pymammotion 0.5.34__py3-none-any.whl → 0.5.53__py3-none-any.whl

pymammotion/data/model/generate_geojson.py

@@ -0,0 +1,551 @@
+import json
+import logging
+import math
+from typing import Any
+
+from shapely.geometry import Point
+
+from pymammotion.data.model.hash_list import (
+    AreaHashNameList,
+    CommDataCouple,
+    FrameList,
+    HashList,
+    MowPath,
+    NavGetCommData,
+)
+
+logger = logging.getLogger(__name__)
+
+
+GEOMETRY_TYPES: list[str] = ["Polygon", "Polygon", "LineString", "Point"]
+MAP_OBJECT_TYPES: list[str] = ["area", "path", "obstacle", "dump"]
+
+image_path = "/local/community/ha-mammotion-map/dist/assets/map/"
+
+RTK_IMAGE = {
+    "iconImage": "map_icon_base_station_rtk.webp",
+    "iconSize": [30, 30],
+    "iconAnchor": [15, 30],
+    "iconUrl": f"{image_path}map_icon_base_station_rtk.webp",
+}
+
+DOCK_IMAGE = {
+    "iconImage": "icon_map_recharge.webp",
+    "iconSize": [30, 30],
+    "iconAnchor": [15, 15],
+    "iconUrl": f"{image_path}icon_map_recharge.webp",
+}
+
+#############################
+# STYLE CONFIGURATION
+#############################
+
+DOCK_STYLE = {"color": "lightgray", "fill": "lightgray", "weight": 2, "opacity": 1.0, "fillOpacity": 0.7, "radius": 10}
+
+RTK_STYLE = {"color": "purple", "fill": "purple", "weight": 2, "opacity": 1.0, "fillOpacity": 0.7, "radius": 7}
+
+AREA_STYLE = {
+    "color": "green",
+    "fill": "darkgreen",
+    "weight": 3,
+    "opacity": 0.8,
+    "fillOpacity": 0.3,
+    "dashArray": "",
+    "lineCap": "round",
+    "lineJoin": "round",
+}
+
+OBSTACLE_STYLE = {
+    "color": "#FF4D00",
+    "fill": "darkorange",
+    "weight": 2,
+    "opacity": 0.9,
+    "fillOpacity": 0.4,
+    "dashArray": "",
+    "lineCap": "round",
+    "lineJoin": "round",
+}
+
+PATH_STYLE = {
+    "color": "#ffffff",
+    "weight": 8,
+    "opacity": 1.0,
+    "zIndex": -1,
+    "dashArray": "",
+    "lineCap": "round",
+    "lineJoin": "round",
+    "road_center_color": "#696969",
+    "road_center_dash": "8, 8",
+}
+
+POINT_STYLE = {"color": "blue", "fill": "lightblue", "weight": 2, "opacity": 1.0, "fillOpacity": 0.7, "radius": 5}
+
+geojson_metadata = {"name": "Lawn Areas", "description": "Generated from Mammotion diagnostics data"}
+
+# Map type IDs
+TYPE_MOWING_ZONE: int = 0
+TYPE_OBSTACLE: int = 1
+TYPE_PATH: int = 2
+TYPE_MOW_PATH: int = 4
+
+# Coordinate conversion constants
+METERS_PER_DEGREE: int = 111320
+
+# Type aliases
+Coordinate = tuple[float, float]
+CoordinateList = list[list[float]]
+GeoJSONFeature = dict[str, Any]
+GeoJSONCollection = dict[str, Any]
+LocationDict = dict[str, Coordinate]
+
+# Path to mammotion integration diagnostics file
+geometry_types: list[str] = GEOMETRY_TYPES
+
+
+class GeojsonGenerator:
+    """Class for logging GeoJSON data."""
+
+    @staticmethod
+    def is_overlapping(p: Point, placed_points: list[Point], min_distance: float = 0.00005) -> bool:
+        """Check if point p is too close to any previously placed label."""
+        return any(p.distance(existing) < min_distance for existing in placed_points)
+
+    @staticmethod
+    def apply_meter_offsets(lon: float, lat: float, lon_offset: float, lat_offset: float) -> list[float]:
+        """Apply meter-based offsets to coordinates (in degrees)"""
+        new_lon = lon + (lon_offset / (METERS_PER_DEGREE * math.cos(math.radians(lat))))
+        new_lat = lat + (lat_offset / METERS_PER_DEGREE)
+        return [new_lon, new_lat]
+
+    @staticmethod
+    def generate_geojson(
+        hash_list: HashList, rtk_location: Point, dock_location: Point, dock_rotation: int
+    ) -> GeoJSONCollection:
+        """Generate GeoJSON from hash list data.
+
+        Args:
+            hash_list: HashList object containing map data
+            rtk_location: Tuple of (longitude, latitude) for rtk position
+            :param hash_list:
+            :param rtk_location:
+            :param dock_rotation:
+            :param dock_location:
+
+        """
+        area_names = GeojsonGenerator._build_area_name_lookup(hash_list.area_name)
+
+        geo_json: GeoJSONCollection = {"type": "FeatureCollection", "name": "Lawn Areas", "features": []}
+        GeojsonGenerator._add_rtk_and_dock(rtk_location, dock_location, dock_rotation, geo_json)
+        total_frames = GeojsonGenerator._process_map_objects(hash_list, rtk_location, area_names, geo_json)
+
+        # _save_geojson(geo_json)
+        logger.debug("GeoJson complete. Total Frames processed:", total_frames)
+        return geo_json
+
+    @staticmethod
+    def generate_mow_path_geojson(hash_list: HashList, rtk_location: Point) -> GeoJSONCollection:
+        """Generate GeoJSON from hash list data."""
+        geo_json: GeoJSONCollection = {"type": "FeatureCollection", "name": "Mowing Lawn Areas", "features": []}
+
+        total_frames = GeojsonGenerator._process_mow_map_objects(hash_list, rtk_location, geo_json)
+        return geo_json
+
+    @staticmethod
+    def _add_rtk_and_dock(
+        rtk_location: Point, dock_location: Point, dock_rotation: int, geo_json: GeoJSONCollection
+    ) -> None:
+        geo_json["features"].append(
+            {
+                "type": "Feature",
+                "properties": {
+                    "title": "RTK Base",
+                    "Name": "RTK Base",
+                    "description": "RTK Base Station location",
+                    "type_name": "station",
+                    **RTK_STYLE,
+                    **RTK_IMAGE,
+                },
+                "geometry": {"type": "Point", "coordinates": [rtk_location.y, rtk_location.x]},
+            }
+        )
+
+        geo_json["features"].append(
+            {
+                "type": "Feature",
+                "properties": {
+                    "title": "Dock",
+                    "Name": "Dock",
+                    "description": "Charging dock location",
+                    "type_name": "station",
+                    "rotation": dock_rotation,
+                    **DOCK_STYLE,
+                    **DOCK_IMAGE,
+                },
+                "geometry": {"type": "Point", "coordinates": [dock_location.y, dock_location.x]},
+            }
+        )
+
+    @staticmethod
+    def _build_area_name_lookup(area_names: list[AreaHashNameList]) -> dict[int, str]:
+        """Build a hash lookup table for area names.
+
+        Args:
+            area_names: List of AreaHashNameList objects
+
+        Returns:
+            Dictionary mapping hash to area name
+
+        """
+        return {item.hash: item.name for item in area_names}
+
+    @staticmethod
+    def _process_map_objects(
+        hash_list: HashList, rtk_location: Point, area_names: dict[int, str], geo_json: GeoJSONCollection
+    ) -> int:
+        """Process all map objects and add them to GeoJSON.
+
+        Args:
+            hash_list: HashList object containing map data
+            rtk_location: Tuple of (longitude, latitude) for rtk position
+            area_names: Dictionary mapping hash to area name
+            geo_json: GeoJSON collection to add features to
+
+        Returns:
+            Total number of frames processed
+
+        """
+        total_frames = 0
+
+        # Map type names to their corresponding dictionaries in HashList
+        type_mapping: dict[str, dict[int, FrameList]] = {
+            "area": hash_list.area,
+            "path": hash_list.path,
+            "obstacle": hash_list.obstacle,
+            "dump": hash_list.dump,
+        }
+
+        for type_name, map_objects in type_mapping.items():
+            for hash_key, frame_list in map_objects.items():
+                logger.debug(hash_key, type_name)
+
+                if not GeojsonGenerator._validate_frame_list(frame_list, hash_key, area_names):
+                    continue
+
+                local_coords = GeojsonGenerator._collect_frame_coordinates(frame_list)
+                total_frames += len(frame_list.data)
+
+                lonlat_coords = GeojsonGenerator._convert_to_lonlat_coords(local_coords, rtk_location)
+                length, area = GeojsonGenerator.map_object_stats(local_coords)
+
+                feature = GeojsonGenerator._create_feature(hash_key, frame_list, type_name, lonlat_coords, length, area)
+                if feature:
+                    geo_json["features"].append(feature)
+
+        return total_frames
+
+    @staticmethod
+    def _process_mow_map_objects(hash_list: HashList, rtk_location: Point, geo_json: GeoJSONCollection) -> int:
+        """Process all map objects and add them to GeoJSON."""
+        total_frames = 0
+
+        if 0 < len(hash_list.current_mow_path) == next(iter(hash_list.current_mow_path.values())).total_frame:
+            local_coords = GeojsonGenerator._collect_mow_frame_coordinates(
+                [mow_path for key, mow_path in hash_list.current_mow_path.items()]
+            )
+            total_frames += 1
+
+            lonlat_coords = GeojsonGenerator._convert_to_lonlat_coords(local_coords, rtk_location)
+            length, area = GeojsonGenerator.map_object_stats(local_coords)
+
+            feature = GeojsonGenerator._create_mow_path_feature(
+                next(iter(hash_list.current_mow_path.values())), lonlat_coords, length, area
+            )
+            if feature:
+                geo_json["features"].append(feature)
+        return total_frames
+
+    @staticmethod
+    def _process_svg_map_objects(hash_list: HashList, rtk_location: Point, geo_json: GeoJSONCollection) -> None:
+        """Process all SVG map objects and add them to GeoJSON."""
+        for hash_key, frame_list in hash_list.svg.items():
+            logger.debug(hash_key, frame_list)
+
+    @staticmethod
+    def _validate_frame_list(frame_list: FrameList, hash_key: int, area_names: dict[int, str] | None = None) -> bool:
+        """Validate that frame list has complete frame data.
+
+        Args:
+            frame_list: FrameList object to validate
+            hash_key: Hash key for the area
+            area_names: Dictionary mapping hash to area name
+
+        Returns:
+            True if valid, False otherwise
+
+        """
+        if len(frame_list.data) != frame_list.total_frame:
+            area_name = area_names.get(hash_key, "Unknown") if area_names else "Unknown"
+            logger.debug(f"Error: full coord data not available for area: '{area_name}' - '{hash_key}'")
+            return False
+        return True
+
+    @staticmethod
+    def _collect_frame_coordinates(frame_list: FrameList) -> list[CommDataCouple]:
+        """Collect coordinates from all frames in a FrameList.
+
+        Args:
+            frame_list: FrameList containing frame data
+
+        Returns:
+            List of coordinate dictionaries with 'x' and 'y' keys
+
+        """
+        local_coords: list[CommDataCouple] = []
+        for frame in frame_list.data:
+            if isinstance(frame, NavGetCommData):
+                local_coords.extend(frame.data_couple)
+            # TODO svg message needs different transform
+            # elif isinstance(frame, SvgMessage):
+            #     local_coords.extend(frame.)
+        return local_coords
+
+    @staticmethod
+    def _collect_mow_frame_coordinates(mow_path_list: list[MowPath]) -> list[CommDataCouple]:
+        """Collect coordinates from all frames in a FrameList."""
+        local_coords: list[CommDataCouple] = []
+        for mow_frame in mow_path_list:
+            for frame in mow_frame.path_packets:
+                local_coords.extend(frame.data_couple)
+        return local_coords
+
+    @staticmethod
+    def _convert_to_lonlat_coords(
+        local_coords: list[CommDataCouple], rtk_location: Point, x_offset: int = 0, y_offset: int = 0
+    ) -> CoordinateList:
+        """Convert local x,y coordinates to lon,lat coordinates.
+
+        Args:
+            local_coords: List of coordinate dictionaries with 'x' and 'y' keys
+            rtk_location: Tuple of (longitude, latitude) for rtk position
+
+        Returns:
+            List of [longitude, latitude] coordinate pairs
+
+        """
+        lonlat_coords: CoordinateList = [
+            list(GeojsonGenerator.lon_lat_delta(rtk_location, xy.x + x_offset, xy.y + y_offset)) for xy in local_coords
+        ]
+        lonlat_coords.reverse()  # GeoJSON polygons go clockwise
+        return lonlat_coords
+
+    @staticmethod
+    def _create_feature(
+        hash_key: int, frame_list: FrameList, type_name: str, lonlat_coords: CoordinateList, length: float, area: float
+    ) -> GeoJSONFeature | None:
+        """Create a GeoJSON feature from frame list data.
+
+        Args:
+            hash_key: Hash identifier for the feature
+            frame_list: FrameList containing frame data
+            type_name: Type name of the map object
+            lonlat_coords: List of [longitude, latitude] coordinate pairs
+            length: Calculated length of the feature
+            area: Calculated area of the feature
+
+        Returns:
+            GeoJSON feature dictionary or None if invalid
+
+        """
+        first_frame = frame_list.data[0]
+        type_id = first_frame.type
+        object_name = ""
+        if isinstance(first_frame, NavGetCommData):
+            object_name = first_frame.name_time.name
+
+        properties = GeojsonGenerator._create_feature_properties(
+            hash_key, type_id, type_name, first_frame, length, area, object_name
+        )
+        geometry = GeojsonGenerator._create_feature_geometry(type_id, lonlat_coords, properties)
+
+        if geometry is None:
+            return None
+
+        return {"type": "Feature", "properties": properties, "geometry": geometry}
+
+    @staticmethod
+    def _create_mow_path_feature(
+        path_packet_list: MowPath, lonlat_coords: CoordinateList, length: float, area: float
+    ) -> GeoJSONFeature | None:
+        properties = GeojsonGenerator._create_feature_mow_path_properties(
+            path_packet_list, length, path_packet_list.area
+        )
+        geometry = GeojsonGenerator._create_feature_geometry(4, lonlat_coords, properties)
+
+        if geometry is None:
+            return None
+
+        return {"type": "Feature", "properties": properties, "geometry": geometry}
+
+    @staticmethod
+    def _create_feature_mow_path_properties(first_frame: MowPath, length: float, area: float) -> dict[str, Any]:
+        """Create properties dictionary for GeoJSON feature."""
+        return {
+            "transaction_id": first_frame.transaction_id,
+            "type_name": "mow_path",
+            "total_path_num": first_frame.total_path_num,
+            "length": length,
+            "area": area,
+            "time": first_frame.time,
+        }
+
+    @staticmethod
+    def _create_feature_properties(
+        hash_key: int, type_id: int, type_name: str, first_frame: Any, length: float, area: float, object_name: str = ""
+    ) -> dict[str, Any]:
+        """Create properties dictionary for GeoJSON feature.
+
+        Args:
+            hash_key: Hash identifier
+            object_name: Name of the object
+            type_id: Type ID of the feature
+            type_name: Type name of the feature
+            first_frame: First frame from the FrameList
+            length: Calculated length
+            area: Calculated area
+
+        Returns:
+            Properties dictionary
+
+        """
+        return {
+            "hash": hash_key,
+            "title": object_name,
+            "Name": object_name,
+            "description": "description <b>test</b>",
+            "type_id": type_id,
+            "type_name": type_name,
+            "parent_hash_a": first_frame.paternal_hash_a,
+            "parent_hash_b": first_frame.paternal_hash_b,
+            "length": length,
+            "area": area,
+        }
+
+    @staticmethod
+    def _create_feature_geometry(
+        type_id: int, lonlat_coords: CoordinateList, properties: dict[str, Any]
+    ) -> dict[str, Any] | None:
+        """Create geometry dictionary for GeoJSON feature based on type.
+
+        Args:
+            type_id: Type ID determining geometry type
+            lonlat_coords: List of [longitude, latitude] coordinate pairs
+            properties: Properties dictionary to modify with style information
+
+        Returns:
+            Geometry dictionary or None if invalid type
+
+        """
+        if type_id == TYPE_MOWING_ZONE:
+            properties.update(AREA_STYLE)
+            return {"type": "Polygon", "coordinates": [lonlat_coords]}
+        elif type_id == TYPE_OBSTACLE:
+            properties.update(OBSTACLE_STYLE)
+            return {"type": "Polygon", "coordinates": [lonlat_coords]}
+        elif type_id == TYPE_PATH and len(lonlat_coords) > 1:
+            properties.update(PATH_STYLE)
+            return {"type": "LineString", "coordinates": lonlat_coords}
+        elif type_id == TYPE_MOW_PATH and len(lonlat_coords) > 1:
+            properties["color"] = "green"
+            return {"type": "LineString", "coordinates": lonlat_coords}
+        else:
+            return None  # Point (ignore)
+
+    @staticmethod
+    def _save_geojson(geoJSON: GeoJSONCollection) -> None:
+        """Save GeoJSON data to file.
+
+        Args:
+            geoJSON: GeoJSON collection to save
+
+        """
+        with open("areas.json", "w") as json_file:
+            json.dump(geoJSON, json_file, indent=2)
+
+    @staticmethod
+    def lon_lat_delta(rtk: Point, x: float, y: float) -> Coordinate:
+        """Add delta (in meters) to lon/lat, return new lon/lat.
+
+        Args:
+            lon: Longitude in degrees
+            lat: Latitude in degrees
+            x: X offset in meters
+            y: Y offset in meters
+
+        Returns:
+            Tuple of (new_longitude, new_latitude)
+
+        """
+        new_lon = rtk.y + (x / (METERS_PER_DEGREE * math.cos(math.radians(rtk.x))))
+        new_lat = rtk.x + (y / METERS_PER_DEGREE)
+        return new_lon, new_lat
+
+    @staticmethod
+    def map_object_stats(coords: list[CommDataCouple]) -> Coordinate:
+        """Calculate length and area statistics for map object coordinates.
+
+        Args:
+            coords: List of coordinate dictionaries with 'x' and 'y' keys
+
+        Returns:
+            Tuple of (length, area) in meters and square meters
+
+        """
+        # Point Object
+        if len(coords) < 2:
+            return 0.0, 0.0
+
+        def distance(p1: CommDataCouple, p2: CommDataCouple) -> float:
+            """Calculate Euclidean distance between two points."""
+            return math.sqrt((p2.x - p1.x) ** 2 + (p2.y - p1.y) ** 2)
+
+        length = sum(distance(coords[i], coords[i + 1]) for i in range(len(coords) - 1))
+
+        # Open line
+        if coords[0] != coords[-1]:
+            return length, 0.0
+
+        # Closed Polygon - Calculate area using shoelace formula
+        area = 0.5 * abs(
+            sum(coords[i].x * coords[i + 1].y - coords[i + 1].x * coords[i].y for i in range(len(coords) - 1))
+        )
+
+        return length, area
+
+    @staticmethod
+    def is_point_in_polygon(x: float, y: float, poly: list[list[float]]) -> bool:
+        """Test if a point is inside a polygon using ray casting algorithm.
+
+        Args:
+            x: X coordinate of the point
+            y: Y coordinate of the point
+            poly: Polygon as list of [x, y] coordinate pairs
+
+        Returns:
+            True if point is inside polygon, False otherwise
+
+        """
+        return (
+            sum(
+                (y > poly[i][1]) != (y > poly[(i + 1) % len(poly)][1])
+                and (
+                    x
+                    < (poly[(i + 1) % len(poly)][0] - poly[i][0])
+                    * (y - poly[i][1])
+                    / (poly[(i + 1) % len(poly)][1] - poly[i][1])
+                    + poly[i][0]
+                )
+                for i in range(len(poly))
+            )
+            % 2
+            == 1
+        )

pymammotion/data/model/generate_route_information.py

@@ -1,4 +1,4 @@
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 import logging
 
 logger = logging.getLogger(__name__)
@@ -8,7 +8,7 @@ logger = logging.getLogger(__name__)
 class GenerateRouteInformation:
     """Creates a model for generating route information and mowing plan before starting a job."""
 
-    one_hashs: list[int] = list
+    one_hashs: list[int] = field(default_factory=list)
     job_mode: int = 4  # taskMode
     job_version: int = 0
     job_id: int = 0