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99_RoombaUtils.pm: Neue Version
git-svn-id: https://svn.fhem.de/fhem/trunk@23791 2b470e98-0d58-463d-a4d8-8e2adae1ed80
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@ -203,6 +203,14 @@ my %roombastates_de = ("charge" => "Wird geladen",
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sub command($$@){
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my ($name,$cmd,@evt) = @_;
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my $hash = $main::defs{$name};
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if( $cmd eq "start"){
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my $hash = $main::defs{$name};
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my $iodev= $hash->{IODev}->{NAME};
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main::fhem("attr $iodev disconnectAfter 300");
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if(main::Value($iodev) ne "opened"{
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main::fhem("set $iodev connect");
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}
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}
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$cmd = 'cmd {"command": "'.$cmd.'", "time": '.time().', "initiator": "localApp"}';
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return $cmd;
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}
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@ -212,13 +220,9 @@ sub setting($$$){
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my $hash = $main::defs{$name};
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$hash->{helper}{setting} = $key;
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my (@evt,$val,$cmd);
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if( $key !~ /^local.*/){
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@evt = split(' ',$data);
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$val = (defined($evt[1]))?$evt[1]:"false";
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$cmd = 'delta {"state": {"'.$key.'":'.$val.'}}';
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}else{
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$cmd = 'delta {"state": {"vacHigh":'.main::ReadingsVal($name,"sVacHigh","false").'}}';
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}
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@evt = split(' ',$data);
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$val = (defined($evt[1]))?$evt[1]:"false";
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$cmd = 'delta {"state": {"'.$key.'":'.$val.'}}';
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return $cmd;
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}
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@ -384,72 +388,34 @@ sub pose($$){
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#-- Reduction not useful
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push(@{$hash->{helper}{theta}},$theta);
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push(@{$hash->{helper}{path}},$pxp,$pyp);
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my $count = $hash->{helper}{pcount};
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$count++;
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$hash->{helper}{pcount}=$count;
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my %ret = ("positionTheta",$theta,"position","(".$pxp.",".$pyp.")");
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my %ret = ("positionTheta",$theta,"positionCount",$count,"position","(".$pxp.",".$pyp.")");
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return {%ret};
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}
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sub mission($$){
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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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# Normal Sequence is "" -> charge -> run -> hmPostMsn -> charge
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# Mid mission recharge is "" -> charge -> run -> hmMidMsn -> charge
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# -> run -> hmPostMsn -> charge
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# Stuck is "" -> charge -> run -> hmPostMsn -> stuck
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# -> run/charge/stop/hmUsrDock -> charge
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# Start program during run is "" -> run -> hmPostMsn -> charge
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# Need to identify a new mission to initialize map, and end of mission to
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# finalise map.
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# Assume charge -> run = start of mission (init map)
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# stuck -> charge = init map ???
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# Assume hmPostMsn -> charge = end of mission (finalize map)
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# hmPostMsn -> charge = end of mission (finalize map)
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# hmUsrDock -> charge finalize map
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# hmUsrDock -> stop finalize map
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# Anything else = continue with existing map
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my $oldphase=main::ReadingsVal($name,"cmPhase","");
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if( $oldphase.$phase eq "stuckcharge" ||
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$oldphase.$phase eq "chargerun" ||
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$oldphase.$phase eq "hmUsrDockrun" ){
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main::Log 1,"[RoombaUtils] transition $oldphase -> $phase should start intialization";
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initmap($hash);
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}elsif( $oldphase.$phase eq "runstop" ){
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main::Log 1,"[RoombaUtils] pausing $oldphase -> $phase";
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}elsif( $oldphase.$phase eq "stoprun" ){
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main::Log 1,"[RoombaUtils] resuming $oldphase -> $phase";
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}elsif(
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$oldphase.$phase eq "hmPostMsncharge" ||
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$oldphase.$phase eq "hmPostMsnstop" ||
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$oldphase.$phase eq "hmUsrDockcharge" ||
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$oldphase.$phase eq "hmUsrDockstop" ||
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$oldphase.$phase eq "stophmUsrDock" ){
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main::Log 1,"[RoombaUtils] transition $oldphase -> $phase should start finalization";
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finalizemap($hash);
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}elsif( $oldphase.$phase eq "runrun" ||
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$oldphase.$phase eq "stopstop" ||
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$oldphase.$phase eq "chargestop" ||
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$oldphase.$phase eq "chargecharge"){
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# do nothing
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}else{
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main::Log 1,"[RoombaUtils] Device $name phase transition $oldphase -> $phase";
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}
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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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@ -462,6 +428,9 @@ sub mission($$){
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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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@ -471,7 +440,7 @@ sub schedule($){
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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 $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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@ -594,10 +563,72 @@ sub numtobool($){
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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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# Map
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# missionmanager
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#
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#############################################################################
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sub missionmanager($$$){
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my ($hash,$oldphase,$phase)=@_;
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my $name = $hash->{NAME};
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my $iodev = $hash->{IODev}->{NAME};
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# Normal Sequence is "" -> charge -> run -> hmPostMsn -> charge
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# Mid mission recharge is "" -> charge -> run -> hmMidMsn -> charge
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# -> run -> hmPostMsn -> charge
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# Stuck is "" -> charge -> run -> hmPostMsn -> stuck
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# -> run/charge/stop/hmUsrDock -> charge
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# Start program during run is "" -> run -> hmPostMsn -> charge
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# Need to identify a new mission to initialize map, and end of mission to
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# finalise map.
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# Assume charge -> run = start of mission (init map)
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# stuck -> charge = init map ???
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# Assume hmPostMsn -> charge = end of mission (finalize map)
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# hmPostMsn -> charge = end of mission (finalize map)
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# hmUsrDock -> charge finalize map
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# hmUsrDock -> stop finalize map
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# Anything else = continue with existing map
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if( $oldphase.$phase eq "stuckcharge" ||
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$oldphase.$phase eq "chargerun" ||
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$oldphase.$phase eq "hmUsrDockrun" ){
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main::Log 1,"[RoombaUtils] Device $name $oldphase -> $phase should start intialization";
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initmap($hash);
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main::fhem("attr $iodev disconnectAfter 60");
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}elsif( $oldphase.$phase eq "runstop" ){
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main::Log 1,"[RoombaUtils] Device $name pausing $oldphase -> $phase";
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}elsif( $oldphase.$phase eq "stoprun" ){
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main::Log 1,"[RoombaUtils] Device $name resuming $oldphase -> $phase";
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}elsif(
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$oldphase.$phase eq "hmPostMsncharge" ||
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$oldphase.$phase eq "hmPostMsnstop" ||
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$oldphase.$phase eq "hmUsrDockcharge" ||
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$oldphase.$phase eq "hmUsrDockstop" ||
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$oldphase.$phase eq "stophmUsrDock" ){
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main::Log 1,"[RoombaUtils] Device $name $oldphase -> $phase should start intialization";
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finalizemap($hash);
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main::fhem("attr $iodev disconnectAfter 7");
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}elsif(
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$oldphase.$phase eq "hmUsrDockhmUsrDock"){
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main::Log 1,"[RoombaUtils] Device $name arrived in dock after user docking";
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}elsif( $oldphase.$phase eq "runrun" ||
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$oldphase.$phase eq "stopstop" ||
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$oldphase.$phase eq "chargestop" ||
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$oldphase.$phase eq "chargecharge" ||
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$oldphase.$phase eq "hmUsrDockhmUsrDock"){
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# do nothing
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}else{
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main::Log 1,"[RoombaUtils] Device $name phase transition $oldphase -> $phase";
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}
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}
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#############################################################################
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#
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# initmap
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#
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#############################################################################
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@ -605,20 +636,30 @@ sub initmap($){
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my ($hash) = @_;
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$hash->{helper}{initmap}=1;
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$hash->{helper}{path}=();
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$hash->{helper}{hull}=();
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$hash->{helper}{pcount}=0;
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$hash->{helper}{theta}=();
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$hash->{helper}{thetaold}=undef;
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main::Log 1,"[RoombaUtils] Initialization of map for device ".$hash->{NAME};
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main::fhem("setreading ".($hash->{NAME})." cmMap initialized");
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}
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#############################################################################
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#
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# listmaps
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#
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#############################################################################
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sub listmaps($){
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my ($name) = @_;
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my $hash = $main::defs{$name};
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my $out = "";
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#my $now = main::TimeNow();
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my $run = 0;
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#main::Log 1,"[RoombaUtils] mapping for device $name";
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my ($fhb,$fhc);
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my $svgdir = main::AttrVal($name,"SVG_dir","/opt/fhem/www/images");
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@ -642,10 +683,19 @@ sub listmaps($){
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}
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close($fhb);
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}
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#main::fhem("setreading $name cmMapList ",$out,1);
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return $out;
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#main::Log 1,"[RoombaUtils] setting READING cmMapList for device $name at time $now";
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#$hash->{READINGS}{cmMapList}{VAL}=$out;
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#$hash->{READINGS}{cmMapList}{TIME}=$now;
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main::fhem("setreading $name cmMapList $out");
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return
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}
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#############################################################################
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#
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# delmap
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#
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#############################################################################
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sub delmap($$){
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my ($name,$evt) = @_;
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return
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@ -654,8 +704,11 @@ sub delmap($$){
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my $hash = $main::defs{$name};
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my $out = "";
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#my $now = main::TimeNow();
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my $run = 0;
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#main::Log 1,"[RoombaUtils] deleting run $rundel for device $name";
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my ($fhb,$fhc);
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my $svgdir = main::AttrVal($name,"SVG_dir","/opt/fhem/www/images");
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@ -697,13 +750,21 @@ sub delmap($$){
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close($fhb);
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rename $svgdir."/".$filename2b.".tmp",$svgdir."/".$filename2b;
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}
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return $out;
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main::fhem("setreading $name cmMapList $out");
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return
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}
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#############################################################################
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#
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# finalizemap
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#
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#############################################################################
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sub finalizemap($){
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my ($hash) = @_;
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my $name = $hash->{NAME};
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my $name = $hash->{NAME};
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if(!defined($hash->{helper}{path})){
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main::Log 1,"[RoombaUtils] Finalization of map for device $name not possible, path undefined";
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return
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@ -823,9 +884,7 @@ sub finalizemap($){
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#-- save a lot of memory
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$hash->{helper}{path}=();
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$hash->{helper}{hull}=();
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$hash->{helper}{theta}=();
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$hash->{helper}{velocity}=();
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#######################################################
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#-- prepare content and filename for file 2
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@ -955,9 +1014,8 @@ sub finalizemap($){
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#-- write output to collection file
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print $fhb $out2;
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close($fhb);
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main::fhem("setreading ".($hash->{NAME})." cmMap <html>finalized as <a href=\" http://192.168.0.94:8083/fhem/images/".$filename2c."\">".$filename2c."</a></html>");
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main::fhem("setreading $name cmMap <html>finalized as <a href=\"/fhem/images/".$filename2c."\">".$filename2c."</a></html>");
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listmaps($name)
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}
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1;
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