312 lines
11 KiB
Python
312 lines
11 KiB
Python
import nymea
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import time
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import threading
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from pybotvac import Account, Neato, OAuthSession, PasswordlessSession, PasswordSession, Vorwerk, Robot
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import json
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# pybotvac library: https://github.com/stianaske/pybotvac
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oauthSessions = {}
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accountsMap = {}
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thingsAndRobots = {}
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pollTimer = None
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def startPairing(info):
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# Start OAuth2 session
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apiKey = apiKeyStorage().requestKey("neato")
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oauthSession = OAuthSession(client_id=apiKey.data("clientId"), client_secret=apiKey.data("clientSecret"), redirect_uri="https://127.0.0.1:8888", vendor=Neato())
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oauthSessions[info.transactionId] = oauthSession;
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authorizationUrl = oauthSession.get_authorization_url()
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info.oAuthUrl = authorizationUrl
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info.finish(nymea.ThingErrorNoError)
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def confirmPairing(info, username, secret):
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# The user has successfully logged in at neato. Obtain the token from the OAuth session
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token = oauthSessions[info.transactionId].fetch_token(secret)
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pluginStorage().beginGroup(info.thingId)
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pluginStorage().setValue("token", json.dumps(token))
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pluginStorage().endGroup();
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del oauthSessions[info.transactionId]
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info.finish(nymea.ThingErrorNoError)
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def setupThing(info):
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# Setup for the account
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if info.thing.thingClassId == accountThingClassId:
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logger.log("SetupThing for account:", info.thing.name)
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pluginStorage().beginGroup(info.thing.id)
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token = json.loads(pluginStorage().value("token"))
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logger.log("setup", token)
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pluginStorage().endGroup();
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try:
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oAuthSession = OAuthSession(token=token)
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# Login went well, finish the setup
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info.finish(nymea.ThingErrorNoError)
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except:
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# Login error
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info.finish(nymea.ThingErrorAuthenticationFailure, "Login error")
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return
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# Mark the account as logged-in and connected
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info.thing.setStateValue(accountLoggedInStateTypeId, True)
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info.thing.setStateValue(accountConnectedStateTypeId, True)
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# Create an account session on the session to get info about the login
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account = Account(oAuthSession)
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accountsMap[info.thing] = account
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# List all robots associated with account
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logger.log("account created. Robots:", account.robots);
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thingDescriptors = []
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for robot in account.robots:
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logger.log("Found new robot:", robot.serial)
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# Check if this robot is already added in nymea
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found = False
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for thing in myThings():
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logger.log("Comparing to existing robot:", thing.name)
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if thing.thingClassId == robotThingClassId and thing.paramValue(robotThingSerialParamTypeId) == robot.serial:
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logger.log("Already have this robot in the system")
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# Yep, already here... skip it
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found = True
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break
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if found:
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continue
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logger.log("Adding new robot to the system with parent", info.thing.id)
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thingDescriptor = nymea.ThingDescriptor(robotThingClassId, robot.name, parentId=info.thing.id)
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thingDescriptor.params = [
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nymea.Param(robotThingSerialParamTypeId, robot.serial),
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nymea.Param(robotThingSecretParamTypeId, robot.secret)
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]
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thingDescriptors.append(thingDescriptor)
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# And let nymea know about all the users robots
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autoThingsAppeared(thingDescriptors)
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# If no poll timer is set up yet, start it now
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logger.log("Creating polltimer")
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global pollTimer
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if pollTimer is None:
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pollTimer = threading.Timer(5, pollService)
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pollTimer.start()
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return
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# Setup for the robots
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if info.thing.thingClassId == robotThingClassId:
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logger.log("SetupThing for robot:", info.thing.name)
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serial = info.thing.paramValue(robotThingSerialParamTypeId)
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secret = info.thing.paramValue(robotThingSecretParamTypeId)
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robot = Robot(serial, secret, info.thing.name)
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thingsAndRobots[info.thing] = robot;
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try:
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refreshRobot(info.thing)
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except:
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logger.warn("Error getting robot state");
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info.finish(nymea.ThingErrorHardwareFailure, "Unable to connect to neato API.")
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return;
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info.thing.setStateValue(robotConnectedStateTypeId, True)
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# set up polling for robot status
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info.finish(nymea.ThingErrorNoError)
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return
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def refreshRobot(thing):
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robot = thingsAndRobots[thing]
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logger.log("Refreshing robot:", robot)
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# Get robot state
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rbtState = thingsAndRobots[thing].get_robot_state()
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rbtStateJson = rbtState.json()
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logger.log("Robot state for %s: %s" % (thing.name, rbtStateJson))
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# Set robot docked/charging state
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rbtStateDetails = rbtStateJson['details']
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thing.setStateValue(robotChargingStateTypeId, rbtStateDetails['isCharging'])
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thing.setStateValue(robotBatteryLevelStateTypeId, rbtStateDetails['charge'])
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# Set robot cleaning/paused state
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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 rbtStateJson['error'] == None:
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rbtError = "no error"
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else:
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rbtError = rbtStateJson['error']
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# alert state hasn't been implemented yet (not sure what would trigger an alert, haven't seen one yet)
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if rbtStateJson['alert'] == None:
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rbtAlert = "no alert"
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else:
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rbtAlert = rbtStateJson['alert']
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logger.log("error: %s: -- alert: %s" % (rbtError, rbtAlert))
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if rbtStateDetails['isDocked'] == True:
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thing.setStateValue(robotRobotStateStateTypeId, "docked")
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elif rbtPauseAv == True:
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thing.setStateValue(robotRobotStateStateTypeId, "cleaning")
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elif rbtResumeAv == True:
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thing.setStateValue(robotRobotStateStateTypeId, "paused")
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elif rbtStartAv == True:
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thing.setStateValue(robotRobotStateStateTypeId, "stopped")
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else:
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thing.setStateValue(robotRobotStateStateTypeId, "error")
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thing.setStateValue(robotErrorMessageStateTypeId, rbtError)
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def pollService():
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# Poll all robots we know
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for thing in myThings():
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if thing.thingClassId == robotThingClassId:
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try:
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refreshRobot(thing)
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except:
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logger.warn("Error refreshing robot state")
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# restart the timer for next poll
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global pollTimer
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pollTimer = threading.Timer(60, pollService)
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pollTimer.start()
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def executeAction(info):
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if info.actionTypeId == robotStartCleaningActionTypeId:
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zone = info.paramValue(robotStartCleaningActionZoneParamTypeId)
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logger.log("zone", zone)
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if zone != "":
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ids = zone[9:];
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mapId = ids.split(";")[0]
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boundaryId = ids.split(";")[1]
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cleanWithRobot(info.thing, mapId, boundaryId)
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else:
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refreshRobot(info.thing)
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if info.thing.stateValue(robotRobotStateStateTypeId) == "paused":
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thingsAndRobots[info.thing].resume_cleaning()
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else:
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cleanWithRobot(info.thing, None, None)
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refreshRobot(info.thing)
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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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refreshRobot(info.thing)
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if info.thing.stateValue(robotRobotStateStateTypeId) == "paused":
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thingsAndRobots[info.thing].resume_cleaning()
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else:
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thingsAndRobots[info.thing].pause_cleaning()
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refreshRobot(info.thing)
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info.finish(nymea.ThingErrorNoError)
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return
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if info.actionTypeId == robotReturnToBaseActionTypeId:
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thingsAndRobots[info.thing].send_to_base()
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refreshRobot(info.thing)
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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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thingsAndRobots[info.thing].stop_cleaning()
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refreshRobot(info.thing)
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info.finish(nymea.ThingErrorNoError)
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return
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def cleanWithRobot(robotThing, mapID, boundaryID):
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# To do: add a parameter to the start action which takes a zone id --> this should now be represented by mapID & boundaryID
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robot = thingsAndRobots[robotThing]
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logger.log("Cleaning with robot:", robot, robotThing, mapID, boundaryID)
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boolEco = robotThing.setting(robotSettingsEcoParamTypeId)
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boolCare = robotThing.setting(robotSettingsCareParamTypeId)
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boolNogo = robotThing.setting(robotSettingsNoGoLinesParamTypeId)
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if boolEco == False:
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intEco = 2
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else:
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intEco = 1
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if boolCare == False:
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intCare = 1
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else:
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intCare = 2
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if boolNogo == False:
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intNogo = 2
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else:
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intNogo = 4
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logger.log("Settings: Eco:", boolEco, "Care:", boolCare, "Enable nogo:", boolNogo, "mapID:", mapID, "boundaryID:", boundaryID)
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thingsAndRobots[robotThing].start_cleaning(mode=intEco, navigation_mode=intCare, category=intNogo, boundary_id=boundaryID, map_id=mapID)
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def browseThing(browseResult):
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robotThing = browseResult.thing
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robot = thingsAndRobots[browseResult.thing]
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account = None
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for thing in myThings():
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logger.log("checking thing", thing.name, thing.id, robotThing.parentId)
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if thing.id == robotThing.parentId:
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account = accountsMap[thing]
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break
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if account is None:
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logger.warn("Cannot find account for robot", robotThing.name)
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browseResult.finish(nymea.ThingErrorAuthenticationFailure)
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return;
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# Top level entries -> return maps
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if browseResult.itemId == "" or browseResult.itemId == "maps":
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maps = account.persistent_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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logger.log("Type mapInfo: ", type(map))
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logger.log("map:", map)
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browseResult.addItem(nymea.BrowserItem("map-" + map["id"], map["name"], browsable=True, thumbnail=map["url"]))
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browseResult.finish(nymea.ThingErrorNoError)
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return
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# browsing boundaries for a map
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if browseResult.itemId.startswith("map-"):
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mapId = browseResult.itemId[4:]
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boundaries = robot.get_map_boundaries(mapId)
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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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if boundary["type"] == "polygon":
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logger.log("vertices:", boundary)
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browseResult.addItem(nymea.BrowserItem("boundary-" + mapId + ";" + 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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return
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def executeBrowserItem(info):
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logger.log("Browser item clicked:", info.itemId)
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if info.itemId.startswith("boundary-"):
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ids = info.itemId[9:];
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logger.log("IDS:", ids)
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mapId = ids.split(";")[0]
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boundaryId = ids.split(";")[1]
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logger.log("Cleaning boundary:", mapId, boundaryId)
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cleanWithRobot(info.thing, mapId, boundaryId)
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refreshRobot(info.thing)
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info.finish(nymea.ThingErrorNoError)
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return
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logger.warn("Can't execute browser item:", info.itemId)
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info.finish(nymea.ThingErrorItemNotExecutable)
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def deinit():
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global pollTimer
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# If we started a poll timer, cancel it on shutdown.
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if pollTimer is not None:
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pollTimer.cancel()
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