npm - @cecnic1989/homebridge-roborock-mower - Versions diffs - 0.7.0 → 0.8.0 - Mend

@cecnic1989/homebridge-roborock-mower 0.7.0 → 0.8.0

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Files changed (6) hide show

package/dist/mower/state.d.ts CHANGED Viewed

@@ -11,12 +11,14 @@ 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;
-    homeward: boolean;
     away: boolean;
     charging: boolean;
     paused: boolean;
@@ -31,11 +33,15 @@ 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 Since {
+    position: number | undefined;
+    idle: number | undefined;
+}
 export interface Settled {
     state: DerivedState;
-    silentSince: number | undefined;
+    since: Since;
 }
-export declare function settleState(dps: Dps, contactBefore: unknown, prev: DerivedState | undefined, silentSince: number | undefined, now: number): Settled;
+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 CHANGED Viewed

@@ -41,11 +41,6 @@ const DOCK_WAIT_STATES = new Set([61, 62, 63]);
 // 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]);
@@ -57,6 +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]);
@@ -64,19 +73,28 @@ export function deriveMowerState(dps) {
     const battery = num(dps[DPS.BATTERY]);
     const errorCode = num(dps[DPS.ERROR_CODE]) ?? 0;
     const state = mowState ?? -1;
-    // 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 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);
-    const homeward = RETURNING_STATES.has(state) || DOCK_WAIT_STATES.has(state);
     return {
+        position,
+        reported,
         docked,
-        leaving: LEAVING_STATES.has(state),
+        leaving: position === 'leaving',
         mowing: MOWING_STATES.has(state),
-        returning: !docked && (homeward || offDock !== 0),
-        homeward,
-        away,
+        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,
@@ -92,43 +110,82 @@ export function deriveMowerState(dps) {
 // 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);
+// 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;
-    if (prev === undefined || state.away || DOCKED_STATES.has(code)) {
-        return { state, silentSince: undefined };
+    const fromCode = codePosition(code);
+    if (fromCode !== undefined) {
+        return fromCode;
     }
-    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;
+    // 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';
     }
-    // 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;
+    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';
     }
-    return { state: held, silentSince: since };
+    // 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) {

package/dist/mower/state.js.map CHANGED Viewed

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1	+ 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package/dist/platform.js CHANGED Viewed

@@ -424,6 +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,
@@ -612,10 +613,10 @@ export class RoborockMowerPlatform {
         }
         // 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;
+        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 ?? '?'}%)`);
         }

package/dist/platform.js.map CHANGED Viewed

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

@@ -2,7 +2,7 @@
   "name": "@cecnic1989/homebridge-roborock-mower",
   "displayName": "Homebridge Roborock Mower",
   "type": "module",
-  "version": "0.7.0",
+  "version": "0.8.0",
   "description": "Homebridge plugin for Roborock RockMow robot lawn mowers",
   "author": "cecnic1989",
   "license": "Apache-2.0",