fix(vendor.roborock): Properly parse and handle lab_status and map_st…

…atus this fixes #1424
Hypfer · Feb 21, 2022 · e158ac4 · Lanchon · Feb 21, 2022 · e158ac4
1 parent cc5e37b
commit e158ac4
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Showing 4 changed files with 69 additions and 31 deletions.
diff --git a/backend/lib/robots/roborock/RoborockValetudoRobot.js b/backend/lib/robots/roborock/RoborockValetudoRobot.js
@@ -254,7 +254,20 @@ class RoborockValetudoRobot extends MiioValetudoRobot {
         }
 
         if (data["lab_status"] !== undefined && this.hasCapability(capabilities.RoborockPersistentMapControlCapability.TYPE)) {
-            this.capabilities[capabilities.RoborockPersistentMapControlCapability.TYPE].persistentMapState = data["lab_status"] === 1;
+            /*
+                lab_status is a byte that consists of
+
+                XXXXXXMP
+
+                X is currently (2022-02-21) unused
+                M is the multi-map flag
+                P is the persistent-map flag
+             */
+
+            this.labStatus = {
+                persistentMapEnabled: !!(data["lab_status"] & 0b00000001),
+                multiMapEnabled: !!(data["lab_status"] & 0b00000010)
+            };
         }
 
         if (data["water_box_status"] !== undefined) {
@@ -311,7 +324,21 @@ class RoborockValetudoRobot extends MiioValetudoRobot {
         }
 
         if (data["map_status"] !== undefined) {
-            this.mapStatus = data["map_status"];
+            /*
+                map_status is a byte that consists of
+
+                IIIIIISM
+
+                I being all part of the current mapId 0-63
+                S being a "segment present" flag
+                M being a "map present" flag
+             */
+
+            this.mapStatus = {
+                mapPresent: !!(data["map_status"] & 0b00000001),
+                segmentsPresent: !!(data["map_status"] & 0b00000010),
+                mapSlotId: data["map_status"] >> 2
+            };
         }
 
         this.emitStateAttributesUpdated();

diff --git a/backend/lib/robots/roborock/capabilities/RoborockMultiMapMapResetCapability.js b/backend/lib/robots/roborock/capabilities/RoborockMultiMapMapResetCapability.js
@@ -8,24 +8,33 @@ class RoborockMultiMapMapResetCapability extends MapResetCapability {
      * @returns {Promise<void>}
      */
     async reset() {
-        if (this.robot.mapStatus === MAP_STATUS.NO_MAP) {
+        if (!this.robot.mapStatus) {
+            throw new Error("Unknown map status: " + this.robot.mapStatus + ". Unable to reset map.");
+        }
+
+        if (this.robot.mapStatus.mapPresent === false) {
             throw new Error("Map doesn't exist. Nothing to reset.");
         }
-        if (this.robot.mapStatus === MAP_STATUS.NEW_MAP) {
-            // saving the map takes a bit of time, usually up to 5 secs
+
+
+        /*
+            63 means new map and isn't a proper mapId
+            We're trying to manually trigger the segmentation to store the map into a real map slot
+         */
+        if (this.robot.mapStatus.mapSlotId === 63) {
+            // segmenting the map takes a bit of time, usually up to 5 secs
             let res = await this.robot.sendCommand("manual_segment_map", [{"map_flag":-1}], {timeout: 10000});
+
             if (!(Array.isArray(res) && res[0] === 1)) {
-                throw new Error("Map is incomplete and not saved. Attempt to save map failed.");
+                throw new Error("Map is incomplete and not saved. Attempt to segment map failed.");
             }
 
             await this.robot.pollState();
         }
 
-        const multiMapId = MAP_STATUS_TO_MUTIMAP_ID[this.robot.mapStatus];
-        if (multiMapId === undefined) {
-            throw new Error("Unknown map status: " + this.robot.mapStatus + ". Unable to reset map.");
-        }
-        let res = await this.robot.sendCommand("del_map", [multiMapId], {});
+
+
+        let res = await this.robot.sendCommand("del_map", [this.robot.mapStatus.mapSlotId], {});
 
         if (!(Array.isArray(res) && res[0] === "ok")) {
             throw new Error("Failed to reset map: " + res);
@@ -35,20 +44,5 @@ class RoborockMultiMapMapResetCapability extends MapResetCapability {
     }
 }
 
-const MAP_STATUS = Object.freeze({
-    NO_MAP: 252,
-    NEW_MAP: 253, // a full clean-up hasn't been completed yet, map is incomplete and not saved into a slot
-    MAP_0: 3,
-    MAP_1: 7,
-    MAP_2: 11,
-    MAP_3: 15,
-});
-
-const MAP_STATUS_TO_MUTIMAP_ID = Object.freeze({
-    [MAP_STATUS.MAP_0]: 0,
-    [MAP_STATUS.MAP_1]: 1,
-    [MAP_STATUS.MAP_2]: 2,
-    [MAP_STATUS.MAP_3]: 3,
-});
 
 module.exports = RoborockMultiMapMapResetCapability;
diff --git a/backend/lib/robots/roborock/capabilities/RoborockMultiMapPersistentMapControlCapability.js b/backend/lib/robots/roborock/capabilities/RoborockMultiMapPersistentMapControlCapability.js
@@ -1,11 +1,30 @@
 const RoborockPersistentMapControlCapability = require("./RoborockPersistentMapControlCapability");
 
+
 class RoborockMultiMapPersistentMapControlCapability extends RoborockPersistentMapControlCapability {
     /**
      * @returns {Promise<void>}
      */
     async enable() {
-        await this.robot.sendCommand("set_lab_status", [{lab_status: 1}], {});
+        await this.robot.pollState(); //The labStatus is part of the status response and gets stored in the robot instance
+
+        const payload = {
+            lab_status: 1
+        };
+
+        /*
+            If the robot was previously used with the official app, it might be in multi-map mode.
+            In those cases, this command needs a reserve_map or else it will fail.
+            We use the current multi-map slot for that
+
+            "Enabling" persistent maps with multi-maps enabled actually disables multi-maps
+            Whether that is a good design decision is TBD
+         */
+        if (this.robot.labStatus?.multiMapEnabled === true && this.robot.mapStatus?.mapSlotId !== undefined) {
+            payload["reserve_map"] = this.robot.mapStatus.mapSlotId;
+        }
+
+        await this.robot.sendCommand("set_lab_status", [payload], {});
     }
 
     /**

diff --git a/backend/lib/robots/roborock/capabilities/RoborockPersistentMapControlCapability.js b/backend/lib/robots/roborock/capabilities/RoborockPersistentMapControlCapability.js
@@ -10,17 +10,15 @@ class RoborockPersistentMapControlCapability extends PersistentMapControlCapabil
      */
     constructor(options) {
         super(options);
-
-        this.persistentMapState = undefined;
     }
 
     /**
      * @returns {Promise<boolean>}
      */
     async isEnabled() {
-        await this.robot.pollState(); //fetching robot state populates the capability's internal state. somewhat spaghetti :(
+        await this.robot.pollState(); //The labStatus is part of the status response and gets stored in the robot instance
 
-        return this.persistentMapState;
+        return this.robot.labStatus?.persistentMapEnabled ?? undefined;
     }
 
     /**