Merge pull request #505 from y-yosuke/add-switchbot-status-publisher

Add switchbot status publisher

Author: k-okada

switchbot_ros/CMakeLists.txt

@@ -14,6 +14,11 @@ add_message_files(
   FILES
   Device.msg
   DeviceArray.msg
+  Meter.msg
+  PlugMini.msg
+  Hub2.msg
+  Bot.msg
+  StripLight.msg
 )
 
 add_action_files(

switchbot_ros/launch/switchbot.launch

@@ -2,6 +2,9 @@
   <arg name="token" />
   <arg name="secret" default="''" />
   <arg name="respawn" default="true" />
+  <arg name="pub_status" default="false" />
+  <arg name="pub_status_rate" default="0.1" />
+  <arg name="pub_device_name" default="bot74a" />
 
   <node name="switchbot_ros" pkg="switchbot_ros" type="switchbot_ros_server.py"
         respawn="$(arg respawn)" output="screen">
@@ -10,4 +13,16 @@
       secret: $(arg secret)
     </rosparam>
   </node>
+
+  <node if="$(arg pub_status)"
+        name="switchbot_status_publisher" pkg="switchbot_ros" type="switchbot_status_publisher.py"
+        respawn="$(arg respawn)" output="screen">
+    <rosparam subst_value="true">
+      token: $(arg token)
+      secret: $(arg secret)
+      device_name: $(arg pub_device_name)
+      rate: $(arg pub_status_rate)
+    </rosparam>
+  </node>
+
 </launch>

switchbot_ros/msg/Bot.msg

@@ -0,0 +1,10 @@
+string DEVICEMODE_PRESS     = "pressMode"
+string DEVICEMODE_SWITCH    = "switchMode"
+string DEVICEMODE_CUSTOMIZE = "customizeMode"
+
+Header  header       # timestamp
+
+float64 battery      # the current battery level, 0-100
+
+bool    power        # ON/OFF state True/False
+string  device_mode  # pressMode, switchMode, or customizeMode

switchbot_ros/msg/Hub2.msg

@@ -0,0 +1,6 @@
+Header  header       # timestamp
+
+float64 temperature  # temperature in celsius
+float64 humidity     # humidity percentage
+
+int64   light_level  # the level of illuminance of the ambience light, 1~20

switchbot_ros/msg/Meter.msg

@@ -0,0 +1,5 @@
+Header  header       # timestamp
+
+float64 temperature  # temperature in celsius
+float64 humidity     # humidity percentage
+float64 battery      # the current battery level, 0-100

switchbot_ros/msg/PlugMini.msg

@@ -0,0 +1,7 @@
+Header  header       # timestamp
+
+float64 voltage      # the voltage of the device, measured in Volt
+float64 weight       # the power consumed in a day, measured in Watts
+float64 current      # the current of the device at the moment, measured in Amp
+
+int32   minutes_day  # he duration that the device has been used during a day, measured in minutes

switchbot_ros/msg/StripLight.msg

@@ -0,0 +1,8 @@
+Header  header       # timestamp
+
+bool    power        # ON/OFF state True/False
+
+int64   brightness   # the brightness value, range from 1 to 100
+int64   color_r      # Red   color value 0-255
+int64   color_g      # Green color value 0-255
+int64   color_b      # Blue  color value 0-255

switchbot_ros/scripts/control_switchbot.py

@@ -9,7 +9,7 @@
 devices = client.get_devices()
 print(devices)
 
-client.control_device('pendant-light', 'turnOff')
+client.control_device('pendant-light', 'turnOn', wait=True)
 
-client.control_device('bot74a', 'turnOn')
+client.control_device('bot74a', 'turnOn', wait=True)
 

switchbot_ros/scripts/switchbot_status_publisher.py

@@ -0,0 +1,193 @@
+#!/usr/bin/env python
+
+import os.path
+from requests import ConnectionError
+import rospy
+from switchbot_ros.switchbot import SwitchBotAPIClient
+from switchbot_ros.switchbot import DeviceError, SwitchBotAPIError
+from switchbot_ros.msg import Meter, PlugMini, Hub2, Bot, StripLight
+
+
+class SwitchBotStatusPublisher:
+    """
+    Publissh your switchbot status with ROS and SwitchBot API
+    """
+    def __init__(self):
+        # SwitchBot configs
+        # '~token' can be file path or raw characters
+        token = rospy.get_param('~token')
+        if os.path.exists(token):
+            with open(token) as f:
+                self.token = f.read().replace('\n', '')
+        else:
+            self.token = token
+
+        # Switchbot API v1.1 needs secret key
+        secret = rospy.get_param('~secret', None)
+        if secret is not None and os.path.exists(secret):
+            with open(secret, 'r', encoding='utf-8') as f:
+                self.secret = f.read().replace('\n', '')
+        else:
+            self.secret = secret
+
+        # Initialize switchbot client
+        self.bots = self.get_switchbot_client()
+        self.print_apiversion()
+        
+        # Get parameters for publishing
+        self.rate = rospy.get_param('~rate', 0.1)
+        rospy.loginfo('Rate: ' + str(self.rate))
+        
+        device_name = rospy.get_param('~device_name')
+        if device_name:
+            self.device_name = device_name
+        else:
+            rospy.logerr('No Device Name')
+            return
+        
+        self.device_type = None
+        self.device_list = sorted(
+            self.bots.device_list,
+            key=lambda device: str(device.get('deviceName')))
+        for device in self.device_list:
+            device_name = str(device.get('deviceName'))
+            if self.device_name == device_name:
+                self.device_type = str(device.get('deviceType'))
+
+        if self.device_type:
+            rospy.loginfo('deviceName: ' + self.device_name + ' / deviceType: ' + self.device_type)
+        else:
+            rospy.logerr('Invalid Device Name: ' + self.device_name)
+            return
+        
+        topic_name = '~' + self.device_name
+        topic_name = topic_name.replace('-', '_')
+        
+        # Publisher Message Class for each device type
+        if self.device_type == 'Remote':
+            rospy.logerr('Device Type: "' + self.device_type + '" has no status in specifications.')
+            return
+        else:
+            if self.device_type == 'Meter':
+                self.msg_class = Meter
+            elif self.device_type == 'MeterPlus':
+                self.msg_class = Meter
+            elif self.device_type == 'WoIOSensor':
+                self.msg_class = Meter
+            elif self.device_type == 'Hub 2':
+                self.msg_class = Hub2
+            elif self.device_type == 'Plug Mini (JP)':
+                self.msg_class = PlugMini
+            elif self.device_type == 'Plug Mini (US)':
+                self.msg_class = PlugMini
+            elif self.device_type == 'Bot':
+                self.msg_class = Bot
+            elif self.device_type == 'Strip Light':
+                self.msg_class = StripLight
+            else:
+                rospy.logerr('No publisher process for "' + self.device_type + '" in switchbot_status_publisher.py')
+                return
+            
+            self.status_pub = rospy.Publisher(topic_name, self.msg_class, queue_size=1, latch=True)
+        
+        rospy.loginfo('Ready: SwitchBot Status Publisher for ' + self.device_name)
+
+
+    def get_switchbot_client(self):
+        try:
+            client = SwitchBotAPIClient(token=self.token, secret=self.secret)
+            rospy.loginfo('Switchbot API Client initialized.')
+            return client
+        except ConnectionError:  # If the machine is not connected to the internet
+            rospy.logwarn_once('Failed to connect to the switchbot server. The client would try connecting to it when subscribes the ActionGoal topic.')
+            return None
+
+
+    def spin(self):
+        rate = rospy.Rate(self.rate)
+        while not rospy.is_shutdown():
+            rate.sleep()
+            if self.bots is None:
+                self.bots = self.get_switchbot_client()
+            
+            if self.device_type == 'Remote':
+                return
+            else:
+                status = self.get_device_status(device_name=self.device_name)
+                
+                if status:
+                    time = rospy.get_rostime()
+                    if self.msg_class == Meter:
+                        msg = Meter()
+                        msg.header.stamp = time
+                        msg.temperature  = status['temperature']
+                        msg.humidity     = status['humidity']
+                        msg.battery      = status['battery']
+                    elif self.msg_class == Hub2:
+                        msg = Hub2()
+                        msg.header.stamp = time
+                        msg.temperature  = status['temperature']
+                        msg.humidity     = status['humidity']
+                        msg.light_level  = status['lightLevel']
+                    elif self.msg_class == PlugMini:
+                        msg = PlugMini()
+                        msg.header.stamp = time
+                        msg.voltage      = status['voltage']
+                        msg.weight       = status['weight']
+                        msg.current      = status['electricCurrent']
+                        msg.minutes_day  = status['electricityOfDay']
+                    elif self.msg_class == Bot:
+                        msg = Bot()
+                        msg.header.stamp = time
+                        msg.battery      = status['battery']
+                        if status['power'] == 'on':
+                            msg.power    = True
+                        else:
+                            msg.power    = False
+                        msg.device_mode  = status['deviceMode']
+                    elif self.msg_class == StripLight:
+                        msg = StripLight()
+                        msg.header.stamp = time
+                        if status['power'] == 'on':
+                            msg.power    = True
+                        else:
+                            msg.power    = False
+                        msg.brightness   = status['brightness']
+                        rgb_string       = status['color']
+                        r, g, b = map(int, rgb_string.split(':'))
+                        msg.color_r      = r
+                        msg.color_g      = g
+                        msg.color_b      = b
+                    else:
+                        return
+                    
+                    if msg:
+                        self.status_pub.publish(msg)
+
+
+    def get_device_status(self, device_name=None):
+        if self.bots is None:
+            return
+        elif device_name:
+            status = self.bots.device_status(device_name=device_name)
+            return status
+        else:
+            return
+
+
+    def print_apiversion(self):
+        if self.bots is None:
+            return
+        
+        apiversion_str = 'Using SwitchBot API ';
+        apiversion_str += self.bots.api_version;
+        rospy.loginfo(apiversion_str)
+
+
+if __name__ == '__main__':
+    try:
+        rospy.init_node('switchbot_status_publisher')
+        ssp = SwitchBotStatusPublisher()
+        ssp.spin()
+    except rospy.ROSInterruptException:
+        pass

switchbot_ros/src/switchbot_ros/switchbot_ros_client.py

@@ -9,14 +9,17 @@ class SwitchBotROSClient(object):
 
     def __init__(self,
                  actionname='switchbot_ros/switch',
-                 topicname='switchbot_ros/devices'):
+                 topicname='switchbot_ros/devices',
+                 timeout=5):
 
         self.actionname = actionname
         self.topicname = topicname
         self.action_client = actionlib.SimpleActionClient(
                 actionname,
                 SwitchBotCommandAction
                 )
+        rospy.loginfo("Waiting for action server to start. (timeout: " + str(timeout) + "[sec])")
+        self.action_client.wait_for_server(timeout=rospy.Duration(timeout,0))
 
     def get_devices(self, timeout=None):