@cecnic1989/homebridge-roborock-mower 0.6.1 → 0.7.0

package/README.md

@@ -33,7 +33,7 @@ Each state is a contact sensor, so Home triggers on it with *A Sensor Detects So
 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.
-- Prefer **Docked opens** over *Leaving opens* to trigger the departure: both fire on the same push, but Docked can only open once per trip. The mower starts moving ~1.5 s later, so if your door is slow, also trigger from the mowing schedule.
+- **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.
 
 **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.
 
@@ -53,7 +53,9 @@ Switches reflect the mower's real state, so a job started in the Roborock app re
 ## Behaviour notes
 
 - Accessories take the mower's name from the Roborock app; names you set in Home are kept.
-- Sensors flip only after a state holds for `sensorDebounceSeconds`. This rides out the brief dock-contact flap when the mower resumes from a mid-job charge, which would otherwise re-trigger dock automations. Faults and battery update immediately.
+- 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

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

@@ -1 +1 @@
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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.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;
@@ -514,15 +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: ${JSON.stringify(device.deviceStatus)}`);
@@ -590,14 +605,26 @@ export class RoborockMowerPlatform {
         this.log.info(`${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

@@ -1 +1 @@
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package/package.json

@@ -2,7 +2,7 @@
   "name": "@cecnic1989/homebridge-roborock-mower",
   "displayName": "Homebridge Roborock Mower",
   "type": "module",
-  "version": "0.6.1",
+  "version": "0.7.0",
   "description": "Homebridge plugin for Roborock RockMow robot lawn mowers",
   "author": "cecnic1989",
   "license": "Apache-2.0",