neato lidara

2026-09-15 17:12:59 -04:00 · 2026-05-01 17:10:00 -04:00
parent 6523ea7417
commit e3e563feee
10 changed files with 437 additions and 92 deletions
@@ -38,6 +38,10 @@ homeAssistant:
    # ESPHome device name, used to derive gen3 entities:
    # button.<device>_house_clean, button.<device>_send_to_base, button.<device>_locate_robot, etc.
    device: "neato_vacuum"
+    # Direct ESPHome API connection used for lidar log streaming.
+    brainslugHost: "neato-vacuum.local"
+    brainslugPort: 6053
+    brainslugKey: "REPLACE_WITH_ESPHOME_NOISE_PSK"
  lift:
    # Two Home Assistant switches controlling lift direction.
    # Raise sequence: down off -> wait interlockMs -> up on
@@ -11,8 +11,8 @@
    <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
    <meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
    <title>Multi Roomba Rover</title>
-    <script type="module" crossorigin src="/assets/index-CKRKhxHH.js"></script>
-    <link rel="stylesheet" crossorigin href="/assets/index-EE3dCtON.css">
+    <script type="module" crossorigin src="/assets/index-CZ7Wc8AL.js"></script>
+    <link rel="stylesheet" crossorigin href="/assets/index-BNzmusoM.css">
  </head>
  <body>
    <div id="root"></div>
@@ -6,6 +6,7 @@ const io = require('../../globals/io');
 const logger = require('../../globals/logger').child('neatoService');
 const { loadConfig } = require('../../helpers/configLoader');
 const { isVerified } = require('../verificationService');
+const { createLidarRuntime } = require('./lidarRuntime');
 const {
  homeAssistantEvents,
  getRawEntitySnapshot,
@@ -27,6 +28,10 @@ function normalizeDeviceName(value) {

 const device = normalizeDeviceName(neatoConfig.device);
 const RESUME_DELAY_MS = 3000;
+const brainslugHost = String(neatoConfig.brainslugHost || '').trim();
+const brainslugPort = Number(neatoConfig.brainslugPort) || 6053;
+const brainslugKey = String(neatoConfig.brainslugKey || '').trim();
+let lidarRuntime = null;

 function entityId(domain, suffix) {
  if (!device) return '';
@@ -159,6 +164,7 @@ function buildState() {
    enabled,
    configured,
    connected,
+    lidarConnected: lidarRuntime?.getState?.().connected || false,
    device,
    entityPrefix: device ? `${device}_` : '',
    controls,
@@ -219,6 +225,14 @@ async function pressButton(entityIdValue, actionLabel) {
  logger.info('Issued Neato action', { action: actionLabel, entityId: entityIdValue });
 }

+async function requestLidarScan() {
+  assertConfiguredAndConnected();
+  if (!device) {
+    throw new Error('Neato not configured');
+  }
+  await callHomeAssistantService('esphome', `${device}_send_cmd`, { command: 'GetLDSScan' });
+}
+
 async function startCleaning() {
  await pressButton(ENTITY_IDS.buttons.start, 'start');
  await new Promise((resolve) => setTimeout(resolve, RESUME_DELAY_MS));
@@ -246,6 +260,44 @@ function getState() {
  return cachedState;
 }

+function hasVerifiedSockets() {
+  for (const socket of io.sockets.sockets.values()) {
+    if (isVerified(socket)) return true;
+  }
+  return false;
+}
+
+function broadcastLidarScan(payload) {
+  for (const socket of io.sockets.sockets.values()) {
+    if (!isVerified(socket)) continue;
+    socket.emit('neato:lidar', payload);
+  }
+}
+
+lidarRuntime =
+  brainslugHost && brainslugKey
+    ? createLidarRuntime({
+        logger,
+        host: brainslugHost,
+        port: brainslugPort,
+        key: brainslugKey,
+        shouldPoll: () => Boolean(homeAssistantEnabled && isHomeAssistantConnected() && hasVerifiedSockets()),
+        requestScan: requestLidarScan,
+      })
+    : null;
+
+if (lidarRuntime) {
+  lidarRuntime.on('scan', (payload) => {
+    broadcastLidarScan(payload);
+  });
+  lidarRuntime.on('status', () => {
+    emitUpdate();
+  });
+  lidarRuntime.start();
+} else if (device) {
+  logger.info('Neato lidar stream disabled; brainslugHost/brainslugKey missing');
+}
+
 io.on('connection', (socket) => {
  socket.on('neato:start', async (_, cb = () => {}) => {
    try {
@@ -0,0 +1,237 @@
+const { spawn } = require('child_process');
+const EventEmitter = require('events');
+
+const POLL_INTERVAL_MS = 1000;
+const SCAN_TIMEOUT_MS = 6000;
+const RECONNECT_DELAY_MS = 5000;
+
+function parseQuotedPayload(line) {
+  const match = String(line || '').match(/<<< "(.*)"$/);
+  if (!match) return null;
+  return match[1];
+}
+
+function parsePointPayload(payload) {
+  const match = String(payload || '').match(/^(\d+),(\d+),(\d+),([0-9A-Fa-f]+)$/);
+  if (!match) return null;
+  const angleDeg = Number(match[1]);
+  const distanceMm = Number(match[2]);
+  const intensity = Number(match[3]);
+  const errorCodeHex = String(match[4]).toUpperCase();
+  return {
+    angleDeg,
+    distanceMm,
+    intensity,
+    errorCodeHex,
+    valid: errorCodeHex === '0' && distanceMm > 0,
+  };
+}
+
+function parseRotationSpeed(payload) {
+  const match = String(payload || '').match(/^ROTATION_SPEED,([0-9.]+)$/);
+  if (!match) return null;
+  return Number(match[1]);
+}
+
+function createLidarRuntime({ logger, host, port = 6053, key, shouldPoll, requestScan }) {
+  const events = new EventEmitter();
+  const state = {
+    connected: false,
+    process: null,
+    reconnectTimer: null,
+    pollTimer: null,
+    stdoutBuffer: '',
+    currentScan: null,
+    requestInFlight: false,
+    requestStartedAt: 0,
+  };
+
+  function emitStatus() {
+    events.emit('status', { connected: state.connected });
+  }
+
+  function clearReconnectTimer() {
+    if (!state.reconnectTimer) return;
+    clearTimeout(state.reconnectTimer);
+    state.reconnectTimer = null;
+  }
+
+  function scheduleReconnect() {
+    if (state.reconnectTimer) return;
+    state.reconnectTimer = setTimeout(() => {
+      state.reconnectTimer = null;
+      startLogStream();
+    }, RECONNECT_DELAY_MS);
+  }
+
+  function resetScanState() {
+    state.currentScan = null;
+    state.requestInFlight = false;
+    state.requestStartedAt = 0;
+  }
+
+  function finalizeScan() {
+    if (!state.currentScan) {
+      resetScanState();
+      return;
+    }
+    const points = Array.from(state.currentScan.points.values()).sort((a, b) => a.angleDeg - b.angleDeg);
+    const payload = {
+      points,
+      rotationSpeed: state.currentScan.rotationSpeed,
+    };
+    resetScanState();
+    events.emit('scan', payload);
+  }
+
+  function handlePayload(payload) {
+    if (!payload) return;
+    if (payload === 'AngleInDegrees,DistInMM,Intensity,ErrorCodeHEX') {
+      state.currentScan = {
+        points: new Map(),
+        rotationSpeed: null,
+      };
+      return;
+    }
+    const rotationSpeed = parseRotationSpeed(payload);
+    if (rotationSpeed != null) {
+      if (state.currentScan) state.currentScan.rotationSpeed = rotationSpeed;
+      finalizeScan();
+      return;
+    }
+    const point = parsePointPayload(payload);
+    if (!point || !state.currentScan) return;
+    state.currentScan.points.set(point.angleDeg, point);
+  }
+
+  function handleStdoutChunk(chunk) {
+    state.stdoutBuffer += String(chunk || '');
+    const lines = state.stdoutBuffer.split(/\r?\n/);
+    state.stdoutBuffer = lines.pop() || '';
+    for (const line of lines) {
+      const payload = parseQuotedPayload(line);
+      handlePayload(payload);
+    }
+  }
+
+  function teardownProcess() {
+    const proc = state.process;
+    state.process = null;
+    state.connected = false;
+    emitStatus();
+    resetScanState();
+    if (!proc) return;
+    proc.removeAllListeners();
+    proc.stdout?.removeAllListeners();
+    proc.stderr?.removeAllListeners();
+    try {
+      proc.kill();
+    } catch (err) {
+      logger.warn('Failed to stop Neato lidar log process', err.message);
+    }
+  }
+
+  function startLogStream() {
+    if (!host || !key) return;
+    if (state.process) return;
+
+    const args = [
+      '--from',
+      'aioesphomeapi',
+      'aioesphomeapi-logs',
+      host,
+      '--port',
+      String(port || 6053),
+      '--noise-psk',
+      key,
+      '--no-states',
+    ];
+
+    logger.info('Starting Neato lidar log stream', { host, port: Number(port || 6053) });
+    const proc = spawn('uvx', args, {
+      stdio: ['ignore', 'pipe', 'pipe'],
+    });
+    state.process = proc;
+    state.stdoutBuffer = '';
+
+    proc.stdout.on('data', (chunk) => {
+      if (!state.connected) {
+        state.connected = true;
+        emitStatus();
+      }
+      handleStdoutChunk(chunk);
+    });
+
+    proc.stderr.on('data', (chunk) => {
+      const message = String(chunk || '').trim();
+      if (message) logger.warn('Neato lidar log stream stderr', message);
+    });
+
+    proc.on('close', (code, signal) => {
+      logger.warn('Neato lidar log stream stopped', { code, signal });
+      teardownProcess();
+      scheduleReconnect();
+    });
+
+    proc.on('error', (err) => {
+      logger.warn('Neato lidar log stream error', err.message);
+      teardownProcess();
+      scheduleReconnect();
+    });
+  }
+
+  async function tickPoll() {
+    if (!state.connected) return;
+    if (!shouldPoll?.()) return;
+    if (state.requestInFlight) {
+      if (Date.now() - state.requestStartedAt >= SCAN_TIMEOUT_MS) {
+        logger.warn('Neato lidar scan timed out; resetting parser state');
+        resetScanState();
+      }
+      return;
+    }
+    state.requestInFlight = true;
+    state.requestStartedAt = Date.now();
+    try {
+      await requestScan?.();
+    } catch (err) {
+      logger.warn('Failed to request Neato lidar scan', err.message);
+      resetScanState();
+    }
+  }
+
+  function start() {
+    startLogStream();
+    if (!state.pollTimer) {
+      state.pollTimer = setInterval(() => {
+        tickPoll();
+      }, POLL_INTERVAL_MS);
+    }
+  }
+
+  function stop() {
+    clearReconnectTimer();
+    if (state.pollTimer) {
+      clearInterval(state.pollTimer);
+      state.pollTimer = null;
+    }
+    teardownProcess();
+  }
+
+  function getState() {
+    return {
+      connected: state.connected,
+    };
+  }
+
+  return {
+    start,
+    stop,
+    getState,
+    on: (...args) => events.on(...args),
+  };
+}
+
+module.exports = {
+  createLidarRuntime,
+};