feat(vendor.dreame): DreameHighResolutionManualControlCapability

backend/lib/robots/dreame/DreameGen2ValetudoRobot.js

@@ -239,7 +239,7 @@ class DreameGen2ValetudoRobot extends DreameValetudoRobot {
 
         [
             capabilities.DreameVoicePackManagementCapability,
-            capabilities.DreameManualControlCapability,
+            capabilities.DreameHighResolutionManualControlCapability,
             capabilities.DreameDoNotDisturbCapability
         ].forEach(capability => {
             this.registerCapability(new capability({robot: this}));

backend/lib/robots/dreame/capabilities/DreameHighResolutionManualControlCapability.js

@@ -0,0 +1,128 @@
+const AttributeSubscriber = require("../../../entities/AttributeSubscriber");
+const CallbackAttributeSubscriber = require("../../../entities/CallbackAttributeSubscriber");
+const DreameMiotHelper = require("../DreameMiotHelper");
+const DreameMiotServices = require("../DreameMiotServices");
+const HighResolutionManualControlCapability = require("../../../core/capabilities/HighResolutionManualControlCapability");
+const StatusStateAttribute = require("../../../entities/state/attributes/StatusStateAttribute");
+
+/**
+ * @extends HighResolutionManualControlCapability<import("../DreameGen2ValetudoRobot")>
+ */
+class DreameHighResolutionManualControlCapability extends HighResolutionManualControlCapability {
+    /**
+     *
+     * @param {object} options
+     * @param {import("../DreameGen2ValetudoRobot")} options.robot
+     */
+    constructor(options) {
+        super(options);
+
+        this.miot_properties = {
+            manual_control: {
+                siid: DreameMiotServices["GEN2"].VACUUM_2.SIID,
+                piid: DreameMiotServices["GEN2"].VACUUM_2.PROPERTIES.MANUAL_CONTROL.PIID
+            }
+        };
+
+        this.keepAliveTimeout = undefined;
+
+        this.robot.state.subscribe(
+            new CallbackAttributeSubscriber((eventType, status, prevStatus) => {
+                if (
+                    eventType === AttributeSubscriber.EVENT_TYPE.CHANGE &&
+                    //@ts-ignore
+                    status.value !== StatusStateAttribute.VALUE.MANUAL_CONTROL &&
+                    prevStatus &&
+                    //@ts-ignore
+                    prevStatus.value === StatusStateAttribute.VALUE.MANUAL_CONTROL
+                ) {
+                    this.disableManualControl().then(() => {
+                        /* intentional as there is nowhere to send feedback to */
+                    }).catch(() => {
+                        /* intentional as there is nowhere to send feedback to */
+                    });
+                }
+            }),
+            {attributeClass: StatusStateAttribute.name}
+        );
+
+        this.lastCommand = new Date(0).getTime();
+        this.active = false;
+
+        this.helper = new DreameMiotHelper({robot: this.robot});
+    }
+
+    /**
+     * @returns {Promise<void>}
+     */
+    async enableManualControl() {
+        if (this.active === false) {
+            await this.sendRemoteControlCommand(0, 0, true);
+            this.active = true;
+            await this.sendAndScheduleKeepAlive();
+        }
+    }
+
+    /**
+     * @returns {Promise<void>}
+     */
+    async disableManualControl() {
+        clearTimeout(this.keepAliveTimeout);
+        this.active = false;
+    }
+
+    /**
+     * @returns {Promise<boolean>}
+     */
+    async manualControlActive() {
+        return this.active;
+    }
+
+    async sendAndScheduleKeepAlive() {
+        clearTimeout(this.keepAliveTimeout);
+
+        if (new Date().getTime() - this.lastCommand >= 700) {
+            await this.sendRemoteControlCommand(0, 0, false);
+        }
+
+        this.keepAliveTimeout = setTimeout(async () => {
+            await this.sendAndScheduleKeepAlive();
+        }, 700);
+    }
+
+    /**
+     * @param {import("../../../entities/core/ValetudoManualMovementVector")} vector
+     * @returns {Promise<void>}
+     */
+    async manualControl(vector) {
+        return this.sendRemoteControlCommand(
+            Math.round(vector.velocity * 300),
+            Math.round(vector.angle * -1),
+            false
+        );
+    }
+
+    /**
+     * @private
+     * @param {number} velocity must be int
+     * @param {number} angle must be int
+     * @param {boolean} audioHint
+     * @returns {Promise<void>}
+     */
+    async sendRemoteControlCommand(velocity, angle, audioHint) {
+        await this.helper.writeProperty(
+            this.miot_properties.manual_control.siid,
+            this.miot_properties.manual_control.piid,
+            JSON.stringify({
+                spdv: velocity,
+                spdw: angle,
+                audio: audioHint === true ? "true" : "false",
+                random: Math.floor(Math.random() * 1000)
+            })
+        );
+
+        this.lastCommand = new Date().getTime();
+    }
+}
+
+module.exports = DreameHighResolutionManualControlCapability;

backend/lib/robots/dreame/capabilities/index.js

@@ -20,6 +20,7 @@ module.exports = {
     DreameCurrentStatisticsCapability: require("./DreameCurrentStatisticsCapability"),
     DreameDoNotDisturbCapability: require("./DreameDoNotDisturbCapability"),
     DreameFanSpeedControlCapability: require("./DreameFanSpeedControlCapability"),
+    DreameHighResolutionManualControlCapability: require("./DreameHighResolutionManualControlCapability"),
     DreameKeyLockCapability: require("./DreameKeyLockCapability"),
     DreameLineLaserObstacleAvoidanceControlCapability: require("./DreameLineLaserObstacleAvoidanceControlCapability"),
     DreameLocateCapability: require("./DreameLocateCapability"),