matterbridge-roborock-vacuum-plugin/dist/cli/commands/b01PoseInfo.js

Matterbridge Roborock Vacuum Plugin

import { B01MapParser } from '../../roborockCommunication/map/b01/b01MapParser.js';
import { resolveRoomFromPose } from '../../roborockCommunication/map/b01/roomMatrixResolver.js';
import { Protocol } from '../../roborockCommunication/models/index.js';
import { connectDevice } from '../connection.js';
import { waitForPush } from '../waitForPush.js';
export async function cmdB01PoseInfo(duid, session, logger, local = false) {
    const device = session.devices.find((d) => d.duid === duid);
    if (!device)
        throw new Error(`Device not found: ${duid}`);
    const modelShortCode = device.specs.model.split('.').at(-1);
    const deviceSerial = device.serialNumber;
    if (!modelShortCode) {
        console.error('Could not determine device model short code.');
        return;
    }
    const { clientRouter, dispatcher } = await connectDevice(duid, session, logger, local);
    try {
        const mapBinaryPromise = waitForPush(clientRouter, duid, (msg) => {
            const buf = msg.body?.get(Protocol.map_response);
            return Buffer.isBuffer(buf) ? buf : undefined;
        });
        void dispatcher.getMapInfo(duid);
        console.log('Waiting for B01 map binary...');
        const rawBuffer = await mapBinaryPromise;
        if (!rawBuffer) {
            console.log('No map binary received within timeout.');
            return;
        }
        const parser = new B01MapParser();
        let b01Info;
        try {
            b01Info = parser.parseRoomsFromEncryptedBinary(rawBuffer, modelShortCode, deviceSerial);
        }
        catch (err) {
            console.error('Failed to decode B01 map binary:', err instanceof Error ? err.message : String(err));
            return;
        }
        const resolvedRoom = resolveRoomFromPose(b01Info.currentPose, b01Info.roomMatrix);
        console.log('\nRobot pose:', b01Info.currentPose ?? 'not found');
        console.log('Resolved room:', resolvedRoom ?? 'could not determine — roomMatrix decoding not yet implemented, pending real-device capture');
        console.log('\nRaw rooms (roomDataInfo):');
        for (const room of b01Info.rooms) {
            console.log(`  [${room.roomId}] ${room.roomName || '(unnamed)'}  labelPos=${JSON.stringify(room.labelPos)}`);
        }
        console.log('\nRaw roomMatrix byte length (diagnostic only, not decoded):', b01Info.roomMatrix?.data.length ?? 'not found');
    }
    finally {
        await clientRouter.disconnect();
    }
}
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