Fix navigation service error

CHANGELOG.md

@@ -1,5 +1,11 @@
 # Changelog
 
+## v1.0.21
+
+- Remove navigate service
+- Remove exit navigation service
+- Add Remote entity allowing to control and turn off control using a virtual joystick
+
 ## v1.0.20
 
 - Fix navigation service schema [#223](https://github.com/sh00t2kill/dolphin-robot/issues/223)

custom_components/mydolphin_plus/common/consts.py

@@ -41,6 +41,8 @@
 ATTR_ROBOT_STATE = "Robot State"
 ATTR_ROBOT_TYPE = "Robot Type"
 ATTR_IS_BUSY = "Busy"
+ATTR_MANUAL_MODE = "Manual Mode"
+ATTR_ACTIVITY = "Activity"
 ATTR_TURN_ON_COUNT = "Turn On Count"
 ATTR_TIME_ZONE = "Time Zone"
 
@@ -57,6 +59,7 @@
 DYNAMIC_CONTENT_SPEED = "speed"
 DYNAMIC_CONTENT_DIRECTION = "direction"
 
+ATTR_REMOTE_CONTROL_MODE_EXIT = "exit"
 ATTR_REMOTE_CONTROL_MODE_EXIT = "exit"
 
 DATA_ROOT_STATE = "state"
@@ -76,6 +79,7 @@
 DATA_SECTION_SYSTEM_STATE = "systemState"
 DATA_SECTION_ROBOT_ERROR = "robotError"
 DATA_SECTION_PWS_ERROR = "pwsError"
+DATA_SECTION_ACTIVITY = "activity"
 
 DATA_STATE_REPORTED = "reported"
 DATA_STATE_DESIRED = "desired"
@@ -214,26 +218,9 @@
     LED_MODE_DISCO: "mdi:lightbulb-multiple-outline",
 }
 
-CONF_DIRECTION = "direction"
 CONF_DAY = "day"
 CONF_TIME = "time"
 
-JOYSTICK_SPEED = 1000
-
-JOYSTICK_STOP = "stop"
-JOYSTICK_FORWARD = "forward"
-JOYSTICK_BACKWARD = "backward"
-JOYSTICK_RIGHT = "right"
-JOYSTICK_LEFT = "left"
-
-JOYSTICK_DIRECTIONS = [
-    JOYSTICK_STOP,
-    JOYSTICK_FORWARD,
-    JOYSTICK_BACKWARD,
-    JOYSTICK_RIGHT,
-    JOYSTICK_LEFT,
-]
-
 CLOCK_HOURS_NONE = "mdi:timer-sand-paused"
 CLOCK_HOURS_ICON = "mdi:clock-time-"
 CLOCK_HOURS_TEXT = [
@@ -277,7 +264,6 @@
     VacuumEntityFeature.STATE
     | VacuumEntityFeature.FAN_SPEED
     | VacuumEntityFeature.RETURN_HOME
-    | VacuumEntityFeature.SEND_COMMAND
     | VacuumEntityFeature.START
     | VacuumEntityFeature.PAUSE
     | VacuumEntityFeature.LOCATE
@@ -292,6 +278,7 @@
 
 DATA_KEY_STATUS = "Status"
 DATA_KEY_VACUUM = "Vacuum"
+DATA_KEY_REMOTE = "Remote"
 DATA_KEY_LED_MODE = "LED Mode"
 DATA_KEY_LED_INTENSITY = "LED Intensity"
 DATA_KEY_LED = "LED"

custom_components/mydolphin_plus/common/entity_descriptions.py

@@ -6,6 +6,7 @@
 )
 from homeassistant.components.light import LightEntityDescription
 from homeassistant.components.number import NumberDeviceClass, NumberEntityDescription
+from homeassistant.components.remote import RemoteEntityDescription, RemoteEntityFeature
 from homeassistant.components.select import SelectEntityDescription
 from homeassistant.components.sensor import (
     SensorDeviceClass,
@@ -44,6 +45,7 @@
     DATA_KEY_NETWORK_NAME,
     DATA_KEY_POWER_SUPPLY_STATUS,
     DATA_KEY_PWS_ERROR,
+    DATA_KEY_REMOTE,
     DATA_KEY_ROBOT_ERROR,
     DATA_KEY_ROBOT_STATUS,
     DATA_KEY_ROBOT_TYPE,
@@ -54,6 +56,7 @@
     ICON_LED_MODES,
     VACUUM_FEATURES,
 )
+from .joystick_direction import JoystickDirection
 from .robot_family import RobotFamily
 
 
@@ -74,6 +77,17 @@ class MyDolphinPlusVacuumEntityDescription(
     fan_speed_list: list[str] = ()
 
 
+@dataclass(frozen=True, kw_only=True)
+class MyDolphinPlusRemoteEntityDescription(
+    RemoteEntityDescription, MyDolphinPlusEntityDescription
+):
+    """A class that describes vacuum entities."""
+
+    platform: Platform | None = Platform.REMOTE
+    features: RemoteEntityFeature = RemoteEntityFeature(0)
+    activity_list: list[str] = ()
+
+
 @dataclass(frozen=True, kw_only=True)
 class MyDolphinPlusBinarySensorEntityDescription(
     BinarySensorEntityDescription, MyDolphinPlusEntityDescription
@@ -119,6 +133,13 @@ class MyDolphinPlusLightEntityDescription(
         fan_speed_list=list(CleanModes),
         translation_key=slugify(DATA_KEY_VACUUM),
     ),
+    MyDolphinPlusRemoteEntityDescription(
+        key=slugify(DATA_KEY_REMOTE),
+        name="",
+        features=RemoteEntityFeature.ACTIVITY,
+        activity_list=list(JoystickDirection),
+        translation_key=slugify(DATA_KEY_REMOTE),
+    ),
     MyDolphinPlusLightEntityDescription(
         key=slugify(DATA_KEY_LED),
         name=DATA_KEY_LED,

custom_components/mydolphin_plus/common/joystick_direction.py

@@ -0,0 +1,14 @@
+from enum import StrEnum
+
+
+class JoystickDirection(StrEnum):
+    STOP = "stop"
+    FORWARD = "forward"
+    BACKWARD = "backward"
+    LEFT = "left"
+    RIGHT = "right"
+
+    def get_speed(self) -> int:
+        speed = 0 if self == JoystickDirection.STOP else 100
+
+        return speed

custom_components/mydolphin_plus/common/service_schema.py

@@ -6,17 +6,11 @@
 import homeassistant.helpers.config_validation as cv
 
 from .clean_modes import CleanModes
-from .consts import CONF_DAY, CONF_DIRECTION, CONF_TIME, JOYSTICK_DIRECTIONS
+from .consts import CONF_DAY, CONF_TIME
 
-SERVICE_EXIT_NAVIGATION = "exit_navigation"
-SERVICE_NAVIGATE = "navigate"
 SERVICE_DAILY_SCHEDULE = "daily_schedule"
 SERVICE_DELAYED_CLEAN = "delayed_clean"
 
-SERVICE_SCHEMA_NAVIGATE = vol.Schema(
-    {vol.Required(CONF_DIRECTION): vol.In(JOYSTICK_DIRECTIONS)}
-)
-
 SERVICE_SCHEMA_DAILY_SCHEDULE = vol.Schema(
     {
         vol.Optional(CONF_ENABLED, default=False): cv.boolean,
@@ -33,9 +27,3 @@
         vol.Optional(CONF_TIME, default=None): cv.string,
     }
 )
-
-SERVICE_VALIDATION = {
-    SERVICE_NAVIGATE: SERVICE_SCHEMA_NAVIGATE,
-    SERVICE_DAILY_SCHEDULE: SERVICE_SCHEMA_DAILY_SCHEDULE,
-    SERVICE_DELAYED_CLEAN: SERVICE_SCHEMA_DELAYED_CLEAN,
-}

custom_components/mydolphin_plus/managers/aws_client.py

@@ -43,6 +43,7 @@
     DATA_SCHEDULE_TIME,
     DATA_SCHEDULE_TIME_HOURS,
     DATA_SCHEDULE_TIME_MINUTES,
+    DATA_SECTION_ACTIVITY,
     DATA_SECTION_CYCLE_INFO,
     DATA_SECTION_DYNAMIC,
     DATA_SECTION_FILTER_BAG_INDICATION,
@@ -66,7 +67,6 @@
     DYNAMIC_DESCRIPTION_TEMPERATURE,
     DYNAMIC_TYPE,
     DYNAMIC_TYPE_PWS_REQUEST,
-    JOYSTICK_SPEED,
     LED_MODE_BLINKING,
     MQTT_MESSAGE_ENCODING,
     SIGNAL_AWS_CLIENT_STATUS,
@@ -77,6 +77,7 @@
     WS_DATA_VERSION,
     WS_LAST_UPDATE,
 )
+from ..common.joystick_direction import JoystickDirection
 from ..common.power_supply_state import PowerSupplyState
 from ..common.robot_family import RobotFamily
 from ..models.topic_data import TopicData
@@ -123,6 +124,10 @@ def __init__(self, hass: HomeAssistant | None, config_manager: ConfigManager):
                 ConnectionCallbacks.RESUMED: self._on_connection_resumed,
             }
 
+            self._dynamic_message_handlers = {
+                DYNAMIC_TYPE_PWS_REQUEST: self._on_pws_request_message
+            }
+
             self._on_publish_completed_callback = lambda f: self._on_publish_completed(
                 f
             )
@@ -392,15 +397,7 @@ def _message_callback(self, topic, payload, dup, qos, retain, **kwargs):
                 )
 
             elif topic == self._topic_data.dynamic:
-                _LOGGER.debug(f"Dynamic payload: {message_payload}")
-
-                response_type = payload_data.get(DYNAMIC_TYPE)
-                data = payload_data.get(DYNAMIC_CONTENT)
-
-                if response_type not in self.data:
-                    self.data[DATA_SECTION_DYNAMIC] = {}
-
-                self.data[DATA_SECTION_DYNAMIC][response_type] = data
+                self._on_dynamic_content_received(payload_data)
 
             elif topic.endswith(TOPIC_CALLBACK_ACCEPTED):
                 _LOGGER.debug(f"Payload: {message_payload}")
@@ -455,6 +452,31 @@ def _message_callback(self, topic, payload, dup, qos, retain, **kwargs):
                 f"Callback parsing failed, {message_details}, {error_details}"
             )
 
+    def _on_dynamic_content_received(self, message: dict):
+        _LOGGER.debug(f"Dynamic payload: {message}")
+
+        message_type = message.get(DYNAMIC_TYPE)
+        content = message.get(DYNAMIC_CONTENT)
+        handler = self._dynamic_message_handlers.get(message_type)
+
+        if DATA_SECTION_DYNAMIC not in self.data:
+            self.data[DATA_SECTION_DYNAMIC] = {}
+
+        self.data[DATA_SECTION_DYNAMIC][message_type] = content
+
+        if handler is not None:
+            handler(message)
+
+    def _on_pws_request_message(self, message: dict):
+        direction = message.get(DYNAMIC_CONTENT_DIRECTION)
+        remote_control_mode = message.get(DYNAMIC_CONTENT_REMOTE_CONTROL_MODE)
+
+        if direction is not None:
+            self.data[DATA_SECTION_ACTIVITY] = direction
+
+        if remote_control_mode == ATTR_REMOTE_CONTROL_MODE_EXIT:
+            self.data[DATA_SECTION_ACTIVITY] = None
+
     def _send_desired_command(self, payload: dict | None):
         data = {DATA_ROOT_STATE: {DATA_STATE_DESIRED: payload}}
 
@@ -554,17 +576,21 @@ def set_led_enabled(self, is_enabled: bool):
         _LOGGER.info(f"Set led enabled mode, Desired: {data}")
         self._send_desired_command(data)
 
-    def navigate(self, direction: str):
+    def set_joystick_mode(self, direction: JoystickDirection):
         request_data = {
-            DYNAMIC_CONTENT_SPEED: JOYSTICK_SPEED,
-            DYNAMIC_CONTENT_DIRECTION: direction,
+            DYNAMIC_CONTENT: {
+                DYNAMIC_CONTENT_SPEED: direction.get_speed(),
+                DYNAMIC_CONTENT_DIRECTION: direction,
+            }
         }
 
         self._send_dynamic_command(DYNAMIC_DESCRIPTION_JOYSTICK, request_data)
 
-    def exit_navigation(self):
+    def exit_joystick_mode(self):
         request_data = {
-            DYNAMIC_CONTENT_REMOTE_CONTROL_MODE: ATTR_REMOTE_CONTROL_MODE_EXIT
+            DYNAMIC_CONTENT: {
+                DYNAMIC_CONTENT_REMOTE_CONTROL_MODE: ATTR_REMOTE_CONTROL_MODE_EXIT
+            }
         }
 
         self._send_dynamic_command(DYNAMIC_DESCRIPTION_JOYSTICK, request_data)