More work on neato
This commit is contained in:
Michael Zanetti
parent
4eb24160a6
commit
a5bf3238c3
@ -99,33 +99,18 @@
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},
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},
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{
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{
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"id": "dce4f7f3-a0a6-46bb-9216-c9089d9e9b0d",
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"id": "dce4f7f3-a0a6-46bb-9216-c9089d9e9b0d",
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"name": "cleaning",
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"name": "state",
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"displayName": "Cleaning",
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"displayName": "Cleaning state",
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"displayNameEvent": "Cleaning yes/no",
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"displayNameEvent": "Cleaning state changed",
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"type": "bool",
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"type": "QString",
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"defaultValue": false
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"possibleValues": ["docked", "cleaning", "paused", "traveling", "stopped", "error"],
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},
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"defaultValue": "docked"
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{
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"id": "0f925abf-396c-437e-b259-2fed7eafe7f4",
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"name": "paused",
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"displayName": "Paused",
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"displayNameEvent": "Cleaning paused yes/no",
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"type": "bool",
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"defaultValue": false
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},
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},
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{
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{
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"id": "1b8abd35-8276-44ba-8c75-a647877b2e11",
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"id": "1b8abd35-8276-44ba-8c75-a647877b2e11",
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"name": "charging",
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"name": "charging",
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"displayName": "Charging",
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"displayName": "Charging",
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"displayNameEvent": "Robot charging yes/no",
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"displayNameEvent": "Started or stopped charging",
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"type": "bool",
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"defaultValue": true
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},
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{
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"id": "805175ec-c2e4-4fbe-9505-282750ef1467",
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"name": "docked",
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"displayName": "Docked",
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"displayNameEvent": "Robot docked yes/no",
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"type": "bool",
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"type": "bool",
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"defaultValue": true
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"defaultValue": true
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},
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},
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@ -141,7 +126,7 @@
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"id": "20ed8767-806f-4ec2-8626-842cd398f9df",
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"id": "20ed8767-806f-4ec2-8626-842cd398f9df",
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"name": "batteryLevel",
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"name": "batteryLevel",
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"displayName": "Battery level",
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"displayName": "Battery level",
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"displayNameEvent": "Battery level percentage",
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"displayNameEvent": "Battery level changed",
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"type": "int",
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"type": "int",
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"unit": "Percentage",
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"unit": "Percentage",
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"defaultValue": 0,
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"defaultValue": 0,
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@ -153,7 +138,21 @@
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{
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{
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"id": "1f774998-5fa7-4e3b-8ab0-a8402dd561bb",
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"id": "1f774998-5fa7-4e3b-8ab0-a8402dd561bb",
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"name": "startCleaning",
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"name": "startCleaning",
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"displayName": "Start/pause cleaning"
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"displayName": "Start cleaning",
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"paramTypes": [
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{
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"id": "08a86cca-cdc9-4520-af1d-8413a0c274b5",
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"name": "zones",
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"displayName": "Zones to clean",
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"type": "QStringList",
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"defaultValue": []
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}
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]
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},
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{
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"id": "e731faa6-88c9-406d-b505-f89b5f0868b0",
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"name": "pauseCleaning",
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"displayName": "Pause/resume cleaning"
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},
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},
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{
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{
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"id": "5178a803-5696-4ee1-80a4-2c7c20a5043a",
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"id": "5178a803-5696-4ee1-80a4-2c7c20a5043a",
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@ -164,11 +163,6 @@
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"id": "30775042-55a7-4f1b-9042-a9bdeadc4b0d",
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"id": "30775042-55a7-4f1b-9042-a9bdeadc4b0d",
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"name": "stopCleaning",
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"name": "stopCleaning",
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"displayName": "Stop cleaning"
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"displayName": "Stop cleaning"
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},
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{
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"id": "95ba515b-0023-4a98-a867-ca8286512a4e",
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"name": "getBoundaries",
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"displayName": "Get No-go Lines"
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}
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}
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]
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]
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}
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}
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@ -132,7 +132,6 @@ def refreshRobot(thing):
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# Set robot docked/charging state
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# Set robot docked/charging state
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rbtStateDetails = rbtStateJson['details']
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rbtStateDetails = rbtStateJson['details']
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thing.setStateValue(robotChargingStateTypeId, rbtStateDetails['isCharging'])
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thing.setStateValue(robotChargingStateTypeId, rbtStateDetails['isCharging'])
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thing.setStateValue(robotDockedStateTypeId, rbtStateDetails['isDocked'])
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thing.setStateValue(robotBatteryLevelStateTypeId, rbtStateDetails['charge'])
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thing.setStateValue(robotBatteryLevelStateTypeId, rbtStateDetails['charge'])
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# Set robot cleaning/paused state
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# Set robot cleaning/paused state
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@ -140,15 +139,16 @@ def refreshRobot(thing):
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rbtStartAv = rbtStateCommands['start']
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rbtStartAv = rbtStateCommands['start']
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rbtPauseAv = rbtStateCommands['pause']
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rbtPauseAv = rbtStateCommands['pause']
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rbtResumeAv = rbtStateCommands['resume']
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rbtResumeAv = rbtStateCommands['resume']
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if rbtStartAv == True:
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if rbtStateDetails['isDocked'] == True:
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thing.setStateValue(robotCleaningStateTypeId, False)
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thing.setStateValue(robotStateStateTypeId, "docked")
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thing.setStateValue(robotPausedStateTypeId, False)
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elif rbtPauseAv == True:
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elif rbtPauseAv == True:
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thing.setStateValue(robotCleaningStateTypeId, True)
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thing.setStateValue(robotStateStateTypeId, "cleaning")
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thing.setStateValue(robotPausedStateTypeId, False)
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elif rbtResumeAv == True:
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elif rbtResumeAv == True:
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thing.setStateValue(robotCleaningStateTypeId, True)
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thing.setStateValue(robotStateStateTypeId, "paused")
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thing.setStateValue(robotPausedStateTypeId, True)
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elif rbtStartAv == True:
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thing.setStateValue(robotStateStateTypeId, "stopped")
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else:
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thing.setStateValue(robotStateStateTypeId, "error")
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def pollService():
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def pollService():
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@ -167,21 +167,17 @@ def pollService():
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def executeAction(info):
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def executeAction(info):
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return; # Temporary, to not accidentally start it
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if info.actionTypeId == robotStartCleaningActionTypeId:
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if info.actionTypeId == robotStartCleaningActionTypeId:
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rbtState = thingsAndRobots[info.thing].get_robot_state()
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# To do: add a parameter to the start action which takes a zone id
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rbtStateJson = rbtState.json()
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rbtStateCommands = rbtStateJson['availableCommands']
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rbtStartAv = rbtStateCommands['start']
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rbtPauseAv = rbtStateCommands['pause']
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rbtResumeAv = rbtStateCommands['resume']
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if rbtStartAv == True:
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logger.log("Start cleaning")
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thingsAndRobots[info.thing].start_cleaning()
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thingsAndRobots[info.thing].start_cleaning()
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elif rbtPauseAv == True:
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refreshRobot(info.thing)
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logger.log("Pause cleaning")
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info.finish(nymea.ThingErrorNoError)
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return
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if info.actionTypeId == robotPauseCleaningActionTypeId:
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thingsAndRobots[info.thing].pause_cleaning()
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thingsAndRobots[info.thing].pause_cleaning()
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elif rbtResumeAv == True:
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thingsAndRobots[info.thing].resume_cleaning()
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refreshRobot(info.thing)
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refreshRobot(info.thing)
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info.finish(nymea.ThingErrorNoError)
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info.finish(nymea.ThingErrorNoError)
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return
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return
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@ -190,21 +186,13 @@ def executeAction(info):
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thingsAndRobots[info.thing].send_to_base()
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thingsAndRobots[info.thing].send_to_base()
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refreshRobot(info.thing)
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refreshRobot(info.thing)
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info.finish(nymea.ThingErrorNoError)
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info.finish(nymea.ThingErrorNoError)
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return
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if info.actionTypeId == robotStopCleaningActionTypeId:
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if info.actionTypeId == robotStopCleaningActionTypeId:
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thingsAndRobots[info.thing].stop_cleaning()
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thingsAndRobots[info.thing].stop_cleaning()
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refreshRobot(info.thing)
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refreshRobot(info.thing)
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info.finish(nymea.ThingErrorNoError)
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info.finish(nymea.ThingErrorNoError)
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return
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# To do: get available boundaries to use with start_cleaning action
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if info.actionTypeId == robotGetBoundariesActionTypeId:
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mapIDparam = info.thing.paramValue(robotThingMapIdParamTypeId)
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rbtMapBound = thingsAndRobots[info.thing].get_map_boundaries(mapIDparam)
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logger.log("rbtMapBound Type: ", type(rbtMapBound), "rbtMapBound Contents: ", rbtMapBound)
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rbtBoundData = rbtMapBound.text
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logger.log("rbtBoundData Type: ", type(rbtBoundData), "rbtBoundData Contents: ", rbtBoundData)
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refreshRobot(info.thing)
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info.finish(nymea.ThingErrorNoError)
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def browseThing(browseResult):
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def browseThing(browseResult):
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@ -223,10 +211,10 @@ def browseThing(browseResult):
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# Top level entries -> return maps
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# Top level entries -> return maps
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if browseResult.itemId == "":
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if browseResult.itemId == "" or browseResult.itemId == "maps":
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maps = account.persistent_maps
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maps = account.persistent_maps
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logger.log("maps", tpye(maps), maps)
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logger.log("maps", type(maps), maps)
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for map in maps[robot.serial]:
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for map in maps[robot.serial]:
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logger.log("Type mapInfo: ", type(map))
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logger.log("Type mapInfo: ", type(map))
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logger.log("map:", map)
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logger.log("map:", map)
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@ -242,7 +230,9 @@ def browseThing(browseResult):
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logger.log("boundaries", type(boundaries), boundaries.json())
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logger.log("boundaries", type(boundaries), boundaries.json())
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for boundary in boundaries.json()["data"]["boundaries"]:
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for boundary in boundaries.json()["data"]["boundaries"]:
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browseResult.addItem(nymea.BrowserItem(boundary["id"], boundary["name"], boundary["type"], executable=True, disabled=not boundary["enabled"], icon=nymea.BrowserIconFavorites))
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# if boundary["type"] == "polygon":
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logger.log("vertices:", json.dumps(boundary["vertices"]))
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browseResult.addItem(nymea.BrowserItem(boundary["id"], boundary["name"], json.dumps(boundary), executable=True, disabled=not boundary["enabled"], icon=nymea.BrowserIconFavorites))
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browseResult.finish(nymea.ThingErrorNoError)
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browseResult.finish(nymea.ThingErrorNoError)
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return
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return
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