diff --git a/fhem/contrib/Roomba/99_RoombaUtils.pm b/fhem/contrib/Roomba/99_RoombaUtils.pm
index 3a4a9bb00..14886e4cf 100644
--- a/fhem/contrib/Roomba/99_RoombaUtils.pm
+++ b/fhem/contrib/Roomba/99_RoombaUtils.pm
@@ -46,6 +46,8 @@ use Math::Polygon::Calc;
use Math::ConvexHull qw/convex_hull/;
use Digest::MD5 qw(md5 md5_hex md5_base64);
+my $version = "1.0";
+
my %roombaerrs_en = (
0 => "None",
1 => "Left wheel off floor",
@@ -203,11 +205,12 @@ my %roombastates_de = ("charge" => "Wird geladen",
sub command($$@){
my ($name,$cmd,@evt) = @_;
my $hash = $main::defs{$name};
+ $hash->{Version} = $version;
if( $cmd eq "start"){
my $hash = $main::defs{$name};
my $iodev= $hash->{IODev}->{NAME};
main::fhem("attr $iodev disconnectAfter 300");
- if(main::Value($iodev) ne "opened"{
+ if(main::Value($iodev) ne "opened"){
main::fhem("set $iodev connect");
}
}
@@ -266,7 +269,19 @@ sub setsched($$$){
#############################################################################
#
-# getList
+# helper
+#
+#############################################################################
+
+sub numtobool($){
+ my ($num) = @_;
+ my $ret = (($num==1)?"true":"false");
+ return $ret;
+}
+
+#############################################################################
+#
+# status - does not work yet
#
#############################################################################
@@ -287,28 +302,104 @@ sub reading($$){
my ($name,$evt) = @_;
#main::Log 1,"============> $evt";
+
+ #-- signal and pose come every second or so, keep it short
if( $evt =~ /state....reported....signal/){
return signale($evt);
}elsif( $evt =~ /state....reported....pose/){
return pose($name,$evt);
- #}elsif( $evt =~ /bbrun/){
+ }
+
+ #-- all the other stuff might come much less often
+ my $dec = decode_json($evt);
+ my $staterep = $dec->{'state'}->{'reported'};
+ my %ret = ();
+ my $hash = $main::defs{$name};
+ my $key = $hash->{helper}{setting};
+
+ #if( $evt =~ /bbrun/){
# main::Log 1,"[RoombaUtils] bbrun ".$evt;
- }elsif( $evt =~ /cleanMissionStatus/){
- return mission($name,$evt);
- }elsif( $evt =~ /cleanSchedule/){
+
+ if( $evt =~ /cleanMissionStatus/){
+ #main::Log 1,"[RoombaUtils] mission event ".$evt;
+ my %mission = %{$staterep->{'cleanMissionStatus'}};
+ mission($name,\%mission,\%ret);
+ }
+
+ if( $evt =~ /cleanSchedule/){
#main::Log 1,"[RoombaUtils] schedule event ".$evt;
- return schedule($evt);
- }elsif( $evt =~ /(vacHigh)|(openOnly)|(binPause)|(carpetBoost)|(twoPass)|(schedHold)|(lastCommand)/){
- return settings($name,$evt);
- }elsif( $evt =~ /state....reported....batPct/){
- return battery($evt);
- }elsif( $evt =~ /state....reported....dock/){
- return dock($evt);
- }elsif( $evt =~ /state....reported....audio/){
- return audio($evt);
- }elsif( $evt =~ /state....reported....bin/){
- return bin($evt);
- }elsif( $evt =~ /(connected)|(dock)|(country)|(cloudEnv)|(svcEndpoints)|(mapUpload)|(localtimeoffset)|(mac)|(wlcfg)|(wifistat)|(netinfo)|(langs)|(bbmssn)|(cap)|(navSwVer)|(tz)|(bbsys)|(bbchg)|(bbrun)|(bbnav)|(bbpanic)/){
+ my %cleans = %{$staterep->{'cleanSchedule'}};
+ schedule(\%cleans,\%ret);
+ }
+
+ #-- getting events of the type
+ # {"state":{"reported":{"vacHigh":false,"binPause":true,"carpetBoost":false,"openOnly":false,"twoPass":false,"schedHold":false,"lastCommand":{"command":"stop","time":1,"initiator":"localApp"}}}}
+ if( $evt =~ /(vacHigh)|(openOnly)|(binPause)|(carpetBoost)|(twoPass)|(schedHold)|(lastCommand)/){
+ my $vacH = $staterep->{'vacHigh'};
+ $ret{"sVacHigh"} = numtobool($vacH)
+ if(defined($vacH));
+ my $bin = $staterep->{'binPause'};
+ $ret{"sBinPause"} = numtobool($bin)
+ if(defined($bin));
+ my $carp = $staterep->{'carpetBoost'};
+ $ret{"sCarpetBoost"} = numtobool($carp)
+ if(defined($carp));
+ my $oo = $staterep->{'openOnly'};
+ $ret{"sOpenOnly"} = numtobool($oo)
+ if(defined($oo));
+ my $twop = $staterep->{'twoPass'};
+ $ret{"sTwoPass"} = numtobool($twop)
+ if(defined($twop));
+ my $naup = $staterep->{'noAutoPasses'};
+ $ret{"sNoAutoPasses"} = numtobool($naup)
+ if(defined($naup));
+ my $nopp = $staterep->{'noPP'};
+ $ret{"sNoPP"} = numtobool($nopp)
+ if(defined($nopp));
+ my $schH = $staterep->{'schedHold'};
+ $ret{"sSchedHold"} = numtobool($schH)
+ if(defined($schH));
+ my $cmd = $staterep->{'lastCommand'}->{'command'};
+ my $time = $staterep->{'lastCommand'}->{'time'};
+ my $init = $staterep->{'lastCommand'}->{'initiator'};
+ $ret{"lastCommand"} = $cmd
+ if(defined($cmd));
+ $ret{"lastCommandInitiator"} = $init
+ if(defined($init));
+ #-- extra function
+ if( defined($key) && $key =~ /^local\:(.*)=(.*)/ ){
+ #main::Log 1,"========> $1 = evaluation of $2 as ".eval($2);
+ $ret{"$1"}=eval($2);
+ $hash->{helper}{setting}="done";
+ }
+ }
+
+ #-- getting events of the type
+ # {"state":{"reported":{"batPct":100}}}
+ my $bat = $staterep->{'batPct'};
+ $ret{"battery"} = $bat
+ if(defined($bat));
+
+ #-- getting events of the type
+ # {"state":{"reported":{"dock":{"known":false}}}}
+ my $dock = $staterep->{'dock'}->{'known'};
+ $ret{"dockKnown"} = numtobool($dock)
+ if(defined($dock));
+
+ #-- getting events of the type
+ # {"state":{"reported":{"audio":{"active":false}}}}
+ my $audio = $staterep->{'audio'}->{'active'};
+ $ret{"audioActive"} = numtobool($audio)
+ if(defined($audio));
+
+ #-- getting events of the type
+ # {"state":{"reported":{"bin":{"present":true,"full":false}}}}
+ my $binp = $staterep->{'bin'}->{'present'};
+ my $binf = $staterep->{'bin'}->{'full'};
+ $ret{"cmBinFull"} = numtobool($binf)
+ if(defined($binf));
+
+ if( $evt =~ /(connected)|(dock)|(country)|(cloudEnv)|(svcEndpoints)|(mapUpload)|(localtimeoffset)|(mac)|(wlcfg)|(wifistat)|(netinfo)|(langs)|(bbmssn)|(cap)|(navSwVer)|(tz)|(bbsys)|(bbchg)|(bbrun)|(bbnav)|(bbpanic)/){
#-- do nothing
# {"state":{"reported":{"langs":[{"en-UK":0},{"fr-FR":1},{"es-ES":2},{"it-IT":3},{"de-DE":4},{"ru-RU":5}],"bbnav":{"aMtrack":16,"nGoodLmrks":6,"aGain":4,"aExpo":102},"bbpanic":{"panics":[6,8,9,8,6]},"bbpause":{"pauses":[17,17,16,1,0,0,0,0,0,0]}}}}
# {"state":{"reported":{"bbmssn":{"nMssn":30,"nMssnOk":2,"nMssnC":26,"nMssnF":2,"aMssnM":13,"aCycleM":13},"bbrstinfo":{"nNavRst":5,"nMobRst":0,"causes":"0000"}}}}
@@ -329,36 +420,56 @@ sub reading($$){
# {"state":{"reported":{"localtimeoffset":120,"utctime":1600424239,"pose":{"theta":-46,"point":{"x":318,"y":82}}}}}
# {"state":{"reported":{"bbsys":{"hr":2583,"min":21}}}}
- }else{
- my ($evt) = @_;
+ }elsif(int(%ret)==0){
+ # my ($evt) = @_;
main::Log 1,"[RoombaUtils] uncaught event ".$evt
- if( $evt ne "$name" );
- return
+ if( $evt ne "$name" );
}
+ return {%ret}
}
-
+
+#############################################################################
+#
+# signal data
+# getting events of the type
+# {"state":{"reported":{"signal":{"rssi":-55,"snr":34}}}}
+#
+#############################################################################
+
sub signale($){
my ($evt) = @_;
- #-- getting events of the type
- # {"state":{"reported":{"signal":{"rssi":-55,"snr":34}}}}
+
my $dec = decode_json($evt);
my $rssi = $dec->{'state'}->{'reported'}->{'signal'}->{'rssi'};
my %ret = ("signalRSSI",$rssi);
return {%ret};
}
+#############################################################################
+#
+# position data
+# getting events of the type
+# {"state":{"reported":{"pose":{"theta":0,"point":{"x":311,"y":-21}}}}}
+#
+#############################################################################
+
sub pose($$){
my ($name,$evt) = @_;
my $hash = $main::defs{$name};
-
- #-- getting events of the type
- # {"state":{"reported":{"pose":{"theta":0,"point":{"x":311,"y":-21}}}}}
my $dec = decode_json($evt);
- my $theta = $dec->{'state'}->{'reported'}->{'pose'}->{'theta'};
- my $px = $dec->{'state'}->{'reported'}->{'pose'}->{'point'}->{'x'};
- my $py = $dec->{'state'}->{'reported'}->{'pose'}->{'point'}->{'y'};
-
+ my $pose = $dec->{'state'}->{'reported'}->{'pose'};
+ my $theta = $pose->{'theta'};
+ my $px = $pose->{'point'}->{'x'};
+ my $py = $pose->{'point'}->{'y'};
+
+ #-- fast return if mappinge disabled
+ if( main::AttrVal($name,"noMap","") eq "true" ){
+ my %ret = ("positionTheta",$theta,"position","(".$px.",".$py.")");
+ return {%ret};
+ }
+
+ my ($pxp,$pyp);
if($hash->{helper}{initmap}==1){
$hash->{helper}{startx} = $px;
$hash->{helper}{starty} = $py;
@@ -368,7 +479,7 @@ sub pose($$){
$py -= $hash->{helper}{starty};
my $dir = main::AttrVal($name,"startdir","north");
- my ($pxp,$pyp);
+
if($dir eq "north"){
$pxp = -$py;
$pyp = $px;
@@ -388,6 +499,7 @@ sub pose($$){
#-- Reduction not useful
push(@{$hash->{helper}{theta}},$theta);
push(@{$hash->{helper}{path}},$pxp,$pyp);
+
my $count = $hash->{helper}{pcount};
$count++;
$hash->{helper}{pcount}=$count;
@@ -396,177 +508,82 @@ sub pose($$){
return {%ret};
}
-sub mission($$){
- my ($name,$evt) = @_;
- my $hash = $main::defs{$name};
- my $oldphase = main::ReadingsVal($name,"cmPhase","");
- #-- getting events of the type
- # {"state":{"reported":{"dock":{"known":true},"cleanMissionStatus":{"cycle":"quick","phase":"run","expireM":0,"rechrgM":0,"error":0,"notReady":0,"mssnM":0,"sqft":0,"initiator":"localApp","nmain::Log 1,"[RoombaUtils] Device $name phase transition $oldphase -> $phase";Mssn":30}}}}
- my $dec = decode_json($evt);
- my $cyc = $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'cycle'};
- my $phase = $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'phase'};
- my $number= $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'nMssn'};
- my $exp = $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'expireM'};
- my $rech = $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'rechrgM'};
- #-- Manage mission
- missionmanager($hash,$oldphase,$phase);
- $exp = ($exp == 0)?"Never":$exp." min";
- my $time = $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'mssnM'};
- $time = $time." min";
- my $error = $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'error'};
- my $eemsg = $roombaerrs_en{$error};
- my $demsg = $roombaerrs_de{$error};
- my $notr = $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'notReady'};
- my $sqm = int($dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'sqft'}*10/10.7639)/10;
- my $init = $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'initiator'};
-
- if( $oldphase ne "stuck" && $phase eq "stuck"){
- main::Log 1,"[RoombaUtils] $name stuck with error $error, message $eemsg";
- }
-
- my %ret = ("cmCycle",$cyc,"cmTime",$time,"cmPhase",$phase,"cmPhaseE",$roombastates_en{$phase},
- "cmPhaseD",$roombastates_de{$phase},"cmArea",$sqm." m²","cmExpire",$exp,"cmError",$eemsg,"cmErrorD",$demsg,"cmInitiator",$init);
- $ret{"cmNotReady"} = numtobool($notr)
- if(defined($notr));
- my $bat = $dec->{'state'}->{'reported'}->{'batPct'};
- $ret{"battery"} = $bat
- if(defined($bat));
-
- return {%ret};
-}
+#############################################################################
+#
+# schedule data
+#
+#############################################################################
-sub schedule($){
- my ($evt) = @_;
+sub schedule($$){
+ my ($evtptr,$retptr) = @_;
my @weekdays = ("Sun","Mon","Tue","Wed","Thu","Fri","Sat");
#-- getting events of the type
# {"state":{"reported":{"cleanSchedule":{"cycle":["none","none","none","none","none","none","none"],"h":[9,9,9,9,9,9,9],"m":[0,0,0,0,0,0,0]},"bbchg3":{"avgMin":374,"hOnDock":199,"nAvail":32,"estCap":12311,"nLithChrg":8,"nNimhChrg":0,"nDocks":35}}}}
- my $dec = decode_json($evt);
- my @acyc = @{$dec->{'state'}->{'reported'}->{'cleanSchedule'}->{'cycle'}};
- my @ahours = @{$dec->{'state'}->{'reported'}->{'cleanSchedule'}->{'h'}};
- my @amin = @{$dec->{'state'}->{'reported'}->{'cleanSchedule'}->{'m'}};
+ my @acyc = @{$evtptr->{'cycle'}};
+ my @ahours = @{$evtptr->{'h'}};
+ my @amin = @{$evtptr->{'m'}};
my $sched = "[";
for (my $i=0;$i<7;$i++){
$sched .= $weekdays[$i].":".(($acyc[$i] eq "none")?"none":sprintf("%d:%02d",$ahours[$i],$amin[$i]));
$sched .= ($i<6)?",":"]";
}
- my %ret = ("progWeek",$sched);
- return {%ret};
+ $retptr->{"progWeek"} = $sched;
+ return
}
-sub settings($$){
- my ($name,$evt) = @_;
- #-- getting events of the type
- # {"state":{"reported":{"vacHigh":false,"binPause":true,"carpetBoost":false,"openOnly":false,"twoPass":false,"schedHold":false,"lastCommand":{"command":"stop","time":1,"initiator":"localApp"}}}}
- my $dec = decode_json($evt);
+#############################################################################
+#
+# mission data
+#
+#############################################################################
+
+#-- getting events of the type
+# {"state":{"reported":{"dock":{"known":true},"cleanMissionStatus":{"cycle":"quick","phase":"run","expireM":0,"rechrgM":0,"error":0,"notReady":0,"mssnM":0,"sqft":0,"initiator":"localApp","nmain::Log 1,"[RoombaUtils] Device $name phase transition $oldphase -> $phase";Mssn":30}}}}
+sub mission($$$){
+ my ($name,$evtptr,$retptr) = @_;
my $hash = $main::defs{$name};
- my $key = $hash->{helper}{setting};
- my %ret = ();
- my $vacH = $dec->{'state'}->{'reported'}->{'vacHigh'};
- $ret{"sVacHigh"} = numtobool($vacH)
- if(defined($vacH));
- my $bin = $dec->{'state'}->{'reported'}->{'binPause'};
- $ret{"sBinPause"} = numtobool($bin)
- if(defined($bin));
- my $carp = $dec->{'state'}->{'reported'}->{'carpetBoost'};
- $ret{"sCarpetBoost"} = numtobool($carp)
- if(defined($carp));
- my $oo = $dec->{'state'}->{'reported'}->{'openOnly'};
- $ret{"sOpenOnly"} = numtobool($oo)
- if(defined($oo));
- my $twop = $dec->{'state'}->{'reported'}->{'twoPass'};
- $ret{"sTwoPass"} = numtobool($twop)
- if(defined($twop));
- my $naup = $dec->{'state'}->{'reported'}->{'noAutoPasses'};
- $ret{"sNoAutoPasses"} = numtobool($naup)
- if(defined($naup));
- my $nopp = $dec->{'state'}->{'reported'}->{'noPP'};
- $ret{"sNoPP"} = numtobool($nopp)
- if(defined($nopp));
- my $schH = $dec->{'state'}->{'reported'}->{'schedHold'};
- $ret{"sSchedHold"} = numtobool($schH)
- if(defined($schH));
- my $cmd = $dec->{'state'}->{'reported'}->{'lastCommand'}->{'command'};
- my $time = $dec->{'state'}->{'reported'}->{'lastCommand'}->{'time'};
- my $init = $dec->{'state'}->{'reported'}->{'lastCommand'}->{'initiator'};
- $ret{"lastCommand"} = $cmd
- if(defined($cmd));
- $ret{"lastCommandInitiator"} = $init
- if(defined($init));
- #-- extra function
- if( defined($key) && $key =~ /^local\:(.*)=(.*)/ ){
- #main::Log 1,"========> $1 = evaluation of $2 as ".eval($2);
- $ret{"$1"}=eval($2);
- $hash->{helper}{setting}="done";
+ my $oldphase = main::ReadingsVal($name,"cmPhase","");
+ $retptr->{"cmCycle"} = $evtptr->{'cycle'};
+ my $phase = $evtptr->{'phase'};
+ $retptr->{"cmPhase"} = $phase;
+ $retptr->{"cmPhaseE"} = $roombastates_en{$phase};
+ $retptr->{"cmPhaseD"} = $roombastates_de{$phase};
+
+ #-- Manage mission
+ missionmanager($hash,$oldphase,$phase);
+
+ my $number= $evtptr->{'nMssn'};
+ my $rech = $evtptr->{'rechrgM'};
+
+ my $exp = $evtptr->{'expireM'};
+ $exp = ($exp == 0)?"Never":$exp." min";
+ $retptr->{"cmExpire"} = $exp;
+
+ $retptr->{"cmTime"} = ($evtptr->{'mssnM'})." min";
+
+ my $error = $evtptr->{'error'};
+ my $eemsg = $roombaerrs_en{$error};
+ my $demsg = $roombaerrs_de{$error};
+ $retptr->{"cmError"} = $eemsg;
+ $retptr->{"cmErrorD"} = $demsg;
+ if( $oldphase ne "stuck" && $phase eq "stuck"){
+ main::Log 1,"[RoombaUtils] $name stuck with error $error, message $eemsg";
}
- return {%ret};
-}
+
+ my $notr = $evtptr->{'notReady'};
+ $retptr->{"cmNotReady"} = numtobool($notr)
+ if(defined($notr));
-sub dock($){
- my ($evt) = @_;
- #-- getting events of the type
- # {"state":{"reported":{"dock":{"known":false}}}}
- my $dec = decode_json($evt);
- my $dock = $dec->{'state'}->{'reported'}->{'dock'}->{'known'};
- my %ret = ("dockKnown",$dock);
- $ret{"dockKnown"} = numtobool($dock)
- if(defined($dock));
- return {%ret};
-}
-
-sub battery($){
- my ($evt) = @_;
- #-- getting events of the type
- # {"state":{"reported":{"batPct":100,"dock":{"known":true},"bin":{"present":true,"full":false},"audio":{"active":false}}}}
- my $dec = decode_json($evt);
- my $bat = $dec->{'state'}->{'reported'}->{'batPct'};
- my $dock = $dec->{'state'}->{'reported'}->{'dock'}->{'known'};
- my $binp = $dec->{'state'}->{'reported'}->{'bin'}->{'present'};
- my $binf = $dec->{'state'}->{'reported'}->{'bin'}->{'full'};
- my $audio = $dec->{'state'}->{'reported'}->{'audio'}->{'active'};
- my %ret = ("battery",$bat);
- $ret{"cmBinFull"} = numtobool($binf)
- if(defined($binf));
- $ret{"audioActive"} = numtobool($audio)
- if(defined($audio));
- $ret{"dockKnown"} = numtobool($dock)
- if(defined($dock));
- return {%ret};
-}
-
-sub audio($){
- my ($evt) = @_;
- #-- getting events of the type
- # {"state":{"reported":{"audio":{"active":false}}}}
- my $dec = decode_json($evt);
- my $audio = $dec->{'state'}->{'reported'}->{'audio'}->{'active'};
- my %ret;
- $ret{"audioActive"} = numtobool($audio)
- if(defined($audio));
- return {%ret};
-}
-
-sub bin($){
- my ($evt) = @_;
- #-- getting events of the type
- # {"state":{"reported":{"bin":{"present":true,"full":false}}}}
- my $dec = decode_json($evt);
- my $binp = $dec->{'state'}->{'reported'}->{'bin'}->{'present'};
- my $binf = $dec->{'state'}->{'reported'}->{'bin'}->{'full'};
- my %ret;
- $ret{"cmBinFull"} = numtobool($binf)
- if(defined($binf));
- return {%ret};
-}
-
-sub numtobool($){
- my ($num) = @_;
- my $ret = (($num==1)?"true":"false");
- return $ret;
-}
+ my $sqm = int($evtptr->{'sqft'}*10/10.7639)/10;
+ $retptr->{"cmArea"} = $sqm." m²";
+
+ $retptr->{"cmInitiator"} = $evtptr->{'initiator'};
+ return
+ }
#############################################################################
#
-# missionmanager
+# mission management
#
#############################################################################
@@ -596,8 +613,9 @@ sub missionmanager($$$){
$oldphase.$phase eq "chargerun" ||
$oldphase.$phase eq "hmUsrDockrun" ){
main::Log 1,"[RoombaUtils] Device $name $oldphase -> $phase should start intialization";
- initmap($hash);
- main::fhem("attr $iodev disconnectAfter 60");
+ initmap($hash)
+ if( main::AttrVal($name,"noMap","") ne "true" );
+ main::fhem("attr $iodev disconnectAfter 300");
}elsif( $oldphase.$phase eq "runstop" ){
main::Log 1,"[RoombaUtils] Device $name pausing $oldphase -> $phase";
}elsif( $oldphase.$phase eq "stoprun" ){
@@ -609,7 +627,8 @@ sub missionmanager($$$){
$oldphase.$phase eq "hmUsrDockstop" ||
$oldphase.$phase eq "stophmUsrDock" ){
main::Log 1,"[RoombaUtils] Device $name $oldphase -> $phase should start intialization";
- finalizemap($hash);
+ finalizemap($hash)
+ if( main::AttrVal($name,"noMap","") ne "true" );
main::fhem("attr $iodev disconnectAfter 7");
}elsif(
$oldphase.$phase eq "hmUsrDockhmUsrDock"){
@@ -1068,6 +1087,7 @@ sub finalizemap($){
startx - docking station x coordinate in cm from the leftmost (western) wall
starty - docking station y coordinate in cm from the bottommost (southern) wall
startdir east|south|west|north - starting direction away from docking station
+ noMap true|false - if set to true, no map data will be collected
LOG_dir - directory for writing a log file (in perl format!) of each cleaning mission.
If this attribute is omitted, no such file will be written
SVG_dir - directory for reading a graphical room map in SVG format and reading/writing intermediate XML files of each cleaning mission.