mop.yaml

###################################
# iRobot Mop Package
###################################

###################################
# Sensor
###################################

sensor:
  # Braava via Rest980_2 Docker Image
  - platform: rest
    name: rest980_2
    json_attributes:
      - batPct
      - cleanMissionStatus
      - dock
      - pose
      - signal
      - bbmssn
      - bbrun
      - name
      - pmaps
      - openOnly
      - twoPass
      - softwareVer
      - detectedPad
      - padWetness
      - mopReady
      - rankOverlap
    resource: !secret mop_state
    value_template: 'OK'
    scan_interval: 10
  - platform: template
    sensors:
      mop:
        friendly_name_template: >-
          {{ state_attr('sensor.rest980_2', 'name') }}
        value_template: >-
          {% if state_attr('sensor.rest980_2', 'cleanMissionStatus')['cycle'] == 'none' and state_attr('sensor.rest980_2', 'cleanMissionStatus')['notReady'] == 39 %}
            Pending
          {% elif state_attr('sensor.rest980_2', 'cleanMissionStatus')['notReady'] > 0 %}
            Not Ready
          {% else %}
            {% set mapper =  {
              'clean' : 'Clean',
              'quick' : 'Clean',
              'spot' : 'Spot',
              'dock' : 'Dock',
              'train' : 'Train',
              'none' : 'Ready' } %}
            {% set state =  state_attr('sensor.rest980_2', 'cleanMissionStatus')['cycle'] %}
            {{ mapper[state] if state in mapper else state }}
          {% endif %}
        icon_template: mdi:robot-vacuum
        attribute_templates:
          notready_msg: >-
            {% set mapper =  {
              0 : 'n-a',
              2 : 'Uneven Ground',
              15 : 'Low Battery',
              31 : 'Fill Tank',
              39 : 'Pending',
              48 : 'Path Blocked' } %}
            {% set state =  state_attr('sensor.rest980_2', 'cleanMissionStatus')['notReady'] %}
            {{ mapper[state] if state in mapper else state }}
          error_msg: >-
            {% set mapper =  {
              0 : 'n-a',
              18 : 'Docking Issue'} %}
            {% set state =  state_attr('sensor.rest980_2', 'cleanMissionStatus')['error'] %}
            {{ mapper[state] if state in mapper else state }}
          battery: >-
            {{ state_attr('sensor.rest980_2', 'batPct') }} %
          software_ver: >-
            {% if state_attr('sensor.rest980_2', 'softwareVer') is defined %}
            {% set version = state_attr('sensor.rest980_2', 'softwareVer') %}
              {{ version.split('+')[1] }} 
            {% else %}
              n-a
            {% endif %}
          phase: >-
            {% if state_attr('sensor.rest980_2', 'cleanMissionStatus')['phase'] == 'charge' and state_attr('sensor.rest980_2', 'batPct') == 100 %}
              Idle
            {% elif state_attr('sensor.rest980_2', 'cleanMissionStatus')['cycle'] == 'none' and state_attr('sensor.rest980_2', 'cleanMissionStatus')['phase'] == 'stop' %}
              Stopped
            {% else %}
              {% set mapper =  {
                'charge' : 'Charge',
                'run' : 'Run',
                'stop' : 'Paused',
                'stuck' : 'Stuck',
                'hmUsrDock' : 'Sent Home',
                'hmMidMsn' : 'Mid Dock',
                'hmPostMsn' : 'Final Dock' } %}
              {% set state =  state_attr('sensor.rest980_2', 'cleanMissionStatus')['phase'] %}
              {{ mapper[state] if state in mapper else state }}
            {% endif %}
          location: >-
            {% if state_attr('sensor.rest980_2', 'pose')['theta'] is defined %}
              ({{ state_attr('sensor.rest980_2', 'pose')['point']['x'] }}, {{ state_attr('sensor.rest980_2', 'pose')['point']['y'] }}, {{ state_attr('sensor.rest980_2', 'pose')['theta'] }})
            {% else %}
              n-a
            {% endif %}
          clean_mode: >-
            {{ state_attr('sensor.rest980_2', 'padWetness')['disposable'] }}
          mop_behavior: >-
            {% if state_attr('sensor.rest980_2', 'rankOverlap') is defined %}
              {% set mapper =  {
                25 : 'Extended',
                67 : 'Standard',
                85 : 'Deep' } %}
              {% set state =  state_attr('sensor.rest980_2', 'rankOverlap') %}
              {{ mapper[state] if state in mapper else state }}
            {% else %}
              n-a
            {% endif %}
          pad: >-
            {% if state_attr('sensor.rest980_2', 'detectedPad') is defined %}
              {% set mapper = {
                'reusableDry' : 'Dry',
                'reusableWet' : 'Wet',
                'dispDry' : 'Single Dry',
                'dispWet' : 'Single Wet'
                } %}
              {% set state = state_attr('sensor.rest980_2', 'detectedPad') %}
              {{ mapper[state] if state in mapper else state}}
            {% else %}
              n-a
            {% endif %}
          tank: >-
            {% if state_attr('sensor.rest980_2', 'mopReady')['tankPresent'] is defined %}
              {% if state_attr('sensor.rest980_2', 'mopReady')['tankPresent'] and state_attr('sensor.rest980_2', 'mopReady')['lidClosed'] %}
                Ready
              {% elif state_attr('sensor.rest980_2', 'mopReady')['tankPresent'] and (state_attr('sensor.rest980_2', 'mopReady')['lidClosed'] == false) %}
                Lid Open
              {% else %}
                Fill Tank
              {% endif %}
            {% else %}
              n-a
            {% endif %}
          rssi: >-
            {% if state_attr('sensor.rest980_2', 'signal')['rssi'] is defined %}
              {{ state_attr('sensor.rest980_2', 'signal')['rssi'] }}
            {% else %}
              n-a
            {% endif %}
          total_area: >-
            {% if state_attr('sensor.rest980_2', 'bbrun')['sqft'] is defined %}
              {{ (state_attr('sensor.rest980_2', 'bbrun')['sqft'] / 10.764 * 100)| round() }}m²
            {% else %}
              n-a
            {% endif %}
          #   {{ (state_attr('sensor.rest980_2', 'bbrun')['sqft'] }}ft²
          total_time: >-
            {% if state_attr('sensor.rest980_2', 'bbrun')['hr'] is defined %}
              {{ state_attr('sensor.rest980_2', 'bbrun')['hr'] }}h {{ state_attr('sensor.rest980_2', 'bbrun')['min'] }}m
            {% else %}
              n-a
            {% endif %}
          total_jobs: >-
            {% if state_attr('sensor.rest980_2', 'bbmssn')['nMssn'] is defined %}
              {{ state_attr('sensor.rest980_2', 'bbmssn')['nMssn'] }}
            {% else %}
              n-a
            {% endif %}
          job_initiator: >-
            {% set mapper =  {
              'schedule' : 'Scheduler',
              'rmtApp' : 'App',
              'manual' : 'Robot',
              'localApp' : 'HA' } %}
            {% set state =  state_attr('sensor.rest980_2', 'cleanMissionStatus')['initiator'] %}
            {{ mapper[state] if state in mapper else state }}
          job_time: >-
            {% if state_attr('sensor.rest980_2', 'cleanMissionStatus')['mssnStrtTm'] is defined %}
              {% if state_attr('sensor.rest980_2', 'cleanMissionStatus')['mssnStrtTm'] != 0 %}
                {% set time = state_attr('sensor.rest980_2', 'cleanMissionStatus')['mssnStrtTm'] | timestamp_local %}
                {% set elapsed = ((as_timestamp(now()) - as_timestamp(time)) / 60) | round(0) %}
                {% if elapsed > 60 %}
                  {{ elapsed // 60 }}h {{ '{:0>2d}'.format(elapsed%60) }}m
                {% else %}
                  {{elapsed}}m
                {% endif %}
              {% else %}
                n-a
              {% endif %}
            {% else %}
              n-a
            {% endif %}
          job_recharge: >-
            {% if state_attr('sensor.rest980_2', 'cleanMissionStatus')['rechrgTm'] is defined %}
              {% if state_attr('sensor.rest980_2', 'cleanMissionStatus')['rechrgTm'] != 0 %}
                {% set time = state_attr('sensor.rest980_2', 'cleanMissionStatus')['rechrgTm'] | timestamp_local %}
                {% set resume = ((as_timestamp(time) - as_timestamp(now())) / 60) | round(0) %}
                {% if resume > 60 %}
                  {{ resume // 60 }}h {{ '{:0>2d}'.format(resume%60) }}m
                {% else %}
                  {{resume}}m
                {% endif %}
              {% else %}
                n-a
              {% endif %}
            {% else %}
              n-a
            {% endif %}
          job_expires: >-
            {% if state_attr('sensor.rest980_2', 'cleanMissionStatus')['expireTm'] is defined %}
              {% if state_attr('sensor.rest980_2', 'cleanMissionStatus')['expireTm'] != 0 %}
                {% set time = state_attr('sensor.rest980_2', 'cleanMissionStatus')['expireTm'] | timestamp_local %}
                {% set resume = ((as_timestamp(time) - as_timestamp(now())) / 60) | round(0) %}
                {% if resume > 60 %}
                  {{ resume // 60 }}h {{ '{:0>2d}'.format(resume%60) }}m
                {% else %}
                  {{resume}}m
                {% endif %}
              {% else %}
                n-a
              {% endif %}
            {% else %}
              n-a
            {% endif %}
          clean_edges: >-
            {% if state_attr('sensor.rest980_2', 'openOnly') is defined %}
              {% if state_attr('sensor.rest980_2', 'openOnly') == 'true' %}
                False
              {% else %}
                True
              {% endif %}
            {% else %}
              n-a
            {% endif %}
          maint_due: >-
            {% if is_state('input_boolean.mop_maint_due', 'on') %}
              True
            {% else %}
              False
            {% endif %}
          # Floor Plan 0
          pmap0_id: >-
            {{ state_attr('sensor.rest980_2', 'pmaps')[0] | regex_findall_index("{'([\w\-]+)': '\w+'}") }}
          # Floor Plan 1 (Optional, if relevant)
          pmap1_id: >-
            {{ state_attr('sensor.rest980_2', 'pmaps')[1] | regex_findall_index("{'([\w\-]+)': '\w+'}") }}
          # Floor Plan 2 (Optional, if relevant)
          pmap2_id: >-
            {{ state_attr('sensor.rest980_2', 'pmaps')[2] | regex_findall_index("{'([\w\-]+)': '\w+'}") }}
          # Floor Plan 3 (Optional, if relevant)
          pmap3_id: >-
            {{ state_attr('sensor.rest980_2', 'pmaps')[3] | regex_findall_index("{'([\w\-]+)': '\w+'}") }}
      mop_location:
        friendly_name_template: >-
          {{ state_attr('sensor.rest980_2', 'name') }} Location
        value_template: >-
          {{ state_attr('sensor.mop', 'location') }}
        icon_template: mdi:home-map-marker

###################################
# Rest Command
###################################

rest_command:
  mop_action:
    url: >-
      {{ states('input_text.mop_action') }}{{ command }}
    verify_ssl: !secret mop_verify_ssl
    method: 'get'
    timeout: 20
  mop_clean:
    url: >-
      {{ states('input_text.mop_action') }}cleanRoom
    verify_ssl: !secret mop_verify_ssl
    method: POST
    content_type: 'application/json'
    payload: '{{ payload }}'

###################################
# Input Boolean
###################################

input_boolean:
  mop_clean_kitchen:
    name: Kitchen
    icon: mdi:silverware-fork-knife
  mop_clean_entry:
    name: Entry
    icon: mdi:coat-rack
  mop_clean_bathroom:
    name: Bathroom
    icon: mdi:shower
  mop_clean_master_ensuite:
    name: Master Ensuite
    icon: mdi:shower
  mop_maint_due:
    name: Mop Maintenance
    icon: mdi:wrench
  mop_schedule_1:
    name: Mop Schedule 1
    icon: mdi:timetable
  mop_schedule_2:
    name: Mop Schedule 2
    icon: mdi:timetable

###################################
# Input Text
###################################

input_text:
  mop_action:
    name: Mop Action URL
    initial: !secret mop_action
  mop_map:
    name: Mop Map URL
    initial: !secret mop_map
  mop_log:
    name: Mop Log Path
    initial: !secret mop_log
  mop_dir:
    name: Mop Dir Path
    initial: !secret mop_dir
  mop_rooms:
    name: Mop Rooms
    max: 255
  mop_pmap_id:
    name: Mop PMap

  mop_clean_kitchen:
    name: Kitchen
    initial: !secret mop_kitchen
  mop_clean_entry:
    name: Entry
    initial: !secret mop_entry
  mop_clean_bathroom:
    name: Bathroom
    initial: !secret mop_bathroom
  mop_clean_master_ensuite:
    name: Master Ensuite
    initial: !secret mop_master_ensuite

###################################
# Group
###################################

group:
  mop_rooms:
    entities:
      - input_boolean.mop_clean_kitchen
      - input_boolean.mop_clean_entry
      - input_boolean.mop_clean_bathroom
      - input_boolean.mop_clean_master_ensuite

###################################
# Automation
###################################

automation:
  # Initiate Selective Room Clean
  - alias: Mop Clean Rooms
    trigger:
    - platform: event
      event_type: initiate_mop_clean
    condition:
      condition: not
      conditions:
        - condition: state
          entity_id: input_text.mop_rooms
          state: ''
    action:
      - service: rest_command.mop_clean
        data_template:
          payload: >
            {% set rooms = states('input_text.mop_rooms') %}
            {% if rooms[-1:] == ',' %}
            {% set rooms = rooms[:-1] %}
            {% endif %}
            {% set rooms = rooms.split(",") %}
            {
              "ordered": 1,
              "pmap_id": "{{ states('input_text.mop_pmap_id') | string }}",
              "regions": [{% for id in rooms %}
                {% set room = 'input_text.mop_clean_' + id %} {{ states(room) | string }} {%- if not loop.last %},{%- endif %}
                {%- endfor %}
              ]
            }
          # Replace pmap_id line above with the following, if not using multi-floors
          # "pmap_id": "{{ state_attr('sensor.mop', 'pmap0_id') | string }}",
      - service: input_text.set_value
        data:
          entity_id: input_text.mop_rooms
          value: ''
      - service: input_boolean.turn_off
        data:
          entity_id: group.mop_rooms

  # Update Mop REST Sensor for Location Details
  - alias: Mop Update Location
    initial_state: true
    trigger:
      - platform: time_pattern
        seconds: /2
      - platform: event
        event_type: call_service
        event_data:
          domain: rest_command
          service: mop_clean
    condition: 
      condition: or
      conditions:
        - condition: template
          value_template: "{{ is_state_attr('sensor.mop', 'phase', 'Run') }}"
        - condition: template
          value_template: "{{ is_state_attr('sensor.mop', 'phase', 'Sent Home') }}"
        - condition: template
          value_template: "{{ is_state_attr('sensor.mop', 'phase', 'Mid Dock') }}"
        - condition: template
          value_template: "{{ is_state_attr('sensor.mop', 'phase', 'Final Dock') }}"
    action:
      - service: homeassistant.update_entity
        entity_id: sensor.rest980_2
  
  # Log Mop Location to File
  - alias: Mop Log Position
    initial_state: true
    trigger:
        platform: state
        entity_id: sensor.mop_location
    condition: 
      condition: or
      conditions:
        - condition: state
          entity_id: sensor.mop
          state: 'Clean'
        - condition: state
          entity_id: sensor.mop
          state: 'Train'
    action:
      - service: notify.mopfile
        data_template: 
          message: "{{ states('sensor.mop_location') }}"
               
  # Initialize Blank Mop Log File
  - alias: Mop Clean Log
    initial_state: true
    trigger:
      - platform: state
        entity_id: sensor.mop
        from: 'Ready'
        to: 'Clean'
      - platform: state
        entity_id: sensor.mop
        from: 'Ready'
        to: 'Train'
    action:
      - service: shell_command.mop_clear_log
      - service: shell_command.mop_clear_image
          
  # Update Mop Log File with Finished Status
  - alias: Mop Notify on Finished Cleaning
    initial_state: true
    trigger:
      - platform: state
        entity_id: sensor.mop
        from: 'Clean'
        to: 'Ready'
      - platform: state
        entity_id: sensor.mop
        from: 'Train'
        to: 'Ready'
      - platform: state
        entity_id: sensor.mop
        from: 'Pending'
        to: 'Ready'
    action:
      - service: notify.mopfile
        data_template: 
          message: "Finished"

  # Update Mop Log File with Stuck Status
  - alias: Mop Notify on Stuck Status
    initial_state: true
    trigger:
      platform: template
      value_template: "{{ is_state_attr('sensor.mop', 'phase', 'Stuck') }}"
    action:
      - service: notify.mopfile
        data_template: 
          message: "Stuck"
      # DELETE BELOW SECTION IF YOU DONT WANT NOTIFICATIONS
      - delay: 5
      - service: !secret mop_notify
        data_template:
          title: "{{ state_attr('sensor.rest980_2', 'name') }} requires your attention"
          message: "{{ state_attr('sensor.rest980_2', 'name') }} is stuck."
          # =============
          # NOTICE THIS SECTION IS VALID FOR IOS USERS ONLY!
          data:
            attachment:
              content-type: jpeg
            push:
              category: camera
            entity_id: camera.braava
          # =============

  # Generate Complete Mop Map
  - alias: Mop Generate Image after Cleaning
    initial_state: true
    trigger:
      - platform: state
        entity_id: sensor.mop
        from: 'Clean'
        to: 'Ready'
        for:
          seconds: 10
      - platform: state
        entity_id: sensor.mop
        from: 'Train'
        to: 'Ready'
        for:
          seconds: 10
      - platform: state
        entity_id: sensor.mop
        from: 'Pending'
        to: 'Ready'
        for:
          seconds: 10
    action:
      - service: shell_command.mop_generate_image
      # DELETE BELOW SECTION IF YOU DONT WANT NOTIFICATIONS
      - delay: 5
      - service: !secret mop_notify
        data_template:
          title: "{{ state_attr('sensor.rest980_2', 'name') }}"
          message: "{{ state_attr('sensor.rest980_2', 'name') }} successfully completed a job!"
          # =============
          # NOTICE THIS SECTION IS VALID FOR IOS USERS ONLY!
          data:
            attachment:
              content-type: jpeg
            push:
              category: camera
            entity_id: camera.braava
          # =============

  # Maintenance Check
  - alias: Mop Maintenance Check
    initial_state: true
    trigger:
      - platform: time_pattern
        minutes: /15
      - platform: state
        entity_id: [
          'sensor.mop_maint_clean_contacts',
          'sensor.mop_maint_clean_pad',
          'sensor.mop_maint_clean_wheels',
          'sensor.mop_maint_replace_pad'
        ]
    action:
      - service: >-
          {% set ns = namespace(count = 0) %}
          {% for item in states.sensor if 'sensor.mop_maint' in item.entity_id and (state_attr(item.entity_id, 'timeout_timestamp') < as_timestamp(now())) %}
            {% set ns.count = loop.index %}
          {% endfor %}
          {% if ns.count > 0 %}
            input_boolean.turn_on
          {% else %}
            input_boolean.turn_off
          {% endif %}
        entity_id: input_boolean.mop_maint_due

  # Add Rooms for Ordered Cleaning
  - alias: Mop Add Rooms for Cleaning
    initial_state: true
    trigger:
      platform: state
      entity_id: [
        'input_boolean.mop_clean_kitchen',
        'input_boolean.mop_clean_entry',
        'input_boolean.mop_clean_bathroom',
        'input_boolean.mop_clean_master_ensuite'
      ]
      to: 'on'
    action:
      service: input_text.set_value
      data_template:
        entity_id: input_text.mop_rooms
        value: |
          {% set room = trigger.entity_id %}
          {% set room = room.replace("input_boolean.mop_clean_","") %}
          {% if ((states('input_text.mop_rooms') == "unknown") or (states('input_text.mop_rooms') == "")) %}
            {{ room }},
          {% else %}
            {{ states('input_text.mop_rooms') }}{{ room }},
          {% endif %}

  # Remove Rooms for Ordered Cleaning
  - alias: Mop Remove Rooms for Cleaning
    initial_state: true
    trigger:
      platform: state
      entity_id: [
        'input_boolean.mop_clean_kitchen',
        'input_boolean.mop_clean_entry',
        'input_boolean.mop_clean_bathroom',
        'input_boolean.mop_clean_master_ensuite'
      ]
      to: 'off'
    action:
      service: input_text.set_value
      data_template:
        entity_id: input_text.mop_rooms
        value: |
          {% set room = trigger.entity_id %}
          {% set room = room.replace("input_boolean.mop_clean_","") %}
          {% set result = states('input_text.mop_rooms') %}
          {% set result = result.replace(room + ",","") %}
          {{ result }}

  # Mop Cleaning Schedule 1
  - alias: Mop Cleaning Schedule 1
    initial_state: true
    trigger:
      platform: time_pattern
      hours: "11"
    condition: 
      condition: and
      conditions:
        - condition: state
          entity_id: input_boolean.mop_schedule_1
          state: 'on'
        - condition: state
          entity_id: input_boolean.vacation
          state: 'off'
        - condition: time
          weekday:
            - mon
            - wed
            - fri
    action:
      - service: input_select.select_option
        data:
          option: 'Master Ensuite'
          entity_id: input_select.mop_maps
      - service: input_text.set_value
        entity_id: input_text.mop_rooms
        data_template: 
          entity_id: input_text.mop_rooms
          value: "master_ensuite"
      - service: automation.trigger
        entity_id: automation.mop_clean_rooms

  # Mop Cleaning Schedule 2
  - alias: Mop Cleaning Schedule 2
    initial_state: true
    trigger:
      platform: time_pattern
      hours: "12"
    condition: 
      condition: and
      conditions:
        - condition: state
          entity_id: input_boolean.mop_schedule_2
          state: 'on'
        - condition: state
          entity_id: input_boolean.vacation
          state: 'off'
        - condition: time
          weekday:
            - sun
    action:
      - service: input_text.set_value
        entity_id: input_text.mop_rooms
        data_template: 
          entity_id: input_text.mop_rooms
          value: "kitchen,entry,bathroom,master_ensuite"
      - service: automation.trigger
        entity_id: automation.mop_clean_rooms

  # Delete Old Mop Image Files
  - alias: Mop Delete Images
    initial_state: true
    trigger:
      platform: time_pattern
      hours: "00"
    action:
      - service: shell_command.mop_delete_images

###################################
# Notify
###################################

notify:
    - name: MopFile
      platform: file
      filename: !secret mop_log

###################################
# Camera
###################################

camera:
  - platform: generic
    still_image_url: >-
      {{ states('input_text.mop_map') }}
    content_type: image/png
    name: Braava

###################################
# Shell Command
###################################

shell_command:
  mop_clear_log: cp /dev/null {{ states('input_text.mop_log') }}
  mop_clear_image: curl -X GET -s -O /dev/null '{{ states("input_text.mop_map") }}?clear=true'
  mop_generate_image: curl -X GET -s -O /dev/null '{{ states("input_text.mop_map") }}?last=true'
  mop_delete_images: find {{ states('input_text.mop_dir') }} -regex ".*[0-9]\.png" -type f -mtime +20 -exec rm -f {} \;