@apocaliss92/nodedreame 1.8.0 → 1.9.0

package/dist/index.d.cts

@@ -1220,17 +1220,42 @@ interface VacuumMap {
  * Raster PNG renderer for a decoded `VacuumMap`.
  *
  * node-dreame ships only the structured model (no image); this is NEW. We paint
- * one pixel per grid cell (× an optional integer upscale `scale`) from the
- * run-length `layers`, later layers painting over earlier ones. The background
- * is transparent. Per-segment colours come from a deterministic golden-angle
- * palette so the same room id always renders the same hue.
+ * the run-length `layers` (floor / segments / carpet / walls) one pixel per grid
+ * cell (× an optional integer upscale `scale`), then composite the world-frame
+ * overlays on top: restricted areas (no-go / no-mop), virtual walls, the cleaning
+ * path polylines, AI obstacles, the charger, and the robot (body + heading). A
+ * `colorScheme` picks the palette and every overlay is independently toggleable,
+ * mirroring how the Home Assistant integration exposes map customization.
+ *
+ * Coordinate transform: every overlay coordinate is mm in the world frame.
+ * `dimensions.left` / `.top` are the world-mm of pixel (0,0) and `.gridSize` is
+ * mm-per-pixel, so `px = (worldX - left) / gridSize` (then × `scale`). Row 0 is
+ * the top edge — no Y flip.
  *
  * Pure: only `pngjs` + arithmetic. No casts.
  */
 
+/** A named map palette. Mirrors the HA integration's `color_scheme` choices. */
+type MapColorScheme = 'dreame-light' | 'dreame-dark' | 'mijia-light' | 'tasshack';
 interface RenderVacuumPngOptions {
     /** Integer upscale factor (nearest-neighbour). Default 1. */
     scale?: number;
+    /** Palette. Default `'dreame-light'`. */
+    colorScheme?: MapColorScheme;
+    /** Draw the cleaning/mopping path polylines. Default true. */
+    showPath?: boolean;
+    /** Draw the robot marker (body + heading). Default true. */
+    showRobot?: boolean;
+    /** Draw the charger / dock marker. Default true. */
+    showCharger?: boolean;
+    /** Draw no-go / no-mop restricted areas. Default true. */
+    showNoGo?: boolean;
+    /** Draw user-defined virtual walls. Default true. */
+    showVirtualWalls?: boolean;
+    /** Draw AI-detected obstacle markers. Default true. */
+    showObstacles?: boolean;
+    /** Draw the segment id as a tiny label at each room centroid. Default false. */
+    showSegmentLabels?: boolean;
 }
 declare function renderVacuumPng(map: VacuumMap, opts?: RenderVacuumPngOptions): Buffer;
 
@@ -2407,4 +2432,4 @@ declare function createDumper(target: DumperDevice, options?: DumperOptions): Du
  */
 declare function createClientDumper(client: Nodreame, options?: DumperOptions): Dumper[];
 
-export { AI_FEATURE_BIT, AI_FEATURE_JSON_KEY, AUTO_SWITCH_JSON_KEY, type AiDetectionRaw, type AutoSwitchKey, type AutoSwitchRaw, BaseDevice, type BaseDeviceEvents, type BatchDeviceDataFetcher, type CapabilityResolver, ChargingStatus, type CleanOpts, CleaningMode, type ConsumableReading, type ConsumableSpec, type CreateDeviceArgs, DefaultCapabilityResolver, type DeviceCapabilities, type DeviceDump, type DeviceEvent, type DreameAiFeature, DreameApiError, DreameAuthError, type DreameCloudState, type DreameConsumableKey, type DreameDevice, DreameDeviceOfflineError, DreameError, type DreameRegion, type DreameSession, DreameTransportError, type DumperOptions, LIBRARY_NAME, MODEL_CAPABILITIES as MOWER_MODEL_CAPABILITIES, type MapBoundingBox, type MapCleanedAreaOverlay, type MapDimensions, type MapFrameType, type MapLayer, type MapLayerType, type MapLowLyingArea, type MapObstacle, type MapPath, type MapPathType, type MapPoint, type MapPose, type MapRestrictedArea, type MapRoom, type MapRoomWall, type MapRun, type MapSegment, type MapStorey, type MapVirtualWall, type MapWallsInfo, type MiotAction, MiotError, type MiotProp, MiotState, type MowerAvailableMap, type MowerCapabilities, MowerCapabilityResolver, MowerChargingStatus, type MowerContour, MowerControlAction, type MowerControlState, MowerDevice, type MowerDeviceInput, MowerFault, type MowerMap, type MowerMapBoundary, type MowerMowPath, type MowerPathEntry, type MowerPoint, type MowerSpotArea, MowerStatus, type MowerTaskDescriptor, MowerTaskStatus, type MowerZone, Nodreame, type NodreameDeps, type NodreameEvents, type NodreameOptions, type OssFetchInput, type OssFetcherLike, type PropertyChangedEvent, type PropertyResult, type PropertyState, type PropertyWrite, type RenderMowerSvgOptions, type RenderVacuumPngOptions, type StateChangedEvent, SuctionLevel, TaskStatus, VACUUM_CONSUMABLES, MODEL_CAPABILITIES$1 as VACUUM_MODEL_CAPABILITIES, type VacuumCapabilities, VacuumCapabilityResolver, VacuumDevice, type VacuumGetMapInput, type VacuumMap, WaterVolume, consumableSpec, createClientDumper, createDumper, decodeAiFeature, decodeAutoSwitch, decodeAutoSwitchAll, encodeAiFeatureWrite, encodeAutoSwitchWrite, getMowerCapabilities, getVacuumCapabilities, isDreameConsumableKey, renderMowerSvg, renderVacuumPng, resolveCapabilities, supportedAutoSwitchKeys };
+export { AI_FEATURE_BIT, AI_FEATURE_JSON_KEY, AUTO_SWITCH_JSON_KEY, type AiDetectionRaw, type AutoSwitchKey, type AutoSwitchRaw, BaseDevice, type BaseDeviceEvents, type BatchDeviceDataFetcher, type CapabilityResolver, ChargingStatus, type CleanOpts, CleaningMode, type ConsumableReading, type ConsumableSpec, type CreateDeviceArgs, DefaultCapabilityResolver, type DeviceCapabilities, type DeviceDump, type DeviceEvent, type DreameAiFeature, DreameApiError, DreameAuthError, type DreameCloudState, type DreameConsumableKey, type DreameDevice, DreameDeviceOfflineError, DreameError, type DreameRegion, type DreameSession, DreameTransportError, type DumperOptions, LIBRARY_NAME, MODEL_CAPABILITIES as MOWER_MODEL_CAPABILITIES, type MapBoundingBox, type MapCleanedAreaOverlay, type MapColorScheme, type MapDimensions, type MapFrameType, type MapLayer, type MapLayerType, type MapLowLyingArea, type MapObstacle, type MapPath, type MapPathType, type MapPoint, type MapPose, type MapRestrictedArea, type MapRoom, type MapRoomWall, type MapRun, type MapSegment, type MapStorey, type MapVirtualWall, type MapWallsInfo, type MiotAction, MiotError, type MiotProp, MiotState, type MowerAvailableMap, type MowerCapabilities, MowerCapabilityResolver, MowerChargingStatus, type MowerContour, MowerControlAction, type MowerControlState, MowerDevice, type MowerDeviceInput, MowerFault, type MowerMap, type MowerMapBoundary, type MowerMowPath, type MowerPathEntry, type MowerPoint, type MowerSpotArea, MowerStatus, type MowerTaskDescriptor, MowerTaskStatus, type MowerZone, Nodreame, type NodreameDeps, type NodreameEvents, type NodreameOptions, type OssFetchInput, type OssFetcherLike, type PropertyChangedEvent, type PropertyResult, type PropertyState, type PropertyWrite, type RenderMowerSvgOptions, type RenderVacuumPngOptions, type StateChangedEvent, SuctionLevel, TaskStatus, VACUUM_CONSUMABLES, MODEL_CAPABILITIES$1 as VACUUM_MODEL_CAPABILITIES, type VacuumCapabilities, VacuumCapabilityResolver, VacuumDevice, type VacuumGetMapInput, type VacuumMap, WaterVolume, consumableSpec, createClientDumper, createDumper, decodeAiFeature, decodeAutoSwitch, decodeAutoSwitchAll, encodeAiFeatureWrite, encodeAutoSwitchWrite, getMowerCapabilities, getVacuumCapabilities, isDreameConsumableKey, renderMowerSvg, renderVacuumPng, resolveCapabilities, supportedAutoSwitchKeys };

package/dist/index.d.ts

@@ -1220,17 +1220,42 @@ interface VacuumMap {
  * Raster PNG renderer for a decoded `VacuumMap`.
  *
  * node-dreame ships only the structured model (no image); this is NEW. We paint
- * one pixel per grid cell (× an optional integer upscale `scale`) from the
- * run-length `layers`, later layers painting over earlier ones. The background
- * is transparent. Per-segment colours come from a deterministic golden-angle
- * palette so the same room id always renders the same hue.
+ * the run-length `layers` (floor / segments / carpet / walls) one pixel per grid
+ * cell (× an optional integer upscale `scale`), then composite the world-frame
+ * overlays on top: restricted areas (no-go / no-mop), virtual walls, the cleaning
+ * path polylines, AI obstacles, the charger, and the robot (body + heading). A
+ * `colorScheme` picks the palette and every overlay is independently toggleable,
+ * mirroring how the Home Assistant integration exposes map customization.
+ *
+ * Coordinate transform: every overlay coordinate is mm in the world frame.
+ * `dimensions.left` / `.top` are the world-mm of pixel (0,0) and `.gridSize` is
+ * mm-per-pixel, so `px = (worldX - left) / gridSize` (then × `scale`). Row 0 is
+ * the top edge — no Y flip.
  *
  * Pure: only `pngjs` + arithmetic. No casts.
  */
 
+/** A named map palette. Mirrors the HA integration's `color_scheme` choices. */
+type MapColorScheme = 'dreame-light' | 'dreame-dark' | 'mijia-light' | 'tasshack';
 interface RenderVacuumPngOptions {
     /** Integer upscale factor (nearest-neighbour). Default 1. */
     scale?: number;
+    /** Palette. Default `'dreame-light'`. */
+    colorScheme?: MapColorScheme;
+    /** Draw the cleaning/mopping path polylines. Default true. */
+    showPath?: boolean;
+    /** Draw the robot marker (body + heading). Default true. */
+    showRobot?: boolean;
+    /** Draw the charger / dock marker. Default true. */
+    showCharger?: boolean;
+    /** Draw no-go / no-mop restricted areas. Default true. */
+    showNoGo?: boolean;
+    /** Draw user-defined virtual walls. Default true. */
+    showVirtualWalls?: boolean;
+    /** Draw AI-detected obstacle markers. Default true. */
+    showObstacles?: boolean;
+    /** Draw the segment id as a tiny label at each room centroid. Default false. */
+    showSegmentLabels?: boolean;
 }
 declare function renderVacuumPng(map: VacuumMap, opts?: RenderVacuumPngOptions): Buffer;
 
@@ -2407,4 +2432,4 @@ declare function createDumper(target: DumperDevice, options?: DumperOptions): Du
  */
 declare function createClientDumper(client: Nodreame, options?: DumperOptions): Dumper[];
 
-export { AI_FEATURE_BIT, AI_FEATURE_JSON_KEY, AUTO_SWITCH_JSON_KEY, type AiDetectionRaw, type AutoSwitchKey, type AutoSwitchRaw, BaseDevice, type BaseDeviceEvents, type BatchDeviceDataFetcher, type CapabilityResolver, ChargingStatus, type CleanOpts, CleaningMode, type ConsumableReading, type ConsumableSpec, type CreateDeviceArgs, DefaultCapabilityResolver, type DeviceCapabilities, type DeviceDump, type DeviceEvent, type DreameAiFeature, DreameApiError, DreameAuthError, type DreameCloudState, type DreameConsumableKey, type DreameDevice, DreameDeviceOfflineError, DreameError, type DreameRegion, type DreameSession, DreameTransportError, type DumperOptions, LIBRARY_NAME, MODEL_CAPABILITIES as MOWER_MODEL_CAPABILITIES, type MapBoundingBox, type MapCleanedAreaOverlay, type MapDimensions, type MapFrameType, type MapLayer, type MapLayerType, type MapLowLyingArea, type MapObstacle, type MapPath, type MapPathType, type MapPoint, type MapPose, type MapRestrictedArea, type MapRoom, type MapRoomWall, type MapRun, type MapSegment, type MapStorey, type MapVirtualWall, type MapWallsInfo, type MiotAction, MiotError, type MiotProp, MiotState, type MowerAvailableMap, type MowerCapabilities, MowerCapabilityResolver, MowerChargingStatus, type MowerContour, MowerControlAction, type MowerControlState, MowerDevice, type MowerDeviceInput, MowerFault, type MowerMap, type MowerMapBoundary, type MowerMowPath, type MowerPathEntry, type MowerPoint, type MowerSpotArea, MowerStatus, type MowerTaskDescriptor, MowerTaskStatus, type MowerZone, Nodreame, type NodreameDeps, type NodreameEvents, type NodreameOptions, type OssFetchInput, type OssFetcherLike, type PropertyChangedEvent, type PropertyResult, type PropertyState, type PropertyWrite, type RenderMowerSvgOptions, type RenderVacuumPngOptions, type StateChangedEvent, SuctionLevel, TaskStatus, VACUUM_CONSUMABLES, MODEL_CAPABILITIES$1 as VACUUM_MODEL_CAPABILITIES, type VacuumCapabilities, VacuumCapabilityResolver, VacuumDevice, type VacuumGetMapInput, type VacuumMap, WaterVolume, consumableSpec, createClientDumper, createDumper, decodeAiFeature, decodeAutoSwitch, decodeAutoSwitchAll, encodeAiFeatureWrite, encodeAutoSwitchWrite, getMowerCapabilities, getVacuumCapabilities, isDreameConsumableKey, renderMowerSvg, renderVacuumPng, resolveCapabilities, supportedAutoSwitchKeys };
+export { AI_FEATURE_BIT, AI_FEATURE_JSON_KEY, AUTO_SWITCH_JSON_KEY, type AiDetectionRaw, type AutoSwitchKey, type AutoSwitchRaw, BaseDevice, type BaseDeviceEvents, type BatchDeviceDataFetcher, type CapabilityResolver, ChargingStatus, type CleanOpts, CleaningMode, type ConsumableReading, type ConsumableSpec, type CreateDeviceArgs, DefaultCapabilityResolver, type DeviceCapabilities, type DeviceDump, type DeviceEvent, type DreameAiFeature, DreameApiError, DreameAuthError, type DreameCloudState, type DreameConsumableKey, type DreameDevice, DreameDeviceOfflineError, DreameError, type DreameRegion, type DreameSession, DreameTransportError, type DumperOptions, LIBRARY_NAME, MODEL_CAPABILITIES as MOWER_MODEL_CAPABILITIES, type MapBoundingBox, type MapCleanedAreaOverlay, type MapColorScheme, type MapDimensions, type MapFrameType, type MapLayer, type MapLayerType, type MapLowLyingArea, type MapObstacle, type MapPath, type MapPathType, type MapPoint, type MapPose, type MapRestrictedArea, type MapRoom, type MapRoomWall, type MapRun, type MapSegment, type MapStorey, type MapVirtualWall, type MapWallsInfo, type MiotAction, MiotError, type MiotProp, MiotState, type MowerAvailableMap, type MowerCapabilities, MowerCapabilityResolver, MowerChargingStatus, type MowerContour, MowerControlAction, type MowerControlState, MowerDevice, type MowerDeviceInput, MowerFault, type MowerMap, type MowerMapBoundary, type MowerMowPath, type MowerPathEntry, type MowerPoint, type MowerSpotArea, MowerStatus, type MowerTaskDescriptor, MowerTaskStatus, type MowerZone, Nodreame, type NodreameDeps, type NodreameEvents, type NodreameOptions, type OssFetchInput, type OssFetcherLike, type PropertyChangedEvent, type PropertyResult, type PropertyState, type PropertyWrite, type RenderMowerSvgOptions, type RenderVacuumPngOptions, type StateChangedEvent, SuctionLevel, TaskStatus, VACUUM_CONSUMABLES, MODEL_CAPABILITIES$1 as VACUUM_MODEL_CAPABILITIES, type VacuumCapabilities, VacuumCapabilityResolver, VacuumDevice, type VacuumGetMapInput, type VacuumMap, WaterVolume, consumableSpec, createClientDumper, createDumper, decodeAiFeature, decodeAutoSwitch, decodeAutoSwitchAll, encodeAiFeatureWrite, encodeAutoSwitchWrite, getMowerCapabilities, getVacuumCapabilities, isDreameConsumableKey, renderMowerSvg, renderVacuumPng, resolveCapabilities, supportedAutoSwitchKeys };

package/dist/index.js

@@ -1,6 +1,6 @@
 // src/support/version.ts
 var LIBRARY_NAME = "nodedreame";
-var LIBRARY_VERSION = "1.8.0";
+var LIBRARY_VERSION = "1.9.0";
 
 // src/transport/errors.ts
 var DreameError = class extends Error {
@@ -1882,11 +1882,43 @@ function unwrapEnvelope(value, opts = {}) {
     }
     bytes = aesCbcDecrypt(bytes, key2, opts.iv);
   }
+  let inflated;
   try {
-    return zlib.inflateSync(bytes);
+    inflated = zlib.inflateSync(bytes);
   } catch (err) {
     throw new MapDecodeError("envelope: zlib inflate failed", { cause: err });
   }
+  let guard = 0;
+  while (guard < MAX_EXTRA_WRAP_LAYERS && looksLikeBase64Zlib(inflated)) {
+    const text = inflated.toString("latin1").replace(/-/g, "+").replace(/_/g, "/");
+    try {
+      inflated = zlib.inflateSync(Buffer.from(text, "base64"));
+    } catch (err) {
+      throw new MapDecodeError("envelope: nested zlib inflate failed", { cause: err });
+    }
+    guard += 1;
+  }
+  return inflated;
+}
+var MAX_EXTRA_WRAP_LAYERS = 4;
+function looksLikeBase64Zlib(buf) {
+  if (buf.length < 8) return false;
+  for (const b of buf) {
+    const isB64 = b >= 65 && b <= 90 || // A-Z
+    b >= 97 && b <= 122 || // a-z
+    b >= 48 && b <= 57 || // 0-9
+    b === 43 || b === 47 || // + /
+    b === 45 || b === 95 || // - _ (url-safe)
+    b === 61;
+    if (!isB64) return false;
+  }
+  try {
+    const prefix = buf.subarray(0, 16).toString("latin1").replace(/-/g, "+").replace(/_/g, "/");
+    const decoded = Buffer.from(prefix, "base64");
+    return decoded.length >= 2 && decoded[0] === 120;
+  } catch {
+    return false;
+  }
 }
 function aesCbcDecrypt(cipher, rawKey, iv) {
   const keyBytes = Buffer.from(
@@ -2522,7 +2554,7 @@ function decodeCleanedAreaPixels(pixels, width, height) {
 
 // src/models/vacuum/map/decode.ts
 function decodeVacuumMap(input, opts = {}) {
-  const inflated = typeof input === "string" ? unwrapEnvelope(input, opts) : input;
+  const inflated = typeof input === "string" ? unwrapEnvelope(input, opts) : looksLikeBase64Zlib(input) ? unwrapEnvelope(input.toString("latin1"), opts) : input;
   const { header, tail } = parseFrame(inflated);
   const dimensions = mergeDimensions(header, tail);
   const robot = pose(header.robotX, header.robotY, header.robotA, tail.nr === true);
@@ -2584,10 +2616,79 @@ function pose(x, y, angle, absent) {
 
 // src/models/vacuum/map/render.ts
 import { PNG } from "pngjs";
-var RGBA = {
-  wall: [60, 60, 60, 255],
-  floor: [210, 222, 235, 255],
-  carpet: [180, 150, 120, 200]
+var SCHEMES = {
+  "dreame-light": {
+    floor: [210, 222, 235, 255],
+    wall: [60, 60, 60, 255],
+    carpet: [180, 150, 120, 200],
+    segSat: 0.45,
+    segVal: 0.95,
+    path: [60, 110, 180, 235],
+    robotBody: [40, 70, 110, 255],
+    robotHeading: [255, 255, 255, 255],
+    charger: [40, 160, 80, 255],
+    noGoFill: [220, 60, 60, 70],
+    noGoBorder: [200, 40, 40, 220],
+    noMopFill: [60, 120, 220, 60],
+    noMopBorder: [40, 90, 200, 200],
+    virtualWall: [200, 40, 40, 230],
+    obstacle: [230, 150, 30, 255],
+    label: [40, 40, 40, 255]
+  },
+  "dreame-dark": {
+    floor: [40, 46, 56, 255],
+    wall: [15, 15, 18, 255],
+    carpet: [80, 66, 52, 200],
+    segSat: 0.5,
+    segVal: 0.62,
+    path: [120, 170, 230, 235],
+    robotBody: [120, 170, 230, 255],
+    robotHeading: [20, 24, 30, 255],
+    charger: [60, 200, 110, 255],
+    noGoFill: [220, 70, 70, 80],
+    noGoBorder: [230, 70, 70, 220],
+    noMopFill: [70, 130, 230, 70],
+    noMopBorder: [80, 140, 235, 210],
+    virtualWall: [230, 70, 70, 235],
+    obstacle: [240, 180, 60, 255],
+    label: [225, 230, 240, 255]
+  },
+  "mijia-light": {
+    floor: [225, 232, 240, 255],
+    wall: [70, 78, 92, 255],
+    carpet: [188, 162, 132, 200],
+    segSat: 0.35,
+    segVal: 0.98,
+    path: [80, 130, 200, 230],
+    robotBody: [30, 100, 200, 255],
+    robotHeading: [255, 255, 255, 255],
+    charger: [40, 170, 90, 255],
+    noGoFill: [225, 70, 70, 70],
+    noGoBorder: [205, 45, 45, 220],
+    noMopFill: [70, 130, 225, 60],
+    noMopBorder: [50, 100, 205, 200],
+    virtualWall: [205, 45, 45, 230],
+    obstacle: [235, 160, 35, 255],
+    label: [45, 52, 64, 255]
+  },
+  tasshack: {
+    floor: [200, 210, 225, 255],
+    wall: [80, 80, 95, 255],
+    carpet: [176, 148, 118, 205],
+    segSat: 0.5,
+    segVal: 0.9,
+    path: [50, 100, 170, 235],
+    robotBody: [35, 60, 100, 255],
+    robotHeading: [255, 255, 255, 255],
+    charger: [35, 150, 75, 255],
+    noGoFill: [215, 55, 55, 75],
+    noGoBorder: [195, 35, 35, 220],
+    noMopFill: [55, 115, 215, 65],
+    noMopBorder: [35, 85, 195, 205],
+    virtualWall: [195, 35, 35, 230],
+    obstacle: [225, 145, 25, 255],
+    label: [35, 42, 54, 255]
+  }
 };
 function hsvToRgba(h, s, v) {
   const c = v * s;
@@ -2618,49 +2719,230 @@ function hsvToRgba(h, s, v) {
   const m = v - c;
   return [Math.round((r + m) * 255), Math.round((g + m) * 255), Math.round((b + m) * 255), 255];
 }
-function segmentColor(id) {
+function segmentColor(id, pal) {
   const hue = id * 137.508 % 360;
-  return hsvToRgba(hue, 0.45, 0.95);
+  return hsvToRgba(hue, pal.segSat, pal.segVal);
 }
 function renderVacuumPng(map, opts = {}) {
   const scale = Math.max(1, Math.trunc(opts.scale ?? 1));
-  const w = map.dimensions.width * scale;
-  const h = map.dimensions.height * scale;
-  const png = new PNG({ width: Math.max(1, w), height: Math.max(1, h) });
+  const pal = SCHEMES[opts.colorScheme ?? "dreame-light"];
+  const w = Math.max(1, map.dimensions.width * scale);
+  const h = Math.max(1, map.dimensions.height * scale);
+  const png = new PNG({ width: w, height: h });
   png.data.fill(0);
   for (const layer of map.layers) {
-    paintLayer(png, layer, scale);
+    paintLayer(png, layer, scale, pal);
+  }
+  const dim = map.dimensions;
+  if (opts.showNoGo !== false) {
+    for (const area of map.restrictedAreas) {
+      const fill = area.kind === "noMop" ? pal.noMopFill : pal.noGoFill;
+      const border = area.kind === "noMop" ? pal.noMopBorder : pal.noGoBorder;
+      const a = worldToPx(area.bbox.xMin, area.bbox.yMin, dim, scale);
+      const b = worldToPx(area.bbox.xMax, area.bbox.yMax, dim, scale);
+      fillRect(png, a.x, a.y, b.x, b.y, fill);
+      strokeRect(png, a.x, a.y, b.x, b.y, border);
+    }
+  }
+  if (opts.showVirtualWalls !== false) {
+    for (const vw of map.virtualWalls) {
+      const a = worldToPx(vw.from.x, vw.from.y, dim, scale);
+      const b = worldToPx(vw.to.x, vw.to.y, dim, scale);
+      drawLine(png, a.x, a.y, b.x, b.y, pal.virtualWall, Math.max(1, scale));
+    }
+  }
+  if (opts.showPath !== false) {
+    for (const path of map.paths) {
+      drawPolyline(png, path.points, dim, scale, pal.path, Math.max(1, scale));
+    }
+  }
+  if (opts.showObstacles !== false) {
+    for (const ob of map.obstacles) {
+      const p = worldToPx(ob.x, ob.y, dim, scale);
+      drawDisk(png, p.x, p.y, Math.max(2, scale * 2), pal.obstacle);
+    }
+  }
+  if (opts.showCharger !== false && map.dock !== null) {
+    drawCharger(png, map.dock, dim, scale, pal);
+  }
+  if (opts.showRobot !== false && map.robot !== null) {
+    drawRobot(png, map.robot, dim, scale, pal);
+  }
+  if (opts.showSegmentLabels === true) {
+    for (const seg of map.segments) {
+      const p = worldToPx(seg.centroid.x, seg.centroid.y, dim, scale);
+      drawLabel(png, p.x, p.y, String(seg.id), pal.label, Math.max(1, scale));
+    }
   }
   return PNG.sync.write(png);
 }
-function paintLayer(png, layer, scale) {
-  const color = layer.type === "segment" ? segmentColor(layer.segmentId ?? 0) : RGBA[layer.type];
+function worldToPx(worldX, worldY, dim, scale) {
+  return {
+    x: Math.round((worldX - dim.left) / dim.gridSize * scale),
+    y: Math.round((worldY - dim.top) / dim.gridSize * scale)
+  };
+}
+function paintLayer(png, layer, scale, pal) {
+  const color = layer.type === "segment" ? segmentColor(layer.segmentId ?? 0, pal) : layer.type === "wall" ? pal.wall : layer.type === "carpet" ? pal.carpet : pal.floor;
   for (const run of layer.runs) {
-    paintRun(png, run, color, scale, png.width, png.height);
+    paintRun(png, run, color, scale);
   }
 }
-function paintRun(png, run, color, scale, width, height) {
+function paintRun(png, run, color, scale) {
   const [xPx, yPx, len] = run;
   for (let i = 0; i < len; i += 1) {
     const baseX = (xPx + i) * scale;
     const baseY = yPx * scale;
     for (let dy = 0; dy < scale; dy += 1) {
-      const py = baseY + dy;
-      if (py < 0 || py >= height) {
-        continue;
-      }
       for (let dx = 0; dx < scale; dx += 1) {
-        const px = baseX + dx;
-        if (px < 0 || px >= width) {
-          continue;
+        setPixel(png, baseX + dx, baseY + dy, color);
+      }
+    }
+  }
+}
+function setPixel(png, x, y, color) {
+  if (x < 0 || y < 0 || x >= png.width || y >= png.height) return;
+  const off = (y * png.width + x) * 4;
+  const a = color[3];
+  if (a >= 255) {
+    png.data[off] = color[0];
+    png.data[off + 1] = color[1];
+    png.data[off + 2] = color[2];
+    png.data[off + 3] = 255;
+    return;
+  }
+  const sa = a / 255;
+  const da = (png.data[off + 3] ?? 0) / 255;
+  const outA = sa + da * (1 - sa);
+  if (outA <= 0) return;
+  for (let k = 0; k < 3; k += 1) {
+    const src = color[k] ?? 0;
+    const dst = png.data[off + k] ?? 0;
+    png.data[off + k] = Math.round((src * sa + dst * da * (1 - sa)) / outA);
+  }
+  png.data[off + 3] = Math.round(outA * 255);
+}
+function fillRect(png, x0, y0, x1, y1, color) {
+  const xa = Math.min(x0, x1);
+  const xb = Math.max(x0, x1);
+  const ya = Math.min(y0, y1);
+  const yb = Math.max(y0, y1);
+  for (let y = ya; y <= yb; y += 1) {
+    for (let x = xa; x <= xb; x += 1) {
+      setPixel(png, x, y, color);
+    }
+  }
+}
+function strokeRect(png, x0, y0, x1, y1, color) {
+  const xa = Math.min(x0, x1);
+  const xb = Math.max(x0, x1);
+  const ya = Math.min(y0, y1);
+  const yb = Math.max(y0, y1);
+  for (let x = xa; x <= xb; x += 1) {
+    setPixel(png, x, ya, color);
+    setPixel(png, x, yb, color);
+  }
+  for (let y = ya; y <= yb; y += 1) {
+    setPixel(png, xa, y, color);
+    setPixel(png, xb, y, color);
+  }
+}
+function drawLine(png, x0, y0, x1, y1, color, thickness) {
+  let x = x0;
+  let y = y0;
+  const dx = Math.abs(x1 - x0);
+  const dy = -Math.abs(y1 - y0);
+  const sx = x0 < x1 ? 1 : -1;
+  const sy = y0 < y1 ? 1 : -1;
+  let err = dx + dy;
+  const r = Math.max(0, Math.trunc((thickness - 1) / 2));
+  for (; ; ) {
+    for (let oy = -r; oy <= r; oy += 1) {
+      for (let ox = -r; ox <= r; ox += 1) {
+        setPixel(png, x + ox, y + oy, color);
+      }
+    }
+    if (x === x1 && y === y1) break;
+    const e2 = 2 * err;
+    if (e2 >= dy) {
+      err += dy;
+      x += sx;
+    }
+    if (e2 <= dx) {
+      err += dx;
+      y += sy;
+    }
+  }
+}
+function drawPolyline(png, points, dim, scale, color, thickness) {
+  for (let i = 1; i < points.length; i += 1) {
+    const p0 = points[i - 1];
+    const p1 = points[i];
+    if (p0 === void 0 || p1 === void 0) continue;
+    const a = worldToPx(p0.x, p0.y, dim, scale);
+    const b = worldToPx(p1.x, p1.y, dim, scale);
+    drawLine(png, a.x, a.y, b.x, b.y, color, thickness);
+  }
+}
+function drawDisk(png, cx, cy, r, color) {
+  const rr = r * r;
+  for (let dy = -r; dy <= r; dy += 1) {
+    for (let dx = -r; dx <= r; dx += 1) {
+      if (dx * dx + dy * dy <= rr) setPixel(png, cx + dx, cy + dy, color);
+    }
+  }
+}
+function drawRobot(png, robot, dim, scale, pal) {
+  const p = worldToPx(robot.x, robot.y, dim, scale);
+  const r = Math.max(3, scale * 3);
+  drawDisk(png, p.x, p.y, r, pal.robotBody);
+  const rad = robot.angle * Math.PI / 180;
+  const hx = Math.round(p.x + Math.cos(rad) * r);
+  const hy = Math.round(p.y + Math.sin(rad) * r);
+  drawLine(png, p.x, p.y, hx, hy, pal.robotHeading, Math.max(1, Math.trunc(scale / 2) + 1));
+}
+function drawCharger(png, dock, dim, scale, pal) {
+  const p = worldToPx(dock.x, dock.y, dim, scale);
+  const r = Math.max(2, scale * 2);
+  fillRect(png, p.x - r, p.y - r, p.x + r, p.y + r, pal.charger);
+}
+var GLYPHS = {
+  "0": [7, 5, 5, 5, 7],
+  "1": [2, 6, 2, 2, 7],
+  "2": [7, 1, 7, 4, 7],
+  "3": [7, 1, 7, 1, 7],
+  "4": [5, 5, 7, 1, 1],
+  "5": [7, 4, 7, 1, 7],
+  "6": [7, 4, 7, 5, 7],
+  "7": [7, 1, 2, 2, 2],
+  "8": [7, 5, 7, 5, 7],
+  "9": [7, 5, 7, 1, 7],
+  "-": [0, 0, 7, 0, 0]
+};
+function drawLabel(png, cx, cy, text, color, px) {
+  const glyphW = 3 * px;
+  const glyphH = 5 * px;
+  const gap = px;
+  const totalW = text.length * glyphW + Math.max(0, text.length - 1) * gap;
+  let originX = Math.round(cx - totalW / 2);
+  const originY = Math.round(cy - glyphH / 2);
+  for (const ch of text) {
+    const glyph = GLYPHS[ch];
+    if (glyph !== void 0) {
+      for (let row = 0; row < 5; row += 1) {
+        const bits = glyph[row];
+        if (bits === void 0) continue;
+        for (let col = 0; col < 3; col += 1) {
+          if ((bits & 1 << 2 - col) === 0) continue;
+          for (let sy = 0; sy < px; sy += 1) {
+            for (let sx = 0; sx < px; sx += 1) {
+              setPixel(png, originX + col * px + sx, originY + row * px + sy, color);
+            }
+          }
         }
-        const off = (py * width + px) * 4;
-        png.data[off] = color[0];
-        png.data[off + 1] = color[1];
-        png.data[off + 2] = color[2];
-        png.data[off + 3] = color[3];
       }
     }
+    originX += glyphW + gap;
   }
 }