position_solution_string:position_solution.*
{
(ReadingsNum("MQTT2_Krobi","position_solution",0) == 2)? "fix":
(ReadingsNum("MQTT2_Krobi","position_solution",0) == 1)? "float":"invalid"
},
job_string:job.*
{
(ReadingsNum("MQTT2_Krobi","job",3) == 4)? "docking":
(ReadingsNum("MQTT2_Krobi","job",3) == 3)? "error":
((ReadingsNum("MQTT2_Krobi","job",3) == 2) and (ReadingsNum("MQTT2_Krobi","amps",0) >= -0.03))? "docked":
((ReadingsNum("MQTT2_Krobi","job",3) == 2) and (ReadingsNum("MQTT2_Krobi","amps",0) < -0.03))? "charge":
(ReadingsNum("MQTT2_Krobi","job",3) == 1)? "mow":
(ReadingsNum("MQTT2_Krobi","job",3) == 0)? "idle":"error uknown state"
},
last_sensor_trigger:sensor.*
{
(ReadingsNum("MQTT2_Krobi","sensor",18) == 17)? "emergency/stop button triggered":
(ReadingsNum("MQTT2_Krobi","sensor",18) == 16)? "rain sensor triggered":
(ReadingsNum("MQTT2_Krobi","sensor",18) == 15)? "lift sensor triggered":
(ReadingsNum("MQTT2_Krobi","sensor",18) == 14)? "ultrasonic sensor triggered":
(ReadingsNum("MQTT2_Krobi","sensor",18) == 13)? "bumper sensor triggered":
(ReadingsNum("MQTT2_Krobi","sensor",18) == 12)? "cpu memory overflow":
(ReadingsNum("MQTT2_Krobi","sensor",18) == 11)? "robot cannot find a route to next planned point":
(ReadingsNum("MQTT2_Krobi","sensor",18) == 10)? "motor odometry error":
(ReadingsNum("MQTT2_Krobi","sensor",18) == 9)? "gps is invalid or not working":
(ReadingsNum("MQTT2_Krobi","sensor",18) == 8)? "motor error":
(ReadingsNum("MQTT2_Krobi","sensor",18) == 7)? "motor overload":
(ReadingsNum("MQTT2_Krobi","sensor",18) == 6)? "robot has been kidnapped and is no longer on planned track":
(ReadingsNum("MQTT2_Krobi","sensor",18) == 5)? "imu sensor triggered tilt":
(ReadingsNum("MQTT2_Krobi","sensor",18) == 4)? "imu sensor triggered timeout":
(ReadingsNum("MQTT2_Krobi","sensor",18) == 3)? "gps fix timeout":
(ReadingsNum("MQTT2_Krobi","sensor",18) == 2)? "obstacle triggered":
(ReadingsNum("MQTT2_Krobi","sensor",18) == 1)? "battery undervoltage":
(ReadingsNum("MQTT2_Krobi","sensor",18) == 0)? "no error":"sensor unknown state"
},