Roborock Dustbin

I don't own this robot anymore so I'm archiving the project. Feel free to fork if needed.

Xiaomi Roborock 1st generation vacuum robots (rockrobo.vacuum.v1) don't publish dustbin state through their API.

This shell script will watch a log file written by one of the original firmware processes for a special string that can tell us when the dustbin is removed and put back into place. It will then publish a message to the standard Valetudo attachment state MQTT topic valetudo/<identifier>/AttachmentStateAttribute/dustbin with a payload of either "true" (dustbin installed) of "false" (dustbin removed).

Installation

You will require a rooted vacuum robot with Valetudo already installed. You will also need to install with apt-get:

• mosquitto-clients (depends on libmosquitto0)
• jq

Copy dustbin.sh into /usr/local/bin/dustbin and give it execution permissions.

To start it at boot there is a sample upstart configuration file in upstart/dustbin.conf that should do the job (although I just copied it from Valetudo and I didn't really know what I was doing :P). Place that into /etc/init and reboot the robot.

Internals

The log file we are watching is /var/run/shm/EVENTTASK_normal.log.

Whenever the dustbin is removed the following lines will appear:

51304923 T908 pRecvEventInternal:2182 [stat] IPCWrapper: received 76 bytes from 0x4, Id = 0x104001e(30)
51304923 T908 TransformPacketToEvent:1326 [stat] IPCWrapper: transformed Message ID 0x104001e as Event 0xb5100478(RE_Mcu_BinOut)
51304923 T908 ListenerRoutineInternal:1375 [stat] Queue: Listener push event 0xb5100478(RE_Mcu_BinOut) into MediumQ(Size = 0)
51304923 T895 GetEvent:2535 [stat] Queue: Pop event 0xb5100478(RE_Mcu_BinOut) from the MediumQ(Size = 0)
51304924 T895 main:1376 [stat] Processing Event 0xb5100478(21)
51304925 T909 DoSpeaker:200 [stat] Speaker /mnt/data/rockrobo/sounds/bin_out.wav, Volume 90

And the following after putting back the dustbin into place:

51308003 T908 pRecvEventInternal:2182 [stat] IPCWrapper: received 76 bytes from 0x4, Id = 0x104001e(30)
51308003 T908 TransformPacketToEvent:1326 [stat] IPCWrapper: transformed Message ID 0x104001e as Event 0xb5100478(RE_Mcu_BinIn)
51308003 T908 ListenerRoutineInternal:1375 [stat] Queue: Listener push event 0xb5100478(RE_Mcu_BinIn) into MediumQ(Size = 0)
51308003 T895 GetEvent:2535 [stat] Queue: Pop event 0xb5100478(RE_Mcu_BinIn) from the MediumQ(Size = 0)
51308003 T895 main:1376 [stat] Processing Event 0xb5100478(20)
51308004 T909 DoSpeaker:200 [stat] Speaker /mnt/data/rockrobo/sounds/bin_in.wav, Volume 90

What we do in the script is just tailing the log file and watching for those "RE_Mcu_Bin" strings.

MQTT connection data is read directly from Valetudo config file at /mnt/data/valetudo_config.json.