Tooltron

#!/usr/bin/python

"""

  This file is part of Tooltron.

  Tooltron is free software: you can redistribute it and/or modify

  it under the terms of the Lesser GNU General Public License as published by

  the Free Software Foundation, either version 3 of the License, or

  (at your option) any later version.

  Tooltron is distributed in the hope that it will be useful,

  but WITHOUT ANY WARRANTY; without even the implied warranty of

  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

  Lesser GNU General Public License for more details.

  You should have received a copy of the Lesser GNU General Public License

  along with Tooltron.  If not, see <http://www.gnu.org/licenses/>.

  Copyright 2009 Bradford Neuman <bneuman@andrew.cmu.edu>

"""

################################################################################

## tooltron.py is the main tooltron server

# It connects to the civicrm database of mysql and sends commands to

# the cardbox and tools.  It must be connected over usb to the card

# reader, and the two arguments specify the devices to use for the

# serial communication to the card and tool boxes.

#

# This script requires the modules seen below, which may not be

# present by default

#

# Because of a problem with card scans buffering in stdio, there is a

# seperate thread which stores the last swiped id. To cleanly exit the

# program type C-d

#

# email bradneuman@gmail.com if you have any questions

################################################################################

import re

import sys

import serial

import MySQLdb

import getpass

from time import *

keypadTimeout = 11 #in seconds

#this table maps which keypad button to press for each tool. This

#list should probably be printed next to the swipe box

tools = {

   'Bandsaw':[],

   'DrillPress':['3','8'],

   'Mill':['4'],

   'Lathe':[],

   #HACK: since the saw isn't used I use it for testing random boards

   'ChopMiterSaw':['1','2','5','6','7','9']

}

#this table maps keypad button numbers to tool IDs. The default is

#that the tool id is 10+the keypad number, but this would change if

#boards were swapped out. The tool ID number should be printed on the

#tool board, but needs to be hand coded into the toolbox code

ids = {

   '1':11,

   '2':12,

   '3':13,

   '4':14,

   '5':15,

   '6':16,

   '7':17,

   '8':18,

   '9':19,

   '0':13

}

TT_GET_KEY = 'k'

TT_ACK     = 'a'

TT_NACK    = 'n'

TT_TO      = 'f'

TT_TIMEOUT = 't'

TT_ON      = 'o'

BAUD_RATE = 9600

#fails until a warning is sent

MAX_TOOL_FAILS = 5

#################################################

#this code spawns a thread which always puts the last card id in the

#lastid variable.

#################################################

import threading

import time

lastid = None

idready = False

cv = threading.Condition()

class idThread ( threading.Thread ):

   def run ( self ):

       global lastid

       global idready

       try:

           while True:

               l = raw_input()

               cv.acquire()

               id = re.search('%([0-9]*)=.*', l)

               if id != None:

                   lastid = id

                   print "!!! setting idready"

                   idready = True

                   cv.notify()

               cv.release()

       except EOFError:

           cv.acquire()

           idready = True

           lastid=None

           cv.notify()

           cv.release()

#end thread

###############################################

flog = open("tooltron.log", "a")

def logMessage(str):

   flog.write(strftime("%Y.%m.%d %H:%M:%S ") + str + "\n")

   flog.flush()

logMessage("----- SERVER STARTED -----")

def keypad2toolID(t):

   if t in ids:

      return ids[t]

   else:

      return -1

def reverseTool(tn):

   for t in tools:

      if tn in tools[t]:

         return t

   return 'invalid'

#keep count of successive non-acks

toolFails = tools.copy()

for t in toolFails:

   toolFails[t] = 0

def get_last_id():

    global idready

    global lastid

    got = None

    print ">>> locking for last_id"

    cv.acquire()

    while not idready:

        print ">>> wait"

        cv.wait()

    print ">>> idready set"

    got = lastid

    idready = False

    cv.release()

    print ">>> done"

    return got

def clear_id():

    global idready

    global lastid

    print "=== locking to clear idready flag"

    cv.acquire()

    idready = False

    lastid = None

    cv.release()

    print "=== done"

    return

if len(sys.argv) < 2:

    print "usage: tooltron.py /path/to/bus/device"

else:

    pw = getpass.getpass("mysql password: ")

    db = MySQLdb.connect(host="roboclub8.frc.ri.cmu.edu", user="tooltron", passwd=pw, db="civicrm")

    print "connected, now accepting input"

    logMessage("connected to database")

    #start the id scan thread AFTER the getpass prompt

    idThread().start()

    cursor = db.cursor()

    qry = "SELECT tools_6 FROM civicrm_value_roboclub_info_2 WHERE card_number_1 = "

    bus = serial.Serial(sys.argv[1], BAUD_RATE, timeout = 2)

    bus.flushInput()

    print bus

    # ^ <src> <dest> <data>

    def sendTool(t):

        tn = keypad2toolID(t)

        msg = '^' + chr(1) + chr(tn) + TT_ON + chr(1 ^ tn ^ ord(TT_ON))

        print "seding power to tool ID",tn

        bus.write(msg)

        return

    def sendKeyRequest():

       tn = 2 #2 is the ID for the cardbox

       msg = '^' + chr(1) + chr(tn) + TT_GET_KEY + chr(1 ^ tn ^ ord(TT_GET_KEY))

       print "seding key request"

       bus.write(msg)

       return

    def sendAck(toolNum):

       msg = '^' + chr(1) + chr(toolNum) + TT_ACK + chr(1 ^ tn ^ ord(TT_ACK))

       print "seding ACK to",toolNum

       bus.write(msg)

       return

    def sendNack(toolNum):

       msg = '^' + chr(1) + chr(toolNum) + TT_NACK + chr(1 ^ tn ^ ord(TT_NACK))

       print "seding ACK to",toolNum

       bus.write(msg)

       return

    #returns key if the key_send packet is recived from tool ID 2

    # otherwise returns 0

    def readKey():

       startDelim = bus.read(1)

       if startDelim == '^':

          src = bus.read(1)

          if src == 0:

             return 0

          dest = bus.read(1)

          if dest == 0:

             return 0

          packetType = bus.read(1)

          if packetType == 0:

             return 0

          key = bus.read(1)

          if key == 0:

             return 0

          crc = bus.read(1)

          print "got packet"

          if src != 2 or dest != 1 or packetType != TT_KEY_SEND:

             print "Bad packet! ^",src,dest,packetType,key,crc

          if chr(ord(src) ^ ord(dest) ^ ord(packetType) ^ ord(key)) == crc:

             return key

          else:

             print "xor fail. got", crc, "should have been got",(chr(ord(src) ^ ord(dest) ^ ord(packetType) ^ ord(key)))

          return 0

       else:

          print "did not get start delim!: ", ord(startDelim)

          return 0

    #returns [src, data] or [] on error

    def readTool():

        ret = [0,0,0]

        if bus.read(1) == '^':

            ret[0] = bus.read(1)

            ret[1] = bus.read(1)

            ret[2] = bus.read(1)

            x = bus.read(1)

            print "got packet",ret

            if chr(ord(ret[0]) ^ ord(ret[1]) ^ ord(ret[2])) == x:

                return ret

            else:

                print "xor fail. got", x, "should have been got",(ord(ret[0]) ^ ord(ret[1]) ^ ord(ret[2]))

        return []

    def checkAck(t):

        tn = keypad2toolID(t)

        m = readTool()

        if m== []:

            return False

        return m[0] == chr(tn) and m[1] == chr(1) and m[2] == 'A'

    while True:

        id = get_last_id()

        if id != None:

            print "\n-----------\nid# ", id.group(1)

            sendKeyRequest()

            startTime = time.time()

            cursor.execute(qry + id.group(1))

            result = cursor.fetchall()

            acl = []

            for r in result:

                tls = r[0].split("\x01")

                for t in tls:

                    if t != '':

                        try:

                            acl.extend (tools[t])

                        except KeyError:

                            #this doesn't really matter

                            pass

            print "user has access to:", acl

            user = ""

            #query for name

            qry2 = "SELECT civicrm_contact.display_name \

                   FROM civicrm_value_roboclub_info_2 \

                   INNER JOIN (civicrm_contact) \

                   ON civicrm_value_roboclub_info_2.entity_id = civicrm_contact.id \

                   WHERE civicrm_value_roboclub_info_2.card_number_1 = " + id.group(1) + ";"

            cursor.execute(qry2)

            result = cursor.fetchall()

            if len(result) > 0:

               user += result[0][0]

            qry2 = "SELECT civicrm_email.email \

                   FROM civicrm_value_roboclub_info_2 \

                   INNER JOIN (civicrm_email) \

                   ON civicrm_email.contact_id = civicrm_value_roboclub_info_2.entity_id \

                   WHERE civicrm_value_roboclub_info_2.card_number_1 = " + id.group(1) + ";"

            cursor.execute(qry2)

            result = cursor.fetchall()

            if len(result) > 0:

               user += " ("+result[0][0]+")"

            if user == "":

               user = str(id.group(1))

            print user

            resp = 0

            while resp==0:

               resp = readKey()

               #no lock since we are just reading and we can afford to

               #miss a loop

               if idready == True:

                  #if someone swipes, break out of the loop

                  print "**swipe during read, bailing out"

                  logMessage("user swipped during keypad read")

                  break

               if time.time() - startTime > keypadTimeout:

                  print "KEYPAD TIMEOUT!"

                  logMessage("keypad timed out")

                  break

            #if we have a valid response

            #sometimes the FTDI chip seems to give a zero as a string when power is reset

            if resp != "" and ord(resp) != 0 and resp != TT_TIMEOUT:

               toolName = reverseTool(resp)

               toolNameLong = toolName + " (k="+str(resp)+"("+str(ord(resp))+"), t="+str(keypad2toolID(resp))+")"

               print "request:",resp,"(",ord(resp),") ",toolNameLong

               if acl.count(resp) > 0:

                  sendAck(2)

                  sendTool(resp)

                  print "ACCESS GRANTED"

                  logMessage(user+" ACCESSED tool "+toolNameLong)

                  if checkAck(resp):

                     print "ACK"

                     toolFails[toolName] = 0

                  else:

                     print "NO ACK!!!!"

                     logMessage("tool "+toolNameLong+" did not ACK")

                     toolFails[toolName] += 1

                     if toolFails[toolName] > MAX_TOOL_FAILS:

                        #TODO: send email

                        logMessage("WARNING: tool "+toolNameLong+

                                   " has failed to ACK "+

                                   str(MAX_TOOL_FAILS)+" times in a row.")

               else:

                  sendNack(2)

                  print "ACCESS DENIED!!"

                  logMessage(user + " DENIED on tool "+toolNameLong)

               clear_id()

        elif resp == 0 or ord(resp) == 0: #if we get noise, send timeout to reset and sync states

           keypad.write(TT_TIMEOUT)

           print "ERROR: got strange byte, timing out"

           logMessage("ERROR: got 0 as a byte, sending timeout (cardbox power issue?)")

        else:

            break