Thanks for all your suggestions. I ended up building sensors using Cds Photocells. It seemed like a good idea, but the problem was our light in the laundry room was so bright that it would trigger the sensors even when the washer or dryer was off. Plus it looked a bit ugly with these sensors stuck on the front of the washer and dryer. So it was on to plan B.
I opened the washer and found the solenoid for the door lock. I connected this to a relay with a 120V coil and connected the contacts to a wire going to the UPB I/O module. The only annoyance was the washer, for some unknown reason, turns on the lock, then turns off the lock, then turns it on again at the start. I got around this with some software on the receiving HA side.
The dryer doesn't have a door lock, so here I used a current sensor on the power cord. Its 240V, and at first I just picked one of the two lines and connected a current sensor. It turns out, the line I picked cycled on and off with the heat, so that didn't work. I tried the other line, and success. This side was also connected to the drum motor, which drew plenty of power to trip the current sensor. When clothes are done, motor stops, and I get an indication.
In the end, the wife loves it as the system announces when the washer and dryer are complete.
