@cecnic1989/homebridge-roborock-mower 0.6.1 → 0.8.0

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

@@ -11,11 +11,15 @@ export declare const DPS: {
     readonly OFF_DOCK_NO_TASK_STATUS: 143;
 };
 export declare const MOW_STATE_NAMES: Record<number, string>;
+export type Position = 'dock' | 'leaving' | 'out' | 'returning';
 export interface DerivedState {
+    position: Position;
+    reported: boolean;
     docked: boolean;
     leaving: boolean;
     mowing: boolean;
     returning: boolean;
+    away: boolean;
     charging: boolean;
     paused: boolean;
     fault: boolean;
@@ -28,5 +32,16 @@ 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 interface Since {
+    position: number | undefined;
+    idle: number | undefined;
+}
+export interface Settled {
+    state: DerivedState;
+    since: Since;
+}
+export declare const REJOIN_GRACE_MS = 60000;
+export declare function settleState(dps: Dps, contactBefore: unknown, prev: DerivedState | undefined, since: Since, 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 +28,19 @@ 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]);
 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]);
@@ -47,6 +52,20 @@ function num(value) {
     const n = typeof value === 'number' ? value : Number(value);
     return value === undefined || value === null || Number.isNaN(n) ? undefined : n;
 }
+// Where a state code places the mower. Codes missing from here say nothing about position — a bare idle, a
+// pause, a fault, a map being saved — and leave the question to DPS 143 and the charge contact.
+function codePosition(code) {
+    if (LEAVING_STATES.has(code)) {
+        return 'leaving';
+    }
+    if (MOWING_STATES.has(code) || AWAY_STATES.has(code)) {
+        return 'out';
+    }
+    if (RETURNING_STATES.has(code)) {
+        return 'returning';
+    }
+    return DOCKED_STATES.has(code) ? 'dock' : undefined;
+}
 export function deriveMowerState(dps) {
     const mowState = num(dps[DPS.MOW_STATE]);
     const chargeState = num(dps[DPS.CHARGE_STATE]);
@@ -54,13 +73,28 @@ 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);
+    const onContact = chargeState !== undefined && CHARGE_STATE_ON_DOCK.has(chargeState);
+    const waiting = DOCK_WAIT_STATES.has(state); // 61-63: interrupted, and belongs at the dock — but is it there yet?
+    const fromCode = codePosition(state);
+    // Best guess without any history: what the code says, then DPS 143, then the contact. `settleState` is
+    // where memory gets a say; this has to stand on its own for the settings page and the cloud comparison.
+    const position = fromCode
+        ?? (waiting ? (onContact ? 'dock' : 'returning') : undefined)
+        ?? (offDock !== 0 ? 'returning' : undefined)
+        ?? (onContact ? 'dock' : 'out');
+    const docked = position === 'dock';
+    const reported = fromCode !== undefined || waiting || offDock !== 0;
     const fault = errorCode !== 0 || FAULT_STATES.has(state);
     return {
+        position,
+        reported,
         docked,
-        leaving: LEAVING_STATES.has(state),
+        leaving: position === 'leaving',
         mowing: MOWING_STATES.has(state),
-        returning: !docked && (RETURNING_STATES.has(state) || DOCK_WAIT_STATES.has(state) || offDock !== 0),
+        returning: position === 'returning',
+        // The door-opening trigger, so it takes the mower's own word for it: a bare contact flicker is only a
+        // flicker, and the debounce is there to absorb it.
+        away: reported && !docked,
         charging: chargeState === 1 || CHARGING_STATES.has(state),
         paused: PAUSED_STATES.has(state),
         fault,
@@ -73,6 +107,86 @@ 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 an asserting charge contact is read as the mower re-seating on its way out rather than settling
+// back down. The observed re-seats ran 10-13s; past this a mower still on the contacts never left.
+export const REJOIN_GRACE_MS = 60_000;
+// Where the mower goes next. Evidence first, in order of how directly it answers the question; if nothing in
+// this push answers it, the mower is still where it was. A position is never left on a timer alone, with one
+// exception, noted below, where the mower's last known position was the dock anyway.
+function nextPosition(state, prev, contact, enteredFor) {
+    const code = state.mowState ?? -1;
+    const fromCode = codePosition(code);
+    if (fromCode !== undefined) {
+        return fromCode;
+    }
+    // 61-63 are reported from the moment the mower decides to head home and for as long as it then waits on
+    // the dock, so they say nothing about position by themselves. A current contact settles which it is; a
+    // stale one would claim a mower still on the lawn was home, so without one the mower stays where it was.
+    if (DOCK_WAIT_STATES.has(code)) {
+        if (contact.changed) {
+            return contact.on ? 'dock' : 'returning';
+        }
+        return prev.position === 'dock' ? 'dock' : 'returning';
+    }
+    if (contact.changed) {
+        if (!contact.on) {
+            return prev.position === 'dock' ? 'out' : prev.position; // nothing breaks a contact without moving
+        }
+        return prev.position === 'leaving' && enteredFor <= REJOIN_GRACE_MS ? 'leaving' : 'dock';
+    }
+    // A departure that is still on the contacts this long after starting never left — and unlike a mower that
+    // is out, its last known position *is* the dock, so believing the contact here cannot shut it out.
+    if (prev.position === 'leaving' && contact.on && enteredFor > REJOIN_GRACE_MS) {
+        return 'dock';
+    }
+    // Nothing current. DPS 143 still reports it away, and a job ending under a stalled departure settles it.
+    if (state.reported) {
+        return prev.position === 'dock' ? 'returning' : prev.position;
+    }
+    if (prev.position === 'leaving' && !state.jobActive) {
+        return contact.on ? 'dock' : 'out';
+    }
+    return prev.position;
+}
+// Memory, in the one place that needs it. Position is a state machine over the pushes, so a charge contact
+// that lies about having the mower home cannot move it — which closed a garage door on a returning mower
+// once (2026-08-26) and on a departing one twice (2026-08-29, 2026-10-03). The activity flags need a little
+// of the same: DPS 123 = 0 reports nothing at all, yet the mower sits there for up to half a minute between
+// zones, and taken at face value that dropped Mowing and brought it straight back.
+export function settleState(dps, contactBefore, prev, since, now) {
+    const state = deriveMowerState(dps);
+    if (prev === undefined) {
+        return { state, since: { position: now, idle: undefined } };
+    }
+    const charge = dps[DPS.CHARGE_STATE];
+    const contact = {
+        on: CHARGE_STATE_ON_DOCK.has(num(charge) ?? -1),
+        changed: charge !== contactBefore,
+    };
+    const position = nextPosition(state, prev, contact, now - (since.position ?? now));
+    const docked = position === 'dock';
+    const settled = {
+        ...state,
+        position,
+        docked,
+        leaving: position === 'leaving',
+        returning: position === 'returning',
+        away: (state.reported || prev.away) && !docked,
+    };
+    const positionAt = position === prev.position ? since.position ?? now : now;
+    const idling = state.jobActive && state.mowState === 0 && !docked;
+    if (!idling) {
+        return { state: settled, since: { position: positionAt, idle: undefined } };
+    }
+    const idleAt = since.idle ?? now;
+    return {
+        state: now - idleAt > IDLE_HOLD_MAX_MS ? settled : { ...settled, mowing: prev.mowing },
+        since: { position: positionAt, idle: idleAt },
+    };
+}
 export function describeMowState(code) {
     if (code === undefined) {
         return 'unknown';

package/dist/mower/state.js.map

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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;
@@ -421,6 +424,7 @@ export class RoborockMowerPlatform {
         const tracked = {
             device, online: true, platformAccessory, accessory, dps: {},
             probeFailures: 0, probeRestarted: false, probeDormant: false, healArmed: true,
+            since: { position: undefined, idle: undefined },
             // The connect transition may already have passed (fresh install: the broker connects before the
             // startup cloud sync tracks the mower); seed the clock now so the passive check covers it.
             lastAliveAt: this.mqtt?.connected ? this.now() : undefined,
@@ -514,15 +518,27 @@ 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: ${JSON.stringify(device.deviceStatus)}`);
@@ -590,14 +606,26 @@ export class RoborockMowerPlatform {
         this.log.info(`${name}: ${ACTION_LABELS[action]} command acknowledged`);
     }
     applyDps(tracked, update, source) {
+        const contactBefore = tracked.dps[DPS.CHARGE_STATE]; // read before the merge: a changed contact is current
         Object.assign(tracked.dps, toNumericDps(update));
         if (source === 'push') {
             tracked.lastPushAt = this.now();
         }
-        const state = deriveMowerState(tracked.dps);
+        // Only the heal path is taken as read: it has just declared the live state wrong, so nothing may be held
+        // over it. An ordinary snapshot is merged like any other news, and what it settles nothing about stands.
+        const { state, since } = source === 'heal'
+            ? { state: deriveMowerState(tracked.dps), since: { position: this.now(), idle: undefined } }
+            : settleState(tracked.dps, contactBefore, tracked.last, tracked.since, this.now());
+        tracked.since = since;
         if (state.mowState !== tracked.last?.mowState) {
             this.log.info(`${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": "0.8.0",
   "description": "Homebridge plugin for Roborock RockMow robot lawn mowers",
   "author": "cecnic1989",
   "license": "Apache-2.0",