feat(vendor.roborock): Add support for the Roborock S7

Hypfer · Jun 15, 2021 · c9ccb4a · c9ccb4a
1 parent 784f628
commit c9ccb4a
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diff --git a/backend/lib/robots/roborock/RoborockGen4ValetudoRobot.js b/backend/lib/robots/roborock/RoborockGen4ValetudoRobot.js
@@ -0,0 +1,215 @@
+const capabilities = require("./capabilities");
+const entities = require("../../entities");
+const Logger = require("../../Logger");
+const RoborockValetudoRobot = require("./RoborockValetudoRobot");
+
+// https://miot-spec.org/miot-spec-v2/instance?type=urn:miot-spec-v2:device:vacuum:0000A006:roborock-a19:1
+const MIOT_SERVICES = Object.freeze({
+    VACUUM_1: {
+        SIID: 2,
+        PROPERTIES: {
+            STATUS: {
+                PIID: 1
+            },
+            DEVICE_FAULT: {
+                PIID: 2
+            },
+            MODE: {
+                // the spec reports this as 4, but empirically shows up as piid 3
+                PIID: 3
+            }
+        },
+        ACTIONS: {
+            START: {
+                AIID: 1
+            },
+            STOP: {
+                AIID: 2
+            },
+        }
+    },
+    VACUUM_2: {
+        SIID: 8,
+        PROPERTIES: {
+            CONSUMABLE_ID: {
+                PIID: 1
+            },
+            FAILED_REASON: {
+                PIID: 2
+            },
+            ERROR_CODE: {
+                PIID: 3
+            }
+        }
+    },
+    BATTERY: {
+        SIID: 3,
+        PROPERTIES: {
+            LEVEL: {
+                PIID: 1
+            },
+            CHARGING: {
+                PIID: 2
+            }
+        },
+        ACTIONS: {
+            START_CHARGE: {
+                AIID: 1
+            }
+        }
+    },
+    MAIN_BRUSH: {
+        SIID: 9,
+        PROPERTIES: {
+            PERCENT_LEFT: {
+                PIID: 2
+            }
+        }
+    },
+    SIDE_BRUSH: {
+        SIID: 10,
+        PROPERTIES: {
+            PERCENT_LEFT: {
+                PIID: 2
+            }
+        }
+    },
+    FILTER: {
+        SIID: 11,
+        PROPERTIES: {
+            PERCENT_LEFT: {
+                PIID: 2
+            }
+        }
+    },
+});
+
+class RoborockGen4ValetudoRobot extends RoborockValetudoRobot {
+    /**
+     *
+     * @param {object} options
+     * @param {import("../../Configuration")} options.config
+     */
+    constructor(options) {
+        super(Object.assign({}, options, {fanSpeeds: FAN_SPEEDS}));
+
+        this.registerCapability(new capabilities.RoborockMapSnapshotCapability({
+            robot: this
+        }));
+        this.registerCapability(new capabilities.RoborockCombinedVirtualRestrictionsCapability({
+            robot: this
+        }));
+        this.registerCapability(new capabilities.RoborockMultiMapPersistentMapControlCapability({
+            robot: this
+        }));
+        this.registerCapability(new capabilities.RoborockMapResetCapability({
+            robot: this
+        }));
+        this.registerCapability(new capabilities.RoborockMapSegmentationCapability({
+            robot: this
+        }));
+        this.registerCapability(new capabilities.RoborockMapSegmentEditCapability({
+            robot: this
+        }));
+        this.registerCapability(new capabilities.RoborockMapSegmentRenameCapability({
+            robot: this
+        }));
+    }
+
+    onMessage(msg) {
+        if (super.onMessage(msg) === true) {
+            return true;
+        }
+
+        switch (msg.method) {
+            case "event_occured":
+                msg.params.arguments.forEach(a => {
+                    return this.handlePropertyChange({
+                        siid: msg.params.siid,
+                        piid: a.piid,
+                        value: a.value
+                    });
+                });
+                break;
+            case "properties_changed":
+                msg.params.forEach(e => {
+                    this.handlePropertyChange(e);
+                });
+                break;
+            default:
+                return false;
+        }
+
+        this.sendCloud({id: msg.id, "result":"ok"});
+        return true;
+    }
+
+    handlePropertyChange(msg) {
+        switch (msg.siid) {
+            case MIOT_SERVICES.VACUUM_1.SIID:
+                switch (msg.piid) {
+                    case MIOT_SERVICES.VACUUM_1.PROPERTIES.STATUS.PIID:
+                        // if we are paused, we may lose if it is zoned or
+                        // segment resume, maybe we should skip this?
+                        this.parseAndUpdateState({
+                            in_cleaning: 1,
+                            state: msg.value,
+                        });
+                        return;
+                    case MIOT_SERVICES.VACUUM_1.PROPERTIES.DEVICE_FAULT.PIID:
+                        if (msg.value !== 0) {
+                            this.parseAndUpdateState({
+                                state: 12, // error value
+                                error_code: msg.value
+                            });
+                        }
+                        return;
+                    case MIOT_SERVICES.VACUUM_1.PROPERTIES.MODE.PIID:
+                        this.parseAndUpdateState({
+                            fan_power: msg.value
+                        });
+                        return;
+                }
+                break;
+            case MIOT_SERVICES.VACUUM_2.SIID:
+                switch (msg.piid) {
+                    // error event
+                    case MIOT_SERVICES.VACUUM_2.PROPERTIES.ERROR_CODE.PIID:
+                        this.parseAndUpdateState({
+                            state: 12, // error value
+                            error_code: msg.value
+                        });
+                        return;
+                    case MIOT_SERVICES.VACUUM_2.PROPERTIES.CONSUMABLE_ID.PIID: // consumable reminder event
+                    case MIOT_SERVICES.VACUUM_2.PROPERTIES.FAILED_REASON.PIID: // schedule cancled event
+                        return;
+                }
+                break;
+            case MIOT_SERVICES.BATTERY.SIID:
+                switch (msg.piid) {
+                    case MIOT_SERVICES.BATTERY.PROPERTIES.LEVEL.PIID:
+                        this.parseAndUpdateState({
+                            battery: msg.value
+                        });
+                        return;
+                }
+                break;
+            case MIOT_SERVICES.MAIN_BRUSH.SIID:
+            case MIOT_SERVICES.SIDE_BRUSH.SIID:
+            case MIOT_SERVICES.FILTER.SIID:
+                // the consumables only reports percent through this property, ignore
+                return;
+        }
+        Logger.info("Unknown property change message received:", JSON.stringify(msg));
+    }
+}
+
+const FAN_SPEEDS = {
+    [entities.state.attributes.PresetSelectionStateAttribute.INTENSITY.LOW]: 101,
+    [entities.state.attributes.PresetSelectionStateAttribute.INTENSITY.MEDIUM]: 102,
+    [entities.state.attributes.PresetSelectionStateAttribute.INTENSITY.HIGH]: 103,
+    [entities.state.attributes.PresetSelectionStateAttribute.INTENSITY.MAX]: 104,
+    [entities.state.attributes.PresetSelectionStateAttribute.INTENSITY.OFF] : 105 //also known as mop mode
+};
+
+module.exports = RoborockGen4ValetudoRobot;