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rest980

rest980 create a http server to map all dorita980 methods in a REST API to control your iRobot Roomba 900 series 980 / i7 / i7+ via HTTP requests.

Install

$ git clone https://github.com/koalazak/rest980.git
$ cd rest980
$ npm install

Fimrware version

Check your robot firmware version! and set your firmware version in firmwareVersion rest980 configuration!

Configuration

The service can be configured by editing config/default.json or by setting environment variables.

Config File (config/default.json) Environment Description
port PORT (default:3000) The HTTP port to listen on.
blid BLID (required) The Roomba blid. *
password PASSWORD (required) The Roomba password. *
robotIP ROBOT_IP (optional) Set if you know your robot IP to skip discovery and speed up startup.
firmwareVersion FIRMWARE_VERSION (optional) Set to 1 or 2 depends of your robot firmware version. Use 2 for any firmware >=2 (yes, use 2 if you have firmware version 3). Default to 1 for firmware 1.6.6
enableLocal ENABLE_LOCAL (optional) Set to 'no' if you want to disable local API. Default 'yes'.
enableCloud ENABLE_CLOUD (optional) Set to 'no' if you want to disable cloud API. Default 'yes'.
keepAlive KEEP_ALIVE (optional) Set to 'no' if you want to connect and disconnect to the robot in each request (slow but leave the connection free for the official mobile app).
basicAuthUser BASIC_AUTH_USER (optional) Set to enable basic auth. Both user and pass must be set.
basicAuthPass BASIC_AUTH_PASS (optional) Set to enable basic auth. Both user and pass must be set.
sslKeyFile SSL_KEY_FILE (optional) Set path to key file to enable HTTPS. Both key and cert must be set. (how to create self signed cert)
sslCertFile SSL_CERT_FILE (optional) Set path to cert file to enable HTTPS. Both key and cert must be set. (how to create self signed cert)

See dorita980 for more information and instructions for obtaining your robot blid and password

Start API Server

$ cd rest980
$ DEBUG=rest980:* npm start
rest980:server Listening on port 3000

omit DEBUG=rest980:* if you want. You can just run with npm start

Or use Docker Image

You can use koalazak/rest980 docker image to run this server in a docker container. Usefull to run on Synology for example.

Pull Docker image:

docker pull koalazak/rest980

Run Docker image:

docker run -e BLID=myuser -e PASSWORD=mypass -e ROBOT_IP=myrobotIP koalazak/rest980

Dockerfile

Also you can local build and test in Docker from this Dockerfile

docker build . -t koalazak/rest980 

API documentation

Now you can make request to this server on port 3000. There are 2 main endpoints: local and cloud, mapped to dorita980 local and cloud methods as well.

Error responses:

HTTP status 500 and response:

{"message":"human message","error":{}}

Local

Actions

All cleaning actions are under /api/local/action/[action] endpoint using GET method without query params:

Available actions:

  • start
  • stop
  • pause
  • dock
  • resume
  • cleanRoom

Example: start to clean

GET http://192.168.1.110:3000/api/local/action/start

Success Response:

{"ok":null,"id":23}

Example: clean a specific room

Some roomba types support "room specificic cleaning" - at the time of writing, at least the s9 and the i7 support this featrue. Assuming you have this model, and have a "Smart Map" for the floor you're trying to clean, you can send room specific cleaning commands. The easiest way to find out the values for this is to start a room specific clean via the app, and then look at the state endpoint (documented below) and find the lastCommand entry. Using this, you can find the room ids. These seem to be stable over time, unless a re-training or new smart map is saved.

The pmap_id and user_pmapv_id are also derived from the same lastCommand trick. These also seem to be stable - unless a new training run or edit to the smart map happens. It's important to get these correct, else your roomba won't clean.

curl -X POST http://192.168.1.110:3000/api/local/action/cleanRoom -H 'Content-Type: application/json' -d '{"ordered": 0, "pmap_id": "123456", "regions": [{"region_id":"5", "region_name":"Hallway","region_type":"hallway"}], "user_pmapv_id": "987654"}'

Note that this is a POST becuase it has a body, unlike the other related action methods.

Info

All info endpoints are under /api/local/info/[record] using GET method without query params:

Available records:

  • mission
  • wireless
  • lastwireless
  • sys
  • sku
  • state (only in firmware 2)

Example: get current mission variables

GET http://192.168.1.110:3000/api/local/info/mission

Success Response:

{ "ok":
   { "flags": 0,
     "cycle": "none",
     "phase": "charge",
     "pos": { "theta": 179, "point": {"x": 102, "y": -13} },
     "batPct": 99,
     "expireM": 0,
     "rechrgM": 0,
     "error": 0,
     "notReady": 0,
     "mssnM": 0,
     "sqft": 0 },
  "id": 2 }

Configurations

All configuration endpoints are under /api/local/config/[configName] using GET method to get current configuration and POST method to set a new configuration.

Available configName:

  • ptime (only GET in firmware 1)
  • bbrun (only GET)
  • cloud (only GET)
  • langs (only GET. Use preferences to set lang)
  • week
  • time (POST Y GET in firmware 1. Only GET in Firmware 2)
  • preferences
  • carpetBoost/auto (only POST. Use preferences to get current config)
  • carpetBoost/performance (only POST. Use preferences to get current config)
  • carpetBoost/eco (only POST. Use preferences to get current config)
  • edgeClean/on (only POST. Use preferences to get current config)
  • edgeClean/off (only POST. Use preferences to get current config)
  • cleaningPasses/auto (only POST. Use preferences to get current config)
  • cleaningPasses/one (only POST. Use preferences to get current config)
  • cleaningPasses/two (only POST. Use preferences to get current config)
  • alwaysFinish/on (only POST. Use preferences to get current config)
  • alwaysFinish/off (only POST. Use preferences to get current config)

See dorita980 documentation for responses and body params for each method and version firmware.

Examples:

Get preferences in firmware 1:

GET http://192.168.1.110:3000/api/local/config/preferences

Success Response:

{ ok:
   { flags: 1024, // See Cleaning Preferences table in dorita980 documentation.
     lang: 2,
     timezone: 'America/Buenos_Aires',
     name: 'myRobotName',
     cleaningPreferences: {
        carpetBoost: 'auto', // 'auto', 'performance', 'eco'
        edgeClean: true,
        cleaningPasses: '1', // '1', '2', 'auto'
        alwaysFinish: true 
      }
    },
 id: 2 }

See dorita980 documentation for preferences in firmware 2.

Set preferences in firmware 1:

POST http://192.168.1.110:3000/api/local/config/preferences

Body:

{ 
  "flags": 1107, // See Cleaning Preferences table in dorita980 documentation.
  "lang": 2,
  "timezone": "America/Buenos_Aires",
  "name": "myRobotName"
}

Success Response:

{"ok":null,"id":293}

See dorita980 documentation for preferences in firmware 2.

Set cleaning passes to two:

POST http://192.168.1.110:3000/api/local/config/cleaningPasses/two

Body:

{}

Success Response:

{"ok":null,"id":293}

Cloud (only for firmware 1.6.x)

Use GET in all info endpoints without query params:

  • /api/cloud/info/status
  • /api/cloud/info/history
  • /api/cloud/info/missionHistory

Use GET in all action endpoints without query params:

  • /api/cloud/action/clean
  • /api/cloud/action/quick
  • /api/cloud/action/spot
  • /api/cloud/action/dock
  • /api/cloud/action/start
  • /api/cloud/action/stop
  • /api/cloud/action/pause
  • /api/cloud/action/resume
  • /api/cloud/action/wake
  • /api/cloud/action/reset
  • /api/cloud/action/find
  • /api/cloud/action/wipe
  • /api/cloud/action/sleep
  • /api/cloud/action/off
  • /api/cloud/action/fbeep

Example:

GET http://192.168.1.110:3000/api/cloud/action/clean

Success Response:

{"status":"OK","method":"multipleFieldSet"}

Host images or files

You can add images or files to public/ folder to serve static files.

Realtime Map (experimental)

Visiting http://serverIP:3000/map with your browser you can play with this cool experiment

/map

iRobot Roomba 980 cleaning map using dorita980 lib

Video: Realtime cleaning map