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Roomba-esp8266-MQTT.ino
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Roomba-esp8266-MQTT.ino
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/*
https://github.com/incmve/roomba-esp8266/wiki
*/
// Includes
#include <Time.h>
#include <TimeLib.h>
#include <ESP8266mDNS.h>
#include <ESP8266WiFi.h>
#include <WiFiClient.h>
#include <ESP8266WebServer.h>
#include <SoftwareSerial.h>
#include <FS.h>
#include <MQTT.h>
#include <PubSubClient.h>
// webserver
ESP8266WebServer server(80);
MDNSResponder mdns;
WiFiClient client;
String roombotVersion = "0.6.0";
// WIFI
String ssid = "SSID";
String password = "password";
String espName = "Roombot";
// AP mode when WIFI not available
const char *APssid = "Roombot";
const char *APpassword = "thereisnospoon";
String ClientIP;
// MQTT
const char* mqttServer = "MQTTBroker";
const char* mqttUsername = "user";
const char* mqttPassword = "password";
const char* mqttClientId = "Roomba"; // Must be unique on the MQTT network
PubSubClient mqttclient(client);
// MQTT Topics
const char* commandtopic = "roomba/command";
const char* responsetopic = "roomba/response";
// Pimatic settings
long sendInterval = 600000; //in millis
long lastInterval = 0;
String WMode = "1";
#define SERIAL_RX D5 // pin for SoftwareSerial RX
#define SERIAL_TX D6 // pin for SoftwareSerial TX
SoftwareSerial mySerial(SERIAL_RX, SERIAL_TX); // (RX, TX. inverted, buffer)
// Div
File UploadFile;
String fileName;
String BSlocal = "0";
int FSTotal;
int FSUsed;
String state;
//-------------- FSBrowser application -----------
//format bytes
String formatBytes(size_t bytes) {
if (bytes < 1024) {
return String(bytes) + "B";
} else if (bytes < (1024 * 1024)) {
return String(bytes / 1024.0) + "KB";
} else if (bytes < (1024 * 1024 * 1024)) {
return String(bytes / 1024.0 / 1024.0) + "MB";
} else {
return String(bytes / 1024.0 / 1024.0 / 1024.0) + "GB";
}
}
// HTML
String header = "<html lang='en'><head><title>Roombot control panel</title><meta charset='utf-8'><meta name='viewport' content='width=device-width, initial-scale=1'><link rel='stylesheet' href='http://maxcdn.bootstrapcdn.com/bootstrap/3.3.4/css/bootstrap.min.css'><script src='https://ajax.googleapis.com/ajax/libs/jquery/1.11.1/jquery.min.js'></script><script src='http://maxcdn.bootstrapcdn.com/bootstrap/3.3.4/js/bootstrap.min.js'></script></head><body>";
String navbar = "<nav class='navbar navbar-default'><div class='container-fluid'><div class='navbar-header'><a class='navbar-brand' href='/'>Roombot control panel</a></div><div><ul class='nav navbar-nav'><li><a href='/'><span class='glyphicon glyphicon-info-sign'></span> Status</a></li><li class='dropdown'><a class='dropdown-toggle' data-toggle='dropdown' href='#'><span class='glyphicon glyphicon-cog'></span> Tools<span class='caret'></span></a><ul class='dropdown-menu'><li><a href='/updatefwm'><span class='glyphicon glyphicon-upload'></span> Firmware</a></li></ul></li><li><a href='https://github.com/incmve/roomba-eps8266/wiki' target='_blank'><span class='glyphicon glyphicon-question-sign'></span> Help</a></li></ul></div></div></nav>";
String containerStart = "<div class='container'><div class='row'>";
String containerEnd = "<div class='clearfix visible-lg'></div></div></div>";
String siteEnd = "</body></html>";
String panelHeaderName = "<div class='col-md-4'><div class='page-header'><h1>";
String panelHeaderEnd = "</h1></div>";
String panelEnd = "</div>";
String panelBodySymbol = "<div class='panel panel-default'><div class='panel-body'><span class='glyphicon glyphicon-";
String panelBodyName = "'></span> ";
String panelBodyValue = "<span class='pull-right'>";
String panelcenter = "<div class='row'><div class='span6' style='text-align:center'>";
String panelBodyEnd = "</span></div></div>";
String inputBodyStart = "<form action='' method='POST'><div class='panel panel-default'><div class='panel-body'>";
String inputBodyName = "<div class='form-group'><div class='input-group'><span class='input-group-addon' id='basic-addon1'>";
String inputBodyPOST = "</span><input type='text' name='";
String inputBodyClose = "' class='form-control' aria-describedby='basic-addon1'></div></div>";
String roombacontrol = "<a href='/roombastart'<button type='button' class='btn btn-default'><span class='glyphicon glyphicon-play' aria-hidden='true'></span> Start</button></a><a href='/roombadock'<button type='button' class='btn btn-default'><span class='glyphicon glyphicon-home' aria-hidden='true'></span> Dock</button></a><br><a href='/restart'<button type='button' class='btn btn-default'><span class='glyphicon glyphicon-sort' aria-hidden='true'></span> Reset roombot</button></a></div>";
// ROOT page
void handle_root()
{
// get IP
IPAddress ip = WiFi.localIP();
ClientIP = String(ip[0]) + '.' + String(ip[1]) + '.' + String(ip[2]) + '.' + String(ip[3]);
delay(500);
String title1 = panelHeaderName + String("Roombot Settings") + panelHeaderEnd;
String IPAddClient = panelBodySymbol + String("globe") + panelBodyName + String("IP Address") + panelBodyValue + ClientIP + panelBodyEnd;
String ClientName = panelBodySymbol + String("tag") + panelBodyName + String("Client Name") + panelBodyValue + espName + panelBodyEnd;
String Version = panelBodySymbol + String("info-sign") + panelBodyName + String("Roombot Version") + panelBodyValue + roombotVersion + panelBodyEnd;
String Uptime = panelBodySymbol + String("time") + panelBodyName + String("Uptime") + panelBodyValue + hour() + String(" h ") + minute() + String(" min ") + second() + String(" sec") + panelBodyEnd + panelEnd;
String title2 = panelHeaderName + String("Pimatic server") + panelHeaderEnd;
String IPAddServ = panelBodySymbol + String("globe") + panelBodyName + String("IP Address") + panelBodyValue + panelBodyEnd;
// String User = panelBodySymbol + String("user") + panelBodyName + String("Username") + panelBodyValue + Username + panelBodyEnd + panelEnd;
String title3 = panelHeaderName + String("Commands") + panelHeaderEnd;
String commands = panelBodySymbol + panelBodyName + panelcenter + roombacontrol + panelBodyEnd;
server.send ( 200, "text/html", header + navbar + containerStart + title1 + IPAddClient + ClientName + Version + Uptime + title3 + commands + containerEnd + siteEnd);
}
// Setup
void setup(void)
{
Serial.begin(115200);
WiFi.mode(WIFI_STA);
mySerial.begin(115200);
pinMode(SERIAL_RX, INPUT);
pinMode(SERIAL_TX, OUTPUT);
// Check if SPIFFS is OK
if (!SPIFFS.begin())
{
Serial.println("SPIFFS failed, needs formatting");
handleFormat();
delay(500);
ESP.restart();
}
else
{
FSInfo fs_info;
if (!SPIFFS.info(fs_info))
{
Serial.println("fs_info failed");
}
else
{
FSTotal = fs_info.totalBytes;
FSUsed = fs_info.usedBytes;
}
}
WiFi.hostname(espName);
WiFi.begin(ssid.c_str(), password.c_str());
int i = 0;
while (WiFi.status() != WL_CONNECTED && i < 31)
{
delay(1000);
Serial.print(".");
++i;
}
if (WiFi.status() != WL_CONNECTED && i >= 30)
{
WiFi.disconnect();
delay(1000);
Serial.println("");
Serial.println("Couldn't connect to network :( ");
Serial.println("Setting up access point");
Serial.println("SSID: ");
Serial.println(APssid);
Serial.println("password: ");
Serial.println(APpassword);
WiFi.mode(WIFI_AP);
WiFi.softAP(APssid, APpassword);
WMode = "AP";
Serial.print("Connected to ");
Serial.println(APssid);
IPAddress myIP = WiFi.softAPIP();
Serial.print("IP address: ");
Serial.println(myIP);
}
else
{
Serial.println("");
Serial.print("Connected to ");
Serial.println(ssid);
Serial.print("IP address: ");
Serial.println(WiFi.localIP());
Serial.print("Hostname: ");
Serial.println(espName);
}
server.on ( "/format", handleFormat );
server.on("/", handle_root);
server.on("/", handle_fupload_html);
server.on("/api", handle_api);
server.on("/updatefwm", handle_updatefwm_html);
server.on("/fupload", handle_fupload_html);
server.on("/roombastart", handle_roomba_start);
server.on("/roombadock", handle_roomba_dock);
server.on("/restart", handle_esp_restart);
// Upload firmware:
server.on("/updatefw2", HTTP_POST, []() {
server.sendHeader("Connection", "close");
server.sendHeader("Access-Control-Allow-Origin", "*");
server.send(200, "text/plain", (Update.hasError()) ? "FAIL" : "OK");
ESP.restart();
}, []()
{
HTTPUpload& upload = server.upload();
if (upload.status == UPLOAD_FILE_START)
{
fileName = upload.filename;
Serial.setDebugOutput(true);
Serial.printf("Update: %s\n", upload.filename.c_str());
uint32_t maxSketchSpace = (ESP.getFreeSketchSpace() - 0x1000) & 0xFFFFF000;
if (!Update.begin(maxSketchSpace)) { //start with max available size
Update.printError(Serial);
}
}
else if (upload.status == UPLOAD_FILE_WRITE)
{
if (Update.write(upload.buf, upload.currentSize) != upload.currentSize)
{
Update.printError(Serial);
}
}
else if (upload.status == UPLOAD_FILE_END)
{
if (Update.end(true)) //true to set the size to the current progress
{
Serial.printf("Update Success: %u\nRebooting...\n", upload.totalSize);
}
else
{
Update.printError(Serial);
}
Serial.setDebugOutput(false);
}
yield();
});
// upload file to SPIFFS
server.on("/fupload2", HTTP_POST, []() {
server.sendHeader("Connection", "close");
server.sendHeader("Access-Control-Allow-Origin", "*");
server.send(200, "text/plain", (Update.hasError()) ? "FAIL" : "OK");
}, []() {
HTTPUpload& upload = server.upload();
if (upload.status == UPLOAD_FILE_START)
{
fileName = upload.filename;
Serial.setDebugOutput(true);
//fileName = upload.filename;
Serial.println("Upload Name: " + fileName);
String path;
if (fileName.indexOf(".css") >= 0)
{
path = "/css/" + fileName;
}
else if (fileName.indexOf(".js") >= 0)
{
path = "/js/" + fileName;
}
else if (fileName.indexOf(".otf") >= 0 || fileName.indexOf(".eot") >= 0 || fileName.indexOf(".svg") >= 0 || fileName.indexOf(".ttf") >= 0 || fileName.indexOf(".woff") >= 0 || fileName.indexOf(".woff2") >= 0)
{
path = "/fonts/" + fileName;
}
else
{
path = "/" + fileName;
}
UploadFile = SPIFFS.open(path, "w");
// already existing file will be overwritten!
}
else if (upload.status == UPLOAD_FILE_WRITE)
{
if (UploadFile)
UploadFile.write(upload.buf, upload.currentSize);
Serial.println(fileName + " size: " + upload.currentSize);
}
else if (upload.status == UPLOAD_FILE_END)
{
Serial.print("Upload Size: ");
Serial.println(upload.totalSize); // need 2 commands to work!
if (UploadFile)
UploadFile.close();
}
yield();
});
if (!mdns.begin(espName.c_str(), WiFi.localIP())) {
Serial.println("Error setting up MDNS responder!");
while (1) {
delay(1000);
}
}
server.begin();
Serial.println("HTTP server started");
//MQTT
mqttclient.setServer(mqttServer, 1883);
mqttclient.setCallback(callback);
}
// LOOP
void loop(void)
{
if (mySerial.available()) {
Serial.print(mySerial.read());
}
server.handleClient();
/*
if (millis() - lastInterval > sendInterval) //update pimatic
{
handle_charging_state();
handle_voltage();
handle_charging_sources();
lastInterval = millis();
}
*/
if (!mqttclient.connected()) {
reconnect();
}
mqttclient.loop();
}
// handles
void handle_api()
{
// Get vars for all commands
String action = server.arg("action");
String value = server.arg("value");
String api = server.arg("api");
if (action == "clean" && value == "start")
{
handle_roomba_start();
}
if (action == "dock" && value == "home")
{
handle_roomba_dock();
}
if (action == "reset" && value == "true")
{
server.send ( 200, "text/html", "Reset ESP OK");
delay(500);
Serial.println("RESET");
ESP.restart();
}
if (action == "charge")
{
handle_charging_state();
}
if (action == "voltage")
{
handle_voltage();
}
if (action == "chargesource")
{
handle_charging_sources();
}
}
void handle_updatefwm_html()
{
server.send ( 200, "text/html", "<form method='POST' action='/updatefw2' enctype='multipart/form-data'><input type='file' name='update'><input type='submit' value='Update'></form><br<b>For firmware only!!</b>");
}
void handle_fupload_html()
{
String HTML = "<br>Files on flash:<br>";
Dir dir = SPIFFS.openDir("/");
while (dir.next())
{
fileName = dir.fileName();
size_t fileSize = dir.fileSize();
HTML += fileName.c_str();
HTML += " ";
HTML += formatBytes(fileSize).c_str();
HTML += " , ";
HTML += fileSize;
HTML += "<br>";
//Serial.printf("FS File: %s, size: %s\n", fileName.c_str(), formatBytes(fileSize).c_str());
}
server.send ( 200, "text/html", "<form method='POST' action='/fupload2' enctype='multipart/form-data'><input type='file' name='update' multiple><input type='submit' value='Update'></form><br<b>For webfiles only!!</b>Multiple files possible<br>" + HTML);
}
void handle_update_upload()
{
if (server.uri() != "/update2") return;
HTTPUpload& upload = server.upload();
if (upload.status == UPLOAD_FILE_START) {
Serial.setDebugOutput(true);
Serial.printf("Update: %s\n", upload.filename.c_str());
uint32_t maxSketchSpace = (ESP.getFreeSketchSpace() - 0x1000) & 0xFFFFF000;
if (!Update.begin(maxSketchSpace)) { //start with max available size
Update.printError(Serial);
}
} else if (upload.status == UPLOAD_FILE_WRITE) {
if (Update.write(upload.buf, upload.currentSize) != upload.currentSize) {
Update.printError(Serial);
}
} else if (upload.status == UPLOAD_FILE_END) {
if (Update.end(true)) { //true to set the size to the current progress
Serial.printf("Update Success: %u\nRebooting...\n", upload.totalSize);
} else {
Update.printError(Serial);
}
Serial.setDebugOutput(false);
}
yield();
}
void handle_update_html2()
{
server.sendHeader("Connection", "close");
server.sendHeader("Access-Control-Allow-Origin", "*");
server.send(200, "text/plain", (Update.hasError()) ? "FAIL" : "OK");
ESP.restart();
handle_root();
}
void handleFormat()
{
server.send ( 200, "text/html", "OK");
Serial.println("Format SPIFFS");
if (SPIFFS.format())
{
if (!SPIFFS.begin())
{
Serial.println("Format SPIFFS failed");
}
}
else
{
Serial.println("Format SPIFFS failed");
}
if (!SPIFFS.begin())
{
Serial.println("SPIFFS failed, needs formatting");
}
else
{
Serial.println("SPIFFS mounted");
}
}
void handle_roomba_start()
{
Serial.println("Starting");
mySerial.write(128);
delay(50);
mySerial.write(131);
delay(50);
mySerial.write(135);
Serial.println("I will clean master");
handle_root();
mqttclient.publish(responsetopic, String("Start cleaning").c_str());
}
void handle_roomba_dock()
{
mySerial.write(128);
delay(50);
mySerial.write(131);
delay(50);
mySerial.write(143);
Serial.println("Thank you for letting me rest, going home master");
handle_root();
mqttclient.publish(responsetopic, String("Dock").c_str());
}
void handle_esp_restart() {
ESP.restart();
handle_root();
}
void handle_charging_state() {
//
int charge = 0;
// int data;
Serial.println("Start handle_charging_state");
mySerial.write(142);
delay(50);
mySerial.write(21);
delay(50);
if (mySerial.available()) {
charge = Serial.read();
Serial.println("..");
Serial.print(charge);
switch (charge) {
case 0: {
String data = "Not Charging";
mqttclient.publish(responsetopic, String(data).c_str());
break;
}
case 1: {
String data = "Reconditioning";
mqttclient.publish(responsetopic, String(data).c_str());
break;
}
case 2: {
String data = "Full Charging";
mqttclient.publish(responsetopic, String(data).c_str());
break;
}
case 3: {
String data = "Trickle Charging";
mqttclient.publish(responsetopic, String(data).c_str());
break;
}
case 4: {
String data = "Waiting";
mqttclient.publish(responsetopic, String(data).c_str());
break;
}
case 5: {
String data = "Charging Fault Condition";
String variable = String(charge);
mqttclient.publish(responsetopic, String(data).c_str());
break;
}
default:
// if nothing else matches, do the default
// default is optional
mqttclient.publish(responsetopic, String("no info").c_str());
break;
}
}
else {
mqttclient.publish(responsetopic, String("no info").c_str());
}
}
void handle_voltage() {
Serial.println("Voltage");
String voltage = "0";
mySerial.write(142);
delay(50);
mySerial.write(22);
delay(50);
if (mySerial.available()) {
Serial.println("..");
Serial.print(Serial.read());
String data = String(Serial.read());
mqttclient.publish(responsetopic, String(data).c_str());
}
else {
mqttclient.publish(responsetopic, String("no info").c_str());
}
}
void handle_charging_sources() {
Serial.println("Charging source");
int source;
mySerial.write(142);
delay(50);
mySerial.write(34);
delay(50);
if (mySerial.available()) {
source = Serial.read();
Serial.println("..");
Serial.print(source);
switch (source) {
case 0: {
String data = "Not Charging";
mqttclient.publish(responsetopic, String(data).c_str());
break;
}
case 1: {
String data = "Reconditioning";
mqttclient.publish(responsetopic, String(data).c_str());
break;
}
default:
// if nothing else matches, do the default
// default is optional
mqttclient.publish(responsetopic, String("no info").c_str());
break;
}
}
}
void callback(char* topic, byte* payload, unsigned int length) {
Serial.print("Message arrived [");
Serial.print(topic);
Serial.print("] ");
for (int i = 0; i < length; i++) {
Serial.print((char)payload[i]);
}
Serial.println();
Serial.println("payload");
payload[length] = '\0';
String strPayload = String((char*)payload);
Serial.println(strPayload);
if (strPayload == "clean") {
handle_roomba_start();
}
else if (strPayload == "dock") {
handle_roomba_dock();
}
else if (strPayload == "charge") {
handle_charging_state();
}
else if (strPayload == "voltage") {
handle_voltage();
}
else if (strPayload == "chargesource") {
handle_charging_sources();
}
else if (strPayload == "reset") {
ESP.restart();
}
}
void reconnect() {
// Loop until we're reconnected
while (!mqttclient.connected()) {
Serial.print("Attempting MQTT connection...");
// Attempt to connect
if (mqttclient.connect(mqttClientId, mqttUsername, mqttPassword)) {
Serial.println("connected");
// subscribe
mqttclient.subscribe(commandtopic);
} else {
Serial.print("failed, rc=");
Serial.print(mqttclient.state());
Serial.println(" try again in 5 seconds");
// Wait 5 seconds before retrying
delay(5000);
}
}
}