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Added stop command.

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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.
This commit is contained in:
William Pietri
2017-11-03 21:02:20 -07:00
parent 552c8c5fdf
commit d88fbb35b2
3 changed files with 77 additions and 17 deletions
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README.md
+2 -5
View File
@@ -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
+66 -12
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@@ -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):
c = self.wrap_command(action.to_xml())
self.register_handler(Callback('clean report',
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))
self.send_command(action)
if action.wait:
click.echo("sleeping for " + str(action.wait) + "s")
time.sleep(action.wait)
click.echo("performing " + str(action))
self.send_command(action.to_xml())
action.wait_for_completion(self)
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
+9
View File
@@ -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>')