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   1 /**
   2  * Copyright (c) 2010-2021 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.irobot.internal.handler;
  14
  15 import static org.openhab.binding.irobot.internal.IRobotBindingConstants.*;
  16
  17 import java.io.IOException;
  18 import java.io.StringReader;
  19 import java.net.DatagramPacket;
  20 import java.net.DatagramSocket;
  21 import java.net.InetAddress;
  22 import java.security.KeyManagementException;
  23 import java.security.NoSuchAlgorithmException;
  24 import java.util.Hashtable;
  25 import java.util.concurrent.Future;
  26 import java.util.concurrent.TimeUnit;
  27 import java.util.concurrent.TimeoutException;
  28
  29 import org.eclipse.jdt.annotation.NonNullByDefault;
  30 import org.eclipse.jdt.annotation.Nullable;
  31 import org.openhab.binding.irobot.internal.RawMQTT;
  32 import org.openhab.binding.irobot.internal.RoombaConfiguration;
  33 import org.openhab.binding.irobot.internal.dto.IdentProtocol;
  34 import org.openhab.binding.irobot.internal.dto.IdentProtocol.IdentData;
  35 import org.openhab.binding.irobot.internal.dto.MQTTProtocol;
  36 import org.openhab.core.config.core.Configuration;
  37 import org.openhab.core.io.transport.mqtt.MqttBrokerConnection;
  38 import org.openhab.core.io.transport.mqtt.MqttConnectionObserver;
  39 import org.openhab.core.io.transport.mqtt.MqttConnectionState;
  40 import org.openhab.core.io.transport.mqtt.MqttMessageSubscriber;
  41 import org.openhab.core.io.transport.mqtt.reconnect.PeriodicReconnectStrategy;
  42 import org.openhab.core.library.types.DecimalType;
  43 import org.openhab.core.library.types.OnOffType;
  44 import org.openhab.core.library.types.StringType;
  45 import org.openhab.core.thing.ChannelUID;
  46 import org.openhab.core.thing.Thing;
  47 import org.openhab.core.thing.ThingStatus;
  48 import org.openhab.core.thing.ThingStatusDetail;
  49 import org.openhab.core.thing.binding.BaseThingHandler;
  50 import org.openhab.core.types.Command;
  51 import org.openhab.core.types.RefreshType;
  52 import org.openhab.core.types.State;
  53 import org.slf4j.Logger;
  54 import org.slf4j.LoggerFactory;
  55
  56 import com.google.gson.Gson;
  57 import com.google.gson.JsonArray;
  58 import com.google.gson.JsonParseException;
  59 import com.google.gson.JsonPrimitive;
  60 import com.google.gson.stream.JsonReader;
  61
  62 /**
  63  * The {@link RoombaHandler} is responsible for handling commands, which are
  64  * sent to one of the channels.
  65  *
  66  * @author hkuhn42 - Initial contribution
  67  * @author Pavel Fedin - Rewrite for 900 series
  68  */
  69 @NonNullByDefault
  70 public class RoombaHandler extends BaseThingHandler implements MqttConnectionObserver, MqttMessageSubscriber {
  71     private final Logger logger = LoggerFactory.getLogger(RoombaHandler.class);
  72     private final Gson gson = new Gson();
  73     private static final int RECONNECT_DELAY_SEC = 5; // In seconds
  74     private @Nullable Future<?> reconnectReq;
  75     // Dummy RoombaConfiguration object in order to shut up Eclipse warnings
  76     // The real one is set in initialize()
  77     private RoombaConfiguration config = new RoombaConfiguration();
  78     private @Nullable String blid = null;
  79     private @Nullable MqttBrokerConnection connection;
  80     private Hashtable<String, State> lastState = new Hashtable<>();
  81     private MQTTProtocol.@Nullable Schedule lastSchedule = null;
  82     private boolean autoPasses = true;
  83     private @Nullable Boolean twoPasses = null;
  84     private boolean carpetBoost = true;
  85     private @Nullable Boolean vacHigh = null;
  86     private boolean isPaused = false;
  87
  88     public RoombaHandler(Thing thing) {
  89         super(thing);
  90     }
  91
  92     @Override
  93     public void initialize() {
  94         config = getConfigAs(RoombaConfiguration.class);
  95         updateStatus(ThingStatus.UNKNOWN);
  96         scheduler.execute(this::connect);
  97     }
  98
  99     @Override
 100     public void dispose() {
 101         scheduler.execute(this::disconnect);
 102     }
 103
 104     // lastState.get() can return null if the key is not found according
 105     // to the documentation
 106     @SuppressWarnings("null")
 107     private void handleRefresh(String ch) {
 108         State value = lastState.get(ch);
 109
 110         if (value != null) {
 111             updateState(ch, value);
 112         }
 113     }
 114
 115     @Override
 116     public void handleCommand(ChannelUID channelUID, Command command) {
 117         String ch = channelUID.getId();
 118         if (command instanceof RefreshType) {
 119             handleRefresh(ch);
 120             return;
 121         }
 122
 123         if (ch.equals(CHANNEL_COMMAND)) {
 124             if (command instanceof StringType) {
 125                 String cmd = command.toString();
 126
 127                 if (cmd.equals(CMD_CLEAN)) {
 128                     cmd = isPaused ? "resume" : "start";
 129                 }
 130
 131                 sendRequest(new MQTTProtocol.CommandRequest(cmd));
 132             }
 133         } else if (ch.startsWith(CHANNEL_SCHED_SWITCH_PREFIX)) {
 134             MQTTProtocol.Schedule schedule = lastSchedule;
 135
 136             // Schedule can only be updated in a bulk, so we have to store current
 137             // schedule and modify components.
 138             if (command instanceof OnOffType && schedule != null && schedule.cycle != null) {
 139                 for (int i = 0; i < CHANNEL_SCHED_SWITCH.length; i++) {
 140                     if (ch.equals(CHANNEL_SCHED_SWITCH[i])) {
 141                         MQTTProtocol.Schedule newSchedule = new MQTTProtocol.Schedule(schedule.cycle);
 142
 143                         newSchedule.enableCycle(i, command.equals(OnOffType.ON));
 144                         sendSchedule(newSchedule);
 145                         break;
 146                     }
 147                 }
 148             }
 149         } else if (ch.equals(CHANNEL_SCHEDULE)) {
 150             if (command instanceof DecimalType) {
 151                 int bitmask = ((DecimalType) command).intValue();
 152                 JsonArray cycle = new JsonArray();
 153
 154                 for (int i = 0; i < CHANNEL_SCHED_SWITCH.length; i++) {
 155                     enableCycle(cycle, i, (bitmask & (1 << i)) != 0);
 156                 }
 157
 158                 sendSchedule(new MQTTProtocol.Schedule(bitmask));
 159             }
 160         } else if (ch.equals(CHANNEL_EDGE_CLEAN)) {
 161             if (command instanceof OnOffType) {
 162                 sendDelta(new MQTTProtocol.OpenOnly(command.equals(OnOffType.OFF)));
 163             }
 164         } else if (ch.equals(CHANNEL_ALWAYS_FINISH)) {
 165             if (command instanceof OnOffType) {
 166                 sendDelta(new MQTTProtocol.BinPause(command.equals(OnOffType.OFF)));
 167             }
 168         } else if (ch.equals(CHANNEL_POWER_BOOST)) {
 169             sendDelta(new MQTTProtocol.PowerBoost(command.equals(BOOST_AUTO), command.equals(BOOST_PERFORMANCE)));
 170         } else if (ch.equals(CHANNEL_CLEAN_PASSES)) {
 171             sendDelta(new MQTTProtocol.CleanPasses(!command.equals(PASSES_AUTO), command.equals(PASSES_2)));
 172         }
 173     }
 174
 175     private void enableCycle(JsonArray cycle, int i, boolean enable) {
 176         JsonPrimitive value = new JsonPrimitive(enable ? "start" : "none");
 177         cycle.set(i, value);
 178     }
 179
 180     private void sendSchedule(MQTTProtocol.Schedule schedule) {
 181         sendDelta(new MQTTProtocol.CleanSchedule(schedule));
 182     }
 183
 184     private void sendDelta(MQTTProtocol.StateValue state) {
 185         sendRequest(new MQTTProtocol.DeltaRequest(state));
 186     }
 187
 188     private void sendRequest(MQTTProtocol.Request request) {
 189         MqttBrokerConnection conn = connection;
 190
 191         if (conn != null) {
 192             String json = gson.toJson(request);
 193             logger.trace("Sending {}: {}", request.getTopic(), json);
 194             // 1 here actually corresponds to MQTT qos 0 (AT_MOST_ONCE). Only this value is accepted
 195             // by Roomba, others just cause it to reject the command and drop the connection.
 196             conn.publish(request.getTopic(), json.getBytes(), 1, false);
 197         }
 198     }
 199
 200     // In order not to mess up our connection state we need to make sure
 201     // that connect() and disconnect() are never running concurrently, so
 202     // they are synchronized
 203     private synchronized void connect() {
 204         logger.debug("Connecting to {}", config.ipaddress);
 205
 206         try {
 207             InetAddress host = InetAddress.getByName(config.ipaddress);
 208             String blid = this.blid;
 209
 210             if (blid == null) {
 211                 DatagramSocket identSocket = IdentProtocol.sendRequest(host);
 212                 DatagramPacket identPacket = IdentProtocol.receiveResponse(identSocket);
 213                 IdentProtocol.IdentData ident;
 214
 215                 identSocket.close();
 216
 217                 try {
 218                     ident = IdentProtocol.decodeResponse(identPacket);
 219                 } catch (JsonParseException e) {
 220                     updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR,
 221                             "Malformed IDENT response");
 222                     return;
 223                 }
 224
 225                 if (ident.ver < IdentData.MIN_SUPPORTED_VERSION) {
 226                     updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.CONFIGURATION_ERROR,
 227                             "Unsupported version " + ident.ver);
 228                     return;
 229                 }
 230
 231                 if (!ident.product.equals(IdentData.PRODUCT_ROOMBA)) {
 232                     updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.CONFIGURATION_ERROR,
 233                             "Not a Roomba: " + ident.product);
 234                     return;
 235                 }
 236
 237                 blid = ident.blid;
 238                 this.blid = blid;
 239             }
 240
 241             logger.debug("BLID is: {}", blid);
 242
 243             if (config.password.isEmpty()) {
 244                 RawMQTT mqtt;
 245
 246                 try {
 247                     mqtt = new RawMQTT(host, 8883);
 248                 } catch (KeyManagementException | NoSuchAlgorithmException e1) {
 249                     updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR, e1.toString());
 250                     return; // This is internal system error, no retry
 251                 }
 252
 253                 mqtt.requestPassword();
 254                 RawMQTT.Packet response = mqtt.readPacket();
 255                 mqtt.close();
 256
 257                 if (response != null && response.isValidPasswdPacket()) {
 258                     RawMQTT.PasswdPacket passwdPacket = new RawMQTT.PasswdPacket(response);
 259                     String password = passwdPacket.getPassword();
 260
 261                     if (password != null) {
 262                         config.password = password;
 263
 264                         Configuration configuration = editConfiguration();
 265
 266                         configuration.put("password", password);
 267                         updateConfiguration(configuration);
 268
 269                         logger.debug("Password successfully retrieved");
 270                     }
 271                 }
 272             }
 273
 274             if (config.password.isEmpty()) {
 275                 updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.CONFIGURATION_PENDING,
 276                         "Authentication on the robot is required");
 277                 scheduleReconnect();
 278                 return;
 279             }
 280
 281             // BLID is used as both client ID and username. The name of BLID also came from Roomba980-python
 282             MqttBrokerConnection connection = new MqttBrokerConnection(config.ipaddress, RawMQTT.ROOMBA_MQTT_PORT, true,
 283                     blid);
 284
 285             this.connection = connection;
 286
 287             // Disable sending UNSUBSCRIBE request before disconnecting becuase Roomba doesn't like it.
 288             // It just swallows the request and never sends any response, so stop() method never completes.
 289             connection.setUnsubscribeOnStop(false);
 290             connection.setCredentials(blid, config.password);
 291             connection.setTrustManagers(RawMQTT.getTrustManagers());
 292             // 1 here actually corresponds to MQTT qos 0 (AT_MOST_ONCE). Only this value is accepted
 293             // by Roomba, others just cause it to reject the command and drop the connection.
 294             connection.setQos(1);
 295             // MQTT connection reconnects itself, so we don't have to call scheduleReconnect()
 296             // when it breaks. Just set the period in ms.
 297             connection.setReconnectStrategy(
 298                     new PeriodicReconnectStrategy(RECONNECT_DELAY_SEC * 1000, RECONNECT_DELAY_SEC * 1000));
 299             connection.start().exceptionally(e -> {
 300                 connectionStateChanged(MqttConnectionState.DISCONNECTED, e);
 301                 return false;
 302             }).thenAccept(v -> {
 303                 if (!v) {
 304                     connectionStateChanged(MqttConnectionState.DISCONNECTED, new TimeoutException("Timeout"));
 305                 } else {
 306                     connectionStateChanged(MqttConnectionState.CONNECTED, null);
 307                 }
 308             });
 309         } catch (IOException e) {
 310             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR, e.getMessage());
 311             scheduleReconnect();
 312         }
 313     }
 314
 315     private synchronized void disconnect() {
 316         Future<?> reconnectReq = this.reconnectReq;
 317         MqttBrokerConnection connection = this.connection;
 318
 319         if (reconnectReq != null) {
 320             reconnectReq.cancel(false);
 321             this.reconnectReq = null;
 322         }
 323
 324         if (connection != null) {
 325             connection.stop();
 326             logger.trace("Closed connection to {}", config.ipaddress);
 327             this.connection = null;
 328         }
 329     }
 330
 331     private void scheduleReconnect() {
 332         reconnectReq = scheduler.schedule(this::connect, RECONNECT_DELAY_SEC, TimeUnit.SECONDS);
 333     }
 334
 335     public void onConnected() {
 336         updateStatus(ThingStatus.ONLINE);
 337     }
 338
 339     @Override
 340     public void processMessage(String topic, byte[] payload) {
 341         String jsonStr = new String(payload);
 342         MQTTProtocol.StateMessage msg;
 343
 344         logger.trace("Got topic {} data {}", topic, jsonStr);
 345
 346         try {
 347             // We are not consuming all the fields, so we have to create the reader explicitly
 348             // If we use fromJson(String) or fromJson(java.util.reader), it will throw
 349             // "JSON not fully consumed" exception, because not all the reader's content has been
 350             // used up. We want to avoid that also for compatibility reasons because newer iRobot
 351             // versions may add fields.
 352             JsonReader jsonReader = new JsonReader(new StringReader(jsonStr));
 353             msg = gson.fromJson(jsonReader, MQTTProtocol.StateMessage.class);
 354         } catch (JsonParseException e) {
 355             logger.warn("Failed to parse JSON message from {}: {}", config.ipaddress, e.toString());
 356             logger.warn("Raw contents: {}", payload);
 357             return;
 358         }
 359
 360         // Since all the fields are in fact optional, and a single message never
 361         // contains all of them, we have to check presence of each individually
 362         if (msg.state == null || msg.state.reported == null) {
 363             return;
 364         }
 365
 366         MQTTProtocol.GenericState reported = msg.state.reported;
 367
 368         if (reported.cleanMissionStatus != null) {
 369             String cycle = reported.cleanMissionStatus.cycle;
 370             String phase = reported.cleanMissionStatus.phase;
 371             String command;
 372
 373             if (cycle.equals("none")) {
 374                 command = CMD_STOP;
 375             } else {
 376                 switch (phase) {
 377                     case "stop":
 378                     case "stuck": // CHECKME: could also be equivalent to "stop" command
 379                     case "pause": // Never observed in Roomba 930
 380                         command = CMD_PAUSE;
 381                         break;
 382                     case "hmUsrDock":
 383                     case "dock": // Never observed in Roomba 930
 384                         command = CMD_DOCK;
 385                         break;
 386                     default:
 387                         command = cycle; // "clean" or "spot"
 388                         break;
 389                 }
 390             }
 391
 392             isPaused = command.equals(CMD_PAUSE);
 393
 394             reportString(CHANNEL_CYCLE, cycle);
 395             reportString(CHANNEL_PHASE, phase);
 396             reportString(CHANNEL_COMMAND, command);
 397             reportString(CHANNEL_ERROR, String.valueOf(reported.cleanMissionStatus.error));
 398         }
 399
 400         if (reported.batPct != null) {
 401             reportInt(CHANNEL_BATTERY, reported.batPct);
 402         }
 403
 404         if (reported.bin != null) {
 405             String binStatus;
 406
 407             // The bin cannot be both full and removed simultaneously, so let's
 408             // encode it as a single value
 409             if (!reported.bin.present) {
 410                 binStatus = BIN_REMOVED;
 411             } else if (reported.bin.full) {
 412                 binStatus = BIN_FULL;
 413             } else {
 414                 binStatus = BIN_OK;
 415             }
 416
 417             reportString(CHANNEL_BIN, binStatus);
 418         }
 419
 420         if (reported.signal != null) {
 421             reportInt(CHANNEL_RSSI, reported.signal.rssi);
 422             reportInt(CHANNEL_SNR, reported.signal.snr);
 423         }
 424
 425         if (reported.cleanSchedule != null) {
 426             MQTTProtocol.Schedule schedule = reported.cleanSchedule;
 427
 428             if (schedule.cycle != null) {
 429                 int binary = 0;
 430
 431                 for (int i = 0; i < CHANNEL_SCHED_SWITCH.length; i++) {
 432                     boolean on = schedule.cycleEnabled(i);
 433
 434                     reportSwitch(CHANNEL_SCHED_SWITCH[i], on);
 435                     if (on) {
 436                         binary |= (1 << i);
 437                     }
 438                 }
 439
 440                 reportInt(CHANNEL_SCHEDULE, binary);
 441             }
 442
 443             lastSchedule = schedule;
 444         }
 445
 446         if (reported.openOnly != null) {
 447             reportSwitch(CHANNEL_EDGE_CLEAN, !reported.openOnly);
 448         }
 449
 450         if (reported.binPause != null) {
 451             reportSwitch(CHANNEL_ALWAYS_FINISH, !reported.binPause);
 452         }
 453
 454         // To make the life more interesting, paired values may not appear together in the
 455         // same message, so we have to keep track of current values.
 456         if (reported.carpetBoost != null) {
 457             carpetBoost = reported.carpetBoost;
 458             if (reported.carpetBoost) {
 459                 // When set to true, overrides vacHigh
 460                 reportString(CHANNEL_POWER_BOOST, BOOST_AUTO);
 461             } else if (vacHigh != null) {
 462                 reportVacHigh();
 463             }
 464         }
 465
 466         if (reported.vacHigh != null) {
 467             vacHigh = reported.vacHigh;
 468             if (!carpetBoost) {
 469                 // Can be overridden by "carpetBoost":true
 470                 reportVacHigh();
 471             }
 472         }
 473
 474         if (reported.noAutoPasses != null) {
 475             autoPasses = !reported.noAutoPasses;
 476             if (!reported.noAutoPasses) {
 477                 // When set to false, overrides twoPass
 478                 reportString(CHANNEL_CLEAN_PASSES, PASSES_AUTO);
 479             } else if (twoPasses != null) {
 480                 reportTwoPasses();
 481             }
 482         }
 483
 484         if (reported.twoPass != null) {
 485             twoPasses = reported.twoPass;
 486             if (!autoPasses) {
 487                 // Can be overridden by "noAutoPasses":false
 488                 reportTwoPasses();
 489             }
 490         }
 491
 492         reportProperty(Thing.PROPERTY_FIRMWARE_VERSION, reported.softwareVer);
 493         reportProperty("navSwVer", reported.navSwVer);
 494         reportProperty("wifiSwVer", reported.wifiSwVer);
 495         reportProperty("mobilityVer", reported.mobilityVer);
 496         reportProperty("bootloaderVer", reported.bootloaderVer);
 497         reportProperty("umiVer", reported.umiVer);
 498     }
 499
 500     private void reportVacHigh() {
 501         reportString(CHANNEL_POWER_BOOST, vacHigh ? BOOST_PERFORMANCE : BOOST_ECO);
 502     }
 503
 504     private void reportTwoPasses() {
 505         reportString(CHANNEL_CLEAN_PASSES, twoPasses ? PASSES_2 : PASSES_1);
 506     }
 507
 508     private void reportString(String channel, String str) {
 509         reportState(channel, StringType.valueOf(str));
 510     }
 511
 512     private void reportInt(String channel, int n) {
 513         reportState(channel, new DecimalType(n));
 514     }
 515
 516     private void reportSwitch(String channel, boolean s) {
 517         reportState(channel, OnOffType.from(s));
 518     }
 519
 520     private void reportState(String channel, State value) {
 521         lastState.put(channel, value);
 522         updateState(channel, value);
 523     }
 524
 525     private void reportProperty(String property, @Nullable String value) {
 526         if (value != null) {
 527             updateProperty(property, value);
 528         }
 529     }
 530
 531     @Override
 532     public void connectionStateChanged(MqttConnectionState state, @Nullable Throwable error) {
 533         if (state == MqttConnectionState.CONNECTED) {
 534             MqttBrokerConnection connection = this.connection;
 535
 536             if (connection == null) {
 537                 // This would be very strange, but Eclipse forces us to do the check
 538                 logger.warn("Established connection without broker pointer");
 539                 return;
 540             }
 541
 542             updateStatus(ThingStatus.ONLINE);
 543
 544             // Roomba sends us two topics:
 545             // "wifistat" - reports singnal strength and current robot position
 546             // "$aws/things/<BLID>/shadow/update" - the rest of messages
 547             // Subscribe to everything since we're interested in both
 548             connection.subscribe("#", this).exceptionally(e -> {
 549                 logger.warn("MQTT subscription failed: {}", e.getMessage());
 550                 return false;
 551             }).thenAccept(v -> {
 552                 if (!v) {
 553                     logger.warn("Subscription timeout");
 554                 } else {
 555                     logger.trace("Subscription done");
 556                 }
 557             });
 558
 559         } else {
 560             String message;
 561
 562             if (error != null) {
 563                 message = error.getMessage();
 564                 logger.warn("MQTT connection failed: {}", message);
 565             } else {
 566                 message = null;
 567                 logger.warn("MQTT connection failed for unspecified reason");
 568             }
 569
 570             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR, message);
 571         }
 572     }
 573 }