git.basschouten.com Git - openhab-addons.git/blob

   1 /**
   2  * Copyright (c) 2010-2023 Contributors to the openHAB project
   3  *
   4  * See the NOTICE file(s) distributed with this work for additional
   5  * information.
   6  *
   7  * This program and the accompanying materials are made available under the
   8  * terms of the Eclipse Public License 2.0 which is available at
   9  * http://www.eclipse.org/legal/epl-2.0
  10  *
  11  * SPDX-License-Identifier: EPL-2.0
  12  */
  13 package org.openhab.binding.boschindego.internal.handler;
  14
  15 import static org.openhab.binding.boschindego.internal.BoschIndegoBindingConstants.*;
  16
  17 import java.nio.charset.StandardCharsets;
  18 import java.time.Duration;
  19 import java.time.Instant;
  20 import java.time.LocalDateTime;
  21 import java.time.ZonedDateTime;
  22 import java.time.temporal.ChronoUnit;
  23 import java.util.Map;
  24 import java.util.Optional;
  25 import java.util.concurrent.ScheduledFuture;
  26 import java.util.concurrent.TimeUnit;
  27
  28 import org.eclipse.jdt.annotation.NonNullByDefault;
  29 import org.eclipse.jdt.annotation.Nullable;
  30 import org.eclipse.jetty.client.HttpClient;
  31 import org.openhab.binding.boschindego.internal.BoschIndegoTranslationProvider;
  32 import org.openhab.binding.boschindego.internal.DeviceStatus;
  33 import org.openhab.binding.boschindego.internal.IndegoDeviceController;
  34 import org.openhab.binding.boschindego.internal.IndegoTypeDatabase;
  35 import org.openhab.binding.boschindego.internal.config.BoschIndegoConfiguration;
  36 import org.openhab.binding.boschindego.internal.dto.DeviceCommand;
  37 import org.openhab.binding.boschindego.internal.dto.response.DevicePropertiesResponse;
  38 import org.openhab.binding.boschindego.internal.dto.response.DeviceStateResponse;
  39 import org.openhab.binding.boschindego.internal.dto.response.OperatingDataResponse;
  40 import org.openhab.binding.boschindego.internal.exceptions.IndegoAuthenticationException;
  41 import org.openhab.binding.boschindego.internal.exceptions.IndegoException;
  42 import org.openhab.binding.boschindego.internal.exceptions.IndegoInvalidCommandException;
  43 import org.openhab.binding.boschindego.internal.exceptions.IndegoTimeoutException;
  44 import org.openhab.core.auth.client.oauth2.OAuthClientService;
  45 import org.openhab.core.i18n.TimeZoneProvider;
  46 import org.openhab.core.library.types.DateTimeType;
  47 import org.openhab.core.library.types.DecimalType;
  48 import org.openhab.core.library.types.OnOffType;
  49 import org.openhab.core.library.types.PercentType;
  50 import org.openhab.core.library.types.QuantityType;
  51 import org.openhab.core.library.types.RawType;
  52 import org.openhab.core.library.types.StringType;
  53 import org.openhab.core.library.unit.SIUnits;
  54 import org.openhab.core.library.unit.Units;
  55 import org.openhab.core.thing.Bridge;
  56 import org.openhab.core.thing.ChannelUID;
  57 import org.openhab.core.thing.Thing;
  58 import org.openhab.core.thing.ThingStatus;
  59 import org.openhab.core.thing.ThingStatusDetail;
  60 import org.openhab.core.thing.ThingStatusInfo;
  61 import org.openhab.core.thing.binding.BaseThingHandler;
  62 import org.openhab.core.thing.binding.ThingHandler;
  63 import org.openhab.core.types.Command;
  64 import org.openhab.core.types.RefreshType;
  65 import org.openhab.core.types.UnDefType;
  66 import org.slf4j.Logger;
  67 import org.slf4j.LoggerFactory;
  68
  69 /**
  70  * The {@link BoschIndegoHandler} is responsible for handling commands, which are
  71  * sent to one of the channels.
  72  *
  73  * @author Jonas Fleck - Initial contribution
  74  * @author Jacob Laursen - Refactoring, bugfixing and removal of dependency towards abandoned library
  75  */
  76 @NonNullByDefault
  77 public class BoschIndegoHandler extends BaseThingHandler {
  78
  79     private static final String MAP_POSITION_STROKE_COLOR = "#8c8b6d";
  80     private static final String MAP_POSITION_FILL_COLOR = "#fff701";
  81     private static final int MAP_POSITION_RADIUS = 10;
  82     private static final Duration DEVICE_PROPERTIES_VALIDITY_PERIOD = Duration.ofDays(1);
  83
  84     private static final Duration MAP_REFRESH_INTERVAL = Duration.ofDays(1);
  85     private static final Duration OPERATING_DATA_INACTIVE_REFRESH_INTERVAL = Duration.ofHours(6);
  86     private static final Duration OPERATING_DATA_OFFLINE_REFRESH_INTERVAL = Duration.ofMinutes(30);
  87     private static final Duration OPERATING_DATA_ACTIVE_REFRESH_INTERVAL = Duration.ofMinutes(2);
  88     private static final Duration MAP_REFRESH_SESSION_DURATION = Duration.ofMinutes(5);
  89     private static final Duration COMMAND_STATE_REFRESH_TIMEOUT = Duration.ofSeconds(10);
  90
  91     private final Logger logger = LoggerFactory.getLogger(BoschIndegoHandler.class);
  92     private final HttpClient httpClient;
  93     private final BoschIndegoTranslationProvider translationProvider;
  94     private final TimeZoneProvider timeZoneProvider;
  95     private Instant devicePropertiesUpdated = Instant.MIN;
  96
  97     private @NonNullByDefault({}) OAuthClientService oAuthClientService;
  98     private @NonNullByDefault({}) IndegoDeviceController controller;
  99     private @Nullable ScheduledFuture<?> statePollFuture;
 100     private @Nullable ScheduledFuture<?> cuttingTimePollFuture;
 101     private @Nullable ScheduledFuture<?> cuttingTimeFuture;
 102     private Optional<Integer> previousStateCode = Optional.empty();
 103     private @Nullable RawType cachedMap;
 104     private Instant cachedMapTimestamp = Instant.MIN;
 105     private Instant operatingDataTimestamp = Instant.MIN;
 106     private Instant mapRefreshStartedTimestamp = Instant.MIN;
 107     private ThingStatus lastOperatingDataStatus = ThingStatus.UNINITIALIZED;
 108     private int stateInactiveRefreshIntervalSeconds;
 109     private int stateActiveRefreshIntervalSeconds;
 110     private int currentRefreshIntervalSeconds;
 111
 112     public BoschIndegoHandler(Thing thing, HttpClient httpClient, BoschIndegoTranslationProvider translationProvider,
 113             TimeZoneProvider timeZoneProvider) {
 114         super(thing);
 115         this.httpClient = httpClient;
 116         this.translationProvider = translationProvider;
 117         this.timeZoneProvider = timeZoneProvider;
 118     }
 119
 120     @Override
 121     public void initialize() {
 122         BoschIndegoConfiguration config = getConfigAs(BoschIndegoConfiguration.class);
 123         stateInactiveRefreshIntervalSeconds = (int) config.refresh;
 124         stateActiveRefreshIntervalSeconds = (int) config.stateActiveRefresh;
 125
 126         Bridge bridge = getBridge();
 127         if (bridge == null) {
 128             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.OFFLINE.CONFIGURATION_ERROR,
 129                     "@text/offline.conf-error.missing-bridge");
 130             return;
 131         }
 132
 133         ThingHandler handler = bridge.getHandler();
 134         if (handler instanceof BoschAccountHandler accountHandler) {
 135             this.oAuthClientService = accountHandler.getOAuthClientService();
 136         } else {
 137             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.OFFLINE.CONFIGURATION_ERROR,
 138                     "@text/offline.conf-error.missing-bridge");
 139             return;
 140         }
 141
 142         devicePropertiesUpdated = Instant.MIN;
 143         updateProperty(Thing.PROPERTY_SERIAL_NUMBER, config.serialNumber);
 144
 145         controller = new IndegoDeviceController(httpClient, oAuthClientService, config.serialNumber);
 146
 147         updateStatus(ThingStatus.UNKNOWN);
 148         previousStateCode = Optional.empty();
 149         rescheduleStatePoll(0, stateInactiveRefreshIntervalSeconds, false);
 150         this.cuttingTimePollFuture = scheduler.scheduleWithFixedDelay(this::refreshCuttingTimesWithExceptionHandling, 0,
 151                 config.cuttingTimeRefresh, TimeUnit.MINUTES);
 152     }
 153
 154     @Override
 155     public void bridgeStatusChanged(ThingStatusInfo bridgeStatusInfo) {
 156         if (bridgeStatusInfo.getStatus() == ThingStatus.ONLINE
 157                 && getThing().getStatusInfo().getStatus() == ThingStatus.OFFLINE) {
 158             // Trigger immediate state refresh upon authorization success.
 159             rescheduleStatePoll(0, stateInactiveRefreshIntervalSeconds, true);
 160         } else if (bridgeStatusInfo.getStatus() == ThingStatus.OFFLINE) {
 161             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.BRIDGE_OFFLINE);
 162         }
 163     }
 164
 165     private boolean rescheduleStatePoll(int delaySeconds, int refreshIntervalSeconds, boolean force) {
 166         ScheduledFuture<?> statePollFuture = this.statePollFuture;
 167         if (statePollFuture != null) {
 168             if (!force && refreshIntervalSeconds == currentRefreshIntervalSeconds) {
 169                 // No change.
 170                 return false;
 171             }
 172             statePollFuture.cancel(force);
 173         }
 174         logger.debug("Scheduling state refresh job with {}s interval and {}s delay", refreshIntervalSeconds,
 175                 delaySeconds);
 176         this.statePollFuture = scheduler.scheduleWithFixedDelay(this::refreshStateWithExceptionHandling, delaySeconds,
 177                 refreshIntervalSeconds, TimeUnit.SECONDS);
 178         currentRefreshIntervalSeconds = refreshIntervalSeconds;
 179
 180         return true;
 181     }
 182
 183     @Override
 184     public void dispose() {
 185         ScheduledFuture<?> pollFuture = this.statePollFuture;
 186         if (pollFuture != null) {
 187             pollFuture.cancel(true);
 188         }
 189         this.statePollFuture = null;
 190         pollFuture = this.cuttingTimePollFuture;
 191         if (pollFuture != null) {
 192             pollFuture.cancel(true);
 193         }
 194         this.cuttingTimePollFuture = null;
 195         pollFuture = this.cuttingTimeFuture;
 196         if (pollFuture != null) {
 197             pollFuture.cancel(true);
 198         }
 199         this.cuttingTimeFuture = null;
 200     }
 201
 202     @Override
 203     public void handleCommand(ChannelUID channelUID, Command command) {
 204         logger.debug("handleCommand {} for channel {}", command, channelUID);
 205         try {
 206             if (command == RefreshType.REFRESH) {
 207                 handleRefreshCommand(channelUID.getId());
 208                 return;
 209             }
 210             if (command instanceof DecimalType && channelUID.getId().equals(STATE)) {
 211                 sendCommand(((DecimalType) command).intValue());
 212             }
 213         } catch (IndegoAuthenticationException e) {
 214             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR,
 215                     "@text/offline.comm-error.authentication-failure");
 216         } catch (IndegoTimeoutException e) {
 217             updateStatus(lastOperatingDataStatus = ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR,
 218                     "@text/offline.comm-error.unreachable");
 219         } catch (IndegoInvalidCommandException e) {
 220             logger.warn("Invalid command: {}", e.getMessage());
 221             if (e.hasErrorCode()) {
 222                 updateState(ERRORCODE, new DecimalType(e.getErrorCode()));
 223             }
 224         } catch (IndegoException e) {
 225             logger.warn("Command failed: {}", e.getMessage());
 226         }
 227     }
 228
 229     private void handleRefreshCommand(String channelId)
 230             throws IndegoAuthenticationException, IndegoTimeoutException, IndegoException {
 231         switch (channelId) {
 232             case GARDEN_MAP:
 233                 // Force map refresh and fall through to state update.
 234                 cachedMapTimestamp = Instant.MIN;
 235             case STATE:
 236             case TEXTUAL_STATE:
 237             case MOWED:
 238             case ERRORCODE:
 239             case STATECODE:
 240             case READY:
 241                 refreshState();
 242                 break;
 243             case LAST_CUTTING:
 244                 refreshLastCuttingTime();
 245                 break;
 246             case NEXT_CUTTING:
 247                 refreshNextCuttingTime();
 248                 break;
 249             case BATTERY_LEVEL:
 250             case LOW_BATTERY:
 251             case BATTERY_VOLTAGE:
 252             case BATTERY_TEMPERATURE:
 253             case GARDEN_SIZE:
 254                 refreshOperatingData();
 255                 break;
 256         }
 257     }
 258
 259     private void sendCommand(int commandInt) throws IndegoException {
 260         DeviceCommand command;
 261         switch (commandInt) {
 262             case 1:
 263                 command = DeviceCommand.MOW;
 264                 break;
 265             case 2:
 266                 command = DeviceCommand.RETURN;
 267                 break;
 268             case 3:
 269                 command = DeviceCommand.PAUSE;
 270                 break;
 271             default:
 272                 logger.warn("Invalid command {}", commandInt);
 273                 return;
 274         }
 275
 276         DeviceStateResponse state = controller.getState();
 277         DeviceStatus deviceStatus = DeviceStatus.fromCode(state.state);
 278         if (!verifyCommand(command, deviceStatus, state.error)) {
 279             return;
 280         }
 281         logger.debug("Sending command {}", command);
 282         controller.sendCommand(command);
 283
 284         // State is not updated immediately, so await new state for some seconds.
 285         // For command MOW, state will shortly be updated to 262 (docked, loading map).
 286         // This is considered "active", so after this state change, polling frequency will
 287         // be increased for faster updates.
 288         DeviceStateResponse stateResponse = controller.getState(COMMAND_STATE_REFRESH_TIMEOUT);
 289         if (stateResponse.state != 0) {
 290             updateState(stateResponse);
 291             deviceStatus = DeviceStatus.fromCode(stateResponse.state);
 292             rescheduleStatePollAccordingToState(deviceStatus);
 293         }
 294     }
 295
 296     private void refreshStateWithExceptionHandling() {
 297         try {
 298             refreshState();
 299         } catch (IndegoAuthenticationException e) {
 300             logger.warn("Failed to authenticate: {}", e.getMessage());
 301             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR,
 302                     "@text/offline.comm-error.authentication-failure");
 303         } catch (IndegoTimeoutException e) {
 304             updateStatus(lastOperatingDataStatus = ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR,
 305                     "@text/offline.comm-error.unreachable");
 306         } catch (IndegoException e) {
 307             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR, e.getMessage());
 308         }
 309     }
 310
 311     private void refreshState() throws IndegoAuthenticationException, IndegoException {
 312         DeviceStateResponse state = controller.getState();
 313         DeviceStatus deviceStatus = DeviceStatus.fromCode(state.state);
 314         updateState(state);
 315
 316         if (devicePropertiesUpdated.isBefore(Instant.now().minus(DEVICE_PROPERTIES_VALIDITY_PERIOD))) {
 317             refreshDeviceProperties();
 318         }
 319
 320         // Update map and start tracking positions if mower is active.
 321         if (state.mapUpdateAvailable) {
 322             cachedMapTimestamp = Instant.MIN;
 323         }
 324         refreshMap(state.svgXPos, state.svgYPos);
 325         if (deviceStatus.isActive()) {
 326             trackPosition();
 327         }
 328
 329         int previousState;
 330         DeviceStatus previousDeviceStatus;
 331         if (previousStateCode.isPresent()) {
 332             previousState = previousStateCode.get();
 333             previousDeviceStatus = DeviceStatus.fromCode(previousState);
 334             if (state.state != previousState
 335                     && ((!previousDeviceStatus.isDocked() && deviceStatus.isDocked()) || deviceStatus.isCompleted())) {
 336                 // When returning to dock or on its way after completing lawn, refresh last cutting time immediately.
 337                 // We cannot fully rely on completed lawn state since active polling refresh interval is configurable
 338                 // and we might miss the state if mower returns before next poll.
 339                 refreshLastCuttingTime();
 340             }
 341         } else {
 342             previousState = state.state;
 343             previousDeviceStatus = DeviceStatus.fromCode(previousState);
 344         }
 345         previousStateCode = Optional.of(state.state);
 346
 347         refreshOperatingDataConditionally(
 348                 previousDeviceStatus.isCharging() || deviceStatus.isCharging() || deviceStatus.isActive());
 349
 350         if (lastOperatingDataStatus == ThingStatus.ONLINE && thing.getStatus() != ThingStatus.ONLINE) {
 351             // Revert temporary offline status caused by disruptions other than unreachable device.
 352             updateStatus(ThingStatus.ONLINE);
 353         } else if (lastOperatingDataStatus == ThingStatus.OFFLINE) {
 354             // Update description to reflect why thing is still offline.
 355             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR,
 356                     "@text/offline.comm-error.unreachable");
 357         }
 358
 359         rescheduleStatePollAccordingToState(deviceStatus);
 360     }
 361
 362     private void refreshDeviceProperties() throws IndegoAuthenticationException, IndegoException {
 363         DevicePropertiesResponse deviceProperties = controller.getDeviceProperties();
 364         Map<String, String> properties = editProperties();
 365         if (deviceProperties.firmwareVersion != null) {
 366             properties.put(Thing.PROPERTY_FIRMWARE_VERSION, deviceProperties.firmwareVersion);
 367         }
 368         if (deviceProperties.bareToolNumber != null) {
 369             properties.put(Thing.PROPERTY_MODEL_ID,
 370                     IndegoTypeDatabase.nameFromTypeNumber(deviceProperties.bareToolNumber));
 371             properties.put(PROPERTY_BARE_TOOL_NUMBER, deviceProperties.bareToolNumber);
 372         }
 373         properties.put(PROPERTY_SERVICE_COUNTER, String.valueOf(deviceProperties.serviceCounter));
 374         properties.put(PROPERTY_NEEDS_SERVICE, String.valueOf(deviceProperties.needsService));
 375         properties.put(PROPERTY_RENEW_DATE,
 376                 LocalDateTime.ofInstant(deviceProperties.renewDate, timeZoneProvider.getTimeZone()).toString());
 377
 378         updateProperties(properties);
 379         devicePropertiesUpdated = Instant.now();
 380     }
 381
 382     private void rescheduleStatePollAccordingToState(DeviceStatus deviceStatus) {
 383         int refreshIntervalSeconds;
 384         if (deviceStatus.isActive()) {
 385             refreshIntervalSeconds = stateActiveRefreshIntervalSeconds;
 386         } else if (deviceStatus.isCharging()) {
 387             refreshIntervalSeconds = (int) OPERATING_DATA_ACTIVE_REFRESH_INTERVAL.getSeconds();
 388         } else {
 389             refreshIntervalSeconds = stateInactiveRefreshIntervalSeconds;
 390         }
 391         if (rescheduleStatePoll(refreshIntervalSeconds, refreshIntervalSeconds, false)) {
 392             // After job has been rescheduled, request operating data one last time on next poll.
 393             // This is needed to update battery values after a charging cycle has completed.
 394             operatingDataTimestamp = Instant.MIN;
 395         }
 396     }
 397
 398     private void refreshOperatingDataConditionally(boolean isActive)
 399             throws IndegoAuthenticationException, IndegoTimeoutException, IndegoException {
 400         // Refresh operating data only occationally or when robot is active/charging.
 401         // This will contact the robot directly through cellular network and wake it up
 402         // when sleeping. Additionally, refresh more often after being offline to try to get
 403         // back online as soon as possible without putting too much stress on the service.
 404         if ((isActive && operatingDataTimestamp.isBefore(Instant.now().minus(OPERATING_DATA_ACTIVE_REFRESH_INTERVAL)))
 405                 || (lastOperatingDataStatus != ThingStatus.ONLINE && operatingDataTimestamp
 406                         .isBefore(Instant.now().minus(OPERATING_DATA_OFFLINE_REFRESH_INTERVAL)))
 407                 || operatingDataTimestamp.isBefore(Instant.now().minus(OPERATING_DATA_INACTIVE_REFRESH_INTERVAL))) {
 408             refreshOperatingData();
 409         }
 410     }
 411
 412     private void refreshOperatingData() throws IndegoAuthenticationException, IndegoTimeoutException, IndegoException {
 413         updateOperatingData(controller.getOperatingData());
 414         operatingDataTimestamp = Instant.now();
 415         updateStatus(lastOperatingDataStatus = ThingStatus.ONLINE);
 416     }
 417
 418     private void refreshCuttingTimesWithExceptionHandling() {
 419         try {
 420             refreshLastCuttingTime();
 421             refreshNextCuttingTime();
 422         } catch (IndegoAuthenticationException e) {
 423             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR,
 424                     "@text/offline.comm-error.authentication-failure");
 425         } catch (IndegoException e) {
 426             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR, e.getMessage());
 427         }
 428     }
 429
 430     private void refreshLastCuttingTime() throws IndegoAuthenticationException, IndegoException {
 431         if (isLinked(LAST_CUTTING)) {
 432             Instant lastCutting = controller.getPredictiveLastCutting();
 433             if (lastCutting != null) {
 434                 updateState(LAST_CUTTING,
 435                         new DateTimeType(ZonedDateTime.ofInstant(lastCutting, timeZoneProvider.getTimeZone())));
 436             } else {
 437                 updateState(LAST_CUTTING, UnDefType.UNDEF);
 438             }
 439         }
 440     }
 441
 442     private void refreshNextCuttingTimeWithExceptionHandling() {
 443         try {
 444             refreshNextCuttingTime();
 445         } catch (IndegoAuthenticationException e) {
 446             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR,
 447                     "@text/offline.comm-error.authentication-failure");
 448         } catch (IndegoException e) {
 449             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR, e.getMessage());
 450         }
 451     }
 452
 453     private void refreshNextCuttingTime() throws IndegoAuthenticationException, IndegoException {
 454         cancelCuttingTimeRefresh();
 455         if (isLinked(NEXT_CUTTING)) {
 456             Instant nextCutting = controller.getPredictiveNextCutting();
 457             if (nextCutting != null) {
 458                 updateState(NEXT_CUTTING,
 459                         new DateTimeType(ZonedDateTime.ofInstant(nextCutting, timeZoneProvider.getTimeZone())));
 460                 scheduleCuttingTimesRefresh(nextCutting);
 461             } else {
 462                 updateState(NEXT_CUTTING, UnDefType.UNDEF);
 463             }
 464         }
 465     }
 466
 467     private void cancelCuttingTimeRefresh() {
 468         ScheduledFuture<?> cuttingTimeFuture = this.cuttingTimeFuture;
 469         if (cuttingTimeFuture != null) {
 470             // Do not interrupt as we might be running within that job.
 471             cuttingTimeFuture.cancel(false);
 472             this.cuttingTimeFuture = null;
 473         }
 474     }
 475
 476     private void scheduleCuttingTimesRefresh(Instant nextCutting) {
 477         // Schedule additional update right after next planned cutting. This ensures a faster update.
 478         long secondsUntilNextCutting = Instant.now().until(nextCutting, ChronoUnit.SECONDS) + 2;
 479         if (secondsUntilNextCutting > 0) {
 480             logger.debug("Scheduling fetching of next cutting time in {} seconds", secondsUntilNextCutting);
 481             this.cuttingTimeFuture = scheduler.schedule(this::refreshNextCuttingTimeWithExceptionHandling,
 482                     secondsUntilNextCutting, TimeUnit.SECONDS);
 483         }
 484     }
 485
 486     private void refreshMap(int xPos, int yPos) throws IndegoAuthenticationException, IndegoException {
 487         if (!isLinked(GARDEN_MAP)) {
 488             return;
 489         }
 490         RawType cachedMap = this.cachedMap;
 491         boolean mapRefreshed;
 492         if (cachedMap == null || cachedMapTimestamp.isBefore(Instant.now().minus(MAP_REFRESH_INTERVAL))) {
 493             this.cachedMap = cachedMap = controller.getMap();
 494             cachedMapTimestamp = Instant.now();
 495             mapRefreshed = true;
 496         } else {
 497             mapRefreshed = false;
 498         }
 499         String svgMap = new String(cachedMap.getBytes(), StandardCharsets.UTF_8);
 500         if (!svgMap.endsWith("</svg>")) {
 501             if (mapRefreshed) {
 502                 logger.warn("Unexpected map format, unable to plot location");
 503                 logger.trace("Received map: {}", svgMap);
 504                 updateState(GARDEN_MAP, cachedMap);
 505             }
 506             return;
 507         }
 508         svgMap = svgMap.substring(0, svgMap.length() - 6) + "<circle cx=\"" + xPos + "\" cy=\"" + yPos + "\" r=\""
 509                 + MAP_POSITION_RADIUS + "\" stroke=\"" + MAP_POSITION_STROKE_COLOR + "\" fill=\""
 510                 + MAP_POSITION_FILL_COLOR + "\" />\n</svg>";
 511         updateState(GARDEN_MAP, new RawType(svgMap.getBytes(), cachedMap.getMimeType()));
 512     }
 513
 514     private void trackPosition() throws IndegoAuthenticationException, IndegoException {
 515         if (!isLinked(GARDEN_MAP)) {
 516             return;
 517         }
 518         if (mapRefreshStartedTimestamp.isBefore(Instant.now().minus(MAP_REFRESH_SESSION_DURATION))) {
 519             int count = (int) MAP_REFRESH_SESSION_DURATION.getSeconds() / stateActiveRefreshIntervalSeconds + 1;
 520             logger.debug("Requesting position updates (count: {}; interval: {}s), previously triggered {}", count,
 521                     stateActiveRefreshIntervalSeconds, mapRefreshStartedTimestamp);
 522             controller.requestPosition(count, stateActiveRefreshIntervalSeconds);
 523             mapRefreshStartedTimestamp = Instant.now();
 524         }
 525     }
 526
 527     private void updateState(DeviceStateResponse state) {
 528         DeviceStatus deviceStatus = DeviceStatus.fromCode(state.state);
 529         DeviceCommand associatedCommand = deviceStatus.getAssociatedCommand();
 530         int status = associatedCommand != null ? getStatusFromCommand(associatedCommand) : 0;
 531         int mowed = state.mowed;
 532         int error = state.error;
 533         int statecode = state.state;
 534         boolean ready = isReadyToMow(deviceStatus, state.error);
 535
 536         updateState(STATECODE, new DecimalType(statecode));
 537         updateState(READY, new DecimalType(ready ? 1 : 0));
 538         updateState(ERRORCODE, new DecimalType(error));
 539         updateState(MOWED, new PercentType(mowed));
 540         updateState(STATE, new DecimalType(status));
 541         updateState(TEXTUAL_STATE, new StringType(deviceStatus.getMessage(translationProvider)));
 542     }
 543
 544     private void updateOperatingData(OperatingDataResponse operatingData) {
 545         updateState(BATTERY_VOLTAGE, new QuantityType<>(operatingData.battery.voltage, Units.VOLT));
 546         updateState(BATTERY_LEVEL, new DecimalType(operatingData.battery.percent));
 547         updateState(LOW_BATTERY, OnOffType.from(operatingData.battery.percent < 20));
 548         updateState(BATTERY_TEMPERATURE, new QuantityType<>(operatingData.battery.batteryTemperature, SIUnits.CELSIUS));
 549         updateState(GARDEN_SIZE, new QuantityType<>(operatingData.garden.size, SIUnits.SQUARE_METRE));
 550     }
 551
 552     private boolean isReadyToMow(DeviceStatus deviceStatus, int error) {
 553         return deviceStatus.isReadyToMow() && error == 0;
 554     }
 555
 556     private boolean verifyCommand(DeviceCommand command, DeviceStatus deviceStatus, int errorCode) {
 557         // Mower reported an error
 558         if (errorCode != 0) {
 559             logger.warn("The mower reported an error.");
 560             return false;
 561         }
 562
 563         // Command is equal to current state
 564         if (command == deviceStatus.getAssociatedCommand()) {
 565             logger.debug("Command is equal to state");
 566             return false;
 567         }
 568         // Can't pause while the mower is docked
 569         if (command == DeviceCommand.PAUSE && deviceStatus.getAssociatedCommand() == DeviceCommand.RETURN) {
 570             logger.info("Can't pause the mower while it's docked or docking");
 571             return false;
 572         }
 573         // Command means "MOW" but mower is not ready
 574         if (command == DeviceCommand.MOW && !isReadyToMow(deviceStatus, errorCode)) {
 575             logger.info("The mower is not ready to mow at the moment");
 576             return false;
 577         }
 578         return true;
 579     }
 580
 581     private int getStatusFromCommand(DeviceCommand command) {
 582         switch (command) {
 583             case MOW:
 584                 return 1;
 585             case RETURN:
 586                 return 2;
 587             case PAUSE:
 588                 return 3;
 589             default:
 590                 return 0;
 591         }
 592     }
 593 }