add new mqtt command and REST API for manual movement control

lib/MqttClient.js

@@ -22,7 +22,8 @@ const CUSTOM_COMMANDS = {
  STORE_MAP: "store_map",
  GET_DESTINATIONS: "get_destinations",
  PLAY_SOUND: "play_sound",
- SET_WATER_GRADE: "set_water_grade"
+ SET_WATER_GRADE: "set_water_grade",
+ SEND_RC_COMMAND: "remote_control"
 };
 
 //TODO: since this is also displayed in the UI it should be moved somewhere else
@@ -821,16 +822,38 @@ MqttClient.prototype.handleCustomCommand = function (message) {
  case CUSTOM_COMMANDS.SET_WATER_GRADE:
  if (this.vacuum.features.water_usage_ctrl) {
  if (Object.keys(WATER_GRADES).includes(msg.grade)) {
- this.vacuum.setWaterGrade(WATER_GRADES[msg.grade], (err, data) => this.publishCommandStatus("set_water_grade",data,err));
+ this.vacuum.setWaterGrade(WATER_GRADES[msg.grade], (err, data) => this.publishCommandStatus(msg.command,data,err));
  } else if (parseInt(msg.grade)) {
- this.vacuum.setWaterGrade(parseInt(msg.grade), (err, data) => this.publishCommandStatus("set_water_grade",data,err));
+ this.vacuum.setWaterGrade(parseInt(msg.grade), (err, data) => this.publishCommandStatus(msg.command,data,err));
  } else {
  this.publishCommandStatus(msg.command,null,"Unsupported water grade value specified.");
  }
  } else {
  this.publishCommandStatus(msg.command,null,"Setting water grade is not supported on this device.");
  }
  break;
+ /**
+ * send a RC mode command to the device
+ * starting and stopping RC mode is done automatically, you can try sending multiple commands in a row
+ * {
+ * "command": "remote_control",
+ * "angle": -1.3, (between -3.14 and 3.14)
+ * "velocity": 0.0, (between -0.3 and 0.3)
+ * "duration": 1000 (in ms)
+ * "startdelay": 7500 (optional, in ms)
+ * }
+ * startdelay is the delay the device needs to wait after starting RC mode to be able to actually perform RC commands (default: 8 seconds, maybe your device would be faster)
+ * see https://github.com/marcelrv/XiaomiRobotVacuumProtocol/blob/master/rc.md for other parameters which are passed directly to `app_rc_move` miio command
+ */
+ case CUSTOM_COMMANDS.SEND_RC_COMMAND:
+ if (msg.angle !== undefined && !isNaN(parseFloat(msg.angle)) &&
+ msg.velocity !== undefined && !isNaN(parseFloat(msg.velocity)) &&
+ msg.duration !== undefined && !isNaN(parseInt(msg.duration))) {
+ this.vacuum.autoManualControl(parseFloat(msg.angle), parseFloat(msg.velocity), parseInt(msg.duration), parseInt(msg.startdelay) || null, (err, data) => this.publishCommandStatus(msg.command,data,err));
+ } else {
+ this.publishCommandStatus(msg.command,null,"Invalid args supplied.");
+ }
+ break;
  default:
  this.publishCommandStatus(msg.command,null,"Received invalid custom command: " + JSON.stringify(msg));
  }

lib/miio/Vacuum.js

@@ -40,6 +40,11 @@ const Vacuum = function(valetudo) {
  this.handshakeInProgress = false;
  this.handshakeTimeout = null;
 
+ this.autoRCTimer = 0;
+ this.autoRCDelayed = false;
+ this.autoRCQueue = [];
+ this.autoRCSeq = 0;
+
  this.idleTimeoutTimer = 0;
  this.resetQueues(0xff);
 
@@ -389,6 +394,61 @@ Vacuum.prototype.setManualControl = function(angle, velocity, duration, sequence
  this.sendMessage("app_rc_move", [{"omega": angle, "velocity": velocity, "seqnum": sequenceId, "duration": duration}], {}, callback)
 };
 
+Vacuum.prototype.autoManualControl = function(angle, velocity, duration, startdelay, callback) {
+ const self = this;
+ const sendCommand = function(angle, velocity, duration, startdelay, callback) {
+ self.autoRCDelayed = true;
+ clearTimeout(self.autoRCTimer);
+ self.autoRCTimer = setTimeout(() => {
+ self.stopManualControl(err => {
+ self.autoRCTimer = 0;
+ });
+ },5e3+duration);
+ self.setManualControl(angle, velocity, duration, self.autoRCSeq++, (err,res) => {
+ callback(err,res);
+ setTimeout(() => {
+ if (self.autoRCQueue.length) {
+ let args = self.autoRCQueue.shift();
+ sendCommand(...args);
+ } else {
+ self.autoRCDelayed = false;
+ }
+ },5e2+duration);
+ });
+
+ };
+ this.getCurrentStatus((err,res) => {
+ if (err) {
+ return callback(err);
+ }
+ if (res.state === 7 || self.autoRCDelayed) { // already in RC mode or waiting to enter it
+ if (!self.autoRCDelayed) {
+ // process immediately if there's no delay
+ sendCommand(angle, velocity, duration, startdelay, callback);
+ } else {
+ // or add the request to RC queue to run it later
+ clearTimeout(self.autoRCTimer);
+ self.autoRCQueue.push([angle, velocity, duration, startdelay, callback]);
+ }
+ } else if ([2,3,10,12].includes(res.state)) { // idle, sleep, ...
+ self.autoRCDelayed = true;
+ self.startManualControl(err => {
+ if (err) {
+ self.autoRCDelayed = false;
+ return callback(err);
+ }
+ // apparently sequence number MUST start with 1 (when 0 it is ignored)
+ self.autoRCSeq = 1;
+ // we need to use some LONG ENOUGH delay to wait after starting remote control mode
+ // since otherwise the command seems to be discarded
+ setTimeout(() => sendCommand(angle, velocity, duration, startdelay, callback), startdelay || 8e3);
+ });
+ } else {
+ callback("device is at inappropriate state to run autoRC commands (acceptable: 2,3,10,12, now: " + res.state + ")");
+ }
+ });
+};
+
 /**
  * Returns carpet detection parameter like
  * {

lib/webserver/WebServer.js

@@ -1430,6 +1430,18 @@ const WebServer = function (valetudo) {
  }
  });
 
+ this.app.put("/api/auto_manual_control", function (req, res) {
+ if (req.body && req.body.angle !== undefined && req.body.velocity !== undefined && req.body.duration !== undefined) {
+ self.vacuum.autoManualControl(req.body.angle, req.body.velocity, req.body.duration, parseInt(req.body.startdelay) || null, function (err, data) {
+ if (err) {
+ res.status(500).send(err.toString());
+ } else {
+ res.json(data);
+ }
+ });
+ }
+ });
+
  this.app.get("/api/carpet_mode", function (req, res) {
  self.vacuum.getCarpetMode(function (err, data) {
  if (err) {