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.AuthorizationListener;
  32 import org.openhab.binding.boschindego.internal.AuthorizationProvider;
  33 import org.openhab.binding.boschindego.internal.BoschIndegoTranslationProvider;
  34 import org.openhab.binding.boschindego.internal.DeviceStatus;
  35 import org.openhab.binding.boschindego.internal.IndegoDeviceController;
  36 import org.openhab.binding.boschindego.internal.IndegoTypeDatabase;
  37 import org.openhab.binding.boschindego.internal.config.BoschIndegoConfiguration;
  38 import org.openhab.binding.boschindego.internal.dto.DeviceCommand;
  39 import org.openhab.binding.boschindego.internal.dto.response.DevicePropertiesResponse;
  40 import org.openhab.binding.boschindego.internal.dto.response.DeviceStateResponse;
  41 import org.openhab.binding.boschindego.internal.dto.response.OperatingDataResponse;
  42 import org.openhab.binding.boschindego.internal.exceptions.IndegoAuthenticationException;
  43 import org.openhab.binding.boschindego.internal.exceptions.IndegoException;
  44 import org.openhab.binding.boschindego.internal.exceptions.IndegoInvalidCommandException;
  45 import org.openhab.binding.boschindego.internal.exceptions.IndegoTimeoutException;
  46 import org.openhab.core.i18n.TimeZoneProvider;
  47 import org.openhab.core.library.types.DateTimeType;
  48 import org.openhab.core.library.types.DecimalType;
  49 import org.openhab.core.library.types.OnOffType;
  50 import org.openhab.core.library.types.PercentType;
  51 import org.openhab.core.library.types.QuantityType;
  52 import org.openhab.core.library.types.RawType;
  53 import org.openhab.core.library.types.StringType;
  54 import org.openhab.core.library.unit.SIUnits;
  55 import org.openhab.core.library.unit.Units;
  56 import org.openhab.core.thing.Bridge;
  57 import org.openhab.core.thing.ChannelUID;
  58 import org.openhab.core.thing.Thing;
  59 import org.openhab.core.thing.ThingStatus;
  60 import org.openhab.core.thing.ThingStatusDetail;
  61 import org.openhab.core.thing.ThingStatusInfo;
  62 import org.openhab.core.thing.binding.BaseThingHandler;
  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 implements AuthorizationListener {
  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({}) AuthorizationProvider authorizationProvider;
  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         if (bridge.getHandler() instanceof BoschAccountHandler accountHandler) {
 134             authorizationProvider = accountHandler.getAuthorizationProvider();
 135             accountHandler.registerAuthorizationListener(this);
 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, authorizationProvider, 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             updateStatus(ThingStatus.UNKNOWN);
 159         } else if (bridgeStatusInfo.getStatus() == ThingStatus.OFFLINE) {
 160             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.BRIDGE_OFFLINE);
 161         }
 162     }
 163
 164     public void onSuccessfulAuthorization() {
 165         // Ignore
 166     }
 167
 168     public void onFailedAuthorization(Throwable throwable) {
 169         // Ignore
 170     }
 171
 172     public void onAuthorizationFlowCompleted() {
 173         // Trigger immediate state refresh upon authorization success.
 174         rescheduleStatePoll(0, stateInactiveRefreshIntervalSeconds, true);
 175     }
 176
 177     private boolean rescheduleStatePoll(int delaySeconds, int refreshIntervalSeconds, boolean force) {
 178         ScheduledFuture<?> statePollFuture = this.statePollFuture;
 179         if (statePollFuture != null) {
 180             if (!force && refreshIntervalSeconds == currentRefreshIntervalSeconds) {
 181                 // No change.
 182                 return false;
 183             }
 184             statePollFuture.cancel(force);
 185         }
 186         logger.debug("Scheduling state refresh job with {}s interval and {}s delay", refreshIntervalSeconds,
 187                 delaySeconds);
 188         this.statePollFuture = scheduler.scheduleWithFixedDelay(this::refreshStateWithExceptionHandling, delaySeconds,
 189                 refreshIntervalSeconds, TimeUnit.SECONDS);
 190         currentRefreshIntervalSeconds = refreshIntervalSeconds;
 191
 192         return true;
 193     }
 194
 195     @Override
 196     public void dispose() {
 197         Bridge bridge = getBridge();
 198         if (bridge != null) {
 199             if (bridge.getHandler() instanceof BoschAccountHandler accountHandler) {
 200                 accountHandler.unregisterAuthorizationListener(this);
 201             }
 202         }
 203
 204         ScheduledFuture<?> pollFuture = this.statePollFuture;
 205         if (pollFuture != null) {
 206             pollFuture.cancel(true);
 207         }
 208         this.statePollFuture = null;
 209         pollFuture = this.cuttingTimePollFuture;
 210         if (pollFuture != null) {
 211             pollFuture.cancel(true);
 212         }
 213         this.cuttingTimePollFuture = null;
 214         pollFuture = this.cuttingTimeFuture;
 215         if (pollFuture != null) {
 216             pollFuture.cancel(true);
 217         }
 218         this.cuttingTimeFuture = null;
 219     }
 220
 221     @Override
 222     public void handleCommand(ChannelUID channelUID, Command command) {
 223         logger.debug("handleCommand {} for channel {}", command, channelUID);
 224         try {
 225             if (command == RefreshType.REFRESH) {
 226                 handleRefreshCommand(channelUID.getId());
 227                 return;
 228             }
 229             if (command instanceof DecimalType && channelUID.getId().equals(STATE)) {
 230                 sendCommand(((DecimalType) command).intValue());
 231             }
 232         } catch (IndegoAuthenticationException e) {
 233             // Ignore, will be handled by bridge
 234         } catch (IndegoTimeoutException e) {
 235             updateStatus(lastOperatingDataStatus = ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR,
 236                     "@text/offline.comm-error.unreachable");
 237         } catch (IndegoInvalidCommandException e) {
 238             logger.warn("Invalid command: {}", e.getMessage());
 239             if (e.hasErrorCode()) {
 240                 updateState(ERRORCODE, new DecimalType(e.getErrorCode()));
 241             }
 242         } catch (IndegoException e) {
 243             logger.warn("Command failed: {}", e.getMessage());
 244         }
 245     }
 246
 247     private void handleRefreshCommand(String channelId)
 248             throws IndegoAuthenticationException, IndegoTimeoutException, IndegoException {
 249         switch (channelId) {
 250             case GARDEN_MAP:
 251                 // Force map refresh and fall through to state update.
 252                 cachedMapTimestamp = Instant.MIN;
 253             case STATE:
 254             case TEXTUAL_STATE:
 255             case MOWED:
 256             case ERRORCODE:
 257             case STATECODE:
 258             case READY:
 259                 refreshState();
 260                 break;
 261             case LAST_CUTTING:
 262                 refreshLastCuttingTime();
 263                 break;
 264             case NEXT_CUTTING:
 265                 refreshNextCuttingTime();
 266                 break;
 267             case BATTERY_LEVEL:
 268             case LOW_BATTERY:
 269             case BATTERY_VOLTAGE:
 270             case BATTERY_TEMPERATURE:
 271             case GARDEN_SIZE:
 272                 refreshOperatingData();
 273                 break;
 274         }
 275     }
 276
 277     private void sendCommand(int commandInt) throws IndegoException {
 278         DeviceCommand command;
 279         switch (commandInt) {
 280             case 1:
 281                 command = DeviceCommand.MOW;
 282                 break;
 283             case 2:
 284                 command = DeviceCommand.RETURN;
 285                 break;
 286             case 3:
 287                 command = DeviceCommand.PAUSE;
 288                 break;
 289             default:
 290                 logger.warn("Invalid command {}", commandInt);
 291                 return;
 292         }
 293
 294         DeviceStateResponse state = controller.getState();
 295         DeviceStatus deviceStatus = DeviceStatus.fromCode(state.state);
 296         if (!verifyCommand(command, deviceStatus, state.error)) {
 297             return;
 298         }
 299         logger.debug("Sending command {}", command);
 300         controller.sendCommand(command);
 301
 302         // State is not updated immediately, so await new state for some seconds.
 303         // For command MOW, state will shortly be updated to 262 (docked, loading map).
 304         // This is considered "active", so after this state change, polling frequency will
 305         // be increased for faster updates.
 306         DeviceStateResponse stateResponse = controller.getState(COMMAND_STATE_REFRESH_TIMEOUT);
 307         if (stateResponse.state != 0) {
 308             updateState(stateResponse);
 309             deviceStatus = DeviceStatus.fromCode(stateResponse.state);
 310             rescheduleStatePollAccordingToState(deviceStatus);
 311         }
 312     }
 313
 314     private void refreshStateWithExceptionHandling() {
 315         try {
 316             refreshState();
 317         } catch (IndegoAuthenticationException e) {
 318             // Ignore, will be handled by bridge
 319         } catch (IndegoTimeoutException e) {
 320             updateStatus(lastOperatingDataStatus = ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR,
 321                     "@text/offline.comm-error.unreachable");
 322         } catch (IndegoException e) {
 323             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR, e.getMessage());
 324         }
 325     }
 326
 327     private void refreshState() throws IndegoAuthenticationException, IndegoException {
 328         DeviceStateResponse state = controller.getState();
 329         DeviceStatus deviceStatus = DeviceStatus.fromCode(state.state);
 330         updateState(state);
 331
 332         if (devicePropertiesUpdated.isBefore(Instant.now().minus(DEVICE_PROPERTIES_VALIDITY_PERIOD))) {
 333             refreshDeviceProperties();
 334         }
 335
 336         // Update map and start tracking positions if mower is active.
 337         if (state.mapUpdateAvailable) {
 338             cachedMapTimestamp = Instant.MIN;
 339         }
 340         refreshMap(state.svgXPos, state.svgYPos);
 341         if (deviceStatus.isActive()) {
 342             trackPosition();
 343         }
 344
 345         int previousState;
 346         DeviceStatus previousDeviceStatus;
 347         if (previousStateCode.isPresent()) {
 348             previousState = previousStateCode.get();
 349             previousDeviceStatus = DeviceStatus.fromCode(previousState);
 350             if (state.state != previousState
 351                     && ((!previousDeviceStatus.isDocked() && deviceStatus.isDocked()) || deviceStatus.isCompleted())) {
 352                 // When returning to dock or on its way after completing lawn, refresh last cutting time immediately.
 353                 // We cannot fully rely on completed lawn state since active polling refresh interval is configurable
 354                 // and we might miss the state if mower returns before next poll.
 355                 refreshLastCuttingTime();
 356             }
 357         } else {
 358             previousState = state.state;
 359             previousDeviceStatus = DeviceStatus.fromCode(previousState);
 360         }
 361         previousStateCode = Optional.of(state.state);
 362
 363         refreshOperatingDataConditionally(
 364                 previousDeviceStatus.isCharging() || deviceStatus.isCharging() || deviceStatus.isActive());
 365
 366         if (lastOperatingDataStatus == ThingStatus.ONLINE && thing.getStatus() != ThingStatus.ONLINE) {
 367             // Revert temporary offline status caused by disruptions other than unreachable device.
 368             updateStatus(ThingStatus.ONLINE);
 369         } else if (lastOperatingDataStatus == ThingStatus.OFFLINE) {
 370             // Update description to reflect why thing is still offline.
 371             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR,
 372                     "@text/offline.comm-error.unreachable");
 373         }
 374
 375         rescheduleStatePollAccordingToState(deviceStatus);
 376     }
 377
 378     private void refreshDeviceProperties() throws IndegoAuthenticationException, IndegoException {
 379         DevicePropertiesResponse deviceProperties = controller.getDeviceProperties();
 380         Map<String, String> properties = editProperties();
 381         if (deviceProperties.firmwareVersion != null) {
 382             properties.put(Thing.PROPERTY_FIRMWARE_VERSION, deviceProperties.firmwareVersion);
 383         }
 384         if (deviceProperties.bareToolNumber != null) {
 385             properties.put(Thing.PROPERTY_MODEL_ID,
 386                     IndegoTypeDatabase.nameFromTypeNumber(deviceProperties.bareToolNumber));
 387             properties.put(PROPERTY_BARE_TOOL_NUMBER, deviceProperties.bareToolNumber);
 388         }
 389         properties.put(PROPERTY_SERVICE_COUNTER, String.valueOf(deviceProperties.serviceCounter));
 390         properties.put(PROPERTY_NEEDS_SERVICE, String.valueOf(deviceProperties.needsService));
 391         properties.put(PROPERTY_RENEW_DATE,
 392                 LocalDateTime.ofInstant(deviceProperties.renewDate, timeZoneProvider.getTimeZone()).toString());
 393
 394         updateProperties(properties);
 395         devicePropertiesUpdated = Instant.now();
 396     }
 397
 398     private void rescheduleStatePollAccordingToState(DeviceStatus deviceStatus) {
 399         int refreshIntervalSeconds;
 400         if (deviceStatus.isActive()) {
 401             refreshIntervalSeconds = stateActiveRefreshIntervalSeconds;
 402         } else if (deviceStatus.isCharging()) {
 403             refreshIntervalSeconds = (int) OPERATING_DATA_ACTIVE_REFRESH_INTERVAL.getSeconds();
 404         } else {
 405             refreshIntervalSeconds = stateInactiveRefreshIntervalSeconds;
 406         }
 407         if (rescheduleStatePoll(refreshIntervalSeconds, refreshIntervalSeconds, false)) {
 408             // After job has been rescheduled, request operating data one last time on next poll.
 409             // This is needed to update battery values after a charging cycle has completed.
 410             operatingDataTimestamp = Instant.MIN;
 411         }
 412     }
 413
 414     private void refreshOperatingDataConditionally(boolean isActive)
 415             throws IndegoAuthenticationException, IndegoTimeoutException, IndegoException {
 416         // Refresh operating data only occationally or when robot is active/charging.
 417         // This will contact the robot directly through cellular network and wake it up
 418         // when sleeping. Additionally, refresh more often after being offline to try to get
 419         // back online as soon as possible without putting too much stress on the service.
 420         if ((isActive && operatingDataTimestamp.isBefore(Instant.now().minus(OPERATING_DATA_ACTIVE_REFRESH_INTERVAL)))
 421                 || (lastOperatingDataStatus != ThingStatus.ONLINE && operatingDataTimestamp
 422                         .isBefore(Instant.now().minus(OPERATING_DATA_OFFLINE_REFRESH_INTERVAL)))
 423                 || operatingDataTimestamp.isBefore(Instant.now().minus(OPERATING_DATA_INACTIVE_REFRESH_INTERVAL))) {
 424             refreshOperatingData();
 425         }
 426     }
 427
 428     private void refreshOperatingData() throws IndegoAuthenticationException, IndegoTimeoutException, IndegoException {
 429         updateOperatingData(controller.getOperatingData());
 430         operatingDataTimestamp = Instant.now();
 431         updateStatus(lastOperatingDataStatus = ThingStatus.ONLINE);
 432     }
 433
 434     private void refreshCuttingTimesWithExceptionHandling() {
 435         try {
 436             refreshLastCuttingTime();
 437             refreshNextCuttingTime();
 438         } catch (IndegoAuthenticationException e) {
 439             // Ignore, will be handled by bridge
 440         } catch (IndegoException e) {
 441             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR, e.getMessage());
 442         }
 443     }
 444
 445     private void refreshLastCuttingTime() throws IndegoAuthenticationException, IndegoException {
 446         if (isLinked(LAST_CUTTING)) {
 447             Instant lastCutting = controller.getPredictiveLastCutting();
 448             if (lastCutting != null) {
 449                 updateState(LAST_CUTTING,
 450                         new DateTimeType(ZonedDateTime.ofInstant(lastCutting, timeZoneProvider.getTimeZone())));
 451             } else {
 452                 updateState(LAST_CUTTING, UnDefType.UNDEF);
 453             }
 454         }
 455     }
 456
 457     private void refreshNextCuttingTimeWithExceptionHandling() {
 458         try {
 459             refreshNextCuttingTime();
 460         } catch (IndegoAuthenticationException e) {
 461             // Ignore, will be handled by bridge
 462         } catch (IndegoException e) {
 463             updateStatus(ThingStatus.OFFLINE, ThingStatusDetail.COMMUNICATION_ERROR, e.getMessage());
 464         }
 465     }
 466
 467     private void refreshNextCuttingTime() throws IndegoAuthenticationException, IndegoException {
 468         cancelCuttingTimeRefresh();
 469         if (isLinked(NEXT_CUTTING)) {
 470             Instant nextCutting = controller.getPredictiveNextCutting();
 471             if (nextCutting != null) {
 472                 updateState(NEXT_CUTTING,
 473                         new DateTimeType(ZonedDateTime.ofInstant(nextCutting, timeZoneProvider.getTimeZone())));
 474                 scheduleCuttingTimesRefresh(nextCutting);
 475             } else {
 476                 updateState(NEXT_CUTTING, UnDefType.UNDEF);
 477             }
 478         }
 479     }
 480
 481     private void cancelCuttingTimeRefresh() {
 482         ScheduledFuture<?> cuttingTimeFuture = this.cuttingTimeFuture;
 483         if (cuttingTimeFuture != null) {
 484             // Do not interrupt as we might be running within that job.
 485             cuttingTimeFuture.cancel(false);
 486             this.cuttingTimeFuture = null;
 487         }
 488     }
 489
 490     private void scheduleCuttingTimesRefresh(Instant nextCutting) {
 491         // Schedule additional update right after next planned cutting. This ensures a faster update.
 492         long secondsUntilNextCutting = Instant.now().until(nextCutting, ChronoUnit.SECONDS) + 2;
 493         if (secondsUntilNextCutting > 0) {
 494             logger.debug("Scheduling fetching of next cutting time in {} seconds", secondsUntilNextCutting);
 495             this.cuttingTimeFuture = scheduler.schedule(this::refreshNextCuttingTimeWithExceptionHandling,
 496                     secondsUntilNextCutting, TimeUnit.SECONDS);
 497         }
 498     }
 499
 500     private void refreshMap(int xPos, int yPos) throws IndegoAuthenticationException, IndegoException {
 501         if (!isLinked(GARDEN_MAP)) {
 502             return;
 503         }
 504         RawType cachedMap = this.cachedMap;
 505         boolean mapRefreshed;
 506         if (cachedMap == null || cachedMapTimestamp.isBefore(Instant.now().minus(MAP_REFRESH_INTERVAL))) {
 507             this.cachedMap = cachedMap = controller.getMap();
 508             cachedMapTimestamp = Instant.now();
 509             mapRefreshed = true;
 510         } else {
 511             mapRefreshed = false;
 512         }
 513         String svgMap = new String(cachedMap.getBytes(), StandardCharsets.UTF_8);
 514         if (!svgMap.endsWith("</svg>")) {
 515             if (mapRefreshed) {
 516                 logger.warn("Unexpected map format, unable to plot location");
 517                 logger.trace("Received map: {}", svgMap);
 518                 updateState(GARDEN_MAP, cachedMap);
 519             }
 520             return;
 521         }
 522         svgMap = svgMap.substring(0, svgMap.length() - 6) + "<circle cx=\"" + xPos + "\" cy=\"" + yPos + "\" r=\""
 523                 + MAP_POSITION_RADIUS + "\" stroke=\"" + MAP_POSITION_STROKE_COLOR + "\" fill=\""
 524                 + MAP_POSITION_FILL_COLOR + "\" />\n</svg>";
 525         updateState(GARDEN_MAP, new RawType(svgMap.getBytes(), cachedMap.getMimeType()));
 526     }
 527
 528     private void trackPosition() throws IndegoAuthenticationException, IndegoException {
 529         if (!isLinked(GARDEN_MAP)) {
 530             return;
 531         }
 532         if (mapRefreshStartedTimestamp.isBefore(Instant.now().minus(MAP_REFRESH_SESSION_DURATION))) {
 533             int count = (int) MAP_REFRESH_SESSION_DURATION.getSeconds() / stateActiveRefreshIntervalSeconds + 1;
 534             logger.debug("Requesting position updates (count: {}; interval: {}s), previously triggered {}", count,
 535                     stateActiveRefreshIntervalSeconds, mapRefreshStartedTimestamp);
 536             controller.requestPosition(count, stateActiveRefreshIntervalSeconds);
 537             mapRefreshStartedTimestamp = Instant.now();
 538         }
 539     }
 540
 541     private void updateState(DeviceStateResponse state) {
 542         DeviceStatus deviceStatus = DeviceStatus.fromCode(state.state);
 543         DeviceCommand associatedCommand = deviceStatus.getAssociatedCommand();
 544         int status = associatedCommand != null ? getStatusFromCommand(associatedCommand) : 0;
 545         int mowed = state.mowed;
 546         int error = state.error;
 547         int statecode = state.state;
 548         boolean ready = isReadyToMow(deviceStatus, state.error);
 549
 550         updateState(STATECODE, new DecimalType(statecode));
 551         updateState(READY, new DecimalType(ready ? 1 : 0));
 552         updateState(ERRORCODE, new DecimalType(error));
 553         updateState(MOWED, new PercentType(mowed));
 554         updateState(STATE, new DecimalType(status));
 555         updateState(TEXTUAL_STATE, new StringType(deviceStatus.getMessage(translationProvider)));
 556     }
 557
 558     private void updateOperatingData(OperatingDataResponse operatingData) {
 559         updateState(BATTERY_VOLTAGE, new QuantityType<>(operatingData.battery.voltage, Units.VOLT));
 560         updateState(BATTERY_LEVEL, new DecimalType(operatingData.battery.percent));
 561         updateState(LOW_BATTERY, OnOffType.from(operatingData.battery.percent < 20));
 562         updateState(BATTERY_TEMPERATURE, new QuantityType<>(operatingData.battery.batteryTemperature, SIUnits.CELSIUS));
 563         updateState(GARDEN_SIZE, new QuantityType<>(operatingData.garden.size, SIUnits.SQUARE_METRE));
 564     }
 565
 566     private boolean isReadyToMow(DeviceStatus deviceStatus, int error) {
 567         return deviceStatus.isReadyToMow() && error == 0;
 568     }
 569
 570     private boolean verifyCommand(DeviceCommand command, DeviceStatus deviceStatus, int errorCode) {
 571         // Mower reported an error
 572         if (errorCode != 0) {
 573             logger.warn("The mower reported an error.");
 574             return false;
 575         }
 576
 577         // Command is equal to current state
 578         if (command == deviceStatus.getAssociatedCommand()) {
 579             logger.debug("Command is equal to state");
 580             return false;
 581         }
 582         // Can't pause while the mower is docked
 583         if (command == DeviceCommand.PAUSE && deviceStatus.getAssociatedCommand() == DeviceCommand.RETURN) {
 584             logger.info("Can't pause the mower while it's docked or docking");
 585             return false;
 586         }
 587         // Command means "MOW" but mower is not ready
 588         if (command == DeviceCommand.MOW && !isReadyToMow(deviceStatus, errorCode)) {
 589             logger.info("The mower is not ready to mow at the moment");
 590             return false;
 591         }
 592         return true;
 593     }
 594
 595     private int getStatusFromCommand(DeviceCommand command) {
 596         switch (command) {
 597             case MOW:
 598                 return 1;
 599             case RETURN:
 600                 return 2;
 601             case PAUSE:
 602                 return 3;
 603             default:
 604                 return 0;
 605         }
 606     }
 607 }