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NeatoNonWifiHA.ino
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NeatoNonWifiHA.ino
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#include <Arduino.h>
#include <PubSubClient.h>
#include <ESP8266WiFi.h>
#include <SimpleTimer.h>
#include <ArduinoOTA.h>
#include <ArduinoJson.h>
#include <ESP8266HTTPUpdateServer.h>
#include <ESP8266WebServer.h>
#include <ESP8266mDNS.h>
// TODO Guillaume //
/*
Lidar support for map? See
Detect failed battery?
Battery temperature in state json
Fan speed - only in test mode?
state error, returning, paused
Error - see geterror
Returning - wheels moving and fan not spinning?
Cleaning - fan spinning?
(Paused does not exist, only idle.)
See the excellent code at
https://github.com/HawtDogFlvrWtr/botvac-wifi
https://github.com/i8beef/I8Beef.Neato.Mqtt/blob/master/src/I8Beef.Neato.Mqtt.ino
for inspiration.
*/
// TODO Guillaume END //
//USER CONFIGURED SECTION START//
#define MAX_BUFFER 8192
const char *ssid = "XXX";
const char *password = "YYY";
#define MQTT_SERVER "1.2.3.4"
#define MQTT_PORT 1883
#define MQTT_CLIENT_ID "ESP8266_Neato"
#define MQTT_USER "mqtthoover"
#define MQTT_PASSWORD "ZZZ"
#define MQTT_TOPIC_SUBSCRIBE "neato/command" //receive
#define MQTT_TOPIC_RAWCOMMANDS "neato/send_command" // receive raw commands
#define MQTT_WILL_TOPIC "neato/will" //publish
//USER CONFIGURED SECTION END//
// Timer
unsigned long intervalcharging = 900000; //Publish Interval while charging
unsigned long interval = 30000; //Publish Interval while cleaning
unsigned long previousMillis = 0;
bool charging = false;
WiFiClient espClient;
PubSubClient mqttClient(espClient);
SimpleTimer timer;
ESP8266WebServer server(80);
ESP8266WebServer updateServer(82);
ESP8266HTTPUpdateServer httpUpdater;
// int bufferLocation = 0;
// uint8_t serialBuffer[8193];
// Unused variables
// bool toggle = true;
// const int noSleepPin = 2;
// bool boot = true;
// long battery_Current_mAh = 0;
// long battery_Voltage = 0;
// long battery_Total_mAh = 0;
// long battery_percent = 0;
// char battery_percent_send[50];
// char battery_Current_mAh_send[50];
// uint8_t tempBuf[10];
const int numChars = 256;
char receivedChars[numChars]; // an array to store the received data
// boolean newData = false;
//Functions
void setup_wifi()
{
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED)
{
delay(500);
}
}
void rebootEvent()
{
server.send(200, "text/html", String() + "<!DOCTYPE html><html> <body>" + "The controller will now reboot.<br />" + "If the SSID or password is set but is incorrect, the controller will return to Access Point mode." + "</body> </html>");
ESP.reset();
}
void mqttReconnect()
{
unsigned int retries = 0;
// Loop until we're reconnected
while (!mqttClient.connected() && retries < 5)
{
// Attempt to connect, remove user / pass if not needed
if (mqttClient.connect(MQTT_CLIENT_ID, MQTT_USER, MQTT_PASSWORD, MQTT_WILL_TOPIC, 0, true, "0"))
{
mqttClient.subscribe(MQTT_TOPIC_SUBSCRIBE);
mqttClient.subscribe(MQTT_TOPIC_RAWCOMMANDS);
mqttClient.publish(MQTT_WILL_TOPIC, "2", true);
mqttClient.publish("neato/available", "online");
}
else
{
// Wait 5 seconds before retrying
retries++;
delay(5000);
}
}
}
void mqttCallback(char *topic, byte *payload, unsigned int length)
{
String newTopic = topic;
payload[length] = '\0';
String newPayload = String((char *)payload);
if (newTopic == "neato/command")
{
if (newPayload == "start_pause" || newPayload == "turn_on")
{
Serial.printf("%s\n", "Clean House");
}
if (newPayload == "stop" || newPayload == "turn_off")
{
Serial.printf("%s\n", "Clean Stop");
}
if (newPayload == "clean_spot")
{
Serial.printf("%s\n", "Clean Spot");
}
if (newPayload == "locate")
{
Serial.printf("%s\n", "PlaySound 3");
}
sendInfoNeato((char *)"neato/state");
}
// Send a custom command, like SetTime. No feedbock.
else if (newTopic == "neato/send_command")
{
static byte ndx = 0;
char endMarker = '\n';
char rc;
Serial.flush();
// Serial.printf("%s\n", (char *)payload);
Serial.printf("%s\n", newPayload.c_str());
Serial.flush();
delay(200);
while (Serial.available() > 0)
{
Serial.flush();
rc = Serial.read();
if (rc > 127)
{
rc = '_';
}
if (rc != endMarker)
{
receivedChars[ndx] = rc;
ndx++;
if (ndx >= numChars)
{
ndx = numChars - 1;
}
}
else
{
receivedChars[ndx] = '\0'; // terminate the string
mqttClient.publish("neato/debug", (char *)receivedChars);
ndx = 0;
}
}
//reset the buffer
receivedChars[0] = ' ';
}
}
void sendInfoNeato(char *topic)
{
static byte ndx = 0;
char endMarker = '\n';
char rc;
StaticJsonDocument<200> root;
//JSON VARIABLE WITH ALL THE DATA TO PUBLISH
Serial.flush();
Serial.printf("%s\n", "GetCharger");
Serial.flush();
delay(200);
while (Serial.available() > 0)
{
Serial.flush();
rc = Serial.read();
if (rc > 127)
{
rc = '_';
}
if (rc != endMarker)
{
receivedChars[ndx] = rc;
ndx++;
if (ndx >= numChars)
{
ndx = numChars - 1;
}
}
else
{
receivedChars[ndx] = '\0'; // terminate the string
char *auxjson = strstr((char *)receivedChars, (char *)"lPercent,");
if (auxjson != NULL)
{
auxjson = auxjson + 9;
String aux = auxjson;
aux.replace('\r', '\0');
if (aux == "" || aux == "-FAIL-")
{
root["battery_level"] = aux;
}
else
{
root["battery_level"] = aux.toInt();
}
}
ndx = 0;
}
}
long ExternalVoltage = 0;
long VacuumCurrent = 0;
Serial.flush();
Serial.printf("%s\n", "GetAnalogSensors");
Serial.flush();
delay(200);
while (Serial.available() > 0)
{
Serial.flush();
rc = Serial.read();
if (rc > 127)
{
rc = '_';
}
if (rc != endMarker)
{
receivedChars[ndx] = rc;
ndx++;
if (ndx >= numChars)
{
ndx = numChars - 1;
}
}
else
{
receivedChars[ndx] = '\0'; // terminate the string
char *auxjson = strstr((char *)receivedChars, (char *)"ExternalVoltage,mV,");
if (auxjson != NULL)
{
auxjson = auxjson + 19;
String aux = auxjson;
aux.replace('\r', '\0');
ExternalVoltage = aux.toInt();
root["ExternalVoltage"] = ExternalVoltage;
}
auxjson = strstr((char *)receivedChars, (char *)"VacuumCurrent,mA,");
if (auxjson != NULL)
{
auxjson = auxjson + 17;
String aux = auxjson;
aux.replace('\r', '\0');
VacuumCurrent = aux.toInt();
root["VacuumCurrent"] = VacuumCurrent;
}
ndx = 0;
}
if (ExternalVoltage > 5000)
{
root["charging"] = true;
root["docked"] = true;
root["cleaning"] = false;
root["state"] = "docked";
charging = true;
}
else if (VacuumCurrent > 0)
{
root["charging"] = false;
root["docked"] = false;
root["cleaning"] = true;
charging = false;
root["state"] = "cleaning";
}
else
{
root["charging"] = false;
root["docked"] = false;
root["cleaning"] = false;
charging = false;
root["state"] = "idle";
}
// TODO state error, returning, paused
}
String aux = (char *)receivedChars;
String jsonStr;
serializeJsonPretty(root, jsonStr);
mqttClient.publish("neato/state", jsonStr.c_str());
//reset the buffer
receivedChars[0] = ' ';
}
void setupEvent()
{
server.send(200, "text/html", String() + "<!DOCTYPE html><html> <body>" + "<p>Neato hoover</p>" + "<form action=\"http://neato.local/reboot\" style=\"display: inline;\">" + "<input type=\"submit\" value=\"Reboot\" />" + "</form>" + "<p><a href=\"http://neato.local:82/update\">Update Firmware</a></p>" + "<p><a href=\"http://neato.local/console\">Neato Serial Console</a> - <a href=\"https://www.neatorobotics.com/resources/programmersmanual_20140305.pdf\">Command Documentation</a></p>" + "</body></html>\n");
}
void setup()
{
Serial.begin(115200);
setup_wifi();
ArduinoOTA.setHostname("neato");
// ArduinoOTA.setPassword("neato");
ArduinoOTA.begin();
mqttClient.setServer(MQTT_SERVER, MQTT_PORT);
mqttClient.setCallback(mqttCallback);
ArduinoOTA.onError([](ota_error_t error) {
Serial.printf("Error[%u]: ", error);
if (error == OTA_AUTH_ERROR)
Serial.println("ESP-12x: OTA Auth Failed");
else if (error == OTA_BEGIN_ERROR)
Serial.println("ESP-12x: OTA Begin Failed");
else if (error == OTA_CONNECT_ERROR)
Serial.println("ESP-12x: OTA Connect Failed");
else if (error == OTA_RECEIVE_ERROR)
Serial.println("ESP-12x: OTA Receive Failed");
else if (error == OTA_END_ERROR)
Serial.println("ESP-12x: OTA End Failed");
});
ArduinoOTA.begin();
httpUpdater.setup(&updateServer);
updateServer.begin();
// start webserver
// server.on("/console", serverEvent);
// server.on("/", HTTP_POST, saveEvent);
server.on("/", HTTP_GET, setupEvent);
server.on("/reboot", HTTP_GET, rebootEvent);
server.onNotFound(setupEvent);
server.begin();
// start MDNS
// this means that the botvac can be reached at http://neato.local
if (!MDNS.begin("neato"))
{
ESP.reset(); //reset because there's no good reason for setting up MDNS to fail
}
MDNS.addService("http", "tcp", 80);
MDNS.addService("http", "tcp", 82);
}
void loop()
{
ArduinoOTA.handle();
if (!mqttClient.connected())
{
mqttReconnect();
}
if (mqttClient.connected())
{
mqttClient.loop();
}
if (charging == true)
{
unsigned long currentMillis = millis();
if (currentMillis - previousMillis > intervalcharging)
{
mqttClient.publish("neato/available", "online");
sendInfoNeato((char *)"neato/state");
previousMillis = currentMillis;
}
}
else
{
unsigned long currentMillis = millis();
if (currentMillis - previousMillis > interval)
{
mqttClient.publish("neato/available", "online");
sendInfoNeato((char *)"neato/state");
previousMillis = currentMillis;
}
}
}