"""
Support for Wi-Fi enabled iRobot Roombas.

For more details about this platform, please refer to the documentation
https://home-assistant.io/components/vacuum.roomba/
"""
import asyncio
import logging
import voluptuous as vol

from homeassistant.components.vacuum import (
    VacuumDevice, PLATFORM_SCHEMA, SUPPORT_BATTERY, SUPPORT_PAUSE,
    SUPPORT_RETURN_HOME, SUPPORT_SEND_COMMAND, SUPPORT_STATUS, SUPPORT_STOP,
    SUPPORT_TURN_OFF, SUPPORT_TURN_ON)
from homeassistant.const import (
    CONF_HOST, CONF_NAME, CONF_PASSWORD, CONF_USERNAME)
import homeassistant.helpers.config_validation as cv


REQUIREMENTS = ['roombapy==1.3.0']

_LOGGER = logging.getLogger(__name__)

ATTR_BIN_FULL = 'bin_full'
ATTR_BIN_PRESENT = 'bin_present'
ATTR_CLEANING_TIME = 'cleaning_time'
ATTR_CLEANED_AREA = 'cleaned_area'
ATTR_ERROR = 'error'
ATTR_POSITION = 'position'
ATTR_SOFTWARE_VERSION = 'software_version'

CONF_CERT = 'certificate'
CONF_CONTINUOUS = 'continuous'

DEFAULT_CERT = '/etc/ssl/certs/ca-certificates.crt'
DEFAULT_CONTINUOUS = True
DEFAULT_NAME = 'Roomba'

ICON = 'mdi:roomba'
PLATFORM = 'roomba'


PLATFORM_SCHEMA = PLATFORM_SCHEMA.extend({
    vol.Optional(CONF_NAME, default=DEFAULT_NAME): cv.string,
    vol.Required(CONF_HOST): cv.string,
    vol.Required(CONF_USERNAME): cv.string,
    vol.Required(CONF_PASSWORD): cv.string,
    vol.Optional(CONF_CERT, default=DEFAULT_CERT): cv.string,
    vol.Optional(CONF_CONTINUOUS, default=DEFAULT_CONTINUOUS): cv.boolean,
}, extra=vol.ALLOW_EXTRA)

SUPPORT_ROOMBA = SUPPORT_BATTERY | SUPPORT_PAUSE | SUPPORT_RETURN_HOME | \
                 SUPPORT_SEND_COMMAND | SUPPORT_STATUS | SUPPORT_STOP | \
                 SUPPORT_TURN_OFF | SUPPORT_TURN_ON


@asyncio.coroutine
def async_setup_platform(hass, config, async_add_devices, discovery_info=None):
    """Set up the iRobot Roomba vacuum cleaner platform."""
    from roomba import Roomba
    if PLATFORM not in hass.data:
        hass.data[PLATFORM] = {}

    host = config.get(CONF_HOST)
    name = config.get(CONF_NAME)
    username = config.get(CONF_USERNAME)
    password = config.get(CONF_PASSWORD)
    certificate = config.get(CONF_CERT)
    continuous = config.get(CONF_CONTINUOUS)

    # Create handler
    roomba = Roomba(
        address=host,
        blid=username,
        password=password,
        cert_name=certificate,
        continuous=continuous
    )
    _LOGGER.info("Initializing communication with host %s (username: %s)",
                 host, username)
    yield from hass.async_add_job(roomba.connect)
    roomba_vac = RoombaVacuum(name, roomba)
    hass.data[PLATFORM][host] = roomba_vac

    async_add_devices([roomba_vac], update_before_add=True)


class RoombaVacuum(VacuumDevice):
    """Representation of a Xiaomi Vacuum cleaner robot."""

    def __init__(self, name, roomba):
        """Initialize the Roomba handler."""
        self._available = False
        self._battery_level = None
        self._is_on = False
        self._name = name
        self._state_attrs = {}
        self._status = None
        self.vacuum = roomba
        self.vacuum_state = None

    @property
    def supported_features(self):
        """Flag vacuum cleaner robot features that are supported."""
        return SUPPORT_ROOMBA

    @property
    def battery_level(self):
        """Return the battery level of the vacuum cleaner."""
        return self._battery_level

    @property
    def status(self):
        """Return the status of the vacuum cleaner."""
        return self._status

    @property
    def is_on(self) -> bool:
        """Return True if entity is on."""
        return self._is_on

    @property
    def available(self) -> bool:
        """Return True if entity is available."""
        return self._available

    @property
    def name(self):
        """Return the name of the device."""
        return self._name

    @property
    def icon(self):
        """Return the icon to use for device."""
        return ICON

    @property
    def device_state_attributes(self):
        """Return the state attributes of the device."""
        return self._state_attrs

    @asyncio.coroutine
    def async_turn_on(self, **kwargs):
        """Turn the vacuum on."""
        yield from self.hass.async_add_job(self.vacuum.send_command, 'start')
        self._is_on = True

    @asyncio.coroutine
    def async_turn_off(self, **kwargs):
        """Turn the vacuum off and return to home."""
        yield from self.async_stop()
        yield from self.async_return_to_base()

    @asyncio.coroutine
    def async_stop(self, **kwargs):
        """Stop the vacuum cleaner."""
        yield from self.hass.async_add_job(self.vacuum.send_command, 'stop')
        self._is_on = False

    @asyncio.coroutine
    def async_resume(self, **kwargs):
        """Resume the cleaning cycle."""
        yield from self.hass.async_add_job(self.vacuum.send_command, 'resume')
        self._is_on = True

    @asyncio.coroutine
    def async_pause(self, **kwargs):
        """Pause the cleaning cycle."""
        yield from self.hass.async_add_job(self.vacuum.send_command, 'pause')
        self._is_on = False

    @asyncio.coroutine
    def async_start_pause(self, **kwargs):
        """Pause the cleaning task or resume it."""
        if self.vacuum_state and self.is_on:  # vacuum is running
            yield from self.async_pause()
        elif self._status == 'Stopped':  # vacuum is stopped
            yield from self.async_resume()
        else:  # vacuum is off
            yield from self.async_turn_on()

    @asyncio.coroutine
    def async_return_to_base(self, **kwargs):
        """Set the vacuum cleaner to return to the dock."""
        yield from self.hass.async_add_job(self.vacuum.send_command, 'dock')
        self._is_on = False

    @asyncio.coroutine
    def async_send_command(self, command, params, **kwargs):
        """Send raw command."""
        _LOGGER.debug("async_send_command %s (%s), %s",
                      command, params, kwargs)
        yield from self.hass.async_add_job(
            self.vacuum.send_command, command, params)
        return True

    @asyncio.coroutine
    def async_update(self):
        """Fetch state from the device."""
        # No data, no update
        if not self.vacuum.master_state:
            _LOGGER.debug("Roomba %s has no data yet. Skip update.",
                          self.name)
            return
        state = self.vacuum.master_state.get('state', {}).get('reported', {})
        _LOGGER.debug("Got new state from the vacuum: %s", state)
        self.vacuum_state = state
        self._available = True

        # Get the capabilities of our unit
        capabilities = state.get('cap', {})
        cap_pos = capabilities.get('pose')
        cap_bin_full = capabilities.get('binFullDetect')

        bin_state = state.get('bin', {})

        # Roomba software version
        software_version = state.get('softwareVer')

        # Error message in plain english
        error_msg = self.vacuum.error_message

        self._battery_level = state.get('batPct')
        self._status = self.vacuum.current_state
        self._is_on = self._status in ['Running']

        # Set properties that are to appear in the GUI
        self._state_attrs = {
            ATTR_BIN_PRESENT: bin_state.get('present'),
            ATTR_SOFTWARE_VERSION: software_version
        }

        # Only add cleaning time and cleaned area attrs when the vacuum is
        # currently on
        if self._is_on:
            # Get clean mission status
            mission_state = state.get('cleanMissionStatus', {})
            cleaning_time = mission_state.get('mssnM')
            cleaned_area = mission_state.get('sqft')  # Imperial
            # Convert to m2 if the unit_system is set to metric
            if cleaned_area and self.hass.config.units.is_metric:
                cleaned_area = round(cleaned_area * 0.0929)
            self._state_attrs[ATTR_CLEANING_TIME] = cleaning_time
            self._state_attrs[ATTR_CLEANED_AREA] = cleaned_area

        # Skip error attr if there is none
        if error_msg and error_msg != 'None':
            self._state_attrs[ATTR_ERROR] = error_msg

        # Not all Roombas expose positon data
        # https://github.com/koalazak/dorita980/issues/48
        if cap_pos == 1:
            pos_state = state.get('pose', {})
            position = None
            pos_x = pos_state.get('point', {}).get('x')
            pos_y = pos_state.get('point', {}).get('y')
            theta = pos_state.get('theta')
            if all(item is not None for item in [pos_x, pos_y, theta]):
                position = '({}, {}, {})'.format(pos_x, pos_y, theta)
            self._state_attrs[ATTR_POSITION] = position

        # Not all Roombas have a bin full sensor
        if cap_bin_full == 1:
            self._state_attrs[ATTR_BIN_FULL] = bin_state.get('full')