Valetudo/backend/lib/robots/dreame/capabilities/Dreame1CZoneCleaningCapability.js

const DreameMapParser = require("../DreameMapParser");
const RobotFirmwareError = require("../../../core/RobotFirmwareError");
const ZoneCleaningCapability = require("../../../core/capabilities/ZoneCleaningCapability");

/**
 * @extends ZoneCleaningCapability<import("../Dreame1CValetudoRobot")>
 */
class Dreame1CZoneCleaningCapability extends ZoneCleaningCapability {
    /**
     *
     * @param {object} options
     * @param {import("../Dreame1CValetudoRobot")} options.robot
     *
     * @param {object} options.miot_actions
     * @param {object} options.miot_actions.start
     * @param {number} options.miot_actions.start.siid
     * @param {number} options.miot_actions.start.aiid
     *
     * @param {object} options.miot_properties
     * @param {object} options.miot_properties.mode
     * @param {object} options.miot_properties.mode.piid
     * @param {object} options.miot_properties.additionalCleanupParameters
     * @param {number} options.miot_properties.additionalCleanupParameters.piid
     *
     * @param {number} options.zoneCleaningModeId
     */
    constructor(options) {
        super(options);

        this.miot_actions = options.miot_actions;
        this.miot_properties = options.miot_properties;

        this.zoneCleaningModeId = options.zoneCleaningModeId;
    }

    async start(options) {
        const zones = [];

        options.zones.forEach((vZ, i) => {
            const pA = DreameMapParser.CONVERT_TO_DREAME_COORDINATES(vZ.points.pA.x, vZ.points.pA.y);
            const pC = DreameMapParser.CONVERT_TO_DREAME_COORDINATES(vZ.points.pC.x, vZ.points.pC.y);

            zones.push([
                pA.x,
                pA.y,

                pC.x,
                pC.y
            ]);
        });

        const res = await this.robot.sendCommand("action",
            {
                did: this.robot.deviceId,
                siid: this.miot_actions.start.siid,
                aiid: this.miot_actions.start.aiid,
                in: [
                    {
                        piid: this.miot_properties.mode.piid,
                        value: this.zoneCleaningModeId
                    },
                    {
                        piid: this.miot_properties.additionalCleanupParameters.piid,
                        value: zones[0].join(",")
                    }
                ]
            }
        );

        if (res.code !== 0) {
            throw new RobotFirmwareError("Error code " + res.code);
        }
    }

    /**
     * @returns {import("../../../core/capabilities/ZoneCleaningCapability").ZoneCleaningCapabilityProperties}
     */
    getProperties() {
        return {
            zoneCount: {
                min: 1,
                max: 1
            },
            iterationCount: {
                min: 1,
                max: 1
            }
        };
    }
}

module.exports = Dreame1CZoneCleaningCapability;