def disable_210_node_manager_value_to_json(self):
self.startClient({})
self.nodeman = JNTNodeMan()
key = 'test110'
node = JNTNode(uuid=key,name='Test (%s)'%key, cmd_classes=[0x0000], hadd=HADD%(1000,1000))
self.nodeman.add_node(node.uuid, node)
value = JNTValue( uuid='test110_1',
help='The test 110_1',
units='°C',
index=0,
cmd_class=0x0000,
genre=0x02,
type=0x03,
get_data_cb=lambda x: 40.14+x,
is_writeonly=False,
is_polled=True,
)
self.nodeman.add_value_to_node(value.uuid, node, value)
self.mqtthearbeat = MQTTClient(options={})
self.nodeman.start(self.mqttc,self.mqtthearbeat, 0.1)
res = json_loads(value.to_json())
print res
self.assertEqual(res['uuid'], 'test110_1')
self.assertEqual(res['help'], 'The test 110_1')
self.assertEqual(res['cmd_class'], 0x0000)
self.assertEqual(res['data'], 40.14)
self.stopClient()
self.mqtthearbeat = None
def mqtt_on_resolv_hadd(self, client, userdata, message):
"""On resolv hadd message
:param client: the Client instance that is calling the callback.
:type client: paho.mqtt.client.Client
:param userdata: user data of any type and can be set when creating a new client instance or with user_data_set(userdata).
:type userdata: all
:param message: The message variable is a MQTTMessage that describes all of the message parameters.
:type message: paho.mqtt.client.MQTTMessage
"""
#~ print "mqtt_on_resolv_hadd receive %s"
logger.debug("mqtt_on_resolv_hadd receive %s", message.payload)
res = {}
res['msg_status'] = 200
data = json_loads(message.payload)
if 'rep_uuid' not in data:
logger.debug("mqtt_on_resolv_hadd receive a request with no rep_uuid")
return
for ffield in ['add_ctrl', 'add_node']:
if ffield not in data:
res['msg_status'] = 400
res['msg_error'] = "Missing field %s in request" % ffield
res['rep_uuid'] = data['rep_uuid']
if res['msg_status'] == 200:
lease = self.lease_mgr.resolv_hadd(data['add_ctrl'], data['add_node'])
#print lease
res.update(lease)
#print res
self.publish_reply(uuid=data['rep_uuid'], payload=json_dumps(res))
def on_controller_request(self, client, userdata, message):
"""On request
:param client: the Client instance that is calling the callback.
:type client: paho.mqtt.client.Client
:param userdata: user data of any type and can be set when creating a new client instance or with user_data_set(userdata).
:type userdata: all
:param message: The message variable is a MQTTMessage that describes all of the message parameters.
:type message: paho.mqtt.client.MQTTMessage
"""
logger.debug("on_request receive message %s", message.payload)
try:
data = json_loads(message.payload)
#~ print data['uuid']
#We should check what value is requested
#{'hadd', 'cmd_class', 'type'='list', 'genre'='0x04', 'data'='node|value|config', 'uuid'='request_info'}
if data['cmd_class'] == COMMAND_DISCOVERY:
if data['genre'] == 0x04:
if data['uuid'] in self._requests:
resp = {}
resp.update(data)
try:
if message.topic.find('broadcast') != -1:
topic = "/broadcast/reply/%s" % data['data']
self._requests[data['uuid']](topic, resp)
else:
topic = "/nodes/%s/reply" % data['data']
self._requests[data['uuid']](topic, resp)
return
except:
logger.exception("Exception when running on_request method")
return
logger.warning("Unknown request value %s", data)
except:
logger.exception("Exception in on_request")
def disable_210_node_manager_value_to_json(self):
self.startClient({})
self.nodeman = JNTNodeMan()
key = "test110"
node = JNTNode(uuid=key, name="Test (%s)" % key, cmd_classes=[0x0000], hadd=HADD % (1000, 1000))
self.nodeman.add_node(node.uuid, node)
value = JNTValue(
uuid="test110_1",
help="The test 110_1",
units="°C",
index=0,
cmd_class=0x0000,
genre=0x02,
type=0x03,
get_data_cb=lambda x: 40.14 + x,
is_writeonly=False,
is_polled=True,
)
self.nodeman.add_value_to_node(value.uuid, node, value)
self.mqtthearbeat = MQTTClient(options={})
self.nodeman.start(self.mqttc, self.mqtthearbeat, 0.1)
res = json_loads(value.to_json())
print res
self.assertEqual(res["uuid"], "test110_1")
self.assertEqual(res["help"], "The test 110_1")
self.assertEqual(res["cmd_class"], 0x0000)
self.assertEqual(res["data"], 40.14)
self.stopClient()
self.mqtthearbeat = None
def on_value(self, client, userdata, message):
"""On value
Do not lock as it don't add new values to dict. Should be ok using keys instead of iterator.
:param client: the Client instance that is calling the callback.
:type client: paho.mqtt.client.Client
:param userdata: user data of any type and can be set when creating a new client instance or with user_data_set(userdata).
:type userdata: all
:param message: The message variable is a MQTTMessage that describes all of the message parameters.
:type message: paho.mqtt.client.MQTTMessage
"""
#logger.debug("[%s] - on_value %s", self.__class__.__name__, message.payload)
try:
data = json_loads(message.payload)
if 'genre' in data:
data = {0:{0:data}}
elif 'genre' in data[data.keys()[0]]:
data = {0:data}
store_index = self.create_store_index()
for nval in data:
for kval in data[nval]:
if data[nval][kval]['genre'] in [0x02, 0x01]:
hadd = data[nval][kval]['hadd']
uuid = data[nval][kval]['uuid']
index = 0
if 'index' in data[nval][kval]:
index = data[nval][kval]['index']
index = str(index)
#~ logger.debug("[%s] - update_last %s,%s,%s : %s", self.__class__.__name__, hadd, value_uuid, value_index)
if (hadd, uuid, index) in store_index:
self.update_last(hadd, uuid, index, data[nval][kval]['data'])
except Exception:
logger.exception("[%s] - Exception in on_value", self.__class__.__name__)
def mqtt_on_message(client, userdata, message):
"""On generic message
"""
msg = json_loads(message.payload)
print "Received message %s" % msg
if msg["uuid"] == uuid and msg["hadd"] == node_hadd:
self.message = message
self.message_received = True
def get_telemetry(self):
"""Roomba method which fetches telemetry data about the robot.
Other values that can be implemented:
- sensors['Bumps Wheeldrops'] = self.j['response']['r0']['value']
- sensors['Wall'] = self.j['response']['r1']['value']
- sensors['Cliff Left'] = self.j['response']['r2']['value']
- sensors['Cliff Front Left'] = self.j['response']['r3']['value']
- sensors['Cliff Front Right'] = self.j['response']['r4']['value']
- sensors['Cliff Right'] = self.j['response']['r5']['value']
- sensors['Virtual Wall'] = self.j['response']['r6']['value']
- sensors['Motor Overcurrents'] = self.j['response']['r7']['value']
- sensors['Dirt Detector - Left'] = self.j['response']['r8']['value']
- sensors['Dirt Detector - Right'] = self.j['response']['r9']['value']
- sensors['Remote Opcode'] = self.j['response']['r10']['value']
- sensors['Buttons'] = self.j['response']['r11']['value']
- sensors['Distance'] = self.j['response']['r12']['value']
- sensors['Angle'] = self.j['response']['r13']['value']
- sensors['State'] = State[int(self.j['response']['r14']['value'])]
- sensors['Voltage'] = self.j['response']['r15']['value']
- sensors['Current'] = self.j['response']['r16']['value']
- sensors['Temperature'] = self.j['response']['r17']['value']
- sensors['Charge'] = self.j['response']['r18']['value']
- sensors['Capacity'] = self.j['response']['r19']['value']
- sensors['battery-level'] = int(self.j['response']['r18']['value'])*100 / int (self.j['response']['r19']['value'])
"""
if self._telemetry_next_run < datetime.now():
locked = self._lock.acquire(False)
if locked == True:
try:
auth = (self.values['username'].data, self.values['password'].data)
r = requests.get('http://' + self.values['ip_ping_config'].data + '/roomba.json', auth=auth, timeout=self.values['request_timeout'].data)
self._telemetry = json_loads(r.text)
logger.debug("[%s] - retrieve telemetry : %s", self.__class__.__name__, self._telemetry)
self._temperature = float(self._telemetry['response']['r17']['value'])
self._charge = float(self._telemetry['response']['r18']['value'])
self._capacity = float(self._telemetry['response']['r19']['value'])
self._state = int(self._telemetry['response']['r14']['value'])
self._voltage = round(float(self._telemetry['response']['r15']['value'])/1000,2)
self._current = round(float(self._telemetry['response']['r16']['value']),2)
try:
self._battery = round(100.0 * self._charge / self._capacity, 2)
except ZeroDivisionError:
self._battery = -1.0
self._telemetry_last = True
except Exception:
logger.exception("[%s] - Exception in get_telemetry", self.__class__.__name__)
self._telemetry_last = False
finally:
self._lock.release()
secs = self.values['ip_ping_poll'].data
if secs < 0:
secs=60
self._telemetry_next_run = datetime.now() + timedelta(seconds=secs)
def assertUpdateValue(
self,
type="user",
data=None,
cmd_class=0,
genre=0x04,
uuid="request_info_nodes",
node_hadd=None,
client_hadd=None,
is_writeonly=False,
is_readonly=False,
timeout=5,
):
self.message_received = False
self.message = None
print "Waiting for %s : %s" % (node_hadd, uuid)
def mqtt_on_message(client, userdata, message):
"""On generic message
"""
msg = json_loads(message.payload)
print "Received message %s" % msg
if msg["uuid"] == uuid and msg["hadd"] == node_hadd:
self.message = message
self.message_received = True
self.mqttc.subscribe(topic="/values/%s/%s/#" % (type, node_hadd), callback=mqtt_on_message)
print "Subscribe to /values/%s/%s/#" % (type, node_hadd)
time.sleep(0.5)
msg = {
"cmd_class": cmd_class,
"genre": genre,
"uuid": uuid,
"reply_hadd": client_hadd,
"data": data,
"hadd": node_hadd,
"is_writeonly": is_writeonly,
"is_readonly": is_readonly,
}
self.mqttc.publish("/nodes/%s/request" % (node_hadd), json_dumps(msg))
i = 0
while i < timeout * 10000 and not self.message_received:
time.sleep(0.0001)
i += 1
self.assertTrue(self.message_received)
self.assertTrue(self.message is not None)
self.assertTrue(self.message.payload is not None)
if data is not None:
msg = json_loads(self.message.payload)
self.assertEqual(msg["data"], data)
self.mqttc.unsubscribe(topic="/values/%s/%s/#" % (type, node_hadd))
time.sleep(0.5)
def command(self, command, value=None, args=None):
"""Send command to the roomba 900
"""
logger.debug("[%s] - Start processing command %s", self.__class__.__name__, command)
try:
params = {
"ip_cloud":self.values['ip_cloud_config'].data,
"blid":self.values['blid'].data,
"robotpwd":self.values['robotpwd'].data,
"command":command,
"value":value,
}
uri = 'https://{ip_cloud}/services/v1/rest/Scripto/execute/AspenApiRequest?blid={blid}&robotpwd={robotpwd}&method={command}'
if value is not None:
uri += '&value=%7B%0A%20%20%22remoteCommand%22%20:%20%22{value}%22%0A%7D';
r = requests.get(uri.format(**params), timeout=self.values['request_timeout'].data)
ret = json_loads(r.text)
return ret
except Exception:
logger.exception("[%s] - Command %s failed when calling uri %s", self.__class__.__name__, command, uri.format(**params))
def on_message(self, client, userdata, message):
"""On generic message
"""
self.message = message
self.payload=json_loads(message.payload)
def get_telemetry(self):
"""Roomba method which fetches telemetry data about the robot.
{
"status": "OK",
"method": "getStatus",
"sku": "",
"country": "",
"postalCode": "",
"regDate": "2016-06-23",
"hardwareVersion": "",
"manualUpdate": 0.0,
"swUpdateAvailable": "",
"schedHold": 0.0,
"autoEvacCount": "",
"autoEvacFlags": "",
"wifiDiagnostics": "",
"autoEvacModel": "",
"milestones": "",
"robotName": "Roomba",
"robotLanguage": 1.0,
"tzName": "Europe/Paris",
"twoPass": 0.0,
"noAutoPasses": "",
"openOnly": 0.0,
"carpetBoost": 0.0,
"binPause": 1.0,
"vacHigh": 0.0,
"noPP": 0.0,
"ecoCharge": 0.0,
"mission": "{\"nMssn\":8,\"done\":\"cncl\",\"flags\":32,\"sqft\":0,\"runM\":0,\"chrgM\":0,\"pauseM\":1,\"doneM\":0,\"dirt\":0,\"chrgs\":0,\"saves\":0,\"evacs\":0,\"pauseId\":0,\"wlBars\":[0,0,0,0,0]}",
"preventativeMaintenance": "[{\"partId\":\"bin\",\"date\":\"2016-06-23\",\"distance\":55,\"runtime\":0,\"months\":0,\"notified\":false},{\"partId\":\"core\",\"date\":\"2016-06-23\",\"distance\":55,\"runtime\":0,\"months\":0,\"notified\":false},{\"partId\":\"extractor\",\"date\":\"2016-06-23\",\"distance\":55,\"runtime\":0,\"months\":0,\"notified\":false}]",
"cleanSchedule": "{\"cycle\":[\"none\",\"none\",\"none\",\"none\",\"none\",\"none\",\"none\"],\"h\":[0,0,0,0,0,0,0],\"m\":[0,0,0,0,0,0,0]}",
"robot_status": "{\"flags\":8,\"cycle\":\"quick\",\"phase\":\"run\",\"pos\":{\"theta\":0,\"point\":{\"x\":0,\"y\":0}},\"batPct\":97,\"expireM\":0,\"rechrgM\":0,\"error\":0,\"notReady\":0,\"mssnM\":0,\"sqft\":0}",
"softwareVersion": "v1.2.9",
"lastSwUpdate": "2016-06-23 17:55:55+0000",
"engBuild": "",
"bbrun": "{\"hr\":0,\"min\":8,\"sqft\":0,\"nStuck\":0,\"nScrubs\":0,\"nPicks\":23,\"nPanics\":0,\"nCliffsF\":24,\"nCliffsR\":34,\"nMBStll\":0,\"nWStll\":0,\"nCBump\":0}",
"missing": false,
"ota": "{\"st\":0,\"err\":0,\"lbl\":\"\"}"
}
"""
if self._telemetry_next_run < datetime.now():
locked = self._lock.acquire(False)
if locked == True:
try:
self._telemetry = self.command('getStatus')
logger.debug("[%s] - self._telemetry %s", self.__class__.__name__, self._telemetry)
self._status = self._telemetry['status']
self._telemetry['robot_status'] = json_loads(self._telemetry['robot_status'])
self._battery = self._telemetry['robot_status']['batPct']
self._battery_left = self._telemetry['robot_status']['expireM']
self._battery_charge = self._telemetry['robot_status']['rechrgM']
self._cycle = self._telemetry['robot_status']['cycle']
self._phase = self._telemetry['robot_status']['phase']
self._telemetry_last = True
except Exception:
logger.exception("[%s] - Exception in get_telemetry", self.__class__.__name__)
self._telemetry_last = False
finally:
self._lock.release()
secs = self.values['ip_ping_poll'].data
if secs < 0:
secs=60
self._telemetry_next_run = datetime.now() + timedelta(seconds=secs)