feat: add sensors, throttle updates to 5s

LICENSE

@@ -0,0 +1,19 @@
+MIT License
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

custom_components/openmower/__init__.py

@@ -13,6 +13,7 @@
 PLATFORMS: list[Platform] = [
     Platform.LAWN_MOWER,
     Platform.SENSOR,
+    Platform.BINARY_SENSOR,
     Platform.DEVICE_TRACKER,
 ]
 _LOGGER = logging.getLogger(__name__)

custom_components/openmower/binary_sensor.py

@@ -0,0 +1,44 @@
+from __future__ import annotations
+
+import logging
+
+from homeassistant.components import mqtt
+from homeassistant.components.binary_sensor import (
+    BinarySensorEntity,
+    BinarySensorDeviceClass,
+)
+from homeassistant.config_entries import ConfigEntry
+from homeassistant.const import CONF_PREFIX, EntityCategory
+from homeassistant.core import HomeAssistant
+from homeassistant.helpers.entity_platform import AddEntitiesCallback
+from .entity import OpenMowerMqttEntity
+
+_LOGGER = logging.getLogger(__name__)
+
+
+async def async_setup_entry(
+    hass: HomeAssistant,
+    entry: ConfigEntry,
+    async_add_entities: AddEntitiesCallback,
+) -> None:
+    # Make sure MQTT integration is enabled and the client is available
+    if not await mqtt.async_wait_for_mqtt_client(hass):
+        _LOGGER.error("MQTT integration is not available")
+        return
+
+    prefix = entry.data[CONF_PREFIX]
+    async_add_entities(
+        [
+            OpenMowerMqttBinarySensorEntity(
+                "Emergency", prefix, "robot_state/json", "emergency"
+            ),
+            OpenMowerMqttBinarySensorEntity(
+                "Is charging", prefix, "robot_state/json", "is_charging"
+            ),
+        ]
+    )
+
+
+class OpenMowerMqttBinarySensorEntity(OpenMowerMqttEntity, BinarySensorEntity):
+    def _process_update(self, value):
+        self._attr_is_on = bool(value)

custom_components/openmower/device_tracker.py

@@ -7,12 +7,9 @@
 from homeassistant.components.device_tracker import TrackerEntity, SourceType
 from homeassistant.config_entries import ConfigEntry
 from homeassistant.const import CONF_PREFIX, CONF_LATITUDE, CONF_LONGITUDE
-from homeassistant.core import HomeAssistant, callback
-from homeassistant.helpers.device_registry import DeviceInfo
+from homeassistant.core import HomeAssistant
 from homeassistant.helpers.entity_platform import AddEntitiesCallback
-from homeassistant.util.json import json_loads_object
-
-from .const import DOMAIN
+from .entity import OpenMowerMqttEntity
 
 _LOGGER = logging.getLogger(__name__)
 
@@ -42,21 +39,13 @@ async def async_setup_entry(
     )
 
 
-class OpenMowerPosition(TrackerEntity):
-    _attr_name = "OpenMower"
-    _attr_unique_id = "openmower_position"
-    _attr_device_info = DeviceInfo(
-        identifiers={(DOMAIN, "openmower")}, manufacturer="OpenMower"
-    )
-
+class OpenMowerPosition(OpenMowerMqttEntity, TrackerEntity):
     # Constants
     _EARTH = 6371008.8
     _M = 1 / ((2 * math.pi / 360) * 6371008.8)
 
     def __init__(self, prefix: str, datum_lat: float, datum_lon: float) -> None:
-        self._mqtt_topic_prefix = prefix
-        if self._mqtt_topic_prefix and self._mqtt_topic_prefix[-1] != "/":
-            self._mqtt_topic_prefix = self._mqtt_topic_prefix + "/"
+        super().__init__("Position", prefix, "robot_state/json", "pose")
 
         self._datum_lat = datum_lat
         self._datum_lon = datum_lon
@@ -65,28 +54,15 @@ def __init__(self, prefix: str, datum_lat: float, datum_lon: float) -> None:
         self._attr_longitude = datum_lon
         self._attr_latitude = datum_lat
 
-    async def async_added_to_hass(self) -> None:
-        await super().async_added_to_hass()
-        await mqtt.async_subscribe(
-            self.hass,
-            self._mqtt_topic_prefix + "robot_state/json",
-            self.async_robot_state_received,
-            0,
-        )
-
-    @callback
-    def async_robot_state_received(self, msg: mqtt.ReceiveMessage) -> None:
-        value_json = json_loads_object(msg.payload)
-
+    def _process_update(self, value):
         # https://stackoverflow.com/a/50506609
         # https://github.com/Turfjs/turf/issues/635#issuecomment-292011500
-        # Calculate new longitude and latitude
-        self._attr_latitude = self._datum_lat + (value_json["pose"]["y"] * self._M)
-        self._attr_longitude = self._datum_lon + (
-            value_json["pose"]["x"] * self._M
-        ) / math.cos(self._datum_lat * (math.pi / 180))
 
-        self.async_write_ha_state()
+        # Calculate new latitude and longitude
+        self._attr_latitude = self._datum_lat + (value["y"] * self._M)
+        self._attr_longitude = self._datum_lon + (value["x"] * self._M) / math.cos(
+            self._datum_lat * (math.pi / 180)
+        )
 
     @property
     def latitude(self) -> float | None:

custom_components/openmower/entity.py

@@ -0,0 +1,59 @@
+from __future__ import annotations
+
+from datetime import timedelta
+from typing import Optional
+
+from homeassistant.components import mqtt
+from homeassistant.components.openmower import DOMAIN
+from homeassistant.core import callback
+from homeassistant.helpers.device_registry import DeviceInfo
+from homeassistant.helpers.entity import Entity
+from homeassistant.util import slugify, Throttle
+from homeassistant.util.json import json_loads_object
+
+MIN_TIME_BETWEEN_UPDATES = timedelta(seconds=5)
+
+
+class OpenMowerMqttEntity(Entity):
+    _attr_has_entity_name = True
+
+    def __init__(self, name: str, prefix: str, topic: str, key: Optional[str]) -> None:
+        self._attr_name = name
+        self._attr_unique_id = slugify(f"{prefix}_{name}").lower()
+
+        self._attr_device_info = DeviceInfo(
+            identifiers={(DOMAIN, slugify(prefix))},
+            manufacturer="OpenMower",
+            name=slugify(prefix).capitalize(),
+        )
+
+        self._mqtt_topic = topic
+        self._mqtt_topic_prefix = prefix
+        self._mqtt_payload_json_key = key
+
+        if self._mqtt_topic_prefix and self._mqtt_topic_prefix[-1] != "/":
+            self._mqtt_topic_prefix = self._mqtt_topic_prefix + "/"
+
+    async def async_added_to_hass(self) -> None:
+        await mqtt.async_subscribe(
+            self.hass,
+            self._mqtt_topic_prefix + self._mqtt_topic,
+            self._async_robot_state_received,
+            0,
+        )
+
+    @callback
+    def _async_robot_state_received(self, msg: mqtt.ReceiveMessage) -> None:
+        self._update_state(msg)
+
+    @Throttle(MIN_TIME_BETWEEN_UPDATES)
+    def _update_state(self, msg):
+        if self._mqtt_payload_json_key:
+            value_json = json_loads_object(msg.payload)
+            self._process_update(value_json[self._mqtt_payload_json_key])
+        else:
+            self._process_update(msg.payload)
+        self.async_write_ha_state()
+
+    def _process_update(self, value):
+        raise NotImplementedError("Subclasses should implement this!")

custom_components/openmower/lawn_mower.py

@@ -12,7 +12,6 @@
 from homeassistant.helpers.device_registry import DeviceInfo
 from homeassistant.helpers.entity_platform import AddEntitiesCallback
 from homeassistant.util.json import json_loads_object
-
 from .const import DOMAIN
 
 _LOGGER = logging.getLogger(__name__)

custom_components/openmower/sensor.py

@@ -5,13 +5,17 @@
 from homeassistant.components import mqtt
 from homeassistant.components.sensor import SensorEntity, SensorDeviceClass
 from homeassistant.config_entries import ConfigEntry
-from homeassistant.const import PERCENTAGE, CONF_PREFIX
-from homeassistant.core import HomeAssistant, callback
-from homeassistant.helpers.device_registry import DeviceInfo
+from homeassistant.const import (
+    PERCENTAGE,
+    CONF_PREFIX,
+    EntityCategory,
+    UnitOfTemperature,
+    UnitOfElectricPotential,
+    UnitOfElectricCurrent,
+)
+from homeassistant.core import HomeAssistant
 from homeassistant.helpers.entity_platform import AddEntitiesCallback
-from homeassistant.util.json import json_loads_object
-
-from .const import DOMAIN
+from .entity import OpenMowerMqttEntity
 
 _LOGGER = logging.getLogger(__name__)
 
@@ -26,37 +30,90 @@ async def async_setup_entry(
         _LOGGER.error("MQTT integration is not available")
         return
 
-    async_add_entities([OpenMowerBatterySensor(entry.data[CONF_PREFIX])])
+    prefix = entry.data[CONF_PREFIX]
+    async_add_entities(
+        [
+            OpenMowerBatterySensor(
+                "Battery", prefix, "robot_state/json", "battery_percentage"
+            ),
+            OpenMowerDiagnosticSensor(
+                "Current action progress",
+                prefix,
+                "robot_state/json",
+                "current_action_progress",
+            ),
+            OpenMowerDiagnosticSensor(
+                "GPS Percentage", prefix, "robot_state/json", "gps_percentage"
+            ),
+            OpenMowerMqttSensorEntity(
+                "Current State", prefix, "robot_state/json", "current_state"
+            ),
+            OpenMowerCurrentSensor(
+                "Charge Current", prefix, "sensors/om_charge_current/data", None
+            ),
+            OpenMowerRawDiagnosticSensor(
+                "GPS Accuracy", prefix, "sensors/om_gps_accuracy/data", None
+            ),
+            OpenMowerTemperatureSensor(
+                "Left ESC Temperature", prefix, "sensors/om_left_esc_temp/data", None
+            ),
+            OpenMowerTemperatureSensor(
+                "Mow ESC Temperature", prefix, "sensors/om_mow_esc_temp/data", None
+            ),
+            OpenMowerCurrentSensor(
+                "Mow Motor Current", prefix, "sensors/om_mow_motor_current/data", None
+            ),
+            OpenMowerTemperatureSensor(
+                "Mow Motor Temperature", prefix, "sensors/om_mow_motor_temp/data", None
+            ),
+            OpenMowerTemperatureSensor(
+                "Right ESC Temperature", prefix, "sensors/om_right_esc_temp/data", None
+            ),
+            OpenMowerVoltageSensor(
+                "Battery Voltage", prefix, "sensors/om_v_battery/data", None
+            ),
+            OpenMowerVoltageSensor(
+                "Charge Voltage", prefix, "sensors/om_v_charge/data", None
+            ),
+        ]
+    )
+
+
+class OpenMowerMqttSensorEntity(OpenMowerMqttEntity, SensorEntity):
+    def _process_update(self, value):
+        self._attr_native_value = value
 
 
-class OpenMowerBatterySensor(SensorEntity):
+class OpenMowerBatterySensor(OpenMowerMqttSensorEntity):
     _attr_device_class = SensorDeviceClass.BATTERY
     _attr_native_unit_of_measurement = PERCENTAGE
 
-    _attr_name = "Battery"
-    _attr_unique_id = "openmower_battery"
-    _attr_device_info = DeviceInfo(
-        identifiers={(DOMAIN, "openmower")}, manufacturer="OpenMower"
-    )
+    def _process_update(self, value):
+        self._attr_native_value = int(float(value) * 100)
+
+
+class OpenMowerDiagnosticSensor(OpenMowerMqttSensorEntity):
+    _attr_entity_category = EntityCategory.DIAGNOSTIC
+
+
+class OpenMowerRawDiagnosticSensor(OpenMowerDiagnosticSensor):
+    def _process_update(self, value):
+        self._attr_native_value = float(value)
+
+
+class OpenMowerCurrentSensor(OpenMowerRawDiagnosticSensor):
+    _attr_device_class = SensorDeviceClass.CURRENT
+    _attr_unit_of_measurement = UnitOfElectricCurrent.AMPERE
+    _attr_suggested_display_precision = 1
+
+
+class OpenMowerTemperatureSensor(OpenMowerRawDiagnosticSensor):
+    _attr_device_class = SensorDeviceClass.TEMPERATURE
+    _attr_unit_of_measurement = UnitOfTemperature.CELSIUS
+    _attr_suggested_display_precision = 0
+
 
-    def __init__(self, prefix: str) -> None:
-        self._mqtt_topic_prefix = prefix
-        if self._mqtt_topic_prefix and self._mqtt_topic_prefix[-1] != "/":
-            self._mqtt_topic_prefix = self._mqtt_topic_prefix + "/"
-
-    async def async_added_to_hass(self) -> None:
-        await super().async_added_to_hass()
-        await mqtt.async_subscribe(
-            self.hass,
-            self._mqtt_topic_prefix + "robot_state/json",
-            self.async_robot_state_received,
-            0,
-        )
-        _LOGGER.info("Added to Hass, subscribing to topics")
-
-    @callback
-    def async_robot_state_received(self, msg: mqtt.ReceiveMessage) -> None:
-        value_json = json_loads_object(msg.payload)
-
-        self._attr_native_value = int(float(value_json["battery_percentage"]) * 100)
-        self.async_write_ha_state()
+class OpenMowerVoltageSensor(OpenMowerRawDiagnosticSensor):
+    _attr_device_class = SensorDeviceClass.VOLTAGE
+    _attr_unit_of_measurement = UnitOfElectricPotential.VOLT
+    _attr_suggested_display_precision = 1