How do I find more features?

[1043717432]

Mi vacuum sweeper APP, there are many practical functions, how to develop it? For example, what code is used to test, send, and receive to get a valid function?. I can test it! But I don't know what code to send!

[rytilahti]

The commands would need to be extracted from the communication between the robot and the app (maybe the information found on https://github.com/OpenMiHome/mihome-binary-protocol can help with decrypting) or found elsewhere.

When the commands are known they can be tested with raw_command, for example:

mirobo raw_command set_dnd_timer '[22,0,8,0]'

or

mirobo raw_command app_start

What kind of features do you find practical we are missing right now?

[bramkragten]

Hi @rytilahti,

First thanks for the great work!

A function that I would find helpful is the remote control.

My mirobo lives under the couch, so to empty the dustbin I have to let him come out with the remote control, empty him and send him to the dock.

Would love to be able to program one button and have the vacuum come under the couch and stop. So programming a certain amount of presses off the remote function in a row.

Would that be possible?

Thanks!

[rytilahti]

Yes, that's possible and looks like the required commands for manual control are listed also here: https://github.com/ioBroker/ioBroker.mihome-vacuum/blob/master/README.md#sende-eigene-kommandos . Currently you could test it out with raw_command command of mirobo to see if it fits, implementing proper wrappers to make commanding easier should also not be too hard (requires just modifying vacuum.py file).

[bramkragten]

Great Thanks! Was searching for that list.

Would you like a PR when I have implemented it? Would like to add it to the Home assistant component as well.

[rytilahti]

Patches and PRs are definitely welcome. I will still have to fix the issue with never firmwares properly (to release 0.1.0 and bump the homeassistant component), and as I saw your message I thought including control mode to the same release would be nice.

[1043717432]

Thank you Looking forward to sharing, cheers!

[bramkragten]

OK, I added it to vacuum.py and added a service to the home assistant component. Should I make a PR at home assistant for that, or should I send it to you so you can add it (and check, not to familiar with hass...)?

[rytilahti]

Both are fine for me, however, please lets get those vacuum.py changes merged here, so that then I can release 0.1.0 and the version can be bumped for the home assistant component. If you want I can check the component and make a PR to homeassistant.

Btw, did you base your component modifications on the component already in homeassistant's repository? It got merged earlier this week and the one in this repository is not up to date.

[bramkragten]

It is based on the PR in the hass repo.

Everything is working, and the device enters remote control mode, but I can't get it moving yet... don't know what I'm doing wrong.

Do you know if there is any documentation about this function?

[rytilahti]

In the previous link there's app_rc_move with the following parameters, I translated them:

[{"seqnum":'0-1000',"velocity":velocity,"omega":rotation,"duration":duration}]

velocity = -0.3 - 0.3,
rotation = -3.1 - 3.1
duration = milliseconds?

Here's also a longer example of the messaging: http://www.roboter-forum.com/showthread.php?18752-Das-System-hinter-dem-Robo&p=214572&viewfull=1#post214572 so:

1. app_rc_start for starting
2. app_rc_move for ordering the moves, sequence number needs to be increased.
3. app_rc_end to end the manual mode.

[rytilahti]

I just tested it a bit with raw_commands, these seem to work:

1. Moving onwards (when already started)

mirobo -dd raw_command app_rc_move '[{"seqnum":2,"velocity":0.2,"omega":0.0,"duration":1500}]'

2. Move back

mirobo -dd raw_command app_rc_move '[{"seqnum":3,"velocity":-0.2,"omega":0.0,"duration":1500}]'

3. End

mirobo -dd raw_command app_rc_end '[{"seqnum":4}]'

[bramkragten]

I have:

 def rc_move_once(self, speed, direction, duration):
        self.send("app_rc_start")
        time.sleep(30)
        self.send("app_rc_move", [{"omega":direction,"velocity":speed,"seqnum":1,"duration":duration}])
        time.sleep(30)
        return self.send("app_rc_end", [{"seqnum":2}])

and calling:

vacuum.rc_move_once(0.3, 0.0, 1500)
But it is not moving (added the sleep because I thought it might be sending the command to soon or something...) it just says "using remote control" and stopping after a minute.

[rytilahti]

That sleep delays it for 30 seconds, maybe that's too long? What does it display when using -d?

DEBUG:mirobo.device:192.168.250.219:54321 >>: {'method': 'app_rc_start', 'id': 76}
DEBUG:mirobo.device:192.168.250.219:54321 (ts: 1970-01-01 19:41:32, id: 76) << {'result': 0, 'id': 76}

DEBUG:mirobo.device:192.168.250.219:54321 >>: {'method': 'app_rc_move', 'id': 80, 'params': [{'omega': 0.0, 'velocity': 0.2, 'seqnum': 5, 'duration': 3000}]}
DEBUG:mirobo.device:192.168.250.219:54321 (ts: 1970-01-01 19:42:20, id: 80) << {'id': 80, 'result': 0}

DEBUG:mirobo.device:192.168.250.219:54321 >>: {'params': [{'seqnum': 5}], 'id': 81, 'method': 'app_rc_end'}
DEBUG:mirobo.device:192.168.250.219:54321 (ts: 1970-01-01 19:42:32, id: 81) << {'result': 0, 'id': 81}

[bramkragten]

Tried every delay possible (and without...) same result. Don't know, will keep trying...

In hass, I get a lot of time outs, is that happening for you too?

[rytilahti]

Hmm, if you don't mind I will try to implement it, what types of commands would you be expecting to have? Move forward, turn left, turn right, move backwards with adjustable angles and speeds?

About the timeouts, are you using the current git master or a released version?

[bramkragten]

Sure, no problem. I just need it to move forwards, but have it made now that you just put in speed, direction and duration.

I'm using 0.9. I will put the home assistant component in my repo and send you the link.

[bramkragten]

Not fully tested yet:

https://github.com/bramkragten/home-assistant/blob/6e30f0d955dcf79bcd75ff5fa6334cbe10ca974d/homeassistant/components/switch/services.yaml

https://github.com/bramkragten/home-assistant/blob/a5747a6cacc5c46e902d2ccd168059e3a7213ff8/homeassistant/components/switch/xiaomi_vacuum.py

[rytilahti]

Actually could you submit that after bumping the version & testing, I can do a code review then on homeassistant repo? I just uploaded new 0.1.0 with basic remote control features, the values for omega, velocity and duration are unknown, although omega lets rotations, velocity backwards/forwards. Duration itself doesn't seem to be a duration but something else.

[bramkragten]

Nice, I like the way you've done that. I will update the component to play nice with the new version, and then do a PR in the hass repo.

[bramkragten]

home-assistant/core#8416

[1043717432]

Thank you. I got a lot of good news! Cheers!

[marksev1]

Bramkragten, how would I do it in home-assistant that I would press some buttons (forward, left, right, back) and the robot would move while the button was pressed? Or possibly with some joystick style controller (RemoteXY app for android which can be tied with Node-red and HASS), if such an interface could be implemented for HASS it would be really nice.

[bramkragten]

You would have to deal with that mostly outside of Home Assistant, you should call the service every so many seconds while the button is pressed.

[marksev1]

What about progressive speed control, if there was a slider which would progressivly increase the speed? Could I tie in with some variable? 2017-08-22 13:00 GMT+02:00 Bram Kragten <notifications@github.com>:

…

You would have to deal with that mostly outside of Home Assistant, you should call the service every so many seconds while the button is pressed. — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#10 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ADM3m5UstseGEAEQ4wsDVGMAFmOVsecIks5sarS8gaJpZM4Nf_gV> .

[rytilahti]

As the discussion has turned towards homeassistant functionality and the manual controls are already in place, I will close this for now. If there is interest in adding support for progressive speed controls, I'm open for suggestions and PRs, but those can be handled in separate issues.