Add support for GOAT O800 RTK (9bts2s)

[mnistony]

Adding support for GOAT O800 RTK (class: 9bts2s) by linking
to the existing GOAT G1 capabilities (5xu9h3.py).

Device info:

• deviceName: GOAT O800 RTK
• model: GOAT_O800_LC
• UILogicId: goatr_ww_h_goatbzse
• class: 9bts2s

[mnistony]

"Here is the raw device information from my Home Assistant logs for the Goat O800 RTK. The device class is definitely 9bts2s. I see that the latest CI build failed—please let me know if I can provide more data to help fix the integration!"

{
"did": "...",
"class": "9bts2s",
"model": "GOAT_O800_LC",
"product_category": "GOATBOT",
...
}

[edenhaus]

Thanks @mnistony 👍

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 94.82%. Comparing base (34a6f4e) to head (c2bf404).
⚠️ Report is 26 commits behind head on dev.

Additional details and impacted files

@@            Coverage Diff             @@
##              dev    #1466      +/-   ##
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+ Coverage   94.79%   94.82%   +0.03%     
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  Files         152      153       +1     
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  Branches      350      350              
==========================================
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  Partials       62       62              

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[codspeed-hq]

Merging this PR will not alter performance

✅ 113 untouched benchmarks

---

_{Comparing mnistony:dev (c2bf404) with dev (f6fbd9d)}

[allgrinder]

So, the GOAT is now being found by the integration. Data such as battery status etc. are also perfectly correct. However, it cannot be controlled. The log shows the following error:

Logger: deebot_client.command

Source: components/ecovacs/lawn_mower.py:82

First occurred: 14:42:10 (48 occurrences)

Last logged: 16:50:58

Error: No response received for command "clean_V2". This can happen if the device has network issues or does not support the command.

Ps: lawn_mower.dock works out of the box

[ziat007]

So, the GOAT is now being found by the integration. Data such as battery status etc. are also perfectly correct. However, it cannot be controlled. The log shows the following error:

Logger: deebot_client.command

Source: components/ecovacs/lawn_mower.py:82

First occurred: 14:42:10 (48 occurrences)

Last logged: 16:50:58

Error: No response received for command "clean_V2". This can happen if the device has network issues or does not support the command.

Ps: lawn_mower.dock works out of the box

I am also getting this message.

I am a little confused on the current situation of this issue.

[mnistony]

Maybe this helps?

Ecovacs Goat 800 RTK - Working command structure

Problem: Official integration sends clean_V2 but Goat expects clean
Working command (discovered via MQTT sniffing):

{
  "name": "clean",
  "td": "c",
  "args": {
    "action": "start",
    "content": {
      "subContent": {"type": "auto"}
    }
  }
}

MQTT topics observed:
State updates: onBattery, onChargeState, onCleanInfo, onChargeInfo, onStats
Charge command: Charge() works for both stop and dock

Working AppDaemon implementation:
[goat_mower.py](https://github.com/user-attachments/files/26648824/goat_mower.py)

[allgrinder]

Hey @mnistony, thanks for the great investigation work! Unfortunately the goat_mower.py attachment link is returning a 404. Could you re-upload it? Would love to try it as a workaround until this PR gets merged. Thanks!

[mnistony]

Hi, I meanwhile have this and it works ok. I have to admit that I had help from the AI 😉 There are some entities which I can use in my dashboard: sensor.goat_akku input_number.goat_letzter_maehzyklus_dauer input_datetime.goat_maehzyklus_start sensor.goat_gemahte_flache input_number.goat_maehzeit_gesamt script.goat_start script.goat_stop script.goat_dock If you are interested in the helper definitions or the scripts, I can send them too. Cheers, Stony Von: allgrinder ***@***.***> Gesendet: Mittwoch, 6. Mai 2026 11:43 An: DeebotUniverse/client.py ***@***.***> Cc: mnistony ***@***.***>; Mention ***@***.***> Betreff: Re: [DeebotUniverse/client.py] Add support for GOAT O800 RTK (9bts2s) (PR #1466) <https://avatars.githubusercontent.com/u/75566736?s=20&v=4> allgrinder left a comment (DeebotUniverse/client.py#1466) <#1466 (comment)> Hey @mnistony <https://github.com/mnistony> , thanks for the great investigation work! Unfortunately the goat_mower.py attachment link is returning a 404. Could you re-upload it? Would love to try it as a workaround until this PR gets merged. Thanks! — Reply to this email directly, view it on GitHub <#1466 (comment)> , or unsubscribe <https://github.com/notifications/unsubscribe-auth/BGGS6ZPJXSF3SOGF4BGCAUT4ZMCJLAVCNFSM6AAAAACWLXTTMSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHM2DGOBWHAZDAOBVGA> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub> . You are receiving this because you were mentioned. <https://github.com/notifications/beacon/BGGS6ZL3OMOSNX33YHTAEAT4ZMCJLBFCNFSM6AAAAACWLXTTMSWGG33NNVSW45C7OR4XAZNMJFZXG5LFINXW23LFNZ2KUY3PNVWWK3TUL5UWJTYAAAAACBLZSLZKM4TFMFZW63VHNVSW45DJN5XA.gif> Message ID: ***@***.*** ***@***.***> >

[mnistony]

Hi allgrinder, here is a (in English) commented version of the script: Cheers, Stony Von: allgrinder ***@***.***> Gesendet: Mittwoch, 6. Mai 2026 11:43 An: DeebotUniverse/client.py ***@***.***> Cc: mnistony ***@***.***>; Mention ***@***.***> Betreff: Re: [DeebotUniverse/client.py] Add support for GOAT O800 RTK (9bts2s) (PR #1466) <https://avatars.githubusercontent.com/u/75566736?s=20&v=4> allgrinder left a comment (DeebotUniverse/client.py#1466) <#1466 (comment)> Hey @mnistony <https://github.com/mnistony> , thanks for the great investigation work! Unfortunately the goat_mower.py attachment link is returning a 404. Could you re-upload it? Would love to try it as a workaround until this PR gets merged. Thanks! — Reply to this email directly, view it on GitHub <#1466 (comment)> , or unsubscribe <https://github.com/notifications/unsubscribe-auth/BGGS6ZPJXSF3SOGF4BGCAUT4ZMCJLAVCNFSM6AAAAACWLXTTMSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHM2DGOBWHAZDAOBVGA> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub> . You are receiving this because you were mentioned. <https://github.com/notifications/beacon/BGGS6ZL3OMOSNX33YHTAEAT4ZMCJLBFCNFSM6AAAAACWLXTTMSWGG33NNVSW45C7OR4XAZNMJFZXG5LFINXW23LFNZ2KUY3PNVWWK3TUL5UWJTYAAAAACBLZSLZKM4TFMFZW63VHNVSW45DJN5XA.gif> Message ID: ***@***.*** ***@***.***> >

[mnistony]

I noticed my mail client may not have sent the Python script. Here it is again, renamed to .txt Von: Bernd "Stony" Falkenstein ***@***.***> Gesendet: Dienstag, 12. Mai 2026 12:39 An: 'DeebotUniverse/client.py' ***@***.***> Betreff: AW: [DeebotUniverse/client.py] Add support for GOAT O800 RTK (9bts2s) (PR #1466) Hi allgrinder, here is a (in English) commented version of the script: Cheers, Stony Von: allgrinder ***@***.*** ***@***.***> > Gesendet: Mittwoch, 6. Mai 2026 11:43 An: DeebotUniverse/client.py ***@***.*** ***@***.***> > Cc: mnistony ***@***.*** ***@***.***> >; Mention ***@***.*** ***@***.***> > Betreff: Re: [DeebotUniverse/client.py] Add support for GOAT O800 RTK (9bts2s) (PR #1466) <https://avatars.githubusercontent.com/u/75566736?s=20&v=4> allgrinder left a comment (DeebotUniverse/client.py#1466) <#1466 (comment)> Hey @mnistony <https://github.com/mnistony> , thanks for the great investigation work! Unfortunately the goat_mower.py attachment link is returning a 404. Could you re-upload it? Would love to try it as a workaround until this PR gets merged. Thanks! — Reply to this email directly, view it on GitHub <#1466 (comment)> , or unsubscribe <https://github.com/notifications/unsubscribe-auth/BGGS6ZPJXSF3SOGF4BGCAUT4ZMCJLAVCNFSM6AAAAACWLXTTMSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHM2DGOBWHAZDAOBVGA> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub> . You are receiving this because you were mentioned. <https://github.com/notifications/beacon/BGGS6ZL3OMOSNX33YHTAEAT4ZMCJLBFCNFSM6AAAAACWLXTTMSWGG33NNVSW45C7OR4XAZNMJFZXG5LFINXW23LFNZ2KUY3PNVWWK3TUL5UWJTYAAAAACBLZSLZKM4TFMFZW63VHNVSW45DJN5XA.gif> Message ID: ***@***.*** ***@***.***> > """ ================================================================================ goat_mower.py – AppDaemon App for the GOAT O800 RTK Robotic Lawnmower ================================================================================ Purpose: Connects the GOAT O800 RTK robotic lawnmower to Home Assistant via the Ecovacs/Deebot cloud. Since the GOAT uses the same cloud stack as Deebot vacuum robots, the unofficial deebot_client library is used for authentication and MQTT communication. Requirements: - AppDaemon (e.g. as a HA add-on) - Python packages: deebot_client, aiohttp (pip install deebot-client aiohttp) - An MQTT broker integrated into Home Assistant - An Ecovacs/GOAT account with a registered device Configuration (apps.yaml): goat_mower: module: goat_mower class: GoatMower username: ***@***.***" # Ecovacs login password: "secret_password" # Ecovacs password (plain text – internally converted to MD5 hash) country: "DE" # Country code (ISO 3166-1 alpha-2), optional, default: DE

…

-------------------------------------------------------------------------------- Published MQTT Topics (written by this script): -------------------------------------------------------------------------------- goat/state Current device status as JSON: { "state": "docked" | "cleaning" | "returning" | "paused" | "idle", "battery_level": 0–100, "charging": true | false } Retain: yes goat/lifespan/blade Blade wear status as JSON: { "percent": 0–100, # remaining blade life in percent "hours_used": 12.5, # hours used so far "hours_max": 100 # configured maximum (BLADE_MAX_HOURS) } Retain: yes goat/lifespan/blade_seconds Total mowing runtime of the current blade in seconds (integer as string). Also mirrored in sensor.goat_klingen_sekunden (see below). Retain: yes goat/stats (only on onStats events from the Deebot API, rare on GOAT) {"mowedArea": ..., "area": ..., "time": ...} Retain: yes

-------------------------------------------------------------------------------- Required Home Assistant Entities: -------------------------------------------------------------------------------- sensor.goat_klingen_sekunden Type: MQTT sensor (or template sensor) Source: goat/lifespan/blade_seconds Purpose: Persistent storage of the total blade runtime – this value is re-read on app restart so the counter is not reset to zero. Example configuration (configuration.yaml): mqtt: sensor: - name: "GOAT Blade Seconds" unique_id: goat_klingen_sekunden state_topic: "goat/lifespan/blade_seconds" input_datetime.goat_letzter_klingenwechsel Type: input_datetime (date only) Purpose: Set to today's date when the goat_reset_blade event fires. Display on dashboard e.g. as "Last blade change: 2025-04-01"

-------------------------------------------------------------------------------- Fired Home Assistant Events: -------------------------------------------------------------------------------- goat_maehsession_ende Fired at the end of a complete mowing session (trigger=workComplete). Event data: session_seconds (int) – session duration in seconds mowed_area (float) – mowed area in m² blade_seconds_total (int) – total blade runtime in seconds Use: e.g. automation to update daily/weekly statistics

-------------------------------------------------------------------------------- Listened Home Assistant Events (commands): -------------------------------------------------------------------------------- goat_start → Start mowing goat_stop → Stop mowing (robot returns to dock) goat_dock → Send robot to dock (identical to goat_stop) goat_reset_blade → Reset blade counter (after a blade change) Sets blade_seconds to 0 and writes today's date to input_datetime.goat_letzter_klingenwechsel Trigger e.g. via automation or script: service: event.fire event_type: goat_start

-------------------------------------------------------------------------------- Internal MQTT Topics (received from the device, processed here): -------------------------------------------------------------------------------- onFwBuryPoint-bd_reedvoltage Reed contact voltage in mV. REED_DOCKED_THRESHOLD (5000 mV) → robot is on the charging station (docked) ≤ REED_DOCKED_THRESHOLD → robot is mowing (cleaning) onFwBuryPoint-bd_batteryinfo Battery level (batteryLevel, 0–100). onFwBuryPoint-bd_task-mow-auto-stop Signals the end of a mowing session. Fields: time (seconds), trigger (e.g. "workComplete"), mowedArea (m²) Only when trigger="workComplete" is the blade counter incremented and the goat_maehsession_ende event fired. onBattery, onChargeState, onCleanInfo, onChargeInfo, onStats Classic Deebot API topics – rarely or never seen on the GOAT, but handled for maximum compatibility.

-------------------------------------------------------------------------------- Key Constants (adjustable at the top of the file): -------------------------------------------------------------------------------- BLADE_MAX_HOURS (default: 100) Recommended maximum blade runtime in hours. Determines the percent calculation in goat/lifespan/blade. REED_DOCKED_THRESHOLD (default: 5000 mV) Voltage threshold for the reed contact sensor. While charging: ~7000–19500 mV, while mowing: ~177–878 mV. The value sits safely in the middle – no adjustment normally needed. ================================================================================ """ import appdaemon.plugins.hass.hassapi as hass from aiohttp import ClientSession from deebot_client.authentication import Authenticator, create_rest_config from deebot_client.api_client import ApiClient from deebot_client.mqtt_client import MqttClient, SubscriberInfo, create_mqtt_config from deebot_client.event_bus import EventBus from deebot_client.commands.json.clean import CleanV2 from deebot_client.commands.json.charge import Charge from deebot_client.models import CleanAction from hashlib import md5 from datetime import date import uuid import json import ssl from typing import Any # Blade change recommended after this many hours of runtime. # When the blade reaches this value, percent in goat/lifespan/blade will be 0. BLADE_MAX_HOURS = 100 # Reed contact voltage threshold in millivolts: # Voltage > REED_DOCKED_THRESHOLD → robot is on the charging station # Voltage <= REED_DOCKED_THRESHOLD → robot is out mowing # Typical values: charging ~7000–19500 mV, mowing ~177–878 mV REED_DOCKED_THRESHOLD = 5000 class GoatStart(CleanV2): """ Customised clean command for the GOAT O800. The GOAT requires an additional subContent field with type="auto" in the start command, which the standard CleanV2 class from deebot_client does not include. This subclass adds exactly that field. """ NAME = "clean" @Property def td(self) -> str: # Internal type identifier for the Deebot protocol return "c" def _get_args(self, action: CleanAction) -> dict[str, Any]: args = super()._get_args(action) if action == CleanAction.START: # Without this subContent the GOAT ignores the start command args["content"]["subContent"] = {"type": "auto"} return args class GoatMower(hass.Hass): """ Main AppDaemon app for the GOAT O800 RTK robotic lawnmower. Startup sequence: 1. Authenticate with the Ecovacs cloud (REST API) 2. Fetch device list and identify the GOAT device 3. Establish MQTT connection to the Ecovacs broker 4. Process incoming MQTT messages and mirror status to HA/MQTT 5. Listen for HA events to handle control commands """ async def initialize(self): """ Called by AppDaemon on startup. Sets up the cloud and MQTT connection and registers all listeners. """ # Read credentials from apps.yaml email = self.args["username"] password = self.args["password"] country = self.args.get("country", "DE").upper() # Base MQTT topic for all messages published by this script self.mqtt_topic = "goat" # Ecovacs requires the MD5 hash of the password (not the plain-text password) password_hash = md5(password.encode()).hexdigest() # Random device ID – identifies this app instance to the cloud server self.device_id = uuid.uuid4().hex # Internal state store (mirrored to MQTT via goat/state) self._state = {"state": "docked", "battery_level": 100, "charging": False} # Total runtime of the current blade in seconds (reloaded from HA on restart) self._blade_seconds = 0 try: # HTTP session for Ecovacs REST calls self._session = ClientSession() rest_config = create_rest_config( self._session, device_id=self.device_id, alpha_2_country=country, ) # Authenticate and fetch the device catalogue self._auth = Authenticator( config=rest_config, account_id=email, password_hash=password_hash, ) self.api = ApiClient(authenticator=self._auth) devices = await self.api.get_devices() except Exception: # Cloud connection failed – shut down cleanly if hasattr(self, "_session") and not self._session.closed: await self._session.close() return # Merge all device lists (MQTT, XMPP, not supported) and pick the # first device whose name contains "GOAT" all_devices = list(devices.mqtt) + list(devices.xmpp) + list(devices.not_supported) self.device = None for d in all_devices: name = d.get("deviceName", d.get("name", "?")) if isinstance(d, dict) else getattr(d, "device_name", "?") if "GOAT" in name.upper(): self.device = d self.device_name = name if not self.device: # No GOAT device found in the Ecovacs account return # TLS without certificate verification – the Ecovacs broker does not # have a publicly trusted certificate ssl_ctx = ssl.create_default_context() ssl_ctx.check_hostname = False ssl_ctx.verify_mode = ssl.CERT_NONE # Determine the MQTT broker address from the device data jmq_host = self.device.get("service", {}).get("jmq") mqtt_cfg = create_mqtt_config( device_id=self.device_id, country=country, override_mqtt_url=f"mqtts://{jmq_host}:8883" if jmq_host else None, ssl_context=ssl_ctx, ) self._mqtt = MqttClient(config=mqtt_cfg, authenticator=self._auth) # ---------------------------------------------------------------- # Callback for incoming MQTT messages from the device # ---------------------------------------------------------------- def on_message(topic: str, payload) -> None: """ Processes every incoming MQTT message from the GOAT. The GOAT almost exclusively sends onFwBuryPoint messages (proprietary data format). Classic Deebot topics such as onBattery or onCleanInfo are rarely seen in practice but are handled for completeness. """ try: data = json.loads(payload) if isinstance(payload, (str, bytes)) else payload except Exception: data = str(payload) changed = False # Flag: has the internal state actually changed? body = data.get("body", {}) if isinstance(data, dict) else {} d = body.get("data", {}) # data sub-field (used in classic Deebot topics) # ---------------------------------------------------------------- # onFwBuryPoint – the only reliable data source on the GOAT. # All relevant status information arrives via this channel. # ---------------------------------------------------------------- if topic.startswith("onFwBuryPoint"): if topic == "onFwBuryPoint-bd_reedvoltage": # Reed contact voltage: indicates whether the robot is on # the charging station (high voltage) or mowing (low voltage) voltage = body.get("voltage") if voltage is not None: if voltage > REED_DOCKED_THRESHOLD: if self._state["state"] != "docked": self._state["state"] = "docked" self._state["charging"] = True changed = True self.log(f"GOAT: Reed={voltage}mV → docked", level="INFO") else: if self._state["state"] != "cleaning": self._state["state"] = "cleaning" self._state["charging"] = False changed = True self.log(f"GOAT: Reed={voltage}mV → cleaning", level="INFO") elif topic == "onFwBuryPoint-bd_batteryinfo": # Simple battery level update; triggers no further actions level = body.get("batteryLevel") if level is not None and level != self._state["battery_level"]: self._state["battery_level"] = level changed = True elif topic == "onFwBuryPoint-bd_task-mow-auto-stop": # This topic signals the end of a mowing session. # It contains the duration, trigger reason and mowed area. session_seconds = body.get("time", 0) trigger_type = body.get("trigger", "") mowed_area = body.get("mowedArea", 0) self.log( f"GOAT: Mowing session ended, trigger={trigger_type}, " f"duration={session_seconds:.0f}s, area={mowed_area:.1f}m², body={body}", level="INFO" ) if trigger_type == "workComplete": # Genuine end of day: increment blade counter and # fire event for automations if session_seconds > 0: self._blade_seconds += session_seconds self._publish_blade_wear() # Event goat_maehsession_ende is available in HA for # automations (see file header for event data fields) self.fire_event("goat_maehsession_ende", session_seconds=int(session_seconds), mowed_area=mowed_area, blade_seconds_total=int(self._blade_seconds)) self.log(f"GOAT: workComplete → event goat_maehsession_ende fired", level="INFO") else: # Charging pause or other stop reason → log only, no action self.log(f"GOAT: trigger={trigger_type} → no action (charging pause?)", level="INFO") else: # Unknown onFwBuryPoint sub-topic – log at DEBUG level only self.log(f"GOAT FwBuryPoint: topic={topic} body={body}", level="DEBUG") # ---------------------------------------------------------------- # Classic Deebot topics (rarely or never seen on the GOAT, # but handled for compatibility) # ---------------------------------------------------------------- elif topic == "onBattery": # Battery level update via classic Deebot channel val = d.get("value") if val is not None and val != self._state["battery_level"]: self._state["battery_level"] = val changed = True elif topic == "onChargeState": # Charging state change via classic Deebot channel is_charging = d.get("isCharging") if is_charging == 1 and self._state["state"] != "docked": self._state["state"] = "docked" self._state["charging"] = True changed = True elif is_charging == 0 and self._state["charging"]: self._state["charging"] = False changed = True elif topic == "onCleanInfo": # Robot motion state via classic Deebot channel motion = d.get("cleanState", {}).get("motionState") if motion == "pause" and self._state["state"] != "paused": self._state["state"] = "paused" changed = True elif motion in ["work", "working", "clean"] and self._state["state"] != "cleaning": self._state["state"] = "cleaning" self._state["charging"] = False changed = True elif motion in ["finish", "idle", "standby"] and self._state["state"] not in ["docked", "returning"]: self._state["state"] = "idle" changed = True elif topic == "onChargeInfo": # Return to charging station via classic Deebot channel charge_state = d.get("state") if charge_state == "goCharging" and self._state["state"] != "returning": self._state["state"] = "returning" self._state["charging"] = False changed = True elif charge_state in ["docking", "idle"] and self._state["state"] != "docked": self._state["state"] = "docked" self._state["charging"] = True changed = True elif topic == "onStats": # Statistics update (mowed area, total area, time) # Published as JSON to goat/stats mowed = d.get("mowedArea", 0) area = d.get("area", 0) mow_time = d.get("time", 0) self.call_service("mqtt/publish", topic=f"{self.mqtt_topic}/stats", payload=json.dumps({"mowedArea": mowed, "area": area, "time": mow_time}), retain=True) # Only publish state when something actually changed if changed: self._publish_state() # EventBus instance (required by deebot_client but not actively used) self._event_bus = EventBus( execute_command=lambda *a, **kw: None, get_refresh_commands=lambda *a: [], ) # Register subscriber – connects the on_message callback to the MQTT client subscriber = SubscriberInfo( device_info=self.device, events=self._event_bus, callback=on_message, ) await self._mqtt.subscribe(subscriber) # Register HA event listeners for control commands self.listen_event(self._cmd_start, "goat_start") # Start mowing self.listen_event(self._cmd_stop, "goat_stop") # Stop mowing self.listen_event(self._cmd_dock, "goat_dock") # Send to dock self.listen_event(self._cmd_reset_blade, "goat_reset_blade") # Reset blade counter # Reload blade runtime from HA sensor (30 s delay to allow HA to finish booting) self.run_in(self._load_blade_seconds, 30) # Publish initial status immediately, then every 10 minutes self.run_in(self._force_status_update, 10) self.run_every(self._force_status_update, "now+600", 600) # ---------------------------------------------------------------- # Internal helper methods # ---------------------------------------------------------------- def _publish_state(self): """Publishes the current device state to goat/state (retain=True).""" self.call_service("mqtt/publish", topic=f"{self.mqtt_topic}/state", payload=json.dumps(self._state), retain=True) def _publish_blade_wear(self): """ Calculates blade wear and publishes it to two topics: - goat/lifespan/blade → JSON with percent, hours, maximum - goat/lifespan/blade_seconds → total runtime in seconds (for HA sensor) """ max_seconds = BLADE_MAX_HOURS * 3600 used_pct = min(self._blade_seconds / max_seconds, 1.0) remaining_pct = round((1.0 - used_pct) * 100) # remaining blade life in % hours_used = round(self._blade_seconds / 3600, 1) self.call_service("mqtt/publish", topic=f"{self.mqtt_topic}/lifespan/blade", payload=json.dumps({ "percent": remaining_pct, "hours_used": hours_used, "hours_max": BLADE_MAX_HOURS, }), retain=True) # Raw seconds value for sensor.goat_klingen_sekunden in HA self.call_service("mqtt/publish", topic=f"{self.mqtt_topic}/lifespan/blade_seconds", payload=str(int(self._blade_seconds)), retain=True) async def _load_blade_seconds(self, kwargs): """ Reads sensor.goat_klingen_sekunden from HA and restores the blade counter after an app restart. Without this restore the counter would start at 0 on every restart. """ try: state = self.get_state("sensor.goat_klingen_sekunden") if state and state not in ["unknown", "unavailable"]: self._blade_seconds = float(state) self._publish_blade_wear() except Exception: pass async def _force_status_update(self, kwargs): """ Periodic forced republication of state and blade wear. Ensures MQTT values are present again after a broker restart. """ if hasattr(self, "mqtt_topic"): self._publish_state() self._publish_blade_wear() # ---------------------------------------------------------------- # Command handlers (triggered by HA events) # ---------------------------------------------------------------- async def _send_command(self, cmd): """Sends a command to the GOAT via the Ecovacs cloud. Errors are silently ignored.""" try: await cmd.execute(self._auth, self.device, self._event_bus) except Exception: pass async def _cmd_start(self, event_name, data, kwargs): """Starts the mowing process. Triggered by HA event goat_start.""" self._state["charging"] = False await self._send_command(GoatStart(CleanAction.START)) async def _cmd_stop(self, event_name, data, kwargs): """Stops mowing and sends the robot to the dock. Event: goat_stop.""" await self._send_command(Charge()) async def _cmd_dock(self, event_name, data, kwargs): """Sends the robot to the dock. Event: goat_dock (identical to goat_stop).""" await self._send_command(Charge()) async def _cmd_reset_blade(self, event_name, data, kwargs): """ Resets the blade counter (after a blade change). Triggered by HA event goat_reset_blade. Actions: - Sets _blade_seconds to 0 - Republishes goat/lifespan/blade* (100 % remaining) - Sets input_datetime.goat_letzter_klingenwechsel to today's date """ self._blade_seconds = 0 self._publish_blade_wear() self.call_service( "input_datetime/set_datetime", entity_id="input_datetime.goat_letzter_klingenwechsel", date=date.today().isoformat(), ) async def terminate(self): """ Called by AppDaemon on shutdown. Closes the MQTT connection and HTTP session cleanly. """ if hasattr(self, "_mqtt"): await self._mqtt.disconnect() if hasattr(self, "_session") and not self._session.closed: await self._session.close()