mirror of
https://github.com/fhem/fhem-mirror.git
synced 2025-03-10 09:16:53 +00:00
99_RoombaUtils.pm: Neue Version
git-svn-id: https://svn.fhem.de/fhem/trunk@23791 2b470e98-0d58-463d-a4d8-8e2adae1ed80
This commit is contained in:
phenning
parent
16646237f3
commit
d7e0584261
@ -203,6 +203,14 @@ my %roombastates_de = ("charge" => "Wird geladen",
|
||||
sub command($$@){
|
||||
my ($name,$cmd,@evt) = @_;
|
||||
my $hash = $main::defs{$name};
|
||||
if( $cmd eq "start"){
|
||||
my $hash = $main::defs{$name};
|
||||
my $iodev= $hash->{IODev}->{NAME};
|
||||
main::fhem("attr $iodev disconnectAfter 300");
|
||||
if(main::Value($iodev) ne "opened"{
|
||||
main::fhem("set $iodev connect");
|
||||
}
|
||||
}
|
||||
$cmd = 'cmd {"command": "'.$cmd.'", "time": '.time().', "initiator": "localApp"}';
|
||||
return $cmd;
|
||||
}
|
||||
@ -212,13 +220,9 @@ sub setting($$$){
|
||||
my $hash = $main::defs{$name};
|
||||
$hash->{helper}{setting} = $key;
|
||||
my (@evt,$val,$cmd);
|
||||
if( $key !~ /^local.*/){
|
||||
@evt = split(' ',$data);
|
||||
$val = (defined($evt[1]))?$evt[1]:"false";
|
||||
$cmd = 'delta {"state": {"'.$key.'":'.$val.'}}';
|
||||
}else{
|
||||
$cmd = 'delta {"state": {"vacHigh":'.main::ReadingsVal($name,"sVacHigh","false").'}}';
|
||||
}
|
||||
@evt = split(' ',$data);
|
||||
$val = (defined($evt[1]))?$evt[1]:"false";
|
||||
$cmd = 'delta {"state": {"'.$key.'":'.$val.'}}';
|
||||
return $cmd;
|
||||
}
|
||||
|
||||
@ -384,72 +388,34 @@ sub pose($$){
|
||||
#-- Reduction not useful
|
||||
push(@{$hash->{helper}{theta}},$theta);
|
||||
push(@{$hash->{helper}{path}},$pxp,$pyp);
|
||||
my $count = $hash->{helper}{pcount};
|
||||
$count++;
|
||||
$hash->{helper}{pcount}=$count;
|
||||
|
||||
my %ret = ("positionTheta",$theta,"position","(".$pxp.",".$pyp.")");
|
||||
my %ret = ("positionTheta",$theta,"positionCount",$count,"position","(".$pxp.",".$pyp.")");
|
||||
return {%ret};
|
||||
}
|
||||
|
||||
sub mission($$){
|
||||
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'};
|
||||
# Normal Sequence is "" -> charge -> run -> hmPostMsn -> charge
|
||||
# Mid mission recharge is "" -> charge -> run -> hmMidMsn -> charge
|
||||
# -> run -> hmPostMsn -> charge
|
||||
# Stuck is "" -> charge -> run -> hmPostMsn -> stuck
|
||||
# -> run/charge/stop/hmUsrDock -> charge
|
||||
# Start program during run is "" -> run -> hmPostMsn -> charge
|
||||
# Need to identify a new mission to initialize map, and end of mission to
|
||||
# finalise map.
|
||||
# Assume charge -> run = start of mission (init map)
|
||||
# stuck -> charge = init map ???
|
||||
# Assume hmPostMsn -> charge = end of mission (finalize map)
|
||||
# hmPostMsn -> charge = end of mission (finalize map)
|
||||
# hmUsrDock -> charge finalize map
|
||||
# hmUsrDock -> stop finalize map
|
||||
# Anything else = continue with existing map
|
||||
my $oldphase=main::ReadingsVal($name,"cmPhase","");
|
||||
if( $oldphase.$phase eq "stuckcharge" ||
|
||||
$oldphase.$phase eq "chargerun" ||
|
||||
$oldphase.$phase eq "hmUsrDockrun" ){
|
||||
main::Log 1,"[RoombaUtils] transition $oldphase -> $phase should start intialization";
|
||||
initmap($hash);
|
||||
}elsif( $oldphase.$phase eq "runstop" ){
|
||||
main::Log 1,"[RoombaUtils] pausing $oldphase -> $phase";
|
||||
}elsif( $oldphase.$phase eq "stoprun" ){
|
||||
main::Log 1,"[RoombaUtils] resuming $oldphase -> $phase";
|
||||
}elsif(
|
||||
$oldphase.$phase eq "hmPostMsncharge" ||
|
||||
$oldphase.$phase eq "hmPostMsnstop" ||
|
||||
$oldphase.$phase eq "hmUsrDockcharge" ||
|
||||
$oldphase.$phase eq "hmUsrDockstop" ||
|
||||
$oldphase.$phase eq "stophmUsrDock" ){
|
||||
main::Log 1,"[RoombaUtils] transition $oldphase -> $phase should start finalization";
|
||||
finalizemap($hash);
|
||||
}elsif( $oldphase.$phase eq "runrun" ||
|
||||
$oldphase.$phase eq "stopstop" ||
|
||||
$oldphase.$phase eq "chargestop" ||
|
||||
$oldphase.$phase eq "chargecharge"){
|
||||
# do nothing
|
||||
}else{
|
||||
main::Log 1,"[RoombaUtils] Device $name phase transition $oldphase -> $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'};
|
||||
@ -462,6 +428,9 @@ sub mission($$){
|
||||
"cmPhaseD",$roombastates_de{$phase},"cmArea",$sqm." m²","cmExpire",$exp,"cmError",$eemsg,"cmErrorD",$demsg,"cmInitiator",$init);
|
||||
$ret{"cmNotReady"} = numtobool($notr)
|
||||
if(defined($notr));
|
||||
my $bat = $dec->{'state'}->{'reported'}->{'batPct'};
|
||||
$ret{"battery"} = $bat
|
||||
if(defined($bat));
|
||||
|
||||
return {%ret};
|
||||
}
|
||||
@ -471,7 +440,7 @@ sub schedule($){
|
||||
my @weekdays = ("Sun","Mon","Tue","Wed","Thu","Fri","Sat");
|
||||
#-- getting events of the type
|
||||
# {"state":{"reported":{"cleanSchedule":{"cycle":["none","none","none","none","none","none","none"],"h":[9,9,9,9,9,9,9],"m":[0,0,0,0,0,0,0]},"bbchg3":{"avgMin":374,"hOnDock":199,"nAvail":32,"estCap":12311,"nLithChrg":8,"nNimhChrg":0,"nDocks":35}}}}
|
||||
my $dec = decode_json($evt);
|
||||
my $dec = decode_json($evt);
|
||||
my @acyc = @{$dec->{'state'}->{'reported'}->{'cleanSchedule'}->{'cycle'}};
|
||||
my @ahours = @{$dec->{'state'}->{'reported'}->{'cleanSchedule'}->{'h'}};
|
||||
my @amin = @{$dec->{'state'}->{'reported'}->{'cleanSchedule'}->{'m'}};
|
||||
@ -597,7 +566,69 @@ sub numtobool($){
|
||||
|
||||
#############################################################################
|
||||
#
|
||||
# Map
|
||||
# missionmanager
|
||||
#
|
||||
#############################################################################
|
||||
|
||||
sub missionmanager($$$){
|
||||
my ($hash,$oldphase,$phase)=@_;
|
||||
|
||||
my $name = $hash->{NAME};
|
||||
my $iodev = $hash->{IODev}->{NAME};
|
||||
|
||||
# Normal Sequence is "" -> charge -> run -> hmPostMsn -> charge
|
||||
# Mid mission recharge is "" -> charge -> run -> hmMidMsn -> charge
|
||||
# -> run -> hmPostMsn -> charge
|
||||
# Stuck is "" -> charge -> run -> hmPostMsn -> stuck
|
||||
# -> run/charge/stop/hmUsrDock -> charge
|
||||
# Start program during run is "" -> run -> hmPostMsn -> charge
|
||||
# Need to identify a new mission to initialize map, and end of mission to
|
||||
# finalise map.
|
||||
# Assume charge -> run = start of mission (init map)
|
||||
# stuck -> charge = init map ???
|
||||
# Assume hmPostMsn -> charge = end of mission (finalize map)
|
||||
# hmPostMsn -> charge = end of mission (finalize map)
|
||||
# hmUsrDock -> charge finalize map
|
||||
# hmUsrDock -> stop finalize map
|
||||
# Anything else = continue with existing map
|
||||
|
||||
if( $oldphase.$phase eq "stuckcharge" ||
|
||||
$oldphase.$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");
|
||||
}elsif( $oldphase.$phase eq "runstop" ){
|
||||
main::Log 1,"[RoombaUtils] Device $name pausing $oldphase -> $phase";
|
||||
}elsif( $oldphase.$phase eq "stoprun" ){
|
||||
main::Log 1,"[RoombaUtils] Device $name resuming $oldphase -> $phase";
|
||||
}elsif(
|
||||
$oldphase.$phase eq "hmPostMsncharge" ||
|
||||
$oldphase.$phase eq "hmPostMsnstop" ||
|
||||
$oldphase.$phase eq "hmUsrDockcharge" ||
|
||||
$oldphase.$phase eq "hmUsrDockstop" ||
|
||||
$oldphase.$phase eq "stophmUsrDock" ){
|
||||
main::Log 1,"[RoombaUtils] Device $name $oldphase -> $phase should start intialization";
|
||||
finalizemap($hash);
|
||||
main::fhem("attr $iodev disconnectAfter 7");
|
||||
}elsif(
|
||||
$oldphase.$phase eq "hmUsrDockhmUsrDock"){
|
||||
main::Log 1,"[RoombaUtils] Device $name arrived in dock after user docking";
|
||||
}elsif( $oldphase.$phase eq "runrun" ||
|
||||
$oldphase.$phase eq "stopstop" ||
|
||||
$oldphase.$phase eq "chargestop" ||
|
||||
$oldphase.$phase eq "chargecharge" ||
|
||||
$oldphase.$phase eq "hmUsrDockhmUsrDock"){
|
||||
# do nothing
|
||||
}else{
|
||||
main::Log 1,"[RoombaUtils] Device $name phase transition $oldphase -> $phase";
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#############################################################################
|
||||
#
|
||||
# initmap
|
||||
#
|
||||
#############################################################################
|
||||
|
||||
@ -605,20 +636,30 @@ sub initmap($){
|
||||
my ($hash) = @_;
|
||||
$hash->{helper}{initmap}=1;
|
||||
$hash->{helper}{path}=();
|
||||
$hash->{helper}{hull}=();
|
||||
$hash->{helper}{pcount}=0;
|
||||
$hash->{helper}{theta}=();
|
||||
$hash->{helper}{thetaold}=undef;
|
||||
main::Log 1,"[RoombaUtils] Initialization of map for device ".$hash->{NAME};
|
||||
main::fhem("setreading ".($hash->{NAME})." cmMap initialized");
|
||||
}
|
||||
|
||||
|
||||
#############################################################################
|
||||
#
|
||||
# listmaps
|
||||
#
|
||||
#############################################################################
|
||||
|
||||
sub listmaps($){
|
||||
my ($name) = @_;
|
||||
|
||||
my $hash = $main::defs{$name};
|
||||
my $out = "";
|
||||
#my $now = main::TimeNow();
|
||||
my $run = 0;
|
||||
|
||||
#main::Log 1,"[RoombaUtils] mapping for device $name";
|
||||
|
||||
my ($fhb,$fhc);
|
||||
my $svgdir = main::AttrVal($name,"SVG_dir","/opt/fhem/www/images");
|
||||
|
||||
@ -642,10 +683,19 @@ sub listmaps($){
|
||||
}
|
||||
close($fhb);
|
||||
}
|
||||
#main::fhem("setreading $name cmMapList ",$out,1);
|
||||
return $out;
|
||||
#main::Log 1,"[RoombaUtils] setting READING cmMapList for device $name at time $now";
|
||||
#$hash->{READINGS}{cmMapList}{VAL}=$out;
|
||||
#$hash->{READINGS}{cmMapList}{TIME}=$now;
|
||||
main::fhem("setreading $name cmMapList $out");
|
||||
return
|
||||
}
|
||||
|
||||
#############################################################################
|
||||
#
|
||||
# delmap
|
||||
#
|
||||
#############################################################################
|
||||
|
||||
sub delmap($$){
|
||||
my ($name,$evt) = @_;
|
||||
return
|
||||
@ -654,8 +704,11 @@ sub delmap($$){
|
||||
|
||||
my $hash = $main::defs{$name};
|
||||
my $out = "";
|
||||
#my $now = main::TimeNow();
|
||||
my $run = 0;
|
||||
|
||||
#main::Log 1,"[RoombaUtils] deleting run $rundel for device $name";
|
||||
|
||||
my ($fhb,$fhc);
|
||||
my $svgdir = main::AttrVal($name,"SVG_dir","/opt/fhem/www/images");
|
||||
|
||||
@ -697,13 +750,21 @@ sub delmap($$){
|
||||
close($fhb);
|
||||
rename $svgdir."/".$filename2b.".tmp",$svgdir."/".$filename2b;
|
||||
}
|
||||
return $out;
|
||||
|
||||
main::fhem("setreading $name cmMapList $out");
|
||||
return
|
||||
}
|
||||
|
||||
#############################################################################
|
||||
#
|
||||
# finalizemap
|
||||
#
|
||||
#############################################################################
|
||||
|
||||
sub finalizemap($){
|
||||
my ($hash) = @_;
|
||||
|
||||
my $name = $hash->{NAME};
|
||||
my $name = $hash->{NAME};
|
||||
if(!defined($hash->{helper}{path})){
|
||||
main::Log 1,"[RoombaUtils] Finalization of map for device $name not possible, path undefined";
|
||||
return
|
||||
@ -823,9 +884,7 @@ sub finalizemap($){
|
||||
|
||||
#-- save a lot of memory
|
||||
$hash->{helper}{path}=();
|
||||
$hash->{helper}{hull}=();
|
||||
$hash->{helper}{theta}=();
|
||||
$hash->{helper}{velocity}=();
|
||||
|
||||
#######################################################
|
||||
#-- prepare content and filename for file 2
|
||||
@ -955,9 +1014,8 @@ sub finalizemap($){
|
||||
#-- write output to collection file
|
||||
print $fhb $out2;
|
||||
close($fhb);
|
||||
|
||||
main::fhem("setreading ".($hash->{NAME})." cmMap <html>finalized as <a href=\" http://192.168.0.94:8083/fhem/images/".$filename2c."\">".$filename2c."</a></html>");
|
||||
|
||||
main::fhem("setreading $name cmMap <html>finalized as <a href=\"/fhem/images/".$filename2c."\">".$filename2c."</a></html>");
|
||||
listmaps($name)
|
||||
}
|
||||
|
||||
1;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user