From 023bce7d0147ffd8d38f6a26b5df3765a9f022c5 Mon Sep 17 00:00:00 2001
From: Roman Novatorov <roman.novatorov@gmail.com>
Date: Wed, 28 Oct 2020 16:44:57 +0300
Subject: [PATCH] Vacuum: Implement TUI for the manual mode

---
 miio/__init__.py   |  1 +
 miio/vacuum_cli.py |  7 ++++
 miio/vacuum_tui.py | 91 ++++++++++++++++++++++++++++++++++++++++++++++
 3 files changed, 99 insertions(+)
 create mode 100644 miio/vacuum_tui.py

diff --git a/miio/__init__.py b/miio/__init__.py
index d304229d5..f108e507c 100644
--- a/miio/__init__.py
+++ b/miio/__init__.py
@@ -42,6 +42,7 @@
 from miio.pwzn_relay import PwznRelay
 from miio.toiletlid import Toiletlid
 from miio.vacuum import Vacuum, VacuumException
+from miio.vacuum_tui import VacuumTUI
 from miio.vacuumcontainers import (
     CleaningDetails,
     CleaningSummary,
diff --git a/miio/vacuum_cli.py b/miio/vacuum_cli.py
index 73c3b1943..916e8ab7a 100644
--- a/miio/vacuum_cli.py
+++ b/miio/vacuum_cli.py
@@ -231,6 +231,13 @@ def manual(vac: miio.Vacuum):
     # if not vac.manual_mode and command :
 
 
+@manual.command()
+@pass_dev
+def tui(vac: miio.Vacuum):
+    """TUI for the manual mode."""
+    miio.VacuumTUI.run(vac)
+
+
 @manual.command()
 @pass_dev
 def start(vac: miio.Vacuum):  # noqa: F811  # redef of start
diff --git a/miio/vacuum_tui.py b/miio/vacuum_tui.py
new file mode 100644
index 000000000..5b1222062
--- /dev/null
+++ b/miio/vacuum_tui.py
@@ -0,0 +1,91 @@
+import curses
+import enum
+from typing import Tuple, Type
+
+from .vacuum import Vacuum
+
+
+class Control(enum.Enum):
+
+    Quit = "q"
+    Forward = "l"
+    ForwardFast = "L"
+    Backward = "k"
+    BackwardFast = "K"
+    Left = "j"
+    LeftFast = "J"
+    Right = ";"
+    RightFast = ":"
+
+
+class VacuumTUI:
+    def __init__(self, vac: Vacuum):
+        self.vac = vac
+        self.rot = 0
+        self.rot_delta = 30
+        self.rot_min = Vacuum.MANUAL_ROTATION_MIN
+        self.rot_max = Vacuum.MANUAL_ROTATION_MAX
+        self.vel = 0.0
+        self.vel_delta = 0.1
+        self.vel_min = Vacuum.MANUAL_VELOCITY_MIN
+        self.vel_max = Vacuum.MANUAL_VELOCITY_MAX
+        self.dur = 10 * 1000
+
+    @classmethod
+    def run(cls: Type["VacuumTUI"], vac: Vacuum) -> None:
+        vac.manual_start()
+        try:
+            tui = cls(vac=vac)
+            curses.wrapper(tui.main)
+        finally:
+            vac.manual_stop()
+
+    def main(self, screen: curses.window) -> None:
+        done = False
+        while not done:
+            key = screen.getkey()
+            text, done = self.handle(key)
+            screen.clear()
+            screen.addstr(text)
+            screen.refresh()
+
+    def handle(self, key: str) -> Tuple[str, bool]:
+        try:
+            ctl = Control(key)
+        except ValueError as e:
+            return "ignoring %s: %s\n" % (key, e), False
+
+        if ctl == Control.Quit:
+            return "exiting normally\n", True
+
+        self.control(ctl)
+        return self.info(), False
+
+    def control(self, ctl: Control) -> None:
+        if ctl == Control.Forward:
+            self.vel = min(self.vel + self.vel_delta, self.vel_max)
+        elif ctl == Control.ForwardFast:
+            self.vel = 0 if self.vel < 0 else self.vel_max
+
+        elif ctl == Control.Backward:
+            self.vel = max(self.vel - self.vel_delta, self.vel_min)
+        elif ctl == Control.BackwardFast:
+            self.vel = 0 if self.vel > 0 else self.vel_min
+
+        elif ctl == Control.Left:
+            self.rot = min(self.rot + self.rot_delta, self.rot_max)
+        elif ctl == Control.LeftFast:
+            self.rot = 0 if self.rot < 0 else self.rot_max
+
+        elif ctl == Control.Right:
+            self.rot = max(self.rot - self.rot_delta, self.rot_min)
+        elif ctl == Control.RightFast:
+            self.rot = 0 if self.rot > 0 else self.rot_min
+
+        else:
+            raise RuntimeError("unreachable")
+
+        self.vac.manual_control(rotation=self.rot, velocity=self.vel, duration=self.dur)
+
+    def info(self) -> str:
+        return f"rotation={self.rot}\nvelocity={self.vel}\n"