Added stop command.

Cleaned up output; made debugging option work properly.
Track basic robot state reports.
Stop command waits for robot to stop.
 Charge command  waits for robot to dock.

README.md

@@ -37,9 +37,6 @@ it's a vacuum.
 
 ## To Do
 
-* implement common commands
-* stop sending back error messages in response to robot updates
-* track robot state (e.g., cleaning, stopped)
-* use tracked state to be smarter
-* log activity to aid in debugging
 * add probabilistic cleaning options
+* implement more commands
+* add a status commmand

sucks.py

@@ -6,7 +6,7 @@ import time
 from threading import Event
 
 import click
-from sleekxmpp import ClientXMPP
+from sleekxmpp import ClientXMPP, Callback, MatchXPath
 from sleekxmpp.xmlstream import ET
 
 
@@ -22,16 +22,41 @@ class VacBot(ClientXMPP):
         self.add_event_handler("session_start", self.session_start)
 
         self.ready_flag = Event()
+        self.clean_status = None
+        self.charge_status = None
 
     def wait_until_ready(self):
         self.ready_flag.wait()
 
     def session_start(self, event):
-        print("----------------- starting session ----------------")
+        logging.debug("----------------- starting session ----------------")
         self.ready_flag.set()
 
-    def send_command(self, action):
+        self.register_handler(Callback('clean report',
-        c = self.wrap_command(action.to_xml())
+                                       MatchXPath('{jabber:client}iq/{com:ctl}query/{com:ctl}ctl[@td="CleanReport"]'),
+                                       self.handle_clean_report))
+        self.register_handler(Callback('clean report',
+                                       MatchXPath('{jabber:client}iq/{com:ctl}query/{com:ctl}ctl[@td="ChargeState"]'),
+                                       self.handle_charge_report))
+
+    def handle_clean_report(self, iq):
+        self.clean_status = iq.find('{com:ctl}query/{com:ctl}ctl/{com:ctl}clean').get('type')
+        logging.debug("*** clean_status =" + self.clean_status)
+
+    def handle_charge_report(self, iq):
+        report = iq.find('{com:ctl}query/{com:ctl}ctl/{com:ctl}charge').get('type')
+        if report.lower() == 'going':
+            self.charge_status = 'returning'
+        elif report.lower() == 'slotcharging':
+            self.charge_status = 'charging'
+        elif report.lower() == 'idle':
+            self.charge_status = 'idle'
+        else:
+            logging.warning("Unknown charging status '" + report + "'")
+        logging.debug("*** charge_status =" + self.charge_status)
+
+    def send_command(self, xml):
+        c = self.wrap_command(xml)
         c.send()
 
     def wrap_command(self, ctl):
@@ -45,17 +70,13 @@ class VacBot(ClientXMPP):
 
     def connect_and_wait_until_ready(self):
         self.connect(('47.88.66.164', '5223'))  # TODO: change to domain name
-        click.echo("starting")
         self.process()
-        click.echo("done with process")
         self.wait_until_ready()
 
     def run(self, action):
-        click.echo("running " + str(action))
+        click.echo("performing " + str(action))
-        self.send_command(action)
+        self.send_command(action.to_xml())
-        if action.wait:
+        action.wait_for_completion(self)
-            click.echo("sleeping for " + str(action.wait) + "s")
-            time.sleep(action.wait)
 
 
 class VacBotCommand():
@@ -65,12 +86,20 @@ class VacBotCommand():
         self.wait = wait
         self.terminal = terminal
 
+    def wait_for_completion(self, bot):
+        if self.wait:
+            click.echo("waiting in " + self.name + " for " + str(self.wait) + "s")
+            time.sleep(self.wait)
+
     def to_xml(self):
         clean = ET.Element(self.name, self.args)
         ctl = ET.Element('ctl', {'td': self.name.capitalize()})
         ctl.append(clean)
         return ctl
 
+    def __str__(self, *args, **kwargs):
+        return self.name + " command"
+
 
 class Clean(VacBotCommand):
     def __init__(self, wait):
@@ -81,6 +110,24 @@ class Charge(VacBotCommand):
     def __init__(self):
         super().__init__('charge', {'type': 'go'}, terminal=True)
 
+    def wait_for_completion(self, bot):
+        logging.debug("waiting in " + self.name)
+        while bot.charge_status not in ['charging']:
+            time.sleep(0.5)
+        logging.debug("done waiting in " + self.name)
+        click.echo("docked")
+
+
+class Stop(VacBotCommand):
+    def __init__(self):
+        super().__init__('clean', {'type': 'stop', 'speed': 'standard'}, terminal=True)
+
+    def wait_for_completion(self, bot):
+        logging.debug("waiting in " + self.name)
+        while bot.clean_status not in ['stop']:
+            time.sleep(0.5)
+        logging.debug("done waiting in " + self.name)
+
 
 def read_config(filename):
     parser = configparser.ConfigParser()
@@ -93,7 +140,8 @@ def read_config(filename):
 @click.option('--charge/--no-charge', default=True, help='Return to charge after running. Defaults to yes.')
 @click.option('--debug/--no-debug', default=False)
 def cli(charge, debug):
-    logging.basicConfig(level=logging.DEBUG, format='%(levelname)-8s %(message)s')
+    level = logging.DEBUG if debug else logging.ERROR
+    logging.basicConfig(level=level, format='%(levelname)-8s %(message)s')
 
 
 @cli.command(help='cleans for the specified number of minutes')
@@ -107,6 +155,11 @@ def charge():
     return Charge()
 
 
+@cli.command(help='stops the robot in its current position')
+def stop():
+    return Stop()
+
+
 @cli.resultcallback()
 def run(actions, charge, debug):
     config = read_config(os.path.expanduser('~/.config/sucks.conf'))
@@ -118,6 +171,7 @@ def run(actions, charge, debug):
     if charge and not actions[-1].terminal:
         vacbot.run(Charge())
     vacbot.disconnect(wait=True)
+    click.echo("done")
 
 
 if __name__ == '__main__':

test_sucks.py

@@ -7,6 +7,7 @@ from sucks import *
 
 def test_clean_command():
     c = Clean(10)
+    assert_equals(c.terminal, False)
     assert_equals(c.wait, 10)
     assert_equals(ElementTree.tostring(c.to_xml()),
                   b'<ctl td="Clean"><clean speed="standard" type="auto" /></ctl>')  # protocol has attribs in other order
@@ -14,6 +15,14 @@ def test_clean_command():
 
 def test_charge_command():
     c = Charge()
+    assert_equals(c.terminal, True)
     assert_equals(ElementTree.tostring(c.to_xml()),
                   b'<ctl td="Charge"><charge type="go" /></ctl>')
 
+
+def test_stop_command():
+    c = Stop()
+    assert_equals(c.terminal, True)
+    assert_equals(ElementTree.tostring(c.to_xml()),
+                  b'<ctl td="Clean"><clean speed="standard" type="stop" /></ctl>')
+