# Sends the robovac to the trash can to be emptied.
import appdaemon.plugins.hass.hassapi as hass

kEntity = "vacuum.roborock_vacuum_a19"

# Coordinates of the trash can:
kTrashcanX = 35600
kTrashcanY = 19000

kMinBatteryToEmpty = 50  # Percentage
kMinBatteryToReturn = 20  # Percentage


class Vacuum(hass.Hass):
  def AppName(self):
    return "app.vacuum"

  def AppState(self):
    """Can return one of ['clean', 'dirty', 'forced return', 'waiting dump']."""
    # Read app state from "writeback_safe" namespace for persistence.
    # App remains in default namespace because vacuum lives there.
    state = self.get_state(self.AppName(), namespace="writeback_safe")
    if state == None:
      self.SetAppState("clean")
      return "clean"
    return state

  def SetAppState(self, state):
    # Write to our user namespace("writeback_safe") for persistence.
    self.set_state(self.AppName(), state=state, namespace="writeback_safe")
    self.set_state(self.AppName(), state=state)

  def initialize(self):
    self.AppState()
    self.listen_state(self.Update, kEntity, attribute="battery_level")
    self.listen_state(self.Update, kEntity, attribute="status")
    self.listen_state(self.Update, "sensor.tv_state")
    self.listen_state(self.Update, "person.greg")

  def GoToTrashCan(self):
    """Sends the vacuum to the trash can coordinates."""
    self.log("Going to trash can")
    self.call_service(
        "xiaomi_miio/vacuum_goto",
        entity_id=kEntity,
        x_coord=kTrashcanX,
        y_coord=kTrashcanY
    )

  def ReturnToCharger(self):
    """Sends the vacuum back to it's base."""
    self.log("Returning to Charger")
    self.call_service(
        "vacuum/return_to_base",
        entity_id=kEntity
    )

  def Update(self, entity, attribute, old, new, kwargs):
    """Callback for status or battery_level changes."""
    self.EvalStateMachine()

  def EvalStateMachine(self):
    # One of ['clean', 'dirty', waiting dump']
    app_state = self.AppState()
    is_tv_on = self.get_state("sensor.tv_state") == "on"
    is_greg_home = self.get_state("person.greg") == "home"

    try:
      battery_level = int(self.get_state(kEntity, attribute="battery_level"))
    except ValueError:
      return

    try:
      status = self.get_state(kEntity, attribute="status").lower()
    except AttributeError:
      return

    # There are multiple cases here, like "segment cleaning".
    if 'cleaning' in status:
      self.SetAppState("dirty")
      return

    if ((status == 'charging' or status == 'returning home') and
            app_state == "waiting dump"):
      self.SetAppState("clean")

    if (status == 'charging' and
        battery_level >= kMinBatteryToEmpty and
        app_state == 'dirty' and
            is_greg_home and not is_tv_on):
      self.SetAppState("waiting dump")
      self.GoToTrashCan()

    if app_state == "waiting_dump" and battery_level <= kMinBatteryToReturn:
      self.SetAppState("dirty")
      self.ReturnToCharger()