You can setup a Task in Tasker which you can invoke from command-line. The task can be setup with actions of your liking in combination, such as show a notification and vibrate with XYZ pattern. When setting up a task in Tasker, setup the action like this: Alert → Notify
Fill up the fields as you like. Make sure to enable Allow External Access setting ...
I developed an app called Battery Alarm (free, no ads).
The app notifies the user when the battery level reaches a certain threshold.
By setting the "Max Alarm" to 100%, the app will notify the user if the battery is fully charged.