<?php

/*
* Neato Botvac Robot
* Makes requests against the robot
*
* PHP port based on https://github.com/kangguru/botvac
*
* Author: Tom Rosenback tom.rosenback@gmail.com  2016
*/

require_once "NeatoBotvacApi.php";

class NeatoBotvacRobot {
	protected $baseNucleoUrl = "https://nucleo.neatocloud.com/vendors/neato/robots/";
  	protected $baseUrl = "https://beehive.neatocloud.com";
  	public $version = "application/vnd.neato.nucleo.v1";
  	protected $url;
	protected $serial;
  	protected $robotid;
	protected $secret;
  	protected $model;
  	protected $session;
    public $apimodel = "nucleo";
  
	public function __construct($serial, $secret, $model = "default", $robotid = null) {
        log::add('neato', 'debug', 'Neato Robot serial='.$serial.' secret='.$secret.' model='.$model.' id='.$robotid);
		$this->serial = $serial;
		$this->secret = $secret;
      	$this->model = $model;
      	$this->robotid = $robotid;

		switch ($model) {
          case "VR200":
			$this->baseNucleoUrl = "https://nucleo.ksecosys.com:4443/vendors/vorwerk/robots/";
			$this->baseUrl = "https://vorwerk-beehive-production.herokuapp.com";
            $this->version = "application/vnd.neato.beehive.v1+json";
            break;
          case "D10":
			$this->baseNucleoUrl = "https://nucleo.neatocloud.com:4443/vendors/neato/";
            $this->baseUrl = "https://orbital.neatocloud.com";
            $this->version = "application/vnd.neato.orbital-http.v1+json";
            $this->apimodel = "ability";
            break; 
        }
      	$this->url = $this->baseNucleoUrl . $serial . "/messages";
	}
	
	public function getState() {
      	if ($this->apimodel == "ability") {
			return $this->getRobotInfo("last_state");
        } else {
			return $this->doAction("getRobotState");
        }
	}
	
	public function startCleaning($eco = false,$_modelCleaning,$_maps=null,$_boundaryId=null) {
      	if  ($this->apimodel == "ability") {
          	$floor = $this->getRanks()[0];
            $rank_id = $floor["rank_uuid"];
          	//$floor_id = $floor["floorplan_uuid"];
          	//$this->getTrackNames($floor_id);
          	//$track_id = $this->getTrackId($floor_id,"Cuisine");
            //$rank_id = $_maps;
          	$track_id = $_boundaryId;
          	if ($eco) {
            	$mode = "auto"; 
            } else {
              	$mode = "turbo";
            }
			return $this->doAbility("cleaning.start", array(
              "force_floorplan" => false,
              "runs" => [
              	array(
                  	"map" => array(
                		"rank_id" => $rank_id,
                		"track_id" => $track_id,
              			"nogo_enabled" => true,
                     ),
                    "settings" => array(
                      	"mode" => $mode,
                      	"navigation_mode" => "normal",
                     ),
                ),
              ],
            ));
        } else {
          
		switch ($_modelCleaning) {
			case 'basic-1';
			$params = array("category" => 2, "mode" => ($eco ? 1 : 2), "modifier" => 2);
			break;
			case 'minimal-2';
			case 'minimal-3';
			$params = array("category" => 2, 'navigationMode' => 1);
			break;
			case 'basic-3';
			if($_maps == 'advanced-1' || $_maps == 'macro-1'){
				$params = array("category" => 4, "mode" => ($eco ? 1 : 2), 'navigationMode' => 1);
			}else {
				$params = array("category" => 2, "mode" => ($eco ? 1 : 2), 'navigationMode' => 1);
			}
			break;
			case 'basic-4';
			if($_maps == 'basic-2'){
				if($_boundaryId != ''){
					$params = array("category" => 4, "mode" => ($eco ? 1 : 2), 'navigationMode' => 1, 'boundaryId' => $_boundaryId );
				}else{
					$params = array("category" => 4, "mode" => ($eco ? 1 : 2), 'navigationMode' => 1);
				}
			}else {
				$params = array("category" => 2, "mode" => ($eco ? 1 : 2), 'navigationMode' => 1);
			}
			break;
			default:
			$params = array("category" => 2, "mode" => ($eco ? 1 : 2), "modifier" => 2,'navigationMode' => 1);
			break;
		}
		return $this->doAction("startCleaning", $params);
        }
	}
	
	public function pauseCleaning() {
      	if ($this->apimodel == "ability") {
			return $this->doAbility("cleaning.pause");
        } else {
			return $this->doAction("pauseCleaning");
        }
	}
	
	public function resumeCleaning() {
      	if ($this->apimodel == "ability") {
			return $this->doAbility("cleaning.resume");
        } else {
			return $this->doAction("resumeCleaning");
        }
	}
	
	public function stopCleaning() {
      	if ($this->apimodel == "ability") {
			return $this->doAbility("cleaning.cancel");
        } else {
			return $this->doAction("stopCleaning");
        }
	}
	
	public function sendToBase() {
      	if ($this->apimodel == "ability") {
			return $this->doAbility("navigation.return_to_base");
        } else {
			return $this->doAction("sendToBase");
        }
	}
	
	public function enableSchedule() {
		return $this->doAction("enableSchedule");
	}
	
	public function disableSchedule() {
		return $this->doAction("disableSchedule");
	}
	
	public function getSchedule() {
		return $this->doAction("getSchedule");
	}
	
	public function getMapBoundaries($_maps) {
      	if ($this->apimodel == "ability") {
          	$boundaries = [];
          	foreach ($this->getTracks($_maps) as $track) {
            	array_push($boundaries,array('id'=>$track['track_uuid'],'name'=>$track['name']));
            }
          	return array('data'=>array('boundaries'=>$boundaries));
        } else {
			return $this->doAction("getMapBoundaries",array('mapId' => $_maps));
        }
	}
	
  	// last_state, features, reminders, cleaningmaps, floorplans
  	protected function getRobotInfo($info, $params = false) {
      	log::add('neato','debug','Get robot info : '.$info);
		$result = array("message" => "no serial or secret");
		if ($this->serial !== false) {
          	$result = NeatoBotvacApi::request($this->baseUrl."/robots/".$this->robotid."/".$info, $this->version, null, "GET", array("Authorization: Token ".$this->secret));

			log::add('neato','debug','Neato info : '.$payload.' => '.json_encode($result));
        }
      	return $result;
    }
  
  	public function getRanks() {
      	$ranks = $this->getRobotInfo("floorplans");
      	return $ranks;

    }
  	public function getTracks($floor_id) {
      	log::add('neato','debug','Get tracks : '.$floor_id);
		$result = array("message" => "no serial or secret");
		if ($this->serial !== false) {
          	$result = NeatoBotvacApi::request($this->baseUrl."/maps/floorplans/".$floor_id."/tracks", $this->version, null, "GET", array("Authorization: Token ".$this->secret));

			log::add('neato','debug','Neato info : '.$payload.' => '.json_encode($result));
        }
      	return $result;
    }
  	public function getTrackNames($floor_id) {
    	foreach ($this->getTracks($floor_id) as $track) {
            log::add('neato','debug','Neato track : '.$track["name"]." UUID=".$track["track_uuid"]);
        }
    }  
  	public function getTrackId($floor_id, $track_name) {
    	foreach ($this->getTracks($floor_id) as $track) {
        	 if ($track["name"] == $track_name) {
             	return $track["track_uuid"]; 
             }
        }
    }
  
  	protected function doAbility($command, $params = false) {
      	log::add('neato','debug','Do ability : '.$command);
		$result = array("message" => "no serial or secret");
		if ($this->serial !== false) {
         	$payload = array("ability" => $command);
			if ($params !== false) {
              	$payload = array_merge($payload, $params);
			}
			$payload = json_encode($payload);

          	$result = NeatoBotvacApi::request($this->baseUrl."/vendors/N/robots/".$this->serial."/messages", $this->version, $payload, "POST", array("Authorization: Token ".$this->secret, "Content-Type: application/json"));

			log::add('neato','debug','Neato ability : '.$payload.' => '.json_encode($result));
        }
      	return $result;
    }
  
	protected function doAction($command, $params = false) {
      	log::add('neato','debug','Do action : '.$command);
		$result = array("message" => "no serial or secret");
		if ($this->serial !== false && $this->secret !== false) {
			$payload = array("reqId" => "1", "cmd" => $command);
			if ($params !== false) {
				$payload["params"] = $params;
			}
			$payload = json_encode($payload);
			$date = gmdate("D, d M Y H:i:s") . " GMT";
			$data = implode("\n", array(strtolower($this->serial), $date, $payload));
			$hmac = hash_hmac("sha256", $data, $this->secret);
			$headers = array(
				"Date: " . $date,
				"Authorization: NEATOAPP " . $hmac,
			);
			$result = NeatoBotvacApi::request($this->url, $payload, "POST", $headers);
			log::add('neato','debug','Neato action : '.$payload.' => '.json_encode($result));
        }
		return $result;
	}
	
}