feat(vendor.dreame): Manual Control

Hypfer · Aug 8, 2021 · 4cfddd4 · 4cfddd4
1 parent afded40
commit 4cfddd4
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diff --git a/backend/lib/robots/dreame/DreameGen2ValetudoRobot.js b/backend/lib/robots/dreame/DreameGen2ValetudoRobot.js
@@ -74,6 +74,9 @@ const MIOT_SERVICES = Object.freeze({
             CARPET_MODE: {
                 PIID: 12
             },
+            MANUAL_CONTROL: {
+                PIID: 15
+            },
             ERROR_CODE: {
                 PIID: 18
             },
@@ -529,6 +532,16 @@ class DreameGen2ValetudoRobot extends DreameValetudoRobot {
             mappingModeId: 21
         }));
 
+        this.registerCapability(new capabilities.DreameManualControlCapability({
+            robot: this,
+            miot_properties: {
+                manual_control: {
+                    siid: MIOT_SERVICES.VACUUM_2.SIID,
+                    piid: MIOT_SERVICES.VACUUM_2.PROPERTIES.MANUAL_CONTROL.PIID
+                }
+            }
+        }));
+
         this.state.upsertFirstMatchingAttribute(new entities.state.attributes.AttachmentStateAttribute({
             type: entities.state.attributes.AttachmentStateAttribute.TYPE.WATERTANK,
             attached: false

diff --git a/backend/lib/robots/dreame/capabilities/DreameManualControlCapability.js b/backend/lib/robots/dreame/capabilities/DreameManualControlCapability.js
@@ -0,0 +1,139 @@
+const AttributeSubscriber = require("../../../entities/AttributeSubscriber");
+const CallbackAttributeSubscriber = require("../../../entities/CallbackAttributeSubscriber");
+const ManualControlCapability = require("../../../core/capabilities/ManualControlCapability");
+const {StatusStateAttribute} = require("../../../entities/state/attributes");
+
+/**
+ * @extends ManualControlCapability<import("../DreameGen2ValetudoRobot")>
+ */
+class DreameManualControlCapability extends ManualControlCapability {
+    /**
+     *
+     * @param {object} options
+     
+     * @param {object} options.miot_properties
+     * @param {object} options.miot_properties.manual_control
+     * @param {number} options.miot_properties.manual_control.siid
+     * @param {number} options.miot_properties.manual_control.piid
+     *
+     * @param {import("../DreameGen2ValetudoRobot")} options.robot
+     * @class
+     */
+    constructor(options) {
+        super(Object.assign({}, options, {
+            supportedMovementCommands: [
+                ManualControlCapability.MOVEMENT_COMMAND_TYPE.FORWARD,
+                ManualControlCapability.MOVEMENT_COMMAND_TYPE.BACKWARD,
+                ManualControlCapability.MOVEMENT_COMMAND_TYPE.ROTATE_CLOCKWISE,
+                ManualControlCapability.MOVEMENT_COMMAND_TYPE.ROTATE_COUNTERCLOCKWISE
+            ]
+        }));
+
+        this.miot_properties = options.miot_properties;
+
+        this.keepAliveTimeout = undefined;
+
+        this.robot.state.subscribe(
+            new CallbackAttributeSubscriber((eventType, status, prevStatus) => {
+                if (
+                    eventType === AttributeSubscriber.EVENT_TYPE.CHANGE &&
+                    //@ts-ignore
+                    status.value !== StatusStateAttribute.VALUE.MANUAL_CONTROL &&
+                    prevStatus &&
+                    //@ts-ignore
+                    prevStatus.value === StatusStateAttribute.VALUE.MANUAL_CONTROL
+                ) {
+                    this.disableManualControl().then(() => {}).catch(() => {});
+                }
+            }),
+            {attributeClass: StatusStateAttribute.name}
+        );
+
+        this.lastCommand = new Date(0).getTime();
+        this.active = false;
+    }
+
+    /**
+     * @returns {Promise<void>}
+     */
+    async enableManualControl() {
+        if (this.active === false) {
+            await this.sendRemoteControlCommand(0, 0, true);
+            this.active = true;
+            await this.sendAndScheduleKeepAlive();
+        }
+    }
+
+    /**
+     * @returns {Promise<void>}
+     */
+    async disableManualControl() {
+        clearTimeout(this.keepAliveTimeout);
+        this.active = false;
+    }
+
+    async sendAndScheduleKeepAlive() {
+        clearTimeout(this.keepAliveTimeout);
+
+        if (new Date().getTime() - this.lastCommand >= 700) {
+            await this.sendRemoteControlCommand(0,0, false);
+        }
+
+        this.keepAliveTimeout = setTimeout(async () => {
+            await this.sendAndScheduleKeepAlive();
+        }, 700);
+    }
+
+    /**
+     * @param {import("../../../core/capabilities/ManualControlCapability").ValetudoManualControlMovementCommandType} movementCommand
+     * @returns {Promise<void>}
+     */
+    async manualControl(movementCommand) {
+        switch (movementCommand) {
+            case ManualControlCapability.MOVEMENT_COMMAND_TYPE.FORWARD:
+                return this.sendRemoteControlCommand(300, 0, false);
+            case ManualControlCapability.MOVEMENT_COMMAND_TYPE.BACKWARD:
+                return this.sendRemoteControlCommand(-300, 0, false);
+            case ManualControlCapability.MOVEMENT_COMMAND_TYPE.ROTATE_CLOCKWISE:
+                return this.sendRemoteControlCommand(0, -80, false);
+            case ManualControlCapability.MOVEMENT_COMMAND_TYPE.ROTATE_COUNTERCLOCKWISE:
+                return this.sendRemoteControlCommand(0, 80, false);
+            default:
+                throw new Error("Invalid movementCommand.");
+        }
+    }
+
+    /**
+     * @private
+     * @param {number} velocity
+     * @param {number} angle
+     * @param {boolean} audioHint
+     * @returns {Promise<void>}
+     */
+    async sendRemoteControlCommand(velocity, angle, audioHint) {
+        const res = await this.robot.sendCommand("set_properties", [
+            {
+                did: this.robot.deviceId,
+                siid: this.miot_properties.manual_control.siid,
+                piid: this.miot_properties.manual_control.piid,
+                value: JSON.stringify({
+                    spdv: velocity,
+                    spdw: angle,
+                    audio: audioHint === true ? "true" : "false",
+                    random: Math.floor(Math.random() * 1000)
+                })
+            }
+        ]);
+        this.lastCommand = new Date().getTime();
+
+        if (res?.length === 1) {
+            if (res[0].code !== 0) {
+                throw new Error("Error code " + res[0].code);
+            }
+        } else {
+            throw new Error("Received invalid response");
+        }
+    }
+}
+
+module.exports = DreameManualControlCapability;
diff --git a/backend/lib/robots/dreame/capabilities/index.js b/backend/lib/robots/dreame/capabilities/index.js
@@ -10,6 +10,7 @@ module.exports = {
     DreameConsumableMonitoringCapability: require("./DreameConsumableMonitoringCapability"),
     DreameFanSpeedControlCapability: require("./DreameFanSpeedControlCapability"),
     DreameLocateCapability: require("./DreameLocateCapability"),
+    DreameManualControlCapability: require("./DreameManualControlCapability"),
     DreameMapResetCapability: require("./DreameMapResetCapability"),
     DreameMapSegmentEditCapability: require("./DreameMapSegmentEditCapability"),
     DreameMapSegmentRenameCapability: require("./DreameMapSegmentRenameCapability"),