Fixing linting errors

neatoserial.py

@@ -5,6 +5,7 @@
 import time
 import RPi.GPIO as GPIO
 
+
 class NeatoSerial:
  """Serial interface to Neato."""
 
@@ -31,7 +32,8 @@ def connect(self):
  print("Connected to Neato at "+dev)
  return
  except:
- print("Could not connect to device "+dev+". Trying next device.")
+ print("Could not connect to device "+dev+". "
+ + "Trying next device.")
 
  def open(self):
  """Open serial port and flush the input."""
@@ -59,10 +61,26 @@ def read_all(self, port, chunk_size=200):
  break
  return read_buffer
 
+ def toggleusb(self):
+ """Toggle USB connection to Neato."""
+ if settings['serial']['usb_switch_mode'] == 'direct':
+ print("Direct connection specified.")
+ # disable and re-enable usb ports to trigger clean
+ os.system('sudo ./hub-ctrl -h 0 -P 2 -p 0 ; sleep 1; '
+ + 'sudo ./hub-ctrl -h 0 -P 2 -p 1 ')
+ elif settings['serial']['usb_switch_mode'] == 'relay':
+ print("Relay connection specified")
+ # use relay to temporarily disconnect neato to trigger clean
+ GPIO.output(self.pin, GPIO.LOW)
+ time.sleep(1)
+ GPIO.output(self.pin, GPIO.HIGH)
+ if settings['serial']['reboot_after_usb_switch']:
+ os.system('sudo reboot')
+
  def write(self, msg):
  """Write message to serial and return output."""
  print("Message received for writing: "+msg)
- print("Sending wake-up message" )
+ print("Sending wake-up message")
  # wake up neato by sending something random
  self.ser.write("wake-up\n".encode('utf-8'))
  time.sleep(1)
@@ -77,20 +95,9 @@ def write(self, msg):
  if msg == "Clean":
  # toggle usb
  print("Message was 'Clean' so toggling USB")
- if settings['serial']['usb_switch_mode'] == 'direct':
- print("Direct connection specified.")
- # disable and re-enable usb ports to trigger clean
- os.system('sudo ./hub-ctrl -h 0 -P 2 -p 0 ; sleep 1; '
- + 'sudo ./hub-ctrl -h 0 -P 2 -p 1 ')
- elif settings['serial']['usb_switch_mode'] == 'relay':
- print("Relay connection specified")
- # use relay to temporarily disconnect neato to trigger clean
- GPIO.output(self.pin, GPIO.LOW)
- time.sleep(1)
- GPIO.output(self.pin, GPIO.HIGH)
- if settings['serial']['reboot_after_usb_switch']:
- os.system('sudo reboot')
- #the device might have changed with the usb toggle, so let's close and reconnect
+ self.toggleusb()
+ # the device might have changed with the usb toggle,
+ # so let's close and reconnect
  print("Reconnecting to Neato")
  time.sleep(5)
  self.close()
@@ -106,6 +113,18 @@ def write(self, msg):
  if out != '':
  return out
 
+ def getError(self):
+ """Return error message if available."""
+ output = self.write("GetErr")
+ if output is not None:
+ outputsplit = output.split('\r\n')
+ if len(outputsplit) == 3:
+ return outputsplit[1]
+ else:
+ return None
+ else:
+ return None
+
  def getBatteryLevel(self):
  """Return battery level."""
  return int(self.getCharger()["FuelPercent"])

neatoserialmqtt.py

@@ -1,7 +1,10 @@
+
 """MQTT interface for Neato Serial."""
 from config import settings
 import json
 import time
+import logging
+from systemd.journal import JournalHandler
 import paho.mqtt.client as mqtt
 from neatoserial import NeatoSerial
 
@@ -15,18 +18,21 @@ def on_message(client, userdata, msg):
  print("Feedback from device: "+feedback)
 
 
-print("Starting")
+log = logging.getLogger('NeatoSerialMQTT')
+log.addHandler(JournalHandler())
+log.setLevel(logging.INFO)
+log.info("Starting")
 client = mqtt.Client()
 client.on_message = on_message
 client.username_pw_set(settings['mqtt']['username'],
  settings['mqtt']['password'])
-print("Connecting")
+log.info("Connecting")
 client.connect(settings['mqtt']['host'], settings['mqtt']['port'])
 client.subscribe(settings['mqtt']['command_topic'], qos=1)
-print("Setting up serial")
+log.info("Setting up serial")
 ns = NeatoSerial()
 
-print("Ready")
+log.info("Ready")
 client.loop_start()
 while True:
  try:
@@ -36,8 +42,19 @@ def on_message(client, userdata, msg):
  data["cleaning"] = ns.getCleaning()
  data["charging"] = ns.getChargingActive()
  data["fan_speed"] = ns.getVacuumRPM()
+ error = ns.getError()
+ errorsplit = error.split(' - ')
+ log.info("Error from Neato: "+str(errorsplit))
+ if len(errorsplit) == 2:
+ # handle error 220 - which means we need to toggle the usb
+ # to trigger a clean
+ if int(errorsplit[0]) == 220:
+ ns.toggleusb()
+ data["error"] = errorsplit[1]
+ else:
+ data["error"] = error
  json_data = json.dumps(data)
  client.publish(settings['mqtt']['state_topic'], json_data)
  time.sleep(settings['mqtt']['publish_wait_seconds'])
- except:
- print("Error getting status.")
+ except Exception as ex:
+ log.info("Error getting status: "+ex)

relaytest.py

@@ -1,16 +1,16 @@
+"""Simple test class for testing relay."""
 import RPi.GPIO as GPIO
-import time
 
 GPIO.setmode(GPIO.BCM)
 pins = [2, 3, 4, 17]
 for pin in pins:
- GPIO.setup(pin, GPIO.OUT)
- GPIO.output(pin, GPIO.HIGH)
+ GPIO.setup(pin, GPIO.OUT)
+ GPIO.output(pin, GPIO.HIGH)
 print("All pins set to high")
 while 1:
- inp = input("Enter pin number (2,3,4 or 17) and high or low: ")
- inpslit = inp.split(' ')
- to = GPIO.HIGH
- if inpslit[1] == 'low':
- to = GPIO.LOW
- GPIO.output(int(inpslit[0]),to)
+ inp = input("Enter pin number (2,3,4 or 17) and high or low: ")
+ inpslit = inp.split(' ')
+ to = GPIO.HIGH
+ if inpslit[1] == 'low':
+ to = GPIO.LOW
+ GPIO.output(int(inpslit[0]), to)