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99_RoombaUtils.pm: Neue Version 1.0
git-svn-id: https://svn.fhem.de/fhem/trunk@23837 2b470e98-0d58-463d-a4d8-8e2adae1ed80
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@ -46,6 +46,8 @@ use Math::Polygon::Calc;
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use Math::ConvexHull qw/convex_hull/;
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use Digest::MD5 qw(md5 md5_hex md5_base64);
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my $version = "1.0";
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my %roombaerrs_en = (
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0 => "None",
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1 => "Left wheel off floor",
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@ -203,11 +205,12 @@ my %roombastates_de = ("charge" => "Wird geladen",
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sub command($$@){
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my ($name,$cmd,@evt) = @_;
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my $hash = $main::defs{$name};
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$hash->{Version} = $version;
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if( $cmd eq "start"){
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my $hash = $main::defs{$name};
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my $iodev= $hash->{IODev}->{NAME};
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main::fhem("attr $iodev disconnectAfter 300");
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if(main::Value($iodev) ne "opened"{
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if(main::Value($iodev) ne "opened"){
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main::fhem("set $iodev connect");
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}
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}
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@ -266,7 +269,19 @@ sub setsched($$$){
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#############################################################################
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#
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# getList
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# helper
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#
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#############################################################################
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sub numtobool($){
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my ($num) = @_;
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my $ret = (($num==1)?"true":"false");
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return $ret;
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}
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#############################################################################
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#
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# status - does not work yet
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#
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#############################################################################
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@ -287,28 +302,104 @@ sub reading($$){
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my ($name,$evt) = @_;
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#main::Log 1,"============> $evt";
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#-- signal and pose come every second or so, keep it short
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if( $evt =~ /state....reported....signal/){
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return signale($evt);
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}elsif( $evt =~ /state....reported....pose/){
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return pose($name,$evt);
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#}elsif( $evt =~ /bbrun/){
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}
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#-- all the other stuff might come much less often
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my $dec = decode_json($evt);
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my $staterep = $dec->{'state'}->{'reported'};
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my %ret = ();
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my $hash = $main::defs{$name};
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my $key = $hash->{helper}{setting};
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#if( $evt =~ /bbrun/){
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# main::Log 1,"[RoombaUtils] bbrun ".$evt;
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}elsif( $evt =~ /cleanMissionStatus/){
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return mission($name,$evt);
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}elsif( $evt =~ /cleanSchedule/){
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if( $evt =~ /cleanMissionStatus/){
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#main::Log 1,"[RoombaUtils] mission event ".$evt;
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my %mission = %{$staterep->{'cleanMissionStatus'}};
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mission($name,\%mission,\%ret);
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}
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if( $evt =~ /cleanSchedule/){
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#main::Log 1,"[RoombaUtils] schedule event ".$evt;
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return schedule($evt);
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}elsif( $evt =~ /(vacHigh)|(openOnly)|(binPause)|(carpetBoost)|(twoPass)|(schedHold)|(lastCommand)/){
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return settings($name,$evt);
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}elsif( $evt =~ /state....reported....batPct/){
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return battery($evt);
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}elsif( $evt =~ /state....reported....dock/){
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return dock($evt);
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}elsif( $evt =~ /state....reported....audio/){
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return audio($evt);
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}elsif( $evt =~ /state....reported....bin/){
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return bin($evt);
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}elsif( $evt =~ /(connected)|(dock)|(country)|(cloudEnv)|(svcEndpoints)|(mapUpload)|(localtimeoffset)|(mac)|(wlcfg)|(wifistat)|(netinfo)|(langs)|(bbmssn)|(cap)|(navSwVer)|(tz)|(bbsys)|(bbchg)|(bbrun)|(bbnav)|(bbpanic)/){
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my %cleans = %{$staterep->{'cleanSchedule'}};
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schedule(\%cleans,\%ret);
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}
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#-- getting events of the type
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# {"state":{"reported":{"vacHigh":false,"binPause":true,"carpetBoost":false,"openOnly":false,"twoPass":false,"schedHold":false,"lastCommand":{"command":"stop","time":1,"initiator":"localApp"}}}}
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if( $evt =~ /(vacHigh)|(openOnly)|(binPause)|(carpetBoost)|(twoPass)|(schedHold)|(lastCommand)/){
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my $vacH = $staterep->{'vacHigh'};
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$ret{"sVacHigh"} = numtobool($vacH)
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if(defined($vacH));
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my $bin = $staterep->{'binPause'};
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$ret{"sBinPause"} = numtobool($bin)
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if(defined($bin));
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my $carp = $staterep->{'carpetBoost'};
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$ret{"sCarpetBoost"} = numtobool($carp)
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if(defined($carp));
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my $oo = $staterep->{'openOnly'};
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$ret{"sOpenOnly"} = numtobool($oo)
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if(defined($oo));
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my $twop = $staterep->{'twoPass'};
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$ret{"sTwoPass"} = numtobool($twop)
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if(defined($twop));
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my $naup = $staterep->{'noAutoPasses'};
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$ret{"sNoAutoPasses"} = numtobool($naup)
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if(defined($naup));
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my $nopp = $staterep->{'noPP'};
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$ret{"sNoPP"} = numtobool($nopp)
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if(defined($nopp));
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my $schH = $staterep->{'schedHold'};
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$ret{"sSchedHold"} = numtobool($schH)
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if(defined($schH));
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my $cmd = $staterep->{'lastCommand'}->{'command'};
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my $time = $staterep->{'lastCommand'}->{'time'};
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my $init = $staterep->{'lastCommand'}->{'initiator'};
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$ret{"lastCommand"} = $cmd
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if(defined($cmd));
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$ret{"lastCommandInitiator"} = $init
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if(defined($init));
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#-- extra function
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if( defined($key) && $key =~ /^local\:(.*)=(.*)/ ){
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#main::Log 1,"========> $1 = evaluation of $2 as ".eval($2);
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$ret{"$1"}=eval($2);
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$hash->{helper}{setting}="done";
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}
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}
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#-- getting events of the type
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# {"state":{"reported":{"batPct":100}}}
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my $bat = $staterep->{'batPct'};
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$ret{"battery"} = $bat
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if(defined($bat));
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#-- getting events of the type
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# {"state":{"reported":{"dock":{"known":false}}}}
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my $dock = $staterep->{'dock'}->{'known'};
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$ret{"dockKnown"} = numtobool($dock)
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if(defined($dock));
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#-- getting events of the type
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# {"state":{"reported":{"audio":{"active":false}}}}
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my $audio = $staterep->{'audio'}->{'active'};
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$ret{"audioActive"} = numtobool($audio)
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if(defined($audio));
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#-- getting events of the type
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# {"state":{"reported":{"bin":{"present":true,"full":false}}}}
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my $binp = $staterep->{'bin'}->{'present'};
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my $binf = $staterep->{'bin'}->{'full'};
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$ret{"cmBinFull"} = numtobool($binf)
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if(defined($binf));
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if( $evt =~ /(connected)|(dock)|(country)|(cloudEnv)|(svcEndpoints)|(mapUpload)|(localtimeoffset)|(mac)|(wlcfg)|(wifistat)|(netinfo)|(langs)|(bbmssn)|(cap)|(navSwVer)|(tz)|(bbsys)|(bbchg)|(bbrun)|(bbnav)|(bbpanic)/){
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#-- do nothing
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# {"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]}}}}
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# {"state":{"reported":{"bbmssn":{"nMssn":30,"nMssnOk":2,"nMssnC":26,"nMssnF":2,"aMssnM":13,"aCycleM":13},"bbrstinfo":{"nNavRst":5,"nMobRst":0,"causes":"0000"}}}}
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@ -329,36 +420,56 @@ sub reading($$){
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# {"state":{"reported":{"localtimeoffset":120,"utctime":1600424239,"pose":{"theta":-46,"point":{"x":318,"y":82}}}}}
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# {"state":{"reported":{"bbsys":{"hr":2583,"min":21}}}}
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}else{
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my ($evt) = @_;
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}elsif(int(%ret)==0){
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# my ($evt) = @_;
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main::Log 1,"[RoombaUtils] uncaught event ".$evt
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if( $evt ne "$name" );
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return
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if( $evt ne "$name" );
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}
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return {%ret}
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}
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#############################################################################
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#
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# signal data
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# getting events of the type
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# {"state":{"reported":{"signal":{"rssi":-55,"snr":34}}}}
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#
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#############################################################################
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sub signale($){
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my ($evt) = @_;
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#-- getting events of the type
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# {"state":{"reported":{"signal":{"rssi":-55,"snr":34}}}}
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my $dec = decode_json($evt);
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my $rssi = $dec->{'state'}->{'reported'}->{'signal'}->{'rssi'};
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my %ret = ("signalRSSI",$rssi);
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return {%ret};
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}
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#############################################################################
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#
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# position data
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# getting events of the type
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# {"state":{"reported":{"pose":{"theta":0,"point":{"x":311,"y":-21}}}}}
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#
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#############################################################################
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sub pose($$){
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my ($name,$evt) = @_;
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my $hash = $main::defs{$name};
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#-- getting events of the type
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# {"state":{"reported":{"pose":{"theta":0,"point":{"x":311,"y":-21}}}}}
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my $dec = decode_json($evt);
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my $theta = $dec->{'state'}->{'reported'}->{'pose'}->{'theta'};
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my $px = $dec->{'state'}->{'reported'}->{'pose'}->{'point'}->{'x'};
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my $py = $dec->{'state'}->{'reported'}->{'pose'}->{'point'}->{'y'};
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my $pose = $dec->{'state'}->{'reported'}->{'pose'};
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my $theta = $pose->{'theta'};
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my $px = $pose->{'point'}->{'x'};
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my $py = $pose->{'point'}->{'y'};
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#-- fast return if mappinge disabled
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if( main::AttrVal($name,"noMap","") eq "true" ){
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my %ret = ("positionTheta",$theta,"position","(".$px.",".$py.")");
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return {%ret};
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}
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my ($pxp,$pyp);
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if($hash->{helper}{initmap}==1){
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$hash->{helper}{startx} = $px;
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$hash->{helper}{starty} = $py;
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@ -368,7 +479,7 @@ sub pose($$){
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$py -= $hash->{helper}{starty};
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my $dir = main::AttrVal($name,"startdir","north");
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my ($pxp,$pyp);
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if($dir eq "north"){
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$pxp = -$py;
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$pyp = $px;
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@ -388,6 +499,7 @@ sub pose($$){
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#-- Reduction not useful
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push(@{$hash->{helper}{theta}},$theta);
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push(@{$hash->{helper}{path}},$pxp,$pyp);
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my $count = $hash->{helper}{pcount};
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$count++;
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$hash->{helper}{pcount}=$count;
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@ -396,177 +508,82 @@ sub pose($$){
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return {%ret};
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}
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sub mission($$){
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my ($name,$evt) = @_;
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my $hash = $main::defs{$name};
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my $oldphase = main::ReadingsVal($name,"cmPhase","");
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#-- getting events of the type
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# {"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}}}}
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my $dec = decode_json($evt);
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my $cyc = $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'cycle'};
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my $phase = $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'phase'};
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my $number= $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'nMssn'};
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my $exp = $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'expireM'};
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my $rech = $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'rechrgM'};
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#-- Manage mission
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missionmanager($hash,$oldphase,$phase);
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$exp = ($exp == 0)?"Never":$exp." min";
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my $time = $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'mssnM'};
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$time = $time." min";
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my $error = $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'error'};
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my $eemsg = $roombaerrs_en{$error};
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my $demsg = $roombaerrs_de{$error};
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my $notr = $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'notReady'};
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my $sqm = int($dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'sqft'}*10/10.7639)/10;
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my $init = $dec->{'state'}->{'reported'}->{'cleanMissionStatus'}->{'initiator'};
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if( $oldphase ne "stuck" && $phase eq "stuck"){
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main::Log 1,"[RoombaUtils] $name stuck with error $error, message $eemsg";
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}
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my %ret = ("cmCycle",$cyc,"cmTime",$time,"cmPhase",$phase,"cmPhaseE",$roombastates_en{$phase},
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"cmPhaseD",$roombastates_de{$phase},"cmArea",$sqm." m²","cmExpire",$exp,"cmError",$eemsg,"cmErrorD",$demsg,"cmInitiator",$init);
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$ret{"cmNotReady"} = numtobool($notr)
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if(defined($notr));
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my $bat = $dec->{'state'}->{'reported'}->{'batPct'};
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$ret{"battery"} = $bat
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if(defined($bat));
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return {%ret};
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}
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#############################################################################
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#
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# schedule data
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#
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#############################################################################
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sub schedule($){
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my ($evt) = @_;
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sub schedule($$){
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my ($evtptr,$retptr) = @_;
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my @weekdays = ("Sun","Mon","Tue","Wed","Thu","Fri","Sat");
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#-- getting events of the type
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# {"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}}}}
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my $dec = decode_json($evt);
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my @acyc = @{$dec->{'state'}->{'reported'}->{'cleanSchedule'}->{'cycle'}};
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my @ahours = @{$dec->{'state'}->{'reported'}->{'cleanSchedule'}->{'h'}};
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my @amin = @{$dec->{'state'}->{'reported'}->{'cleanSchedule'}->{'m'}};
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my @acyc = @{$evtptr->{'cycle'}};
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my @ahours = @{$evtptr->{'h'}};
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my @amin = @{$evtptr->{'m'}};
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my $sched = "[";
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for (my $i=0;$i<7;$i++){
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$sched .= $weekdays[$i].":".(($acyc[$i] eq "none")?"none":sprintf("%d:%02d",$ahours[$i],$amin[$i]));
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$sched .= ($i<6)?",":"]";
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}
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my %ret = ("progWeek",$sched);
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return {%ret};
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$retptr->{"progWeek"} = $sched;
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return
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}
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sub settings($$){
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my ($name,$evt) = @_;
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#-- getting events of the type
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# {"state":{"reported":{"vacHigh":false,"binPause":true,"carpetBoost":false,"openOnly":false,"twoPass":false,"schedHold":false,"lastCommand":{"command":"stop","time":1,"initiator":"localApp"}}}}
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my $dec = decode_json($evt);
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#############################################################################
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#
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# mission data
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#
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#############################################################################
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#-- getting events of the type
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# {"state":{"reported":{"dock":{"known":true},"cleanMissionStatus":{"cycle":"quick","phase":"run","expireM":0,"rechrgM":0,"error":0,"notReady":0,"mssnM":0,"sqft":0,"initiator":"localApp","nmain::Log 1,"[RoombaUtils] Device $name phase transition $oldphase -> $phase";Mssn":30}}}}
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sub mission($$$){
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my ($name,$evtptr,$retptr) = @_;
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my $hash = $main::defs{$name};
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my $key = $hash->{helper}{setting};
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my %ret = ();
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my $vacH = $dec->{'state'}->{'reported'}->{'vacHigh'};
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$ret{"sVacHigh"} = numtobool($vacH)
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if(defined($vacH));
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my $bin = $dec->{'state'}->{'reported'}->{'binPause'};
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$ret{"sBinPause"} = numtobool($bin)
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if(defined($bin));
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my $carp = $dec->{'state'}->{'reported'}->{'carpetBoost'};
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$ret{"sCarpetBoost"} = numtobool($carp)
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if(defined($carp));
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my $oo = $dec->{'state'}->{'reported'}->{'openOnly'};
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$ret{"sOpenOnly"} = numtobool($oo)
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if(defined($oo));
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my $twop = $dec->{'state'}->{'reported'}->{'twoPass'};
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$ret{"sTwoPass"} = numtobool($twop)
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if(defined($twop));
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my $naup = $dec->{'state'}->{'reported'}->{'noAutoPasses'};
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$ret{"sNoAutoPasses"} = numtobool($naup)
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if(defined($naup));
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my $nopp = $dec->{'state'}->{'reported'}->{'noPP'};
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$ret{"sNoPP"} = numtobool($nopp)
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if(defined($nopp));
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my $schH = $dec->{'state'}->{'reported'}->{'schedHold'};
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$ret{"sSchedHold"} = numtobool($schH)
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if(defined($schH));
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my $cmd = $dec->{'state'}->{'reported'}->{'lastCommand'}->{'command'};
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my $time = $dec->{'state'}->{'reported'}->{'lastCommand'}->{'time'};
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my $init = $dec->{'state'}->{'reported'}->{'lastCommand'}->{'initiator'};
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$ret{"lastCommand"} = $cmd
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if(defined($cmd));
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$ret{"lastCommandInitiator"} = $init
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if(defined($init));
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#-- 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($){
|
||||
<li><code><b>startx</b> <number></code> - docking station x coordinate in cm from the leftmost (western) wall</li>
|
||||
<li><code><b>starty</b> <number></code> - docking station y coordinate in cm from the bottommost (southern) wall</li>
|
||||
<li><code><b>startdir</b> east|south|west|north </code> - starting direction away from docking station</li>
|
||||
<li><code><b>noMap</b> true|false</code> - if set to true, no map data will be collected</li>
|
||||
<li><code><b>LOG_dir</b> <directory name> </code> - directory for writing a log file (in perl format!) of each cleaning mission.
|
||||
If this attribute is omitted, no such file will be written</li>
|
||||
<li><code><b>SVG_dir</b> <directory name> </code> - directory for reading a graphical room map in SVG format and reading/writing intermediate XML files of each cleaning mission.
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user