It's been a while. But we're back!

The roomba has been doing it's scheduled job for quite a while. And I must say, I'm impressed with the stability of the whole setup. 

The battery needed replacing after two years. The roomba also would quit outputting serial data a few times and needed a reset. But it would run beautifully for months at a time! 

In the meantime the house got some changes and additional occupants. The complete (digital) infrastructure was also changed,. The mapping service now runs on a different / separate Raspberry Pi. Home Assistant had a complete reinstall and runs on HAOS. 

The roomba has been in storage for almost a year during construction works. But when I turned it back on the MQTT-autodiscovery worked like a charm!

It has been cleaning the bedroom now. 

I'm running into a few stability now and usability issues which I want to address:

• Unexplained crashes. The ESP would need a hard reset;
• WiFi dropouts (connected to the crashes?);
• Watchdogtimer does not trigger and reset the ESP; 
• If "done cleaning" event is not received, mapping algorithm on Pi also won't stop;
• State changes and availability messages are not ideal; 
• It needs a "come out from under the bed so I can change your dustbin" routine;
• MQTT-autodiscover should be device-based instead of component based;

So stay tuned! We're back!