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Refactored zone cleaning and improved debugging

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This commit is contained in:
Arne 2019-09-26 08:59:17 +02:00
parent 500ae64e0f
commit 09e19d38cf
2 changed files with 89 additions and 120 deletions
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164
accessories/neatoVacuumRobot.js
View File

@ -1,4 +1,5 @@
const debug = require('debug')('homebridge-neato');
const colors = require('colors');
const CustomUUID = {
SpotCleanWidth: 'A7889A9A-2F27-4293-BEF8-3FE805B36F4E',
@ -20,22 +21,21 @@ module.exports = function (_Service, _Characteristic)
return NeatoVacuumRobotAccessory;
};
function NeatoVacuumRobotAccessory(platform, robotObject, boundary = undefined)
function NeatoVacuumRobotAccessory(platform, robotObject)
{
this.platform = platform;
this.log = platform.log;
this.refresh = platform.refresh;
this.hiddenServices = platform.hiddenServices;
this.nextRoom = platform.nextRoom;
this.robotObject = robotObject;
this.robot = robotObject.device;
this.meta = robotObject.meta;
this.availableServices = robotObject.availableServices;
this.boundary = (typeof robotObject.boundary === 'undefined') ? null : robotObject.boundary;
this.boundary = boundary;
this.nextRoom = null;
if (typeof boundary === 'undefined')
if (this.boundary == null)
{
this.name = this.robot.name;
}
@ -63,7 +63,7 @@ function NeatoVacuumRobotAccessory(platform, robotObject, boundary = undefined)
this.batteryService = new Service.BatteryService("Battery", "battery");
if (typeof boundary === 'undefined')
if (this.boundary == null)
{
this.cleanService = new Service.Switch(this.name + " Clean", "clean");
this.goToDockService = new Service.Switch(this.name + " Go to Dock", "goToDock");
@ -92,19 +92,19 @@ function NeatoVacuumRobotAccessory(platform, robotObject, boundary = undefined)
this.spotCleanSimpleService = new Service.Switch(this.name + " Clean Spot", "cleanSpot");
this.spotCleanSimpleService.addCharacteristic(SpotRepeatCharacteristic);
}
this.log("Added default cleaning device named: " + this.name);
}
else
{
const splitName = boundary.name.split(' ');
let serviceName = "Clean the " + boundary.name;
const splitName = this.boundary.name.split(' ');
let serviceName = "Clean the " + this.boundary.name;
if (splitName.length >= 2 && splitName[splitName.length - 2].match(/[']s$/g))
{
serviceName = "Clean " + boundary.name;
serviceName = "Clean " + this.boundary.name;
}
this.cleanBoundaryService = new Service.Switch(serviceName, "cleanBoundary:" + boundary.id);
this.log("Added zone cleaning for: " + boundary.name);
this.cleanService = new Service.Switch(serviceName, "cleanBoundary:" + this.boundary.id);
}
this.log("Added cleaning device named: " + this.name);
}
NeatoVacuumRobotAccessory.prototype = {
@ -132,34 +132,23 @@ NeatoVacuumRobotAccessory.prototype = {
.setCharacteristic(Characteristic.Manufacturer, "Neato Robotics")
.setCharacteristic(Characteristic.Model, this.meta.modelName)
.setCharacteristic(Characteristic.SerialNumber, this.robot._serial)
.setCharacteristic(Characteristic.FirmwareRevision, this.meta.firmware);
if (typeof this.boundary === "undefined")
{
this.informationService
.setCharacteristic(Characteristic.Name, this.robot.name)
}
else
{
this.informationService
.setCharacteristic(Characteristic.Name, this.robot.name + ' - ' + this.boundary.name)
}
.setCharacteristic(Characteristic.FirmwareRevision, this.meta.firmware)
.setCharacteristic(Characteristic.Name, this.robot.name + (this.boundary == null ? '' : ' - ' + this.boundary.name));
this.services = [this.informationService];
this.cleanService.getCharacteristic(Characteristic.On).on('set', this.setClean.bind(this));
this.cleanService.getCharacteristic(Characteristic.On).on('get', this.getClean.bind(this));
if (typeof this.boundary === "undefined")
{
this.cleanService.getCharacteristic(Characteristic.On).on('set', (on, serviceCallback) =>
{
this.setClean(on, serviceCallback, this.boundary)
});
this.cleanService.getCharacteristic(Characteristic.On).on('get', (serviceCallback) =>
{
this.getClean(serviceCallback, this.boundary);
});
this.services = [this.informationService, this.cleanService];
if (this.boundary == null)
{
this.batteryService.getCharacteristic(Characteristic.BatteryLevel).on('get', this.getBatteryLevel.bind(this));
this.batteryService.getCharacteristic(Characteristic.ChargingState).on('get', this.getBatteryChargingState.bind(this));
this.services.push(this.batteryService);
// Create services
this.goToDockService.getCharacteristic(Characteristic.On).on('set', this.setGoToDock.bind(this));
this.goToDockService.getCharacteristic(Characteristic.On).on('get', this.getGoToDock.bind(this));
this.dockStateService.getCharacteristic(Characteristic.OccupancyDetected).on('get', this.getDock.bind(this));
this.ecoService.getCharacteristic(Characteristic.On).on('set', this.setEco.bind(this));
@ -177,9 +166,6 @@ NeatoVacuumRobotAccessory.prototype = {
this.findMeService.getCharacteristic(Characteristic.On).on('set', this.setFindMe.bind(this));
this.findMeService.getCharacteristic(Characteristic.On).on('get', this.getFindMe.bind(this));
this.batteryService.getCharacteristic(Characteristic.BatteryLevel).on('get', this.getBatteryLevel.bind(this));
this.batteryService.getCharacteristic(Characteristic.ChargingState).on('get', this.getBatteryChargingState.bind(this));
if (typeof this.spotCleanAdvancedService !== 'undefined')
{
this.spotCleanAdvancedService.getCharacteristic(Characteristic.On).on('set', this.setSpotClean.bind(this));
@ -205,10 +191,6 @@ NeatoVacuumRobotAccessory.prototype = {
this.services.push(this.spotCleanSimpleService);
}
// Add primary services
this.services.push(this.cleanService);
this.services.push(this.batteryService);
// Add optional services
if (this.hiddenServices.indexOf('dock') === -1)
this.services.push(this.goToDockService);
@ -225,52 +207,40 @@ NeatoVacuumRobotAccessory.prototype = {
if (this.hiddenServices.indexOf('find') === -1)
this.services.push(this.findMeService);
}
else
{
this.cleanBoundaryService.getCharacteristic(Characteristic.On).on('set', (on, serviceCallback) =>
{
this.setClean(on, serviceCallback, this.boundary)
});
this.cleanBoundaryService.getCharacteristic(Characteristic.On).on('get', (serviceCallback) =>
{
this.getClean(serviceCallback, this.boundary);
});
this.services.push(this.cleanBoundaryService);
}
return this.services;
},
getClean: function (callback, boundary)
getClean: function (callback)
{
this.platform.updateRobot(this.robot._serial, (error, result) =>
{
let cleaning;
if (typeof boundary === 'undefined')
if (this.boundary == null)
{
cleaning = this.robot.canPause;
}
else
{
cleaning = this.robot.canPause && (this.robot.cleaningBoundaryId === boundary.id)
cleaning = this.robot.canPause && (this.robot.cleaningBoundaryId === this.boundary.id)
}
debug(this.name + ": Cleaning is " + (cleaning ? 'ON' : 'OFF'));
debug(this.name + ": Cleaning is " + (cleaning ? 'ON'.brightGreen : 'OFF'.red));
callback(false, cleaning);
});
},
setClean: function (on, callback, boundary)
setClean: function (on, callback)
{
debug(this.name + ": " + (on ? "Enabled " : "Disabled") + " Clean " + boundary);
debug(this.name + ": " + (on ? "Enabled ".brightGreen : "Disabled".red) + " Clean " + (this.boundary ? JSON.stringify(this.boundary) : ''));
this.platform.updateRobot(this.robot._serial, (error, result) =>
{
// Start
if (on)
{
// No room given or same room
if (typeof boundary === 'undefined' || this.robot.cleaningBoundaryId === boundary.id)
if (this.boundary == null || this.robot.cleaningBoundaryId === this.boundary.id)
{
// Resume cleaning
if (this.robot.canResume)
@ -281,12 +251,13 @@ NeatoVacuumRobotAccessory.prototype = {
// Start cleaning
else if (this.robot.canStart)
{
this.clean(callback, boundary);
debug(this.name + ": ## Start cleaning");
this.clean(callback, this.boundary);
}
// Cannot start
else
{
debug(this.name + ": Cannot start, maybe already cleaning");
debug(this.name + ": Cannot start, maybe already cleaning (expected)");
callback();
}
}
@ -299,13 +270,14 @@ NeatoVacuumRobotAccessory.prototype = {
debug(this.name + ": ## Returning to dock to start cleaning of new room");
this.setGoToDock(true, (error, result) =>
{
this.nextRoom = boundary;
this.nextRoom = this.boundary.id;
});
}
// Start new cleaning of new room
else
{
this.clean(callback, boundary);
debug(this.name + ": ## Start cleaning #");
this.clean(callback, this.boundary);
}
}
}
@ -326,7 +298,7 @@ NeatoVacuumRobotAccessory.prototype = {
});
},
clean: function (callback, boundary, spot)
clean: function (callback, spot)
{
// Start automatic update while cleaning
if (this.refresh === 'auto')
@ -340,11 +312,11 @@ NeatoVacuumRobotAccessory.prototype = {
let eco = this.robotObject.mainAccessory.ecoService.getCharacteristic(Characteristic.On).value;
let extraCare = this.robotObject.mainAccessory.extraCareService.getCharacteristic(Characteristic.On).value;
let nogoLines = this.robotObject.mainAccessory.noGoLinesService.getCharacteristic(Characteristic.On).value;
let room = (typeof boundary === 'undefined' || boundary === null) ? '' : boundary.name;
let room = (this.boundary == null) ? '' : this.boundary.name;
debug(this.name + ": ## Start cleaning (" + (room !== '' ? room + " " : '') + "eco: " + eco + ", extraCare: " + extraCare + ", nogoLines: " + nogoLines + ", spot: " + JSON.stringify(spot) + ")");
// Normal cleaning
if (room === '' && (typeof spot === 'undefined'))
if (this.boundary == null && (typeof spot === 'undefined'))
{
this.robot.startCleaning(eco, extraCare ? 2 : 1, nogoLines, (error, result) =>
{
@ -362,7 +334,7 @@ NeatoVacuumRobotAccessory.prototype = {
// Room cleaning
else if (room !== '')
{
this.robot.startCleaningBoundary(eco, extraCare, boundary.id, (error, result) =>
this.robot.startCleaningBoundary(eco, extraCare, this.boundary.id, (error, result) =>
{
if (error)
{
@ -438,7 +410,7 @@ NeatoVacuumRobotAccessory.prototype = {
{
this.platform.updateRobot(this.robot._serial, () =>
{
debug(this.name + ": Eco Mode is " + (this.robot.eco ? 'ON' : 'OFF'));
debug(this.name + ": Eco Mode is " + (this.robot.eco ? 'ON'.brightGreen : 'OFF'.red));
callback(false, this.robot.eco);
});
},
@ -446,7 +418,7 @@ NeatoVacuumRobotAccessory.prototype = {
setEco: function (on, callback)
{
this.robot.eco = on;
debug(this.name + ": " + (on ? "Enabled " : "Disabled") + " Eco Mode ");
debug(this.name + ": " + (on ? "Enabled ".red : "Disabled".red) + " Eco Mode ");
callback();
},
@ -454,7 +426,7 @@ NeatoVacuumRobotAccessory.prototype = {
{
this.platform.updateRobot(this.robot._serial, () =>
{
debug(this.name + ": NoGoLine is " + (this.robot.eco ? 'ON' : 'OFF'));
debug(this.name + ": NoGoLine is " + (this.robot.eco ? 'ON'.brightGreen : 'OFF'.red));
callback(false, this.robot.noGoLines ? 1 : 0);
});
},
@ -462,7 +434,7 @@ NeatoVacuumRobotAccessory.prototype = {
setNoGoLines: function (on, callback)
{
this.robot.noGoLines = on;
debug(this.name + ": " + (on ? "Enabled " : "Disabled") + " NoGoLine ");
debug(this.name + ": " + (on ? "Enabled ".brightGreen : "Disabled".red) + " NoGoLine ");
callback();
},
@ -470,7 +442,7 @@ NeatoVacuumRobotAccessory.prototype = {
{
this.platform.updateRobot(this.robot._serial, () =>
{
debug(this.name + ": Care Nav is " + (this.robot.navigationMode === 2 ? 'ON' : 'OFF'));
debug(this.name + ": Care Nav is " + (this.robot.navigationMode === 2 ? 'ON'.brightGreen : 'OFF'.red));
callback(false, this.robot.navigationMode === 2 ? 1 : 0);
});
},
@ -478,7 +450,7 @@ NeatoVacuumRobotAccessory.prototype = {
setExtraCare: function (on, callback)
{
this.robot.navigationMode = on ? 2 : 1;
debug(this.name + ": " + (on ? "Enabled " : "Disabled") + " Care Nav ");
debug(this.name + ": " + (on ? "Enabled ".brightGreen : "Disabled".red) + " Care Nav ");
callback();
},
@ -486,7 +458,7 @@ NeatoVacuumRobotAccessory.prototype = {
{
this.platform.updateRobot(this.robot._serial, () =>
{
debug(this.name + ": Schedule is " + (this.robot.eco ? 'ON' : 'OFF'));
debug(this.name + ": Schedule is " + (this.robot.eco ? 'ON'.brightGreen : 'OFF'.red));
callback(false, this.robot.isScheduleEnabled);
});
},
@ -497,12 +469,12 @@ NeatoVacuumRobotAccessory.prototype = {
{
if (on)
{
debug(this.name + ": Enabled Schedule");
debug(this.name + ": " + "Enabled".brightGreen + " Schedule");
this.robot.enableSchedule(callback);
}
else
{
debug(this.name + ": Disabled Schedule");
debug(this.name + ": " + "Disabled".red + " Schedule");
this.robot.disableSchedule(callback);
}
});
@ -534,10 +506,12 @@ NeatoVacuumRobotAccessory.prototype = {
setSpotClean: function (on, callback)
{
let spotCleanService = (typeof this.spotCleanAdvancedService !== 'undefined') ? this.spotCleanAdvancedService : this.spotCleanSimpleService;
let spot = {
width: this.spotCleanService.getCharacteristic(SpotWidthCharacteristic).value,
height: this.spotCleanService.getCharacteristic(SpotHeightCharacteristic).value,
repeat: this.spotCleanService.getCharacteristic(SpotRepeatCharacteristic).value
width: spotCleanService.getCharacteristic(SpotWidthCharacteristic).value,
height: spotCleanService.getCharacteristic(SpotHeightCharacteristic).value,
repeat: spotCleanService.getCharacteristic(SpotRepeatCharacteristic).value
};
this.platform.updateRobot(this.robot._serial, (error, result) =>
@ -584,7 +558,7 @@ NeatoVacuumRobotAccessory.prototype = {
{
this.platform.updateRobot(this.robot._serial, () =>
{
debug(this.name + ": S width is " + this.robot.spotWidth + "cm");
debug(this.name + ": Spot width is " + this.robot.spotWidth + "cm");
callback(false, this.robot.spotWidth);
});
},
@ -600,7 +574,7 @@ NeatoVacuumRobotAccessory.prototype = {
{
this.platform.updateRobot(this.robot._serial, () =>
{
debug(this.name + ": S height is " + this.robot.spotHeight + "cm");
debug(this.name + ": Spot height is " + this.robot.spotHeight + "cm");
callback(false, this.robot.spotHeight);
});
},
@ -616,7 +590,7 @@ NeatoVacuumRobotAccessory.prototype = {
{
this.platform.updateRobot(this.robot._serial, () =>
{
debug(this.name + ": S repeat is " + (this.robot.spotRepeat ? 'ON' : 'OFF'));
debug(this.name + ": Spot repeat is " + (this.robot.spotRepeat ? 'ON' : 'OFF'));
callback(false, this.robot.spotRepeat);
});
},
@ -624,7 +598,7 @@ NeatoVacuumRobotAccessory.prototype = {
setSpotRepeat: function (on, callback)
{
this.robot.spotRepeat = on;
debug(this.name + ": " + (on ? "Enabled " : "Disabled") + " Spot repeat");
debug(this.name + ": " + (on ? "Enabled ".brightGreen : "Disabled".red) + " Spot repeat");
callback();
},
@ -632,7 +606,7 @@ NeatoVacuumRobotAccessory.prototype = {
{
this.platform.updateRobot(this.robot._serial, () =>
{
debug(this.name + ": The Dock is " + (this.robot.isDocked ? '' : 'NOT ') + "OCCUPIED");
debug(this.name + ": The Dock is " + (this.robot.isDocked ? "OCCUPIED".brightGreen : "NOT OCCUPIED".red));
callback(false, this.robot.isDocked ? 1 : 0);
});
},
@ -650,18 +624,17 @@ NeatoVacuumRobotAccessory.prototype = {
{
this.platform.updateRobot(this.robot._serial, () =>
{
debug(this.name + ": Battery is " + (this.robot.isCharging ? '' : 'NOT ') + "CHARGING");
debug(this.name + ": Battery is " + (this.robot.isCharging ? "CHARGING".brightGreen : "NOT CHARGING".red));
callback(false, this.robot.isCharging);
});
},
updated: function ()
{
if (!this.boundary)
if (this.boundary == null)
{
// only update these values if the state is different from the current one, otherwise we might accidentally start an action
// AND dont set a clean switch to on if it's a room switch, otherwise we start the cleaning of each room at once
if (this.cleanService.getCharacteristic(Characteristic.On).value !== this.robot.canPause && (typeof this.boundary === 'undefined'))
if (this.cleanService.getCharacteristic(Characteristic.On).value !== this.robot.canPause)
{
this.cleanService.setCharacteristic(Characteristic.On, this.robot.canPause);
}
@ -695,25 +668,18 @@ NeatoVacuumRobotAccessory.prototype = {
this.spotCleanSimpleService.setCharacteristic(SpotRepeatCharacteristic, this.robot.spotRepeat);
}
}
else
{
if (this.cleanBoundaryService.getCharacteristic(Characteristic.On).value !== this.robot.canPause)
{
this.cleanBoundaryService.setCharacteristic(Characteristic.On, this.robot.canPause);
}
}
this.batteryService.setCharacteristic(Characteristic.BatteryLevel, this.robot.charge);
this.batteryService.setCharacteristic(Characteristic.ChargingState, this.robot.isCharging);
// Robot has a next room to clean in queue
if (this.nextRoom !== null && this.robot.isDocked)
if (this.nextRoom != null && this.robot.isDocked)
{
this.clean((error, result) =>
{
this.nextRoom = null;
debug("## Starting cleaning of next room");
}, this.nextRoom);
});
}
}
};

45
index.js
View File

@ -25,6 +25,7 @@ function NeatoVacuumRobotPlatform(log, config)
// Array of real robots and associated robot accessories (incl rooms)
this.robots = [];
this.nextRoom = null;
if ('refresh' in config && config['refresh'] !== 'auto')
{
@ -70,29 +71,31 @@ NeatoVacuumRobotPlatform.prototype = {
robot.roomAccessories = [];
// For testing purposes only
// let roomAccessory = new NeatoVacuumRobotAccessory(this, robot, {name: "Testroom", id: "1"});
// accessories.push(roomAccessory);
// robot.roomAccessories.push(roomAccessory);
if (robot.device.maps)
{
robot.device.maps.forEach((map) =>
{
if (map.boundaries)
{
map.boundaries.forEach((boundary) =>
{
if (boundary.type === "polygon")
{
let roomAccessory = new NeatoVacuumRobotAccessory(this, robot, boundary);
robot.boundary = {name: "Testroom", id: "1"};
let roomAccessory = new NeatoVacuumRobotAccessory(this, robot);
accessories.push(roomAccessory);
robot.roomAccessories.push(roomAccessory);
}
})
}
})
}
// if (robot.device.maps)
// {
// robot.device.maps.forEach((map) =>
// {
// if (map.boundaries)
// {
// map.boundaries.forEach((boundary) =>
// {
// if (boundary.type === "polygon")
// {
// robot.boundary = boundary;
// let roomAccessory = new NeatoVacuumRobotAccessory(this, robot);
// accessories.push(roomAccessory);
//
// robot.roomAccessories.push(roomAccessory);
// }
// })
// }
// })
// }
});
callback(accessories);
});