAR %s" % msg.payload
		splits = str.split(msg.payload, " ")
		if splits[5] == "READY":
			if not splits[4] in control.cars.items:
				control.cars.put_distinct(splits[4])
				control.display_cars()
		elif splits[5] == "ACCEPT":
			control.timeout = 0
			control.state = State.WAITING_FOR_PASSENGERS
			control.clear_lights()
			del control.passengers[:]
			control.display_cars()


def main():
	mqtt_client.will_set(mqtt_topic, '___Will of CONTROL___', 0, False)
	mqtt_client.on_message = on_message
	mqtt_client.loop_start()

	while True:
		if control.state == State.WAITING_FOR_CAR:
			time.sleep(0.5)
			control.timeout = control.timeout + 1
			if control.timeout > 20:
				send_message("CONTROL timeout, requesting another car")
				control.request_pickup()
				control.timeout = 0
		else:
			time.sleep(1)


if __name__ == '__main__': main()