@cecnic1989/homebridge-roborock-mower 0.6.0 → 0.7.0

package/README.md

@@ -7,93 +7,91 @@
 [![npm version](https://img.shields.io/npm/v/@cecnic1989/homebridge-roborock-mower.svg)](https://www.npmjs.com/package/@cecnic1989/homebridge-roborock-mower)
 [![Build and Lint](https://img.shields.io/github/actions/workflow/status/cecnic1989/homebridge-roborock-mower/build.yml?branch=latest)](https://github.com/cecnic1989/homebridge-roborock-mower/actions/workflows/build.yml)
 
-Homebridge plugin for Roborock RockMow robot lawn mowers. Exposes your mower to Apple Home.
-
-> **Early development.** Status sensors and battery work (tested on a RockMow Z1 / X120H). Controls are next.
+Apple Home support for Roborock RockMow robot lawn mowers. Tested on a RockMow Z1 / X120H.
 
 ## Features
 
-- **State sensors** for Home-app automations: Docked, Leaving, Mowing, Returning (each a contact sensor, live via Roborock's cloud push)
-- **Needs Attention** sensor for Home-app notifications when the mower is stuck, faulted, or was stopped with its button
-- **Battery** level, charging state, low-battery flag
-- **Fault indicator** on every sensor when the mower reports an error
-
-- **Mow and Pause switches** (optional) to start, dock, pause and resume from Home automations and Siri
+- **State sensors** — Docked, Leaving, Mowing, Returning; contact sensors driven by Roborock's cloud push
+- **Needs Attention** — opens when the mower is stuck, faulted, or stopped with its button
+- **Battery** — level, charging state, low-battery flag
+- **Mow and Pause switches** — optional; start, dock, pause and resume from Siri or automations
 
 ## Automations
 
-Each state is a contact sensor so the Home app can trigger on it ("A Sensor Detects Something"):
+Each state is a contact sensor, so Home triggers on it with *A Sensor Detects Something*:
 
 | Sensor | Opens when | Closes when |
 |---|---|---|
-| **Docked** | it leaves the dock | it is back on the dock (charging or charged) |
+| **Docked** | it leaves the dock | it is back on the dock |
 | **Leaving** | a job starts (initializing / undocking) | it begins cutting |
 | **Mowing** | it starts cutting or driving to a zone | cutting stops |
 | **Returning** | it heads back to the dock | it reaches the dock |
-| **Needs Attention** | it reports an error, a fault, or its STOP button was pressed | the condition clears |
+| **Needs Attention** | it reports an error or fault, or STOP was pressed | the condition clears |
+
+**Dock inside a garage.** Use *Docked opens → open door*, *Returning opens → open door*, *Docked closes → close door*.
+
+Two things to know before automating the door:
+
+- **Do not close the door on Mowing.** Mowing opens while the mower is still inside the garage. Leave the door open for the duration of the mow, or close it on a timer.
+- **Trigger the departure from *Docked opens*, not *Leaving opens*.** Docked opens on the push that starts the mow; Leaving waits out `sensorDebounceSeconds` first, by which time the mower is already moving. If your door is slow, also trigger from the mowing schedule.
 
-Example for a dock inside a garage: *Docked opens → open garage*, *Mowing opens → close garage*, *Returning opens → open garage*, *Docked closes → close garage*.
-Prefer **Docked opens** over *Leaving opens* for the departure trigger: both fire on the same push, but Docked can only open once per trip. The mower starts driving ~1.5 s after that push, so if the door needs longer, add a time-based automation on the mowing schedule as well.
+**Notifications** need no automation: open the *Needs Attention* sensor in Home → *Status and Notifications* → *Notify when opens*. Pauses made from the Roborock app do not trigger it.
 
 ## Controls
 
-Off by default. Turn on **Control switches (Mow, Pause)** in the plugin settings and restart Homebridge to add two switches:
+Off by default. Enable **Control switches (Mow, Pause)** in the plugin settings and restart Homebridge:
 
 | Switch | Turn on | Turn off |
 |---|---|---|
 | **Mow** | start a full-lawn mow | send it back to the dock |
 | **Pause** | pause the current job | resume it |
 
-The switches always show the mower's real state, so a job started from the Roborock app reads as Mow on, and a finished job reads off. A paused or rain-delayed job still counts as Mow on — turning Mow off then cancels it and docks the mower. A command that the mower rejects (or that times out) shows as an error in Home and the switch keeps its true value.
+Switches reflect the mower's real state, so a job started in the Roborock app reads as Mow on. A paused or rain-delayed job still counts as on — turning Mow off then cancels it and docks. Rejected or unanswered commands surface as an error in Home and the switch keeps its true value.
 
-Siri: "turn on RockMow Mow", "turn on RockMow Pause". Automations: "when everyone leaves → turn on Mow", "when rain is detected → turn off Mow".
+> **Scenes:** "turn everything on" flips every switch in the room, including Mow. Keep the switches out of scenes, or leave controls off.
 
-> **Scenes:** "turn everything on" (a scene, or Siri) flips every switch in the room — including Mow. Keep the switches out of scenes, or leave controls off if you use all-on scenes.
+## Behaviour notes
 
-**Notifications:** no automation needed — in the Home app open the *Needs Attention* sensor → *Status and Notifications* → turn on *Notify when opens*. It opens on the push that reports the problem (no debounce). Pauses made from the app do not trigger it.
-
-Accessories take the name you gave the mower in the Roborock app (renames follow on the next sync); names you set in the Home app are kept.
-
-Sensors flip only after a state holds for `sensorDebounceSeconds` (default 3 s); faults and battery update immediately. While the cloud connection is down, sensors show as inactive rather than stale.
+- Accessories take the mower's name from the Roborock app; names you set in Home are kept.
+- The mower's own report of where it is beats the dock's charge contact. Leaving, mowing or heading home means it is not in the dock, whatever the contact says — it keeps the contacts live while it leaves, re-seats on them when resuming from a mid-job charge, and the push that clears them can go missing. Without this the door would close on the mower.
+- Other sensors flip only after a state holds for `sensorDebounceSeconds`. Faults and battery are immediate, and so is Docked opening whenever the mower reports that it has left the dock — the door has to open before it moves. A change in the dock contact alone still waits out the debounce.
+- Every sensor change is logged as the Home app names it (`Docked opens`, `Returning closes`), alongside the dock decision and the charge state behind it — enough to tell from the log which automation fired and why.
+- Roborock's servers sometimes stop delivering updates without the connection appearing to drop. The plugin detects this and reconnects on its own; sensors show as inactive rather than stale while it does.
 
 ## Requirements
 
 - Homebridge `^1.8.0` or `^2.0.0-beta.0`
 - Node.js `^20.19.0 || ^22.10.0 || ^24.0.0`
-- A Roborock account (same credentials as the Roborock mobile app)
-
-## Installation
+- A Roborock account (same credentials as the mobile app)
 
-Homebridge UI: **Plugins** → search `@cecnic1989/homebridge-roborock-mower`.
+## Setup
 
-## Configuration
+Install from the Homebridge UI: **Plugins** → search `@cecnic1989/homebridge-roborock-mower`.
 
-1. Homebridge UI → **Plugins** → **Roborock Mower** → **Settings**.
-2. Enter your Roborock account email and press **Send code**.
-3. Enter the verification code Roborock emails you and press **Verify & save**.
-4. Restart Homebridge.
+Then **Plugins** → **Roborock Mower** → **Settings**: enter your Roborock email, press **Send code**, enter the emailed code, press **Verify & save**, and restart Homebridge.
 
-Sign-in stores the cloud token in `<homebridge storage>/roborock-mower/session.json` (owner-only permissions); treat it like a password. Use **Sign out** in the settings page to remove it.
+Sign-in stores a cloud token in `<homebridge storage>/roborock-mower/session.json` (owner-only). Treat it like a password; **Sign out** removes it.
 
-Optional fields:
+## Options
 
 | Field | Default | Description |
 |---|---|---|
 | `exposeDocked`, `exposeLeaving`, `exposeMowing`, `exposeReturning` | `true` | Which state sensors to create |
-| `exposeAttention` | `true` | Needs Attention sensor (errors, faults, emergency stop) |
-| `exposeControls` | `false` | Mow and Pause switches |
+| `exposeAttention` | `true` | Needs Attention sensor |
 | `exposeBattery` | `true` | Battery service |
-| `faultIndicator` | `true` | Set StatusFault on the sensors when the mower reports an error |
-| `sensorDebounceSeconds` | `3` | How long a state must hold before its sensor flips (0–60) |
-| `pollInterval` | `3600` | Cloud re-sync interval in seconds (min 900). Live state comes by push; Roborock rate-limits this call, so keep it high |
+| `exposeControls` | `false` | Mow and Pause switches |
+| `faultIndicator` | `true` | Set StatusFault on sensors when the mower reports an error |
+| `sensorDebounceSeconds` | `15` | How long a state must hold before its sensor flips (0–60) |
+| `mqttLivenessProbe` | `true` | Check the live connection is still delivering, and reconnect if not |
+| `pollInterval` | `3600` | Cloud re-sync interval in seconds (min 900). Live state arrives by push and Roborock rate-limits this call, so keep it high |
 
 ## Support
 
-If your mower isn't picked up, or a control doesn't behave correctly on it, [open an issue](https://github.com/cecnic1989/homebridge-roborock-mower/issues) with your model number and Homebridge debug logs (`homebridge -D`).
+If your mower isn't picked up or a control misbehaves, [open an issue](https://github.com/cecnic1989/homebridge-roborock-mower/issues) with your model number and debug logs (`homebridge -D`).
 
 ## Development
 
-See [CONTRIBUTING.md](./CONTRIBUTING.md) for setup, local testing, and design notes.
+See [CONTRIBUTING.md](./CONTRIBUTING.md) for setup, testing, and design notes.
 
 ## License
 

package/config.schema.json

@@ -70,7 +70,7 @@
         "default": 15,
         "minimum": 0,
         "maximum": 60,
-        "description": "How long a state must hold before its sensor flips. Faults and battery are reported immediately. The default absorbs the brief dock-contact flap when the mower resumes from a mid-job charge, which would otherwise re-trigger dock automations."
+        "description": "How long a state must hold before its sensor flips, so brief flickers do not reach your automations. Faults and battery are reported immediately, and so is Docked opening whenever the mower reports that it has left the dock. Raising this will not fix a dock automation: the plugin already ignores the dock contact whenever the mower reports that it is away."
       }
     }
   },

package/dist/mower/accessory.d.ts

@@ -43,6 +43,7 @@ export declare class MowerAccessory {
     private namedServices;
     private renameService;
     private schedule;
+    private cancelPending;
     private applyIfChanged;
     private apply;
     private pushFault;

package/dist/mower/accessory.js

@@ -131,7 +131,10 @@ export class MowerAccessory {
                 this.applyIfChanged(key, state.attention); // never debounced: a fault must reach the phone on the push that reports it
             }
             else {
-                this.schedule(key, state[key]);
+                // The mower reports being out of the dock, which outranks the contact, so docked here is always false:
+                // the door has to be open before it moves ~1.5s later, and that edge skips the debounce. Everything
+                // else keeps it — including a bare contact flicker on a mower that is going nowhere.
+                this.schedule(key, state[key], key === 'docked' && state.away);
             }
         }
         for (const definition of SWITCH_DEFS) {
@@ -173,42 +176,51 @@ export class MowerAccessory {
         }
     }
     // Activity flags must hold for the debounce period before HomeKit sees them; the first value is applied immediately.
-    schedule(key, value) {
-        const pending = this.pending.get(key);
+    schedule(key, value, immediate = false) {
         if (this.applied.get(key) === value) {
-            if (pending) {
-                clearTimeout(pending.timer);
-                this.pending.delete(key);
-            }
+            this.cancelPending(key);
             return;
         }
-        if (pending?.value === value) {
+        if (immediate || !this.applied.has(key) || this.debounceMs === 0) {
+            this.cancelPending(key);
+            this.apply(key, value);
             return;
         }
-        if (pending) {
-            clearTimeout(pending.timer);
-        }
-        if (!this.applied.has(key) || this.debounceMs === 0) {
-            this.apply(key, value);
+        if (this.pending.get(key)?.value === value) {
             return;
         }
+        this.cancelPending(key); // unreachable today, but replacing an entry must never orphan its timer
         const timer = setTimeout(() => {
             this.pending.delete(key);
             this.apply(key, value);
         }, this.debounceMs);
         this.pending.set(key, { value, timer });
     }
+    cancelPending(key) {
+        const pending = this.pending.get(key);
+        if (pending) {
+            clearTimeout(pending.timer);
+            this.pending.delete(key);
+        }
+    }
     applyIfChanged(key, value) {
         if (this.applied.get(key) !== value) {
             this.apply(key, value);
         }
     }
     apply(key, value) {
+        const initial = !this.applied.has(key);
         this.applied.set(key, value);
         const sensor = this.sensors.get(key);
         if (sensor) {
-            sensor.updateCharacteristic(this.hap.Characteristic.ContactSensorState, contactValue(key, value, this.hap.Characteristic));
-            this.log.debug(`${this.baseName}: ${SENSOR_LABELS[key]} ${value ? 'on' : 'off'}`);
+            const c = this.hap.Characteristic;
+            const contact = contactValue(key, value, c);
+            sensor.updateCharacteristic(c.ContactSensorState, contact);
+            // Worded as the Home app names the trigger, so the log reads as the automation that fired. The first
+            // value of each sensor is marked: it can still fire one, against whatever HomeKit had cached, but it
+            // is not a change the mower made.
+            const edge = contact === c.ContactSensorState.CONTACT_NOT_DETECTED ? 'opens' : 'closes';
+            this.log.info(`${this.baseName}: ${SENSOR_LABELS[key]} ${edge}${initial ? ' (initial)' : ''}`);
             return;
         }
         this.switches.get(key)?.updateCharacteristic(this.hap.Characteristic.On, value);

package/dist/mower/accessory.js.map

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package/dist/mower/state.d.ts

@@ -16,6 +16,8 @@ export interface DerivedState {
     leaving: boolean;
     mowing: boolean;
     returning: boolean;
+    homeward: boolean;
+    away: boolean;
     charging: boolean;
     paused: boolean;
     fault: boolean;
@@ -28,5 +30,12 @@ export interface DerivedState {
 }
 export type Dps = Record<number, unknown>;
 export declare function deriveMowerState(dps: Dps): DerivedState;
+export declare const IDLE_HOLD_MAX_MS: number;
+export declare const POSITION_HOLD_MAX_MS: number;
+export interface Settled {
+    state: DerivedState;
+    silentSince: number | undefined;
+}
+export declare function settleState(dps: Dps, contactBefore: unknown, prev: DerivedState | undefined, silentSince: number | undefined, now: number): Settled;
 export declare function describeMowState(code: number | undefined): string;
 export declare function describeAttention(state: DerivedState): string | undefined;

package/dist/mower/state.js

@@ -28,14 +28,24 @@ export const MOW_STATE_NAMES = {
     106: 'free_docked_plan_end', 107: 'free_emergency_stop', 108: 'free_recoverable_fault', 109: 'free_fault',
     151: 'charge_charging', 152: 'charge_completed', 153: 'charge_waiting', 154: 'charge_fault',
 };
-const LEAVING_STATES = new Set([51, 52, 53, 54]);
-const MOWING_STATES = new Set([55, 56, 57, 64, 65, 66, 70]);
+// 70 is mow_remote_undocking: leaving the dock under remote control is still leaving the dock.
+const LEAVING_STATES = new Set([51, 52, 53, 54, 70]);
+const MOWING_STATES = new Set([55, 56, 57, 64, 65, 66]);
 const RETURNING_STATES = new Set([71, 72, 73, 74, 75]);
 // Bare idle (0) is deliberately not here: the mower reports 0 off the dock between a task ending and 143 being set.
 const DOCKED_STATES = new Set([68, 76, 77, 104, 105, 106, 151, 152, 153]);
 // Rain/DND/low-battery waits (61-63): reported as soon as the mower decides to head home, before it is
 // physically back on the dock — only charge contact proves it arrived. Off the dock they mean "returning".
 const DOCK_WAIT_STATES = new Set([61, 62, 63]);
+// Building a map or roaming free puts the mower on the lawn just as definitely as mowing does, though it is
+// not mowing. Deliberately excluded: map_erasing/map_save/map_wait and every fault, which can all be reported
+// on the dock.
+const AWAY_STATES = new Set([1, 2, 4, 5, 6, 7, 8, 9, 10, 11, 101, 102, 103]);
+// Leaving, working, mapping, heading home: all of them place the mower away from its dock whatever the charge
+// contact says. They have to win, because the contact re-asserts while the mower leaves and the push that
+// clears it is the one known to go missing. Every other code — a bare idle, a pause, a fault, the 61-63
+// waits, a map being saved — says nothing about position, so there the contact decides and nothing else can.
+const OFF_DOCK_STATES = new Set([...LEAVING_STATES, ...MOWING_STATES, ...RETURNING_STATES, ...AWAY_STATES]);
 const CHARGING_STATES = new Set([76, 151]);
 const PAUSED_STATES = new Set([17, 58, 67, 75, 107]);
 const FAULT_STATES = new Set([3, 15, 16, 59, 60, 69, 73, 74, 108, 109, 154]);
@@ -54,13 +64,19 @@ export function deriveMowerState(dps) {
     const battery = num(dps[DPS.BATTERY]);
     const errorCode = num(dps[DPS.ERROR_CODE]) ?? 0;
     const state = mowState ?? -1;
-    const docked = (chargeState !== undefined && CHARGE_STATE_ON_DOCK.has(chargeState)) || DOCKED_STATES.has(state);
+    // DPS 143 ("off dock, no task") is the most literal report of all, and `returning` below already trusts it
+    // — but a code that puts the mower on the dock is newer news than a 143 whose clearing push went missing.
+    const away = OFF_DOCK_STATES.has(state) || (offDock !== 0 && !DOCKED_STATES.has(state));
+    const docked = !away && ((chargeState !== undefined && CHARGE_STATE_ON_DOCK.has(chargeState)) || DOCKED_STATES.has(state));
     const fault = errorCode !== 0 || FAULT_STATES.has(state);
+    const homeward = RETURNING_STATES.has(state) || DOCK_WAIT_STATES.has(state);
     return {
         docked,
         leaving: LEAVING_STATES.has(state),
         mowing: MOWING_STATES.has(state),
-        returning: !docked && (RETURNING_STATES.has(state) || DOCK_WAIT_STATES.has(state) || offDock !== 0),
+        returning: !docked && (homeward || offDock !== 0),
+        homeward,
+        away,
         charging: chargeState === 1 || CHARGING_STATES.has(state),
         paused: PAUSED_STATES.has(state),
         fault,
@@ -73,6 +89,47 @@ export function deriveMowerState(dps) {
         errorCode,
     };
 }
+// How long the activity flags may be carried over a bare idle: generous next to the half-minute the mower
+// spends between zones, short enough that a job whose end push lost its DPS 132 stops reading as mowing.
+export const IDLE_HOLD_MAX_MS = 2 * 60_000;
+// How long the last known position may be carried over codes that place the mower nowhere. Longer, because
+// the only alternative is the charge contact, and a lost clearing push makes it report "home" while the mower
+// is still driving there — comfortably past a real return, which took 74s in the 2026-10-03 capture.
+export const POSITION_HOLD_MAX_MS = 10 * 60_000;
+// Most state codes say where the mower is; some say nothing about it at all — a bare idle, a pause, a fault,
+// the 61-63 rain/DND waits. For those the charge contact is the only thing left, and it lies exactly when it
+// matters: the push that clears it is the one known to go missing, and until it arrives the contact reports
+// the mower home while it is still out. That closed a garage door on a returning mower once (2026-08-26) and
+// on a departing one twice (2026-08-29, 2026-10-03). So a code that settles nothing carries what came before
+// it, bounded, and anything positive — a code that places the mower, or DPS 143 — takes over at once.
+export function settleState(dps, contactBefore, prev, silentSince, now) {
+    const state = deriveMowerState(dps);
+    const code = state.mowState ?? -1;
+    if (prev === undefined || state.away || DOCKED_STATES.has(code)) {
+        return { state, silentSince: undefined };
+    }
+    const since = silentSince ?? now;
+    const held = { ...state };
+    if (now - since <= POSITION_HOLD_MAX_MS) {
+        // The charge contact is physically honest when it is current — nothing breaks one without moving, and
+        // nothing asserts one without touching it. The catch is that it may not be current: if a state code has
+        // already placed the mower away while the contact still reads on-dock, the push that cleared it never
+        // arrived. So an asserting contact means "home" only when this push changed it, or when it was already
+        // what we believed, and only when the mower was not in the middle of leaving — on the way out it
+        // re-seats on those same contacts. A contact gone clear needs none of that and is simply believed.
+        held.docked = state.docked && !prev.leaving && (dps[DPS.CHARGE_STATE] !== contactBefore || prev.docked);
+        held.away = !held.docked && prev.away;
+        held.homeward = state.homeward || prev.homeward; // 61-63 announce the intent; a bare idle keeps it
+        held.returning = !held.docked && held.homeward;
+    }
+    // A bare idle reports no activity either, and the mower sits at one for up to half a minute between zones.
+    if (state.jobActive && code === 0 && now - since <= IDLE_HOLD_MAX_MS) {
+        held.leaving = prev.leaving;
+        held.mowing = prev.mowing;
+        held.returning = prev.returning;
+    }
+    return { state: held, silentSince: since };
+}
 export function describeMowState(code) {
     if (code === undefined) {
         return 'unknown';

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package/dist/platform.d.ts

@@ -36,8 +36,7 @@ export declare class RoborockMowerPlatform implements DynamicPlatformPlugin {
     private reconcileTimer?;
     private livenessTimer?;
     private mqttConnectedAt?;
-    private deliberateRestart;
-    private outageWarned;
+    private quietDrop;
     private retryTimer?;
     private startPromise?;
     private stopped;
@@ -50,8 +49,10 @@ export declare class RoborockMowerPlatform implements DynamicPlatformPlugin {
     reconcile(): Promise<void>;
     livenessTick(): Promise<void>;
     private rotateAgedConnection;
+    private silentFor;
     private probeLiveness;
     private checkMqttLiveness;
+    private markOutage;
     private restartMqtt;
     private sensorOptions;
     private now;

package/dist/platform.js

@@ -1,6 +1,6 @@
 import { MowerAccessory } from './mower/accessory.js';
 import { ACTION_LABELS, isOk, LIVENESS_PROBE, remotePbParams } from './mower/commands.js';
-import { deriveMowerState, describeAttention, describeMowState } from './mower/state.js';
+import { DPS, deriveMowerState, describeAttention, describeMowState, settleState } from './mower/state.js';
 import { findMowers } from './roborock/mower.js';
 import { RequestTimeout, RoborockMqtt } from './roborock/mqtt-client.js';
 import { readSession, writeStatus } from './roborock/session-store.js';
@@ -12,6 +12,9 @@ const MAX_POLL_SECONDS = 86_400;
 const DEFAULT_POLL_SECONDS = 3600;
 const STARTUP_RETRY_MS = 5 * 60_000;
 const STALE_PUSH_MS = 5 * 60_000; // a push this old no longer outranks a disagreeing cloud snapshot
+// Everything the dock decision rests on. A snapshot that omits any of them cannot contradict us about where
+// the mower is — and since merging it cannot clear a key it never carried, it would say so on every poll.
+const DOCK_EVIDENCE_DPS = [DPS.MOW_STATE, DPS.CHARGE_STATE, DPS.OFF_DOCK_NO_TASK_STATUS];
 // A docked mower is legitimately quiet for hours, but this much silence on a connection that claims to be
 // live is the signature of a silently dropped subscription — the broker drops it without disconnecting.
 const SILENT_PUSH_RESTART_MS = 2 * 3_600_000;
@@ -86,8 +89,7 @@ export class RoborockMowerPlatform {
     reconcileTimer;
     livenessTimer;
     mqttConnectedAt;
-    deliberateRestart = false;
-    outageWarned = false;
+    quietDrop = false; // the last disconnect was our own refresh, so it was not reported as an outage
     retryTimer;
     startPromise;
     stopped = false;
@@ -129,14 +131,9 @@ export class RoborockMowerPlatform {
     // Runs every 15 min: age rotation first, then the active probe, then the passive fallback.
     // Timer callbacks must never reject.
     async livenessTick() {
-        // A refresh that never came back looks identical to an outage from here, and its drop was logged quietly.
-        if (this.mqtt && !this.mqtt.connected && !this.outageWarned) {
-            this.outageWarned = true;
-            // A refresh that never came back is an outage after all: the quiet drop skipped this, so do it now.
-            for (const tracked of this.mowers.values()) {
-                tracked.accessory.setOnline(false);
-            }
-            this.log.warn('Roborock MQTT is still disconnected; sensors marked inactive until it reconnects.');
+        // A refresh that never came back is an outage after all, and its drop was logged quietly at the time.
+        if (this.mqtt && !this.mqtt.connected && this.quietDrop) {
+            this.markOutage('Roborock MQTT is still disconnected');
         }
         if (this.rotateAgedConnection()) {
             return; // the fresh connection needs no probe or passive check this tick
@@ -149,25 +146,27 @@ export class RoborockMowerPlatform {
         }
         this.checkMqttLiveness();
     }
-    // Deferred while a command is in flight (a restart would reject it); the next tick catches up.
     rotateAgedConnection() {
-        const mqtt = this.mqtt;
-        if (!mqtt?.connected || mqtt.busy() || this.mqttConnectedAt === undefined) {
+        const now = this.now();
+        if (this.mqttConnectedAt === undefined || now - this.mqttConnectedAt < MQTT_MAX_CONNECTION_AGE_MS) {
             return false;
         }
-        const age = this.now() - this.mqttConnectedAt;
-        if (age < MQTT_MAX_CONNECTION_AGE_MS) {
-            return false;
+        for (const tracked of this.mowers.values()) {
+            if (this.silentFor(tracked, now) < ROTATION_QUIET_MS) {
+                return false; // never interrupt a delivering connection; wait for the job to end
+            }
         }
-        const active = [...this.mowers.values()].some((tracked) => tracked.lastAliveAt !== undefined && this.now() - tracked.lastAliveAt < ROTATION_QUIET_MS);
-        if (active) {
-            return false; // never interrupt a delivering connection; wait for the job to end
+        const age = Math.round((now - this.mqttConnectedAt) / 60_000);
+        if (!this.restartMqtt()) {
+            return false; // a command is in flight; the next tick catches up
         }
-        this.log.info(`Roborock MQTT connection is ${Math.round(age / 60_000)} min old; `
-            + 'refreshing it before the broker drops the subscription.');
-        this.restartMqtt();
+        this.log.info(`Roborock MQTT connection is ${age} min old; refreshing it before the broker drops the subscription.`);
         return true;
     }
+    // How long since anything proved this mower's subscription delivers. Infinity when nothing ever has.
+    silentFor(tracked, now = this.now()) {
+        return tracked.lastAliveAt === undefined ? Infinity : now - tracked.lastAliveAt;
+    }
     // Active end-to-end check: ask the mower a question it is guaranteed to answer ("unknown_method") and
     // expect the reply over the push subscription. Two consecutive timeouts on a live connection mean the
     // subscription is dead — restart once. Still silent after the restart means the mower is asleep, not the
@@ -221,28 +220,42 @@ export class RoborockMowerPlatform {
     // a garage automation that never fired). The clock re-bases on each restart, so through a long quiet
     // stretch the connection is refreshed every SILENT_PUSH_RESTART_MS and never grows old.
     checkMqttLiveness() {
-        const mqtt = this.mqtt;
-        if (!mqtt?.connected || mqtt.busy()) {
-            return; // a restart rejects every pending command; let the user's action settle and re-check next tick
-        }
-        const silent = [...this.mowers.values()].find((tracked) => tracked.lastAliveAt !== undefined && this.now() - tracked.lastAliveAt > SILENT_PUSH_RESTART_MS);
+        const now = this.now();
+        const silent = [...this.mowers.values()].find((tracked) => tracked.lastAliveAt !== undefined && this.silentFor(tracked, now) > SILENT_PUSH_RESTART_MS);
         if (!silent) {
             return;
         }
-        this.log.warn(`${silent.device.name}: no live traffic for ${Math.round((this.now() - silent.lastAliveAt) / 60_000)} min `
-            + 'on a live connection; reconnecting MQTT as a precaution.');
-        this.restartMqtt();
+        const minutes = Math.round(this.silentFor(silent, now) / 60_000);
+        if (this.restartMqtt()) {
+            this.log.warn(`${silent.device.name}: no live traffic for ${minutes} min on a live connection; `
+                + 'reconnecting MQTT as a precaution.');
+        }
+    }
+    // One place where an outage is reported, so what it does to the sensors cannot drift between callers.
+    markOutage(reason) {
+        this.quietDrop = false;
+        for (const tracked of this.mowers.values()) {
+            tracked.accessory.setOnline(false);
+        }
+        this.log.warn(`${reason}; sensors marked inactive until it reconnects.`);
     }
     // The connect transition re-seeds every clock on reconnect; re-basing here as well only covers the
     // window until that reconnect completes, so a stalled reconnect cannot re-trip the passive check.
+    // Restarting rejects every pending command account-wide, so a command in flight always wins; callers get
+    // told whether the restart actually happened rather than each remembering to ask first.
     restartMqtt() {
+        const mqtt = this.mqtt;
+        if (!mqtt?.connected || mqtt.busy()) {
+            return false;
+        }
         for (const tracked of this.mowers.values()) {
             if (tracked.lastAliveAt !== undefined) {
                 tracked.lastAliveAt = this.now();
             }
         }
-        this.deliberateRestart = true;
-        this.mqtt?.restart();
+        this.quietDrop = true;
+        mqtt.restart();
+        return true;
     }
     sensorOptions() {
         const c = this.pluginConfig;
@@ -347,35 +360,29 @@ export class RoborockMowerPlatform {
                     this.mqttConnectedAt = this.now();
                 }
                 for (const tracked of this.mowers.values()) {
-                    // A refresh we scheduled is not an outage: leaving the sensors active avoids ~10 Not Responding
-                    // blips a day for a gap that lasts about a second.
-                    if (connected || !this.deliberateRestart) {
-                        tracked.accessory.setOnline(connected && tracked.online);
-                    }
-                    if (!connected) {
-                        tracked.probeFailures = 0; // an ordinary outage plus one lost reply must not add up to a restart
-                    }
-                    else {
+                    if (connected) {
+                        tracked.accessory.setOnline(tracked.online);
                         // A fresh connection deserves a fresh 2h clock — this also covers restarts the client performs
                         // on its own (refused suback) and seeds mowers that have never delivered a frame.
                         tracked.lastAliveAt = this.now();
                     }
+                    else {
+                        tracked.probeFailures = 0; // an ordinary outage plus one lost reply must not add up to a restart
+                    }
                 }
                 if (!connected) {
-                    // A restart we asked for is not an outage; saying so ~9x a day would train users to ignore the
-                    // warning. The flag is consumed here, so a genuine drop later is still reported.
-                    const deliberate = this.deliberateRestart;
-                    this.deliberateRestart = false;
-                    if (deliberate) {
+                    // A refresh we scheduled is not an outage: reporting one ~12x a day would train users to ignore
+                    // the warning, and the sensors stay valid across a gap that lasts about a second. If the
+                    // replacement never arrives, livenessTick escalates this to a real outage.
+                    if (this.quietDrop) {
                         this.log.debug('Roborock MQTT reconnecting after a scheduled refresh.');
                     }
                     else {
-                        this.outageWarned = true;
-                        this.log.warn('Roborock MQTT disconnected; sensors marked inactive until it reconnects.');
+                        this.markOutage('Roborock MQTT disconnected');
                     }
                 }
                 else {
-                    this.outageWarned = false;
+                    this.quietDrop = false;
                 }
             });
             // Any decodable frame — a push, our reply, another client's reply — proves the subscription delivers.
@@ -510,15 +517,27 @@ export class RoborockMowerPlatform {
             // dead — that is what a silent broker drop looks like from here.
             const pushAge = tracked.lastPushAt === undefined ? Infinity : this.now() - tracked.lastPushAt;
             if (pushAge > STALE_PUSH_MS) {
-                const snapshotMowState = deriveMowerState(toNumericDps(device.deviceStatus ?? {})).mowState;
-                const pushMowState = tracked.last?.mowState;
-                if (snapshotMowState !== undefined && pushMowState !== undefined && snapshotMowState !== pushMowState
-                    && (this.mqtt?.connected ?? false)) {
-                    this.log.warn(`${device.name}: no live update for ${Math.round(pushAge / 60_000)} min and the cloud disagrees; `
-                        + 'applying the cloud snapshot and reconnecting MQTT.');
+                // Compared as derived state, not raw DPS: where the mower is and what it is doing is what a missed
+                // push would have changed. The charge state on its own is not evidence — it cycles 1-2-3 through a
+                // normal overnight charge, which would reconnect on every poll for nothing.
+                const snapshot = toNumericDps(device.deviceStatus ?? {});
+                const cloud = deriveMowerState(snapshot);
+                // Only once we have heard from the mower ourselves: on the first sync there is nothing to contradict.
+                const live = tracked.last === undefined ? undefined : deriveMowerState(tracked.dps);
+                // Each side has to know the thing being compared, or a DPS the snapshot simply omits reads as a
+                // contradiction and restarts MQTT on every poll — the push-dropping churn this is meant to prevent.
+                const stateDiffers = cloud.mowState !== undefined && live?.mowState !== undefined && cloud.mowState !== live.mowState;
+                const knowsPlace = DOCK_EVIDENCE_DPS.every((key) => snapshot[key] !== undefined);
+                const placeDiffers = live !== undefined && knowsPlace && cloud.docked !== live.docked;
+                const healing = (stateDiffers || placeDiffers) && (this.mqtt?.connected ?? false);
+                if (healing) {
+                    this.log.warn(`${device.name}: no live update for ${Math.round(pushAge / 60_000)} min and the cloud `
+                        + `disagrees (${describeMowState(cloud.mowState)}${cloud.docked ? ', docked' : ''} vs `
+                        + `${describeMowState(live?.mowState)}${live?.docked ? ', docked' : ''}); merging the snapshot `
+                        + 'and reconnecting MQTT.');
                     staleSubscription = true;
                 }
-                this.applyDps(tracked, device.deviceStatus ?? {}, 'cloud');
+                this.applyDps(tracked, device.deviceStatus ?? {}, healing ? 'heal' : 'cloud');
             }
             else {
                 this.log.debug(`${device.name}: cloud snapshot ignored in favour of fresh live state: ${JSON.stringify(device.deviceStatus)}`);
@@ -551,7 +570,8 @@ export class RoborockMowerPlatform {
         if (!mqtt) {
             throw new Error('Roborock MQTT is not running.');
         }
-        const name = this.mowers.get(duid)?.device.name ?? duid;
+        const tracked = this.mowers.get(duid);
+        const name = tracked?.device.name ?? duid;
         // The thunk runs at publish time, so this also records when the command actually reached the wire —
         // a queued command must not be vouched for by traffic that predates its own send.
         let sentAt = this.now();
@@ -563,21 +583,19 @@ export class RoborockMowerPlatform {
             });
         }
         catch (error) {
-            // On a live connection the publish reached the broker; a missing reply is the signature of a silently
-            // dropped subscription. The tap fails honestly, but reconnect NOW so the mower's own pushes (and the
-            // automations riding on them) work again within seconds instead of the probe's ~30 minutes. Skipped
-            // when a frame arrived since the command went out (the mower was merely slow), while disconnected
-            // (mqtt.js reconnects on its own, and a restart would discard its offline-queued publish), during
-            // another pending command, for a mower the cloud reports unreachable, and — the storm bound — until a
-            // frame proves the link came back to life, so a mower that never answers costs exactly one heal.
-            const tracked = this.mowers.get(duid);
+            // The publish reached the broker; a missing reply is the signature of a silently dropped
+            // subscription. The tap fails honestly, but reconnect NOW so the mower's own pushes (and the
+            // automations riding on them) work again in seconds instead of the probe's ~30 minutes. Skipped when
+            // a frame arrived since the command went out (the mower was merely slow), for a mower the cloud
+            // reports unreachable, and — the storm bound — until a frame proves the link came back to life, so a
+            // mower that never answers costs exactly one heal. restartMqtt() adds the transport preconditions:
+            // while disconnected, mqtt.js is already reconnecting and a restart would discard its queued publish.
             const provenAlive = tracked?.lastAliveAt !== undefined && tracked.lastAliveAt >= sentAt;
-            if (error instanceof RequestTimeout && mqtt.connected && !provenAlive
-                && tracked?.healArmed === true && tracked.online !== false && !mqtt.busy()) {
-                tracked.healArmed = false;
-                this.log.warn(`${name}: no reply to ${ACTION_LABELS[action]} on a live connection; `
+            if (error instanceof RequestTimeout && !provenAlive && tracked?.healArmed && tracked.online
+                && this.restartMqtt()) {
+                tracked.healArmed = false; // consumed only when a reconnect actually happened
+                this.log.warn(`${name}: no reply to ${ACTION_LABELS[action]}; the subscription looks dead — `
                     + 'reconnecting MQTT so live updates resume.');
-                this.restartMqtt();
             }
             throw error;
         }
@@ -587,14 +605,26 @@ export class RoborockMowerPlatform {
         this.log.info(`${name}: ${ACTION_LABELS[action]} command acknowledged`);
     }
     applyDps(tracked, update, source) {
+        const contactBefore = tracked.dps[DPS.CHARGE_STATE]; // read before the merge: a changed contact is current
         Object.assign(tracked.dps, toNumericDps(update));
         if (source === 'push') {
             tracked.lastPushAt = this.now();
         }
-        const state = deriveMowerState(tracked.dps);
+        // Only the heal path is taken as read: it has just declared the live state wrong, so nothing may be held
+        // over it. An ordinary snapshot is merged like any other news, and what it settles nothing about stands.
+        const { state, silentSince } = source === 'heal'
+            ? { state: deriveMowerState(tracked.dps), silentSince: undefined }
+            : settleState(tracked.dps, contactBefore, tracked.last, tracked.silentSince, this.now());
+        tracked.silentSince = silentSince;
         if (state.mowState !== tracked.last?.mowState) {
             this.log.info(`${tracked.device.name}: ${describeMowState(state.mowState)} (battery ${state.battery ?? '?'}%)`);
         }
+        // A charge-contact flap changes no other DPS, so without this the dock decision — which drives the
+        // garage automations — leaves no trace above debug level.
+        if (tracked.last !== undefined && state.docked !== tracked.last.docked) {
+            this.log.info(`${tracked.device.name}: ${state.docked ? 'back on the dock' : 'off the dock'}`
+                + ` (charge state ${tracked.dps[DPS.CHARGE_STATE] ?? '-'}, ${describeMowState(state.mowState)})`);
+        }
         if (state.attention && !tracked.last?.attention) {
             this.log.warn(`${tracked.device.name}: needs attention — ${describeAttention(state)}`);
         }

package/dist/platform.js.map

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package/package.json

@@ -2,7 +2,7 @@
   "name": "@cecnic1989/homebridge-roborock-mower",
   "displayName": "Homebridge Roborock Mower",
   "type": "module",
-  "version": "0.6.0",
+  "version": "0.7.0",
   "description": "Homebridge plugin for Roborock RockMow robot lawn mowers",
   "author": "cecnic1989",
   "license": "Apache-2.0",