Roborock Add vacuum_goto service (#133994)

* Roborock Add vacuum_goto service to control vacuum movement to specified coordinates

* roborock Add type specification for x_coord and y_coord in vacuum_goto service

* roborock Add get_current_position service to retrieve vacuum's current coordinates

* Rename vacuum services for clarity and consistency

* Apply suggestions from code review

Co-authored-by: G Johansson <goran.johansson@shiftit.se>

* Add integration field to vacuum service targets for Roborock

---------

Co-authored-by: G Johansson <goran.johansson@shiftit.se>

homeassistant/components/roborock/const.py

@@ -49,3 +49,5 @@ IMAGE_CACHE_INTERVAL = 90
 MAP_SLEEP = 3
 
 GET_MAPS_SERVICE_NAME = "get_maps"
+SET_VACUUM_GOTO_POSITION_SERVICE_NAME = "set_vacuum_goto_position"
+GET_VACUUM_CURRENT_POSITION_SERVICE_NAME = "get_vacuum_current_position"

homeassistant/components/roborock/icons.json

@@ -121,6 +121,12 @@
   "services": {
     "get_maps": {
       "service": "mdi:floor-plan"
+    },
+    "set_vacuum_goto_position": {
+      "service": "mdi:map-marker"
+    },
+    "get_vacuum_current_position": {
+      "service": "mdi:map-marker"
     }
   }
 }

homeassistant/components/roborock/services.yaml

@@ -1,4 +1,28 @@
 get_maps:
   target:
     entity:
+      integration: roborock
+      domain: vacuum
+set_vacuum_goto_position:
+  target:
+    entity:
+      integration: roborock
+      domain: vacuum
+  fields:
+    x_coord:
+      example: 27500
+      required: true
+      selector:
+        text:
+          type: number
+    y_coord:
+      example: 32000
+      required: true
+      selector:
+        text:
+          type: number
+get_vacuum_current_position:
+  target:
+    entity:
+      integration: roborock
       domain: vacuum

homeassistant/components/roborock/strings.json

@@ -428,6 +428,24 @@
     "get_maps": {
       "name": "Get maps",
       "description": "Get the map and room information of your device."
+    },
+    "set_vacuum_goto_position": {
+      "name": "Go to position",
+      "description": "Send the vacuum to a specific position.",
+      "fields": {
+        "x_coord": {
+          "name": "X-coordinate",
+          "description": ""
+        },
+        "y_coord": {
+          "name": "Y-coordinate",
+          "description": ""
+        }
+      }
+    },
+    "get_vacuum_current_position": {
+      "name": "Get current position",
+      "description": "Get the current position of the vacuum."
     }
   }
 }

homeassistant/components/roborock/vacuum.py

@@ -6,6 +6,7 @@ from typing import Any
 from roborock.code_mappings import RoborockStateCode
 from roborock.roborock_message import RoborockDataProtocol
 from roborock.roborock_typing import RoborockCommand
+import voluptuous as vol
 
 from homeassistant.components.vacuum import (
     StateVacuumEntity,
@@ -13,13 +14,20 @@ from homeassistant.components.vacuum import (
     VacuumEntityFeature,
 )
 from homeassistant.core import HomeAssistant, ServiceResponse, SupportsResponse
-from homeassistant.helpers import entity_platform
+from homeassistant.exceptions import HomeAssistantError
+from homeassistant.helpers import config_validation as cv, entity_platform
 from homeassistant.helpers.entity_platform import AddEntitiesCallback
 
 from . import RoborockConfigEntry
-from .const import DOMAIN, GET_MAPS_SERVICE_NAME
+from .const import (
+    DOMAIN,
+    GET_MAPS_SERVICE_NAME,
+    GET_VACUUM_CURRENT_POSITION_SERVICE_NAME,
+    SET_VACUUM_GOTO_POSITION_SERVICE_NAME,
+)
 from .coordinator import RoborockDataUpdateCoordinator
 from .entity import RoborockCoordinatedEntityV1
+from .image import ColorsPalette, ImageConfig, RoborockMapDataParser, Sizes
 
 STATE_CODE_TO_STATE = {
     RoborockStateCode.starting: VacuumActivity.IDLE,  # "Starting"
@@ -69,6 +77,25 @@ async def async_setup_entry(
         supports_response=SupportsResponse.ONLY,
     )
 
+    platform.async_register_entity_service(
+        GET_VACUUM_CURRENT_POSITION_SERVICE_NAME,
+        None,
+        RoborockVacuum.get_vacuum_current_position.__name__,
+        supports_response=SupportsResponse.ONLY,
+    )
+
+    platform.async_register_entity_service(
+        SET_VACUUM_GOTO_POSITION_SERVICE_NAME,
+        cv.make_entity_service_schema(
+            {
+                vol.Required("x_coord"): vol.Coerce(int),
+                vol.Required("y_coord"): vol.Coerce(int),
+            },
+        ),
+        RoborockVacuum.async_set_vacuum_goto_position.__name__,
+        supports_response=SupportsResponse.NONE,
+    )
+
 
 class RoborockVacuum(RoborockCoordinatedEntityV1, StateVacuumEntity):
     """General Representation of a Roborock vacuum."""
@@ -158,6 +185,10 @@ class RoborockVacuum(RoborockCoordinatedEntityV1, StateVacuumEntity):
             [self._device_status.get_fan_speed_code(fan_speed)],
         )
 
+    async def async_set_vacuum_goto_position(self, x_coord: int, y_coord: int) -> None:
+        """Send vacuum to a specific target point."""
+        await self.send(RoborockCommand.APP_GOTO_TARGET, [x_coord, y_coord])
+
     async def async_send_command(
         self,
         command: str,
@@ -174,3 +205,21 @@ class RoborockVacuum(RoborockCoordinatedEntityV1, StateVacuumEntity):
                 asdict(vacuum_map) for vacuum_map in self.coordinator.maps.values()
             ]
         }
+
+    async def get_vacuum_current_position(self) -> ServiceResponse:
+        """Get the current position of the vacuum from the map."""
+
+        map_data = await self.coordinator.cloud_api.get_map_v1()
+        if not isinstance(map_data, bytes):
+            raise HomeAssistantError("Failed to retrieve map data.")
+        parser = RoborockMapDataParser(ColorsPalette(), Sizes(), [], ImageConfig(), [])
+        parsed_map = parser.parse(map_data)
+        robot_position = parsed_map.vacuum_position
+
+        if robot_position is None:
+            raise HomeAssistantError("Robot position not found")
+
+        return {
+            "x": robot_position.x,
+            "y": robot_position.y,
+        }

tests/components/roborock/test_vacuum.py

@@ -8,9 +8,14 @@ import pytest
 from roborock import RoborockException
 from roborock.roborock_typing import RoborockCommand
 from syrupy.assertion import SnapshotAssertion
+from vacuum_map_parser_base.map_data import Point
 
 from homeassistant.components.roborock import DOMAIN
-from homeassistant.components.roborock.const import GET_MAPS_SERVICE_NAME
+from homeassistant.components.roborock.const import (
+    GET_MAPS_SERVICE_NAME,
+    GET_VACUUM_CURRENT_POSITION_SERVICE_NAME,
+    SET_VACUUM_GOTO_POSITION_SERVICE_NAME,
+)
 from homeassistant.components.vacuum import (
     SERVICE_CLEAN_SPOT,
     SERVICE_LOCATE,
@@ -27,7 +32,7 @@ from homeassistant.exceptions import HomeAssistantError
 from homeassistant.helpers import device_registry as dr, entity_registry as er
 from homeassistant.setup import async_setup_component
 
-from .mock_data import PROP
+from .mock_data import MAP_DATA, PROP
 
 from tests.common import MockConfigEntry
 
@@ -181,3 +186,112 @@ async def test_get_maps(
         return_response=True,
     )
     assert response == snapshot
+
+
+async def test_goto(
+    hass: HomeAssistant,
+    bypass_api_fixture,
+    setup_entry: MockConfigEntry,
+) -> None:
+    """Test sending the vacuum to specific coordinates."""
+    vacuum = hass.states.get(ENTITY_ID)
+    assert vacuum
+
+    data = {ATTR_ENTITY_ID: ENTITY_ID, "x_coord": 25500, "y_coord": 25500}
+    with patch(
+        "homeassistant.components.roborock.coordinator.RoborockLocalClientV1.send_command"
+    ) as mock_send_command:
+        await hass.services.async_call(
+            DOMAIN,
+            SET_VACUUM_GOTO_POSITION_SERVICE_NAME,
+            data,
+            blocking=True,
+        )
+        assert mock_send_command.call_count == 1
+        assert mock_send_command.call_args[0][0] == RoborockCommand.APP_GOTO_TARGET
+        assert mock_send_command.call_args[0][1] == [25500, 25500]
+
+
+async def test_get_current_position(
+    hass: HomeAssistant,
+    bypass_api_fixture,
+    setup_entry: MockConfigEntry,
+    snapshot: SnapshotAssertion,
+) -> None:
+    """Test that the service for getting the current position outputs the correct coordinates."""
+    map_data = copy.deepcopy(MAP_DATA)
+    map_data.vacuum_position = Point(x=123, y=456)
+    map_data.image = None
+    with (
+        patch(
+            "homeassistant.components.roborock.coordinator.RoborockMqttClientV1.get_map_v1",
+            return_value=b"",
+        ),
+        patch(
+            "homeassistant.components.roborock.image.RoborockMapDataParser.parse",
+            return_value=map_data,
+        ),
+    ):
+        response = await hass.services.async_call(
+            DOMAIN,
+            GET_VACUUM_CURRENT_POSITION_SERVICE_NAME,
+            {ATTR_ENTITY_ID: ENTITY_ID},
+            blocking=True,
+            return_response=True,
+        )
+        assert response == {
+            "vacuum.roborock_s7_maxv": {
+                "x": 123,
+                "y": 456,
+            },
+        }
+
+
+async def test_get_current_position_no_map_data(
+    hass: HomeAssistant,
+    bypass_api_fixture,
+    setup_entry: MockConfigEntry,
+) -> None:
+    """Test that the service for getting the current position handles no map data error."""
+    with (
+        patch(
+            "homeassistant.components.roborock.coordinator.RoborockMqttClientV1.get_map_v1",
+            return_value=None,
+        ),
+        pytest.raises(HomeAssistantError, match="Failed to retrieve map data."),
+    ):
+        await hass.services.async_call(
+            DOMAIN,
+            GET_VACUUM_CURRENT_POSITION_SERVICE_NAME,
+            {ATTR_ENTITY_ID: ENTITY_ID},
+            blocking=True,
+            return_response=True,
+        )
+
+
+async def test_get_current_position_no_robot_position(
+    hass: HomeAssistant,
+    bypass_api_fixture,
+    setup_entry: MockConfigEntry,
+) -> None:
+    """Test that the service for getting the current position handles no robot position error."""
+    map_data = copy.deepcopy(MAP_DATA)
+    map_data.vacuum_position = None
+    with (
+        patch(
+            "homeassistant.components.roborock.coordinator.RoborockMqttClientV1.get_map_v1",
+            return_value=b"",
+        ),
+        patch(
+            "homeassistant.components.roborock.image.RoborockMapDataParser.parse",
+            return_value=map_data,
+        ),
+        pytest.raises(HomeAssistantError, match="Robot position not found"),
+    ):
+        await hass.services.async_call(
+            DOMAIN,
+            GET_VACUUM_CURRENT_POSITION_SERVICE_NAME,
+            {ATTR_ENTITY_ID: ENTITY_ID},
+            blocking=True,
+            return_response=True,
+        )