feat(mqtt): Optionally expose PetObstacleAvoidance, CarpetModeControl…

… and CarpetSensorModeControl capabilities
Hypfer · Nov 16, 2024 · 2cc0ab5 · 2cc0ab5 · janengelmohr · Nov 18, 2024
1 parent 8f22341
commit 2cc0ab5
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Showing 7 changed files with 101 additions and 2 deletions.
diff --git a/backend/lib/doc/Configuration.openapi.json b/backend/lib/doc/Configuration.openapi.json
@@ -285,7 +285,10 @@
                 "TotalStatisticsCapability",
                 "SpeakerVolumeControlCapability",
                 "KeyLockCapability",
-                "ObstacleAvoidanceControlCapability"
+                "ObstacleAvoidanceControlCapability",
+                "PetObstacleAvoidanceControlCapability",
+                "CarpetModeControlCapability",
+                "CarpetSensorModeControlCapability"
               ]
             }
           }

diff --git a/backend/lib/mqtt/capabilities/CarpetModeControlCapabilityMqttHandle.js b/backend/lib/mqtt/capabilities/CarpetModeControlCapabilityMqttHandle.js
@@ -0,0 +1,8 @@
+const SimpleToggleCapabilityMqttHandle = require("./SimpleToggleCapabilityMqttHandle");
+
+
+class CarpetModeControlCapabilityMqttHandle extends SimpleToggleCapabilityMqttHandle {}
+
+CarpetModeControlCapabilityMqttHandle.OPTIONAL = true;
+
+module.exports = CarpetModeControlCapabilityMqttHandle;
diff --git a/backend/lib/mqtt/capabilities/CarpetSensorModeControlCapabilityMqttHandle.js b/backend/lib/mqtt/capabilities/CarpetSensorModeControlCapabilityMqttHandle.js
@@ -0,0 +1,70 @@
+const CapabilityMqttHandle = require("./CapabilityMqttHandle");
+
+const ComponentType = require("../homeassistant/ComponentType");
+const DataType = require("../homie/DataType");
+const EntityCategory = require("../homeassistant/EntityCategory");
+const InLineHassComponent = require("../homeassistant/components/InLineHassComponent");
+const PropertyMqttHandle = require("../handles/PropertyMqttHandle");
+
+class CarpetSensorModeControlCapabilityMqttHandle extends CapabilityMqttHandle {
+    /**
+     * @param {object} options
+     * @param {import("../handles/RobotMqttHandle")} options.parent
+     * @param {import("../MqttController")} options.controller MqttController instance
+     * @param {import("../../core/ValetudoRobot")} options.robot
+     * @param {import("../../core/capabilities/CarpetSensorModeControlCapability")} options.capability
+     */
+    constructor(options) {
+        super(Object.assign(options, {
+            friendlyName: "Carpet Sensor Mode"
+        }));
+        this.capability = options.capability;
+
+        this.registerChild(
+            new PropertyMqttHandle({
+                parent: this,
+                controller: this.controller,
+                topicName: "mode",
+                friendlyName: "Carpet Sensor Mode",
+                datatype: DataType.ENUM,
+                format: this.capability.getProperties().supportedModes.join(","),
+                setter: async (value) => {
+                    await this.capability.setMode(value);
+                },
+                getter: async () => {
+                    return await this.capability.getMode();
+                },
+                helpText: "This handle allows setting the Carpet Sensor Mode. " +
+                    "It accepts the preset payloads specified in `$format` or in the HAss json attributes.",
+                helpMayChange: {
+                    "Enum payloads": "Different robot models have different Carpet Sensor Modes. " +
+                    "Always check `$format`/`json_attributes` during startup."
+                }
+            }).also((prop) => {
+                this.controller.withHass((hass) => {
+                    prop.attachHomeAssistantComponent(
+                        new InLineHassComponent({
+                            hass: hass,
+                            robot: this.robot,
+                            name: this.capability.getType(),
+                            friendlyName: "Carpet Sensor Mode",
+                            componentType: ComponentType.SELECT,
+                            autoconf: {
+                                state_topic: prop.getBaseTopic(),
+                                value_template: "{{ value }}",
+                                command_topic: prop.getBaseTopic() + "/set",
+                                options: this.capability.getProperties().supportedModes,
+                                icon: "mdi:waves",
+                                entity_category: EntityCategory.CONFIG,
+                            }
+                        })
+                    );
+                });
+            })
+        );
+    }
+}
+
+CarpetSensorModeControlCapabilityMqttHandle.OPTIONAL = true;
+
+module.exports = CarpetSensorModeControlCapabilityMqttHandle;
diff --git a/backend/lib/mqtt/capabilities/PetObstacleAvoidanceControlCapabilityMqttHandle.js b/backend/lib/mqtt/capabilities/PetObstacleAvoidanceControlCapabilityMqttHandle.js
@@ -0,0 +1,8 @@
+const SimpleToggleCapabilityMqttHandle = require("./SimpleToggleCapabilityMqttHandle");
+
+
+class PetObstacleAvoidanceControlCapabilityMqttHandle extends SimpleToggleCapabilityMqttHandle {}
+
+PetObstacleAvoidanceControlCapabilityMqttHandle.OPTIONAL = true;
+
+module.exports = PetObstacleAvoidanceControlCapabilityMqttHandle;
diff --git a/backend/lib/mqtt/capabilities/SimpleToggleCapabilityMqttHandle.js b/backend/lib/mqtt/capabilities/SimpleToggleCapabilityMqttHandle.js
@@ -78,11 +78,15 @@ class SimpleToggleCapabilityMqttHandle extends CapabilityMqttHandle {
 const CAPABILITIES_TO_FRIENDLY_NAME_MAPPING = {
     [capabilities.KeyLockCapability.TYPE]: "Lock Keys",
     [capabilities.ObstacleAvoidanceControlCapability.TYPE]: "Obstacle Avoidance",
+    [capabilities.PetObstacleAvoidanceControlCapability.TYPE]: "Pet Obstacle Avoidance",
+    [capabilities.CarpetModeControlCapability.TYPE]: "Carpet Mode",
 };
 
 const CAPABILITIES_TO_ICON_MAPPING = {
     [capabilities.KeyLockCapability.TYPE]: "mdi:lock",
     [capabilities.ObstacleAvoidanceControlCapability.TYPE]: "mdi:cable-data",
+    [capabilities.PetObstacleAvoidanceControlCapability.TYPE]: "mdi:paw",
+    [capabilities.CarpetModeControlCapability.TYPE]: "mdi:access-point",
 };
 
 module.exports = SimpleToggleCapabilityMqttHandle;
diff --git a/backend/lib/mqtt/capabilities/index.js b/backend/lib/mqtt/capabilities/index.js
@@ -2,13 +2,16 @@ module.exports = {
     AutoEmptyDockManualTriggerCapabilityMqttHandle: require("./AutoEmptyDockManualTriggerCapabilityMqttHandle"),
     BasicControlCapabilityMqttHandle: require("./BasicControlCapabilityMqttHandle"),
     CapabilityMqttHandle: require("./CapabilityMqttHandle"),
+    CarpetModeControlCapabilityMqttHandle: require("./CarpetModeControlCapabilityMqttHandle"),
+    CarpetSensorModeControlCapabilityMqttHandle: require("./CarpetSensorModeControlCapabilityMqttHandle"),
     ConsumableMonitoringCapabilityMqttHandle: require("./ConsumableMonitoringCapabilityMqttHandle"),
     CurrentStatisticsCapabilityMqttHandle: require("./CurrentStatisticsCapabilityMqttHandle"),
     GoToLocationCapabilityMqttHandle: require("./GoToLocationCapabilityMqttHandle"),
     KeyLockCapabilityMqttHandle: require("./KeyLockCapabilityMqttHandle"),
     LocateCapabilityMqttHandle: require("./LocateCapabilityMqttHandle"),
     MapSegmentationCapabilityMqttHandle: require("./MapSegmentationCapabilityMqttHandle"),
     ObstacleAvoidanceControlCapabilityMqttHandle: require("./ObstacleAvoidanceControlCapabilityMqttHandle"),
+    PetObstacleAvoidanceControlCapabilityMqttHandle: require("./PetObstacleAvoidanceControlCapabilityMqttHandle"),
     PresetSelectionCapabilityMqttHandle: require("./PresetSelectionCapabilityMqttHandle"),
     SpeakerVolumeControlCapabilityMqttHandle: require("./SpeakerVolumeControlCapabilityMqttHandle"),
     TotalStatisticsCapabilityMqttHandle: require("./TotalStatisticsCapabilityMqttHandle"),

diff --git a/backend/lib/mqtt/handles/HandleMappings.js b/backend/lib/mqtt/handles/HandleMappings.js
@@ -19,7 +19,10 @@ const CAPABILITY_TYPE_TO_HANDLE_MAPPING = {
     [capabilities.TotalStatisticsCapability.TYPE]: capabilityHandles.TotalStatisticsCapabilityMqttHandle,
     [capabilities.SpeakerVolumeControlCapability.TYPE]: capabilityHandles.SpeakerVolumeControlCapabilityMqttHandle,
     [capabilities.KeyLockCapability.TYPE]: capabilityHandles.KeyLockCapabilityMqttHandle,
-    [capabilities.ObstacleAvoidanceControlCapability.TYPE]: capabilityHandles.ObstacleAvoidanceControlCapabilityMqttHandle
+    [capabilities.ObstacleAvoidanceControlCapability.TYPE]: capabilityHandles.ObstacleAvoidanceControlCapabilityMqttHandle,
+    [capabilities.PetObstacleAvoidanceControlCapability.TYPE]: capabilityHandles.PetObstacleAvoidanceControlCapabilityMqttHandle,
+    [capabilities.CarpetModeControlCapability.TYPE]: capabilityHandles.CarpetModeControlCapabilityMqttHandle,
+    [capabilities.CarpetSensorModeControlCapability.TYPE]: capabilityHandles.CarpetSensorModeControlCapabilityMqttHandle,
 };
 
 const STATUS_ATTR_TO_HANDLE_MAPPING = [