configuration.yaml

script:
  vacuum_close_garage:
    sequence:
      - condition: state
        entity_id: switch.vacuum_garage
        state: 'on'
      - service: switch.turn_off
        entity_id: switch.vacuum_garage

  vacuum_open_garage:
    sequence:
      - condition: state
        entity_id: switch.vacuum_garage
        state: 'off'
      - service: switch.turn_on
        entity_id: switch.vacuum_garage

  vacuum_leave_garage:
    sequence:
      - condition: state
        entity_id: vacuum.xiaomi_vacuum
        state: 'docked'
      - service: script.vacuum_open_garage
      - wait_template: "{{ is_state('switch.vacuum_garage', 'on') }}"
      - service: vacuum.xiaomi_remote_control_start
        data:
          entity_id: vacuum.xiaomi_vacuum
      - delay: "00:00:8"
      - wait_template: "{{ not is_state('vacuum.xiaomi_vacuum', 'docked') }}"
      - service: vacuum.xiaomi_remote_control_move_step
        data:
          entity_id: vacuum.xiaomi_vacuum
          velocity: 0.29
          rotation: 0
          duration: 2500
      - wait_template: "{{ is_state('vacuum.xiaomi_vacuum', 'idle') }}"
        timeout: '00:00:05'
      - service: script.vacuum_close_garage
      - wait_template: "{{ is_state('switch.vacuum_garage', 'off') }}"

  vacuum_return_to_base:
    sequence:
      - condition: template
        value_template: "{{ not is_state('vacuum.xiaomi_vacuum', 'docked') }}"
      - service: script.vacuum_open_garage
      - service: automation.turn_off
        entity_id: automation.vacuum_returning_to_base
      - service: vacuum.return_to_base
        entity_id: vacuum.xiaomi_vacuum
      - wait_template: "{{ is_state('vacuum.xiaomi_vacuum', 'returning') }}"
      - wait_template: "{{ not is_state('vacuum.xiaomi_vacuum', 'returning') }}"
      - service: script.vacuum_close_garage
      - service: automation.turn_on
        entity_id: automation.vacuum_returning_to_base

  vacuum_emptying:
    sequence:
      - service: vacuum.stop
        data:
          entity_id: vacuum.xiaomi_vacuum
      - service: script.vacuum_leave_garage
      - wait_template: "{{ is_state('script.vacuum_leave_garage', 'on') }}"
      - wait_template: "{{ is_state('script.vacuum_leave_garage', 'off') }}"
      - service: vacuum.send_command
        data:
          entity_id: vacuum.xiaomi_vacuum
          command: app_goto_target
          params: [28000,28350]


automation:
  - alias: vacuum_returning_to_base
    initial_state: 'on'
    trigger:
     - platform: state
       entity_id: vacuum.xiaomi_vacuum
       to: 'returning'
    action:
      - service: script.vacuum_open_garage
      - wait_template: "{{ not is_state('vacuum.xiaomi_vacuum', 'returning') }}"
      - service: script.vacuum_close_garage