Class: SDN::CLI::MQTT

Inherits:
Object
  • Object
show all
Includes:
Read, Subscriptions, Write
Defined in:
lib/sdn/cli/mqtt.rb,
lib/sdn/cli/mqtt/read.rb,
lib/sdn/cli/mqtt/group.rb,
lib/sdn/cli/mqtt/motor.rb,
lib/sdn/cli/mqtt/write.rb,
lib/sdn/cli/mqtt/p_queue.rb,
lib/sdn/cli/mqtt/subscriptions.rb

Defined Under Namespace

Modules: Read, Subscriptions, Write Classes: Group, MessageAndRetries, Motor, PQueue

Constant Summary collapse

WAIT_TIME = 
0.25
BROADCAST_WAIT = 
5.0

Instance Attribute Summary collapse

Instance Method Summary collapse

Methods included from Subscriptions

#handle_message

Methods included from Write

#write

Methods included from Read

#read

Constructor Details

#initialize(sdn, mqtt_uri, device_id: "somfy", base_topic: "homie", auto_discover: true, known_motors: [], homie: true, home_assistant: true) ⇒ MQTT

Returns a new instance of MQTT.



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# File 'lib/sdn/cli/mqtt.rb', line 30

def initialize(sdn,
               mqtt_uri,
               device_id: "somfy",
               base_topic: "homie",
               auto_discover: true,
               known_motors: [],
               homie: true,
               home_assistant: true)
  @homie = homie
  @home_assistant = home_assistant
  @base_topic = "#{base_topic}/#{device_id}"
  @device_id = device_id
  @mqtt = ::MQTT::Client.new(mqtt_uri)
  @mqtt.set_will("#{@base_topic}/$state", "lost", retain: true)
  @mqtt.connect

  @motors = {}
  @groups = {}

  @mutex = Mutex.new
  @cond = ConditionVariable.new
  @queue = PQueue.new
  @response_pending = false
  @broadcast_pending = false

  @auto_discover = auto_discover
  @motors_found = true

  clear_tree(@base_topic)
  publish_basic_attributes

  @sdn = sdn

  known_motors&.each do |addr|
    addr = Message.parse_address(addr)
    @queue.push(MessageAndRetries.new(Message::GetMotorPosition.new(addr), 5, 0))
  end

  Thread.abort_on_exception = true
  Thread.new { read }
  Thread.new { write }
  @mqtt.get { |packet| handle_message(packet.topic, packet.payload) }
end

Instance Attribute Details

#groups ⇒ Object (readonly)

Returns the value of attribute groups.



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# File 'lib/sdn/cli/mqtt.rb', line 28

def groups
  @groups
end

#motors ⇒ Object (readonly)

Returns the value of attribute motors.



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# File 'lib/sdn/cli/mqtt.rb', line 28

def motors
  @motors
end

Instance Method Details

#add_group(addr) ⇒ Object 



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# File 'lib/sdn/cli/mqtt.rb', line 652

def add_group(addr)
  addr = addr.delete(".")
  group = @groups[addr]
  return group if group

  @mqtt.batch_publish do
    hass_device = {
      identifiers: addr,
      model: "Shade Group",
      name: addr,
      via_device: @device_id
    }
    node_id = "#{@device_id}_#{addr}"

    if @homie
      publish("#{addr}/$name", addr)
      publish("#{addr}/$type", "Shade Group")
      publish("#{addr}/$properties",
              "discover,control,jog-ms,jog-pulses,position-pulses,position-percent," \
              "ip,reset,state,last-direction,motors")

      publish("#{addr}/discover/$name", "Trigger Motor Discovery")
      publish("#{addr}/discover/$datatype", "enum")
      publish("#{addr}/discover/$format", "discover")
      publish("#{addr}/discover/$settable", "true")
      publish("#{addr}/discover/$retained", "false")
    end

    if @home_assistant
      @mqtt.publish_hass_button("discover",
                                command_topic: "#{@base_topic}/#{addr}/discover/set",
                                device: hass_device,
                                icon: "mdi:search-add",
                                name: "Rediscover",
                                node_id: node_id,
                                object_id: "discover",
                                payload_press: "discover",
                                unique_id: "#{node_id}_discover")
    end

    if @homie
      publish("#{addr}/control/$name", "Control motors")
      publish("#{addr}/control/$datatype", "enum")
      publish("#{addr}/control/$format", "up,down,stop,wink,next_ip,previous_ip,refresh")
      publish("#{addr}/control/$settable", "true")
      publish("#{addr}/control/$retained", "false")
    end

    if @home_assistant
      @mqtt.publish_hass_cover("group",
                               command_topic: "#{@base_topic}/#{addr}/control/set",
                               device: hass_device,
                               icon: "mdi:roller-shade",
                               name: "Group",
                               node_id: node_id,
                               payload_close: "down",
                               payload_open: "up",
                               payload_stop: "stop",
                               position_open: 0,
                               position_closed: 100,
                               position_topic: "#{@base_topic}/#{addr}/position-percent",
                               set_position_topic: "#{@base_topic}/#{addr}/position-percent/set",
                               state_topic: "#{@base_topic}/#{addr}/hass-state",
                               unique_id: "#{node_id}_group")
      {
        Wink: "mdi:emoticon-wink",
        Next_IP: "mdi:skip-next",
        Previous_IP: "mdi:skip-previous",
        Refresh: "mdi:refresh"
      }.each do |command, icon|
        @mqtt.publish_hass_button(command.to_s.downcase,
                                  command_topic: "#{@base_topic}/#{addr}/control/set",
                                  device: hass_device,
                                  icon: icon,
                                  name: command.to_s.sub("_", " "),
                                  node_id: node_id,
                                  payload_press: command.to_s.downcase,
                                  unique_id: "#{node_id}_#{command.to_s.downcase}")
      end
    end

    if @homie
      publish("#{addr}/jog-ms/$name", "Jog motors by ms")
      publish("#{addr}/jog-ms/$datatype", "integer")
      publish("#{addr}/jog-ms/$format", "-65535:65535")
      publish("#{addr}/jog-ms/$unit", "ms")
      publish("#{addr}/jog-ms/$settable", "true")
      publish("#{addr}/jog-ms/$retained", "false")

      publish("#{addr}/jog-pulses/$name", "Jog motors by pulses")
      publish("#{addr}/jog-pulses/$datatype", "integer")
      publish("#{addr}/jog-pulses/$format", "-65535:65535")
      publish("#{addr}/jog-pulses/$unit", "pulses")
      publish("#{addr}/jog-pulses/$settable", "true")
      publish("#{addr}/jog-pulses/$retained", "false")

      publish("#{addr}/position-pulses/$name", "Position from up limit (in pulses)")
      publish("#{addr}/position-pulses/$datatype", "integer")
      publish("#{addr}/position-pulses/$format", "0:65535")
      publish("#{addr}/position-pulses/$unit", "pulses")
      publish("#{addr}/position-pulses/$settable", "true")
    end

    if @home_assistant
      @mqtt.publish_hass_number("position-pulses",
                                command_topic: "#{@base_topic}/#{addr}/position-pulses/set",
                                device: hass_device,
                                enabled_by_default: false,
                                max: 65_536,
                                min: 0,
                                name: "Position (Pulses)",
                                node_id: node_id,
                                object_id: "position-pulses",
                                state_topic: "#{@base_topic}/#{addr}/position-pulses",
                                step: 10,
                                unit_of_measurement: "pulses",
                                unique_id: "#{node_id}_position-pulses")
    end

    if @homie
      publish("#{addr}/position-percent/$name", "Position (in %)")
      publish("#{addr}/position-percent/$datatype", "integer")
      publish("#{addr}/position-percent/$format", "0:100")
      publish("#{addr}/position-percent/$unit", "%")
      publish("#{addr}/position-percent/$settable", "true")

      publish("#{addr}/ip/$name", "Intermediate Position")
      publish("#{addr}/ip/$datatype", "integer")
      publish("#{addr}/ip/$format", "1:16")
      publish("#{addr}/ip/$settable", "true")
    end

    if @home_assistant
      @mqtt.publish_hass_number("ip",
                                command_topic: "#{@base_topic}/#{addr}/ip/set",
                                device: hass_device,
                                name: "Intermediate Position",
                                max: 16,
                                min: 0,
                                node_id: node_id,
                                object_id: "ip",
                                payload_reset: "",
                                state_topic: "#{@base_topic}/#{addr}/ip",
                                unique_id: "#{node_id}_ip")
    end

    if @homie
      publish("#{addr}/state/$name", "State of the motors")
      publish("#{addr}/state/$datatype", "enum")
      publish("#{addr}/state/$format", "#{Message::PostMotorStatus::STATE.keys.join(",")},mixed")

      publish("#{addr}/last-direction/$name", "Direction of last motion")
      publish("#{addr}/last-direction/$datatype", "enum")
      publish("#{addr}/last-direction/$format", "#{Message::PostMotorStatus::DIRECTION.keys.join(",")},mixed")

      publish("#{addr}/motors/$name", "Comma separated motor addresses that are members of this group")
      publish("#{addr}/motors/$datatype", "string")
    end

    group = @groups[addr] = Group.new(self, addr)
    publish("$nodes", (["FFFFFF"] + @motors.keys.sort + @groups.keys.sort).join(",")) if @homie
  end
  group
end

#clear_tree(topic) ⇒ Object 



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# File 'lib/sdn/cli/mqtt.rb', line 91

def clear_tree(topic)
  @mqtt.subscribe("#{topic}/#")
  @mqtt.unsubscribe("#{topic}/#", wait_for_ack: true)
  until @mqtt.queue_empty?
    packet = @mqtt.get
    @mqtt.publish(packet.topic, nil, retain: true)
  end
end

#enqueue(message) ⇒ Object 



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# File 'lib/sdn/cli/mqtt.rb', line 82

def enqueue(message)
  @mutex.synchronize do
    break if @queue.include?(message)

    @queue.push(message)
    @cond.signal
  end
end

#publish(topic, value) ⇒ Object 



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# File 'lib/sdn/cli/mqtt.rb', line 74

def publish(topic, value)
  @mqtt.publish("#{@base_topic}/#{topic}", value, retain: true, qos: 1)
end

#publish_basic_attributes ⇒ Object 



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# File 'lib/sdn/cli/mqtt.rb', line 100

def publish_basic_attributes
  @mqtt.batch_publish do
    if @homie
      publish("$homie", "4.0.0")
      publish("$name", "Somfy SDN Network")
      publish("$state", "init")
      publish("$nodes", "FFFFFF")

      publish("FFFFFF/$name", "Broadcast")
      publish("FFFFFF/$type", "sdn")
      publish("FFFFFF/$properties", "discover")

      publish("FFFFFF/discover/$name", "Trigger Motor Discovery")
      publish("FFFFFF/discover/$datatype", "enum")
      publish("FFFFFF/discover/$format", "discover")
      publish("FFFFFF/discover/$settable", "true")
      publish("FFFFFF/discover/$retained", "false")
    end

    if @home_assistant
      hass_device = {
        name: "Somfy SDN Bridge",
        identifiers: @device_id,
        sw_version: SDN::VERSION
      }
      @mqtt.publish_hass_button("discover",
                                command_topic: "#{@base_topic}/FFFFFF/discover/set",
                                device: hass_device,
                                icon: "mdi:search-add",
                                name: "Discover Motors",
                                node_id: @device_id,
                                object_id: "discover",
                                unique_id: "#{@device_id}_discover",
                                payload_press: "true")
    end

    subscribe_all

    publish("$state", "ready")
  end

  @mqtt.on_reconnect do
    subscribe_all
    publish("$state", :init)
    publish("$state", :ready)
  end
end

#publish_motor(addr, node_type) ⇒ Object 



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# File 'lib/sdn/cli/mqtt.rb', line 171

def publish_motor(addr, node_type)
  motor = nil

  @mqtt.batch_publish do
    hass_device = {
      identifiers: addr,
      model_id: node_type,
      name: addr,
      via_device: @device_id
    }
    node_id = "#{@device_id}_#{addr}"

    if @homie
      publish("#{addr}/$name", addr)
      publish("#{addr}/$type", node_type.to_s)
    end
    properties = %w[
      discover
      label
      state
      control
      jog-ms
      jog-pulses
      position-pulses
      position-percent
      ip
      down-limit
      groups
      last-direction
    ] + (1..16).map { |ip| ["ip#{ip}-pulses", "ip#{ip}-percent"] }.flatten

    unless node_type == :st50ilt2
      properties.push("reset",
                      "last-action-source",
                      "last-action-cause",
                      "up-limit",
                      "direction",
                      "up-speed",
                      "down-speed",
                      "slow-speed")
    end

    if @homie
      publish("#{addr}/$properties", properties.join(","))

      publish("#{addr}/discover/$name", "Trigger Motor Discovery")
      publish("#{addr}/discover/$datatype", "enum")
      publish("#{addr}/discover/$format", "discover")
      publish("#{addr}/discover/$settable", "true")
      publish("#{addr}/discover/$retained", "false")
    end

    if @home_assistant
      @mqtt.publish_hass_button("discover",
                                command_topic: "#{@base_topic}/#{addr}/discover/set",
                                device: hass_device,
                                icon: "mdi:search-add",
                                name: "Rediscover",
                                node_id: node_id,
                                object_id: "discover",
                                payload_press: "true",
                                unique_id: "#{node_id}_discover")
    end

    if @homie
      publish("#{addr}/label/$name", "Node label")
      publish("#{addr}/label/$datatype", "string")
      publish("#{addr}/label/$settable", "true")
    end

    if @home_assistant
      @mqtt.publish_hass_text("label",
                              command_topic: "#{@base_topic}/#{addr}/label/set",
                              device: hass_device,
                              entity_category: :config,
                              icon: "mdi:rename",
                              max: 16,
                              name: "Label",
                              node_id: node_id,
                              unique_id: "#{node_id}_label")
    end

    if @homie
      publish("#{addr}/state/$name", "Current state of the motor")
      publish("#{addr}/state/$datatype", "enum")
      publish("#{addr}/state/$format", Message::PostMotorStatus::STATE.keys.join(","))

      publish("#{addr}/control/$name", "Control motor")
      publish("#{addr}/control/$datatype", "enum")
      publish("#{addr}/control/$format", "up,down,stop,wink,next_ip,previous_ip,refresh")
      publish("#{addr}/control/$settable", "true")
      publish("#{addr}/control/$retained", "false")

      publish("#{addr}/jog-ms/$name", "Jog motor by ms")
      publish("#{addr}/jog-ms/$datatype", "integer")
      publish("#{addr}/jog-ms/$format", "-65535:65535")
      publish("#{addr}/jog-ms/$unit", "ms")
      publish("#{addr}/jog-ms/$settable", "true")
      publish("#{addr}/jog-ms/$retained", "false")

      publish("#{addr}/jog-pulses/$name", "Jog motor by pulses")
      publish("#{addr}/jog-pulses/$datatype", "integer")
      publish("#{addr}/jog-pulses/$format", "-65535:65535")
      publish("#{addr}/jog-pulses/$unit", "pulses")
      publish("#{addr}/jog-pulses/$settable", "true")
      publish("#{addr}/jog-pulses/$retained", "false")

      publish("#{addr}/position-percent/$name", "Position (in %)")
      publish("#{addr}/position-percent/$datatype", "integer")
      publish("#{addr}/position-percent/$format", "0:100")
      publish("#{addr}/position-percent/$unit", "%")
      publish("#{addr}/position-percent/$settable", "true")
    end

    if @home_assistant
      @mqtt.publish_hass_cover("motor",
                               command_topic: "#{@base_topic}/#{addr}/control/set",
                               device: hass_device,
                               icon: "mdi:roller-shade",
                               name: "Motor",
                               node_id: node_id,
                               payload_close: "down",
                               payload_open: "up",
                               payload_stop: "stop",
                               position_open: 0,
                               position_closed: 100,
                               position_topic: "#{@base_topic}/#{addr}/position-percent",
                               set_position_topic: "#{@base_topic}/#{addr}/position-percent/set",
                               state_topic: "#{@base_topic}/#{addr}/hass-state",
                               unique_id: "#{node_id}_motor")
      {
        Wink: "mdi:emoticon-wink",
        Next_IP: "mdi:skip-next",
        Previous_IP: "mdi:skip-previous",
        Refresh: "mdi:refresh"
      }.each do |command, icon|
        @mqtt.publish_hass_button(command.to_s.downcase,
                                  command_topic: "#{@base_topic}/#{addr}/control/set",
                                  device: hass_device,
                                  icon: icon,
                                  name: command.to_s.sub("_", " "),
                                  node_id: node_id,
                                  payload_press: command.to_s.downcase,
                                  unique_id: "#{node_id}_#{command.to_s.downcase}")
      end
    end

    if @homie
      publish("#{addr}/position-pulses/$name", "Position from up limit (in pulses)")
      publish("#{addr}/position-pulses/$datatype", "integer")
      publish("#{addr}/position-pulses/$format", "0:65535")
      publish("#{addr}/position-pulses/$unit", "pulses")
      publish("#{addr}/position-pulses/$settable", "true")
    end

    if @home_assistant
      @mqtt.publish_hass_number("position-pulses",
                                command_topic: "#{@base_topic}/#{addr}/position-pulses/set",
                                device: hass_device,
                                enabled_by_default: false,
                                max: 65_536,
                                min: 0,
                                name: "Position (Pulses)",
                                node_id: node_id,
                                object_id: "position-pulses",
                                state_topic: "#{@base_topic}/#{addr}/position-pulses",
                                step: 10,
                                unit_of_measurement: "pulses",
                                unique_id: "#{node_id}_position-pulses")
    end

    if @homie
      publish("#{addr}/ip/$name", "Intermediate Position")
      publish("#{addr}/ip/$datatype", "integer")
      publish("#{addr}/ip/$format", "1:16")
      publish("#{addr}/ip/$settable", "true")
      publish("#{addr}/ip/$retained", "false") if node_type == :st50ilt2
    end

    if @home_assistant
      @mqtt.publish_hass_number("ip",
                                command_topic: "#{@base_topic}/#{addr}/ip/set",
                                device: hass_device,
                                name: "Intermediate Position",
                                max: 16,
                                min: 0,
                                node_id: node_id,
                                object_id: "ip",
                                payload_reset: "",
                                state_topic: "#{@base_topic}/#{addr}/ip",
                                unique_id: "#{node_id}_ip")
    end

    if @homie
      publish("#{addr}/down-limit/$name", "Down limit")
      publish("#{addr}/down-limit/$datatype", "integer")
      publish("#{addr}/down-limit/$format", "0:65535")
      publish("#{addr}/down-limit/$unit", "pulses")
      publish("#{addr}/down-limit/$settable", "true")
    end

    if @home_assistant
      @mqtt.publish_hass_number("down-limit",
                                command_topic: "#{@base_topic}/#{addr}/down-limit/set",
                                device: hass_device,
                                entity_category: :config,
                                icon: "mdi:roller-shade-closed",
                                max: 65_536,
                                min: 0,
                                node_id: node_id,
                                payload_reset: "",
                                state_topic: "#{@base_topic}/#{addr}/down-limit",
                                step: 10,
                                unit_of_measurement: "pulses",
                                unique_id: "#{node_id}_down-limit")
    end

    if @homie
      publish("#{addr}/last-direction/$name", "Direction of last motion")
      publish("#{addr}/last-direction/$datatype", "enum")
      publish("#{addr}/last-direction/$format", Message::PostMotorStatus::DIRECTION.keys.join(","))
    end

    unless node_type == :st50ilt2
      if @homie
        publish("#{addr}/reset/$name", "Recall factory settings")
        publish("#{addr}/reset/$datatype", "enum")
        publish("#{addr}/reset/$format", Message::SetFactoryDefault::RESET.keys.join(","))
        publish("#{addr}/reset/$settable", "true")
        publish("#{addr}/reset/$retained", "false")
      end

      if @home_assistant
        Message::SetFactoryDefault::RESET.each_key do |key|
          @mqtt.publish_hass_button("reset_#{key}",
                                    command_topic: "#{@base_topic}/#{addr}/reset/set",
                                    device: hass_device,
                                    enabled_by_default: false,
                                    entity_category: :config,
                                    name: "Reset #{key.to_s.sub("_", " ")}",
                                    node_id: node_id,
                                    payload_press: key,
                                    unique_id: "#{node_id}_#{key}")
        end
      end

      if @homie
        publish("#{addr}/last-action-source/$name", "Source of last action")
        publish("#{addr}/last-action-source/$datatype", "enum")
        publish("#{addr}/last-action-source/$format", Message::PostMotorStatus::SOURCE.keys.join(","))
      end

      if @home_assistant
        @mqtt.publish_hass_sensor("last-action-source",
                                  device: hass_device,
                                  device_class: :enum,
                                  entity_category: :diagnostic,
                                  name: "Source of last action",
                                  node_id: node_id,
                                  object_id: "last-action-source",
                                  options: Message::PostMotorStatus::SOURCE.keys,
                                  state_topic: "#{@base_topic}/#{addr}/last-action-source",
                                  unique_id: "#{node_id}_last-action-source")
      end

      if @homie
        publish("#{addr}/last-action-cause/$name", "Cause of last action")
        publish("#{addr}/last-action-cause/$datatype", "enum")
        publish("#{addr}/last-action-cause/$format", Message::PostMotorStatus::CAUSE.keys.join(","))
      end

      if @home_assistant
        @mqtt.publish_hass_sensor("last-action-cause",
                                  device: hass_device,
                                  device_class: :enum,
                                  entity_category: :diagnostic,
                                  name: "Cause of last action",
                                  node_id: node_id,
                                  object_id: "last-action-cause",
                                  options: Message::PostMotorStatus::CAUSE.keys,
                                  state_topic: "#{@base_topic}/#{addr}/last-action-cause",
                                  unique_id: "#{node_id}_last-action-cause")
      end

      if @homie
        publish("#{addr}/up-limit/$name", "Up limit (always = 0)")
        publish("#{addr}/up-limit/$datatype", "integer")
        publish("#{addr}/up-limit/$format", "0:65535")
        publish("#{addr}/up-limit/$unit", "pulses")
        publish("#{addr}/up-limit/$settable", "true")
      end

      if @homie
        @mqtt.publish_hass_number("up-limit",
                                  command_topic: "#{@base_topic}/#{addr}/up-limit/set",
                                  device: hass_device,
                                  entity_category: :config,
                                  icon: "mdi:roller-shade-open",
                                  max: 65_536,
                                  min: 0,
                                  name: "Up Limit",
                                  node_id: node_id,
                                  payload_reset: "",
                                  state_topic: "#{@base_topic}/#{addr}/up-limit",
                                  step: 10,
                                  unit_of_measurement: "pulses",
                                  unique_id: "#{node_id}_up-limit")
      end

      if @homie
        publish("#{addr}/direction/$name", "Motor rotation direction")
        publish("#{addr}/direction/$datatype", "enum")
        publish("#{addr}/direction/$format", "standard,reversed")
        publish("#{addr}/direction/$settable", "true")
      end

      if @homie
        @mqtt.publish_hass_select("direction",
                                  command_topic: "#{@base_topic}/#{addr}/direction/set",
                                  device: hass_device,
                                  entity_category: :config,
                                  icon: "mdi:circle-arrows",
                                  name: "Motor rotation direction",
                                  node_id: node_id,
                                  object_id: "direction",
                                  options: %w[standard reversed],
                                  state_topic: "#{@base_topic}/#{addr}/direction",
                                  unique_id: "#{node_id}_direction")
      end

      if @homie
        publish("#{addr}/up-speed/$name", "Up speed")
        publish("#{addr}/up-speed/$datatype", "integer")
        publish("#{addr}/up-speed/$format", "6:28")
        publish("#{addr}/up-speed/$unit", "RPM")
        publish("#{addr}/up-speed/$settable", "true")

        publish("#{addr}/down-speed/$name", "Down speed, always = Up speed")
        publish("#{addr}/down-speed/$datatype", "integer")
        publish("#{addr}/down-speed/$format", "6:28")
        publish("#{addr}/down-speed/$unit", "RPM")
        publish("#{addr}/down-speed/$settable", "true")

        publish("#{addr}/slow-speed/$name", "Slow speed")
        publish("#{addr}/slow-speed/$datatype", "integer")
        publish("#{addr}/slow-speed/$format", "6:28")
        publish("#{addr}/slow-speed/$unit", "RPM")
        publish("#{addr}/slow-speed/$settable", "true")
      end

      if @home_assistant
        %w[Up Slow].each do |speed_type|
          @mqtt.publish_hass_number("#{speed_type.downcase}-speed",
                                    command_topic: "#{@base_topic}/#{addr}/#{speed_type.downcase}-speed/set",
                                    device: hass_device,
                                    entity_category: :config,
                                    icon: "mdi:car-speed-limiter",
                                    max: 28,
                                    min: 6,
                                    name: "#{speed_type} speed",
                                    node_id: node_id,
                                    state_topic: "#{@base_topic}/#{addr}/#{speed_type.downcase}-speed",
                                    unit_of_measurement: "RPM",
                                    unique_id: "#{node_id}_#{speed_type.downcase}-speed")
        end
      end
    end

    if @homie
      publish("#{addr}/groups/$name", "Group Memberships (comma separated, address must start 0101xx)")
      publish("#{addr}/groups/$datatype", "string")
      publish("#{addr}/groups/$settable", "true")
    end

    (1..16).each do |ip|
      if @homie
        publish("#{addr}/ip#{ip}-pulses/$name", "Intermediate Position #{ip}")
        publish("#{addr}/ip#{ip}-pulses/$datatype", "integer")
        publish("#{addr}/ip#{ip}-pulses/$format", "0:65535")
        publish("#{addr}/ip#{ip}-pulses/$unit", "pulses")
        publish("#{addr}/ip#{ip}-pulses/$settable", "true")
      end

      if @home_assistant
        @mqtt.publish_hass_number("ip#{ip}-pulses",
                                  command_topic: "#{@base_topic}/#{addr}/ip#{ip}-pulses/set",
                                  device: hass_device,
                                  enabled_by_default: false,
                                  entity_category: :config,
                                  max: 65_536,
                                  min: 0,
                                  name: "Intermediation Position #{ip} (Pulses)",
                                  node_id: node_id,
                                  object_id: "ip#{ip}-pulses",
                                  payload_reset: "",
                                  state_topic: "#{@base_topic}/#{addr}/ip#{ip}-pulses",
                                  step: 10,
                                  unit_of_measurement: "pulses",
                                  unique_id: "#{node_id}_ip#{ip}-pulses")
      end

      if @homie
        publish("#{addr}/ip#{ip}-percent/$name", "Intermediate Position #{ip}")
        publish("#{addr}/ip#{ip}-percent/$datatype", "integer")
        publish("#{addr}/ip#{ip}-percent/$format", "0:100")
        publish("#{addr}/ip#{ip}-percent/$unit", "%")
        publish("#{addr}/ip#{ip}-percent/$settable", "true")
      end

      next unless @homie

      @mqtt.publish_hass_number("ip#{ip}-percent",
                                command_topic: "#{@base_topic}/#{addr}/ip#{ip}-percent/set",
                                device: hass_device,
                                entity_category: :config,
                                max: 100,
                                min: 0,
                                name: "Intermediation Position #{ip} (Percent)",
                                node_id: node_id,
                                object_id: "ip#{ip}-percent",
                                payload_reset: "",
                                state_topic: "#{@base_topic}/#{addr}/ip#{ip}-percent",
                                unit_of_measurement: "%",
                                unique_id: "#{node_id}_ip#{ip}-percent")
    end

    motor = Motor.new(self, addr, node_type)
    @motors[addr] = motor
    publish("$nodes", (["FFFFFF"] + @motors.keys.sort + @groups.keys.sort).join(",")) if @homie
  end

  sdn_addr = Message.parse_address(addr)
  @mutex.synchronize do
    # message priorities are:
    # 0 - control
    # 1 - follow-up (i.e. get position after control)
    # 2 - get motor limits
    # 3 - get motor info
    # 4 - get group 1
    # 5 - get ip 1
    # 6 - get group 2
    # 7 - get ip 2
    # ...
    # 50 - discover

    # The Group and IP sorting makes it so you quickly get the most commonly used group
    # and IP addresses, while the almost-never-used ones are pushed to the bottom of the list

    @queue.push(MessageAndRetries.new(Message::GetNodeLabel.new(sdn_addr), 5, 3))

    case node_type
    when :st30, 0x20 # no idea why 0x20, but that's what I get
      @queue.push(MessageAndRetries.new(Message::GetMotorLimits.new(sdn_addr), 5, 2))
      @queue.push(MessageAndRetries.new(Message::GetMotorStatus.new(sdn_addr), 5, 3))
      @queue.push(MessageAndRetries.new(Message::GetMotorDirection.new(sdn_addr), 5, 3))
      @queue.push(MessageAndRetries.new(Message::GetMotorRollingSpeed.new(sdn_addr), 5, 3))
      (1..16).each do |ip|
        @queue.push(MessageAndRetries.new(Message::GetMotorIP.new(sdn_addr, ip), 5, (2 * ip) + 3))
      end
    when :st50ilt2
      @queue.push(MessageAndRetries.new(Message::ILT2::GetMotorPosition.new(sdn_addr), 5, 2))
      @queue.push(MessageAndRetries.new(Message::ILT2::GetMotorSettings.new(sdn_addr), 5, 3))
      (1..16).each do |ip|
        @queue.push(MessageAndRetries.new(Message::ILT2::GetMotorIP.new(sdn_addr, ip), 5, (2 * ip) + 3))
      end
    end
    (1..16).each do |g|
      @queue.push(MessageAndRetries.new(Message::GetGroupAddr.new(sdn_addr, g), 5, (2 * g) + 2))
    end

    @cond.signal
  end

  motor
end

#subscribe(topic) ⇒ Object 



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# File 'lib/sdn/cli/mqtt.rb', line 78

def subscribe(topic)
  @mqtt.subscribe("#{@base_topic}/#{topic}")
end

#subscribe_all ⇒ Object 



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# File 'lib/sdn/cli/mqtt.rb', line 148

def subscribe_all
  subscribe("+/discover/set")
  subscribe("+/label/set")
  subscribe("+/control/set")
  subscribe("+/jog-ms/set")
  subscribe("+/jog-pulses/set")
  subscribe("+/position-pulses/set")
  subscribe("+/position-percent/set")
  subscribe("+/ip/set")
  subscribe("+/reset/set")
  subscribe("+/direction/set")
  subscribe("+/up-speed/set")
  subscribe("+/down-speed/set")
  subscribe("+/slow-speed/set")
  subscribe("+/up-limit/set")
  subscribe("+/down-limit/set")
  subscribe("+/groups/set")
  (1..16).each do |ip|
    subscribe("+/ip#{ip}-pulses/set")
    subscribe("+/ip#{ip}-percent/set")
  end
end

#touch_group(group_addr) ⇒ Object 



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# File 'lib/sdn/cli/mqtt.rb', line 647

def touch_group(group_addr)
  group = @groups[Message.print_address(group_addr).delete(".")]
  group&.publish(:motors, group.motors_string)
end