python-roborock 7.4.3__py3-none-any.whl → 7.5.0__py3-none-any.whl

{python_roborock-7.4.3.dist-info → python_roborock-7.5.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.5
 Name: python-roborock
-Version: 7.4.3
+Version: 7.5.0
 Summary: A package to control Roborock vacuums.
 Project-URL: Repository, https://github.com/python-roborock/python-roborock
 Project-URL: Documentation, https://python-roborock.readthedocs.io/

{python_roborock-7.4.3.dist-info → python_roborock-7.5.0.dist-info}/RECORD

@@ -100,15 +100,15 @@ roborock/devices/transport/local_channel.py,sha256=xnCzhIMa6V01Okaoa5KlUFw7k0col
 roborock/devices/transport/mqtt_channel.py,sha256=dpL1mZIoI4Glk3hfUO9JweWFHG1tZWLrWbt9f4RbvhQ,4789
 roborock/map/__init__.py,sha256=L3WHujuxUHCTTPaOElkJsTN_FkYhw01drfR-W4blgFc,146
 roborock/map/b01_grid_layers.py,sha256=b87MsGXslqLR_5H_4z4aj1wQqYgeTuULWqt4_txOF-M,12303
-roborock/map/b01_map_parser.py,sha256=tTeeWH4fA4Pv4DvqN7PBQs92DuWTaD2rvD44Mo_t3OY,4433
+roborock/map/b01_map_parser.py,sha256=y4Qlgiwre3bn5_UpL6R-ytjg8kQqwkbvhIYFOtpAM3s,14814
 roborock/map/b01_q10_map_parser.py,sha256=Pt-goedXV60hg-mwHOgOF0f4TQBQmQXe6otpWaa99ps,29996
 roborock/map/b01_q10_overlays.py,sha256=JmriUbT4-oe6NiE94VttMplFc1HHQrAGNQIiZHj5QKk,6640
 roborock/map/b01_q10_render.py,sha256=b7YUBr53WXxOJhXbfb5IVmgi82iGcC0lJ_j9Ef3kV7M,13502
 roborock/map/map_parser.py,sha256=EcJcz9yld_wu7d5QrmxR2BTfJ801F6SaEgJkbIIap4w,5111
 roborock/map/room_colors.py,sha256=5Q85oR_7xsUyzHYGOJPuzsZ6LQSCpJwfxfWql1v6T1E,2152
 roborock/map/proto/__init__.py,sha256=XcH_s-E67_hcQNwqSkdtY7DgYE0mRBBJwctzsf8zng4,60
-roborock/map/proto/b01_scmap.proto,sha256=ux1OnI_-LSDOlTujCCUeOJrTsVCvjLAUKfyddu-rH5U,1929
-roborock/map/proto/b01_scmap_pb2.py,sha256=KxHxnxSvEjIAZJY5QO0pH5rY7uYxKlup8hyt30jFAtw,3767
+roborock/map/proto/b01_scmap.proto,sha256=lQtOruroUfrDK9EJ99cnGTi7avEK3CQ1haLIopDrS_A,3725
+roborock/map/proto/b01_scmap_pb2.py,sha256=HI7xxxpvV0cFl80B7T7RN74C3cP8YNqfukL_FW324ss,7493
 roborock/mqtt/__init__.py,sha256=Lplt5aS3lCJW09KX34tf2r6NHU8penM-R07FI56Z5CE,415
 roborock/mqtt/health_manager.py,sha256=i_3vbslHMebVd0VNBWalPaEnZi8gcRI3IcKPt2wlQF8,2208
 roborock/mqtt/roborock_session.py,sha256=ir7HXs4gtoineiwlc6ixyAueBTCSPtNU8zPGgY9hGOE,21027
@@ -125,8 +125,8 @@ roborock/testing/channel.py,sha256=vjulT5MHBe8lAq6XITUqcxJVcCILWx7ZEcw5imTx0Tk,7
 roborock/testing/cloud.py,sha256=L2L0KlZDYaMuoV19KUQUoq5EAUDeNQ1lJ8Ew5YaOgjo,11946
 roborock/testing/simulator.py,sha256=g8ZUWVSjgAzuRRxWOCeOq-7deodyEItwUpqEw9RzCmQ,4347
 roborock/testing/v1_simulator.py,sha256=_LX_vsBMcB2Uu2QDt8QnQymgtVtbnwD5Xa7tmhiPAnY,14439
-python_roborock-7.4.3.dist-info/METADATA,sha256=aKz_bLOyquXyaONtqRzSBTwd2qbzww3ozFSdDfPM-_o,5278
-python_roborock-7.4.3.dist-info/WHEEL,sha256=zOwg4jB6zX2kU910N-cMawjivD6tO8NEWvE12je1bVk,87
-python_roborock-7.4.3.dist-info/entry_points.txt,sha256=EvC1nMqi9ZXKgZnqlNXA33v_3nzgPNjnM0mzWlrehnY,47
-python_roborock-7.4.3.dist-info/licenses/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
-python_roborock-7.4.3.dist-info/RECORD,,
+python_roborock-7.5.0.dist-info/METADATA,sha256=UJyDy8lpgf3x32vXVYE46C2rlW0PSY3cTtToPhv_Jyk,5278
+python_roborock-7.5.0.dist-info/WHEEL,sha256=zOwg4jB6zX2kU910N-cMawjivD6tO8NEWvE12je1bVk,87
+python_roborock-7.5.0.dist-info/entry_points.txt,sha256=EvC1nMqi9ZXKgZnqlNXA33v_3nzgPNjnM0mzWlrehnY,47
+python_roborock-7.5.0.dist-info/licenses/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
+python_roborock-7.5.0.dist-info/RECORD,,

roborock/map/b01_map_parser.py

@@ -5,20 +5,36 @@ The inner SCMap blob is parsed with protobuf messages generated from
 """
 
 import io
+import math
+from collections import deque
 from dataclasses import dataclass
 
 from google.protobuf.message import DecodeError
 from PIL import Image
+from vacuum_map_parser_base.config.color import ColorsPalette, SupportedColor
+from vacuum_map_parser_base.config.drawable import Drawable
 from vacuum_map_parser_base.config.image_config import ImageConfig
-from vacuum_map_parser_base.map_data import ImageData, MapData
+from vacuum_map_parser_base.map_data import Area, ImageData, MapData, Path, Point, Room
 
 from roborock.exceptions import RoborockException
 from roborock.map.proto.b01_scmap_pb2 import RobotMap  # type: ignore[attr-defined]
 
-from .map_parser import ParsedMapData
+from .map_parser import MapParserConfig, ParsedMapData, _create_image_generator
+from .room_colors import adjacency_aware_room_colors
 
 _MAP_FILE_FORMAT = "PNG"
 
+_FLOOR = 127
+_WALL = 128
+
+_B01_DRAWABLES = [
+    Drawable.CHARGER,
+    Drawable.NO_GO_AREAS,
+    Drawable.PATH,
+    Drawable.ROOM_NAMES,
+    Drawable.VACUUM_POSITION,
+]
+
 
 @dataclass
 class B01MapParserConfig:
@@ -40,7 +56,11 @@ class B01MapParser:
         size_x, size_y, grid = _extract_grid(parsed)
         room_names = _extract_room_names(parsed)
 
-        image = _render_occupancy_image(grid, size_x=size_x, size_y=size_y, scale=self._config.map_scale)
+        room_pixels = _assign_room_pixels(parsed, grid, size_x=size_x, size_y=size_y)
+        carpet_pixels = _carpet_pixel_indices(parsed, grid, size_x=size_x, size_y=size_y)
+        image = _render_occupancy_image(
+            grid, room_pixels, carpet_pixels, size_x=size_x, size_y=size_y, scale=self._config.map_scale
+        )
 
         map_data = MapData()
         map_data.image = ImageData(
@@ -51,11 +71,30 @@ class B01MapParser:
             width=size_x,
             image_config=ImageConfig(scale=self._config.map_scale),
             data=image,
-            img_transformation=lambda p: p,
+            # Overlay points are stored in the rendered image's top-down pixel
+            # space. ImageDimensions applies V1's bottom-up flip before drawing,
+            # so this adapter cancels it (same approach as the Q10 renderer).
+            img_transformation=lambda p: Point(p.x, size_y - p.y - 1, p.a),
         )
         if room_names:
             map_data.additional_parameters["room_names"] = room_names
 
+        projector = _WorldToPixel(parsed)
+        has_drawables = _place_poses(map_data, parsed, projector)
+        map_data.rooms = _extract_rooms(parsed, projector, room_names)
+        has_drawables = has_drawables or bool(map_data.rooms)
+        if carpet_pixels:
+            # Same contract as the Q10 parser: flat top-down grid indices.
+            map_data.carpet_map = {(size_y - 1 - index // size_x) * size_x + index % size_x for index in carpet_pixels}
+
+        if has_drawables:
+            generator = _create_image_generator(
+                MapParserConfig(map_scale=self._config.map_scale),
+                drawables=_B01_DRAWABLES,
+            )
+            generator.draw_map(map_data)
+            image = map_data.image.data
+
         image_bytes = io.BytesIO()
         image.save(image_bytes, format=_MAP_FILE_FORMAT)
 
@@ -101,6 +140,100 @@ def _extract_grid(parsed: RobotMap) -> tuple[int, int, bytes]:
     return size_x, size_y, map_data[:expected_len]
 
 
+class _WorldToPixel:
+    """Project SCMap world coordinates (meters) into top-down image pixels."""
+
+    def __init__(self, parsed: RobotMap) -> None:
+        head = parsed.mapHead
+        self._min_x = head.minX
+        self._min_y = head.minY
+        self._max_x = head.maxX
+        self._max_y = head.maxY
+        self._resolution = head.resolution or 0.05
+        self._size_y = head.sizeY
+
+    def in_bounds(self, x: float, y: float) -> bool:
+        """Whether a world point lies inside the map (rejects placeholder poses)."""
+        return self._min_x <= x <= self._max_x and self._min_y <= y <= self._max_y
+
+    def to_pixel(self, x: float, y: float) -> tuple[float, float]:
+        """World meters to top-down image pixel coordinates."""
+        px = (x - self._min_x) / self._resolution
+        py = self._size_y - 1 - (y - self._min_y) / self._resolution
+        return px, py
+
+
+def _place_poses(map_data: MapData, parsed: RobotMap, projector: _WorldToPixel) -> bool:
+    """Populate charger, robot position and path from the decoded SCMap."""
+    has_drawables = False
+
+    if parsed.HasField("chargeStation") and projector.in_bounds(parsed.chargeStation.x, parsed.chargeStation.y):
+        px, py = projector.to_pixel(parsed.chargeStation.x, parsed.chargeStation.y)
+        map_data.charger = Point(px, py, math.degrees(parsed.chargeStation.phi))
+        has_drawables = True
+
+    if parsed.HasField("currentPose") and projector.in_bounds(parsed.currentPose.x, parsed.currentPose.y):
+        px, py = projector.to_pixel(parsed.currentPose.x, parsed.currentPose.y)
+        map_data.vacuum_position = Point(px, py, math.degrees(parsed.currentPose.phi))
+        has_drawables = True
+    elif map_data.charger is not None:
+        # A saved map carries no live pose; show the robot at its dock.
+        map_data.vacuum_position = Point(map_data.charger.x, map_data.charger.y, map_data.charger.a)
+
+    areas = [
+        Area(*(coord for point in area.points for coord in projector.to_pixel(point.x, point.y)))
+        for area in parsed.areaInfo
+        if len(area.points) == 4
+    ]
+    if areas:
+        # areaInfo type semantics are not yet mapped per zone kind; render all
+        # restricted areas through the no-go drawable for now.
+        map_data.no_go_areas = areas
+        has_drawables = True
+
+    if parsed.HasField("historyPose"):
+        pixels = [
+            Point(*projector.to_pixel(point.x, point.y))
+            for point in parsed.historyPose.points
+            if projector.in_bounds(point.x, point.y)
+        ]
+        if pixels:
+            map_data.path = Path(len(pixels), 1, 0, [pixels])
+            has_drawables = True
+
+    return has_drawables
+
+
+def _extract_rooms(parsed: RobotMap, projector: _WorldToPixel, room_names: dict[int, str]) -> dict[int, Room] | None:
+    """Build room bounding boxes (image-pixel space) from room outlines."""
+    rooms: dict[int, Room] = {}
+    label_positions = {
+        room.roomId: projector.to_pixel(room.roomNamePost.x, room.roomNamePost.y)
+        for room in parsed.roomDataInfo
+        if room.HasField("roomNamePost")
+    }
+    size_y = parsed.mapHead.sizeY
+    for outline in parsed.roomOutline:
+        if not outline.points:
+            continue
+        room_id = outline.roomId
+        # Outline points are top-down after the same vertical flip as the raster.
+        xs = [point.x for point in outline.points]
+        ys = [size_y - 1 - point.y for point in outline.points]
+        pos = label_positions.get(room_id)
+        rooms[room_id] = Room(
+            min(xs),
+            min(ys),
+            max(xs),
+            max(ys),
+            room_id,
+            room_names.get(room_id),
+            pos[0] if pos else None,
+            pos[1] if pos else None,
+        )
+    return rooms or None
+
+
 def _extract_room_names(parsed: RobotMap) -> dict[int, str]:
     # Expose room id/name mapping without inventing room geometry/polygons.
     room_names: dict[int, str] = {}
@@ -111,21 +244,138 @@ def _extract_room_names(parsed: RobotMap) -> dict[int, str]:
     return room_names
 
 
-def _render_occupancy_image(grid: bytes, *, size_x: int, size_y: int, scale: int) -> Image.Image:
-    """Render the B01 occupancy grid into a simple image."""
+def _assign_room_pixels(parsed: RobotMap, grid: bytes, *, size_x: int, size_y: int) -> bytearray:
+    """Assign a room id to each floor pixel by flood-filling from room labels.
+
+    The grid itself carries no room ids; room geometry arrives as boundary
+    pixel chains (``roomOutline``). Each room is filled from its label
+    position, bounded by walls and by any room's outline pixels, all in the
+    raw (bottom-up) grid space.
+    """
+    assignment = bytearray(len(grid))
+    outlines = {outline.roomId: outline for outline in parsed.roomOutline if outline.points}
+    if not outlines:
+        return assignment
+
+    barrier = {
+        point.y * size_x + point.x
+        for outline in outlines.values()
+        for point in outline.points
+        if point.x < size_x and point.y < size_y
+    }
+    floor_count = grid.count(_FLOOR)
+    # ponytail: leak guard — a gapped outline would flood the whole floor, so a
+    # fill larger than half of it is discarded instead of tracing outline gaps.
+    max_fill = floor_count // 2
+
+    head = parsed.mapHead
+    label_positions = {
+        room.roomId: (
+            int((room.roomNamePost.x - head.minX) / head.resolution),
+            int((room.roomNamePost.y - head.minY) / head.resolution),
+        )
+        for room in parsed.roomDataInfo
+        if room.HasField("roomNamePost")
+    }
+
+    for room_id, outline in outlines.items():
+        seed = label_positions.get(room_id)
+        if seed is None:
+            continue
+        col, row = seed
+        start = row * size_x + col
+        if not (0 <= col < size_x and 0 <= row < size_y) or grid[start] != _FLOOR:
+            continue
+        filled: list[int] = []
+        queue = deque([start])
+        seen = {start}
+        while queue and len(filled) <= max_fill:
+            index = queue.popleft()
+            filled.append(index)
+            for neighbor in (index - 1, index + 1, index - size_x, index + size_x):
+                if (
+                    0 <= neighbor < len(grid)
+                    and neighbor not in seen
+                    and grid[neighbor] == _FLOOR
+                    and assignment[neighbor] == 0
+                    and neighbor not in barrier
+                    # Row-wrap guard for the horizontal neighbors.
+                    and abs(neighbor % size_x - index % size_x) <= 1
+                ):
+                    seen.add(neighbor)
+                    queue.append(neighbor)
+        if len(filled) > max_fill:
+            continue
+        for index in filled:
+            assignment[index] = room_id
+        # Color the room's own boundary ring too where it sits on floor.
+        for point in outline.points:
+            index = point.y * size_x + point.x
+            if index < len(grid) and grid[index] == _FLOOR and assignment[index] == 0:
+                assignment[index] = room_id
+
+    return assignment
+
+
+def _carpet_pixel_indices(parsed: RobotMap, grid: bytes, *, size_x: int, size_y: int) -> set[int]:
+    """Raw-grid indices of floor pixels covered by enabled carpets."""
+    head = parsed.mapHead
+    resolution = head.resolution or 0.05
+    indices: set[int] = set()
+    for carpet in parsed.carpetInfo:
+        if not carpet.points or (carpet.HasField("enabled") and not carpet.enabled):
+            continue
+        cols = [int((point.x - head.minX) / resolution) for point in carpet.points]
+        rows = [int((point.y - head.minY) / resolution) for point in carpet.points]
+        for row in range(max(min(rows), 0), min(max(rows), size_y - 1) + 1):
+            for col in range(max(min(cols), 0), min(max(cols), size_x - 1) + 1):
+                index = row * size_x + col
+                if grid[index] == _FLOOR:
+                    indices.add(index)
+    return indices
+
+
+def _render_occupancy_image(
+    grid: bytes, room_pixels: bytearray, carpet_pixels: set[int], *, size_x: int, size_y: int, scale: int
+) -> Image.Image:
+    """Render the B01 occupancy grid with per-room colors."""
+
+    colors = ColorsPalette()
+    room_colors = {
+        room_id: tuple(color[:3]) + (255,)
+        for room_id, color in adjacency_aware_room_colors(
+            room_pixels, size_x, colors, lambda value: value or None
+        ).items()
+    }
 
     # The observed occupancy grid contains only:
     # - 0: outside/unknown
-    # - 127: wall/obstacle
-    # - 128: floor/free
-    table = bytearray(range(256))
-    table[0] = 0
-    table[127] = 180
-    table[128] = 255
-
-    mapped = grid.translate(bytes(table))
-    img = Image.frombytes("L", (size_x, size_y), mapped)
-    img = img.transpose(Image.Transpose.FLIP_TOP_BOTTOM).convert("RGB")
+    # - 127: floor/free
+    # - 128: wall/obstacle
+    # Same V1 palette roles as the Q10 renderer: transparent outside, grey
+    # walls/obstacles, MAP_INSIDE for floor not assigned to any room.
+    outside = (0, 0, 0, 0)
+    floor = tuple(colors.get_color(SupportedColor.MAP_INSIDE)[:3]) + (255,)
+    base_colors = {
+        0: outside,
+        _FLOOR: floor,
+        _WALL: tuple(colors.get_color(SupportedColor.GREY_WALL)[:3]) + (255,),
+    }
+
+    rgba = bytearray()
+    for index, value in enumerate(grid):
+        if value == _FLOOR and (room_id := room_pixels[index]):
+            color = room_colors.get(room_id, floor)
+        else:
+            color = base_colors.get(value, floor)
+        if index in carpet_pixels and (index // size_x + index % size_x) % 2 == 0:
+            # Checkerboard stipple, like the V1 carpet texture.
+            color = tuple(min(channel + 60, 255) for channel in color[:3]) + (255,)
+        rgba.extend(color)
+
+    # RGBA so the shared V1 ImageGenerator can alpha-composite overlay glyphs.
+    img = Image.frombytes("RGBA", (size_x, size_y), bytes(rgba))
+    img = img.transpose(Image.Transpose.FLIP_TOP_BOTTOM)
 
     if scale > 1:
         img = img.resize((size_x * scale, size_y * scale), resample=Image.Resampling.NEAREST)

roborock/map/proto/b01_scmap.proto

@@ -1,6 +1,6 @@
 // Checked-in B01/Q7 SCMap schema for the generated runtime protobuf module.
 // Regenerate the checked-in Python module after edits with:
-//   python -m grpc_tools.protoc -I./roborock/map/proto --python_out=./roborock/map/proto roborock/map/proto/b01_scmap.proto
+//   python -m grpc_tools.protoc -I. --python_out=. roborock/map/proto/b01_scmap.proto
 // The generated file `b01_scmap_pb2.py` is checked in for runtime use and should
 // not be edited by hand.
 syntax = "proto2";
@@ -47,6 +47,79 @@ message MapDataInfo {
   optional bytes mapData = 1;
 }
 
+message MapInfo {
+  optional uint32 mapId = 1;
+  optional string mapName = 2;
+}
+
+message DevicePoseDataInfo {
+  optional uint32 update = 1;
+  optional float x = 2;
+  optional float y = 3;
+}
+
+message DeviceHistoryPoseInfo {
+  optional uint32 poseId = 1;
+  repeated DevicePoseDataInfo points = 2;
+}
+
+message DevicePoseInfo {
+  optional float x = 1;
+  optional float y = 2;
+  optional float phi = 3;
+}
+
+message DeviceCurrentPoseInfo {
+  optional uint32 poseId = 1;
+  optional uint32 update = 2;
+  optional float x = 3;
+  optional float y = 4;
+  optional float phi = 5;
+}
+
+message DeviceAreaDataInfo {
+  optional uint32 status = 1;
+  optional uint32 type = 2;
+  optional uint32 areaIndex = 3;
+  repeated DevicePointInfo points = 4;
+}
+
+message RoomMatrixInfo {
+  optional bytes matrix = 1;
+}
+
+message RoomOutlinePointInfo {
+  optional uint32 x = 1;
+  optional uint32 y = 2;
+  optional uint32 value = 3;
+}
+
+message RoomBorderPointInfo {
+  optional uint32 x = 1;
+  optional uint32 y = 2;
+}
+
+message RoomBorderInfo {
+  repeated RoomBorderPointInfo points = 1;
+  repeated uint32 roomIds = 2;
+}
+
+message RoomOutlineInfo {
+  optional uint32 roomId = 1;
+  repeated RoomOutlinePointInfo points = 2;
+  repeated RoomBorderInfo borders = 3;
+}
+
+message CarpetDataInfo {
+  optional uint32 carpetId = 1;
+  optional uint32 type = 2;
+  optional uint32 unknown3 = 3;
+  repeated DevicePointInfo points = 4;
+  optional uint32 enabled = 6;
+  optional uint32 unknown7 = 7;
+  optional uint32 unknown8 = 8;
+}
+
 message RoomDataInfo {
   optional uint32 roomId = 1;
   optional string roomName = 2;
@@ -66,5 +139,13 @@ message RobotMap {
   optional MapExtInfo mapExtInfo = 2;
   optional MapHeadInfo mapHead = 3;
   optional MapDataInfo mapData = 4;
+  repeated MapInfo mapInfo = 5;
+  optional DeviceHistoryPoseInfo historyPose = 6;
+  optional DevicePoseInfo chargeStation = 7;
+  optional DeviceCurrentPoseInfo currentPose = 8;
+  repeated DeviceAreaDataInfo areaInfo = 9;
   repeated RoomDataInfo roomDataInfo = 12;
+  optional RoomMatrixInfo roomMatrix = 13;
+  repeated RoomOutlineInfo roomOutline = 14;
+  repeated CarpetDataInfo carpetInfo = 20;
 }

roborock/map/proto/b01_scmap_pb2.py

@@ -24,7 +24,7 @@ _sym_db = _symbol_database.Default()
 
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\"roborock/map/proto/b01_scmap.proto\x12\tb01.scmap\"\'\n\x0f\x44\x65vicePointInfo\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\"]\n\x0fMapBoundaryInfo\x12\x0e\n\x06mapMd5\x18\x01 \x01(\t\x12\r\n\x05vMinX\x18\x02 \x01(\r\x12\r\n\x05vMaxX\x18\x03 \x01(\r\x12\r\n\x05vMinY\x18\x04 \x01(\r\x12\r\n\x05vMaxY\x18\x05 \x01(\r\"\xd9\x01\n\nMapExtInfo\x12\x15\n\rtaskBeginDate\x18\x01 \x01(\r\x12\x15\n\rmapUploadDate\x18\x02 \x01(\r\x12\x10\n\x08mapValid\x18\x03 \x01(\r\x12\x0e\n\x06radian\x18\x04 \x01(\r\x12\r\n\x05\x66orce\x18\x05 \x01(\r\x12\x11\n\tcleanPath\x18\x06 \x01(\r\x12/\n\x0b\x62oudaryInfo\x18\x07 \x01(\x0b\x32\x1a.b01.scmap.MapBoundaryInfo\x12\x12\n\nmapVersion\x18\x08 \x01(\r\x12\x14\n\x0cmapValueType\x18\t \x01(\r\"\x8a\x01\n\x0bMapHeadInfo\x12\x11\n\tmapHeadId\x18\x01 \x01(\r\x12\r\n\x05sizeX\x18\x02 \x01(\r\x12\r\n\x05sizeY\x18\x03 \x01(\r\x12\x0c\n\x04minX\x18\x04 \x01(\x02\x12\x0c\n\x04minY\x18\x05 \x01(\x02\x12\x0c\n\x04maxX\x18\x06 \x01(\x02\x12\x0c\n\x04maxY\x18\x07 \x01(\x02\x12\x12\n\nresolution\x18\x08 \x01(\x02\"\x1e\n\x0bMapDataInfo\x12\x0f\n\x07mapData\x18\x01 \x01(\x0c\"\x87\x02\n\x0cRoomDataInfo\x12\x0e\n\x06roomId\x18\x01 \x01(\r\x12\x10\n\x08roomName\x18\x02 \x01(\t\x12\x12\n\nroomTypeId\x18\x03 \x01(\r\x12\x12\n\nmeterialId\x18\x04 \x01(\r\x12\x12\n\ncleanState\x18\x05 \x01(\r\x12\x11\n\troomClean\x18\x06 \x01(\r\x12\x16\n\x0eroomCleanIndex\x18\x07 \x01(\r\x12\x30\n\x0croomNamePost\x18\x08 \x01(\x0b\x32\x1a.b01.scmap.DevicePointInfo\x12\x0f\n\x07\x63olorId\x18\n \x01(\r\x12\x17\n\x0f\x66loor_direction\x18\x0b \x01(\r\x12\x12\n\nglobal_seq\x18\x0c \x01(\r\"\xc7\x01\n\x08RobotMap\x12\x0f\n\x07mapType\x18\x01 \x01(\r\x12)\n\nmapExtInfo\x18\x02 \x01(\x0b\x32\x15.b01.scmap.MapExtInfo\x12\'\n\x07mapHead\x18\x03 \x01(\x0b\x32\x16.b01.scmap.MapHeadInfo\x12\'\n\x07mapData\x18\x04 \x01(\x0b\x32\x16.b01.scmap.MapDataInfo\x12-\n\x0croomDataInfo\x18\x0c \x03(\x0b\x32\x17.b01.scmap.RoomDataInfo')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\"roborock/map/proto/b01_scmap.proto\x12\tb01.scmap\"\'\n\x0f\x44\x65vicePointInfo\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\"]\n\x0fMapBoundaryInfo\x12\x0e\n\x06mapMd5\x18\x01 \x01(\t\x12\r\n\x05vMinX\x18\x02 \x01(\r\x12\r\n\x05vMaxX\x18\x03 \x01(\r\x12\r\n\x05vMinY\x18\x04 \x01(\r\x12\r\n\x05vMaxY\x18\x05 \x01(\r\"\xd9\x01\n\nMapExtInfo\x12\x15\n\rtaskBeginDate\x18\x01 \x01(\r\x12\x15\n\rmapUploadDate\x18\x02 \x01(\r\x12\x10\n\x08mapValid\x18\x03 \x01(\r\x12\x0e\n\x06radian\x18\x04 \x01(\r\x12\r\n\x05\x66orce\x18\x05 \x01(\r\x12\x11\n\tcleanPath\x18\x06 \x01(\r\x12/\n\x0b\x62oudaryInfo\x18\x07 \x01(\x0b\x32\x1a.b01.scmap.MapBoundaryInfo\x12\x12\n\nmapVersion\x18\x08 \x01(\r\x12\x14\n\x0cmapValueType\x18\t \x01(\r\"\x8a\x01\n\x0bMapHeadInfo\x12\x11\n\tmapHeadId\x18\x01 \x01(\r\x12\r\n\x05sizeX\x18\x02 \x01(\r\x12\r\n\x05sizeY\x18\x03 \x01(\r\x12\x0c\n\x04minX\x18\x04 \x01(\x02\x12\x0c\n\x04minY\x18\x05 \x01(\x02\x12\x0c\n\x04maxX\x18\x06 \x01(\x02\x12\x0c\n\x04maxY\x18\x07 \x01(\x02\x12\x12\n\nresolution\x18\x08 \x01(\x02\"\x1e\n\x0bMapDataInfo\x12\x0f\n\x07mapData\x18\x01 \x01(\x0c\")\n\x07MapInfo\x12\r\n\x05mapId\x18\x01 \x01(\r\x12\x0f\n\x07mapName\x18\x02 \x01(\t\":\n\x12\x44\x65vicePoseDataInfo\x12\x0e\n\x06update\x18\x01 \x01(\r\x12\t\n\x01x\x18\x02 \x01(\x02\x12\t\n\x01y\x18\x03 \x01(\x02\"V\n\x15\x44\x65viceHistoryPoseInfo\x12\x0e\n\x06poseId\x18\x01 \x01(\r\x12-\n\x06points\x18\x02 \x03(\x0b\x32\x1d.b01.scmap.DevicePoseDataInfo\"3\n\x0e\x44\x65vicePoseInfo\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\x0b\n\x03phi\x18\x03 \x01(\x02\"Z\n\x15\x44\x65viceCurrentPoseInfo\x12\x0e\n\x06poseId\x18\x01 \x01(\r\x12\x0e\n\x06update\x18\x02 \x01(\r\x12\t\n\x01x\x18\x03 \x01(\x02\x12\t\n\x01y\x18\x04 \x01(\x02\x12\x0b\n\x03phi\x18\x05 \x01(\x02\"q\n\x12\x44\x65viceAreaDataInfo\x12\x0e\n\x06status\x18\x01 \x01(\r\x12\x0c\n\x04type\x18\x02 \x01(\r\x12\x11\n\tareaIndex\x18\x03 \x01(\r\x12*\n\x06points\x18\x04 \x03(\x0b\x32\x1a.b01.scmap.DevicePointInfo\" \n\x0eRoomMatrixInfo\x12\x0e\n\x06matrix\x18\x01 \x01(\x0c\";\n\x14RoomOutlinePointInfo\x12\t\n\x01x\x18\x01 \x01(\r\x12\t\n\x01y\x18\x02 \x01(\r\x12\r\n\x05value\x18\x03 \x01(\r\"+\n\x13RoomBorderPointInfo\x12\t\n\x01x\x18\x01 \x01(\r\x12\t\n\x01y\x18\x02 \x01(\r\"Q\n\x0eRoomBorderInfo\x12.\n\x06points\x18\x01 \x03(\x0b\x32\x1e.b01.scmap.RoomBorderPointInfo\x12\x0f\n\x07roomIds\x18\x02 \x03(\r\"~\n\x0fRoomOutlineInfo\x12\x0e\n\x06roomId\x18\x01 \x01(\r\x12/\n\x06points\x18\x02 \x03(\x0b\x32\x1f.b01.scmap.RoomOutlinePointInfo\x12*\n\x07\x62orders\x18\x03 \x03(\x0b\x32\x19.b01.scmap.RoomBorderInfo\"\xa3\x01\n\x0e\x43\x61rpetDataInfo\x12\x10\n\x08\x63\x61rpetId\x18\x01 \x01(\r\x12\x0c\n\x04type\x18\x02 \x01(\r\x12\x10\n\x08unknown3\x18\x03 \x01(\r\x12*\n\x06points\x18\x04 \x03(\x0b\x32\x1a.b01.scmap.DevicePointInfo\x12\x0f\n\x07\x65nabled\x18\x06 \x01(\r\x12\x10\n\x08unknown7\x18\x07 \x01(\r\x12\x10\n\x08unknown8\x18\x08 \x01(\r\"\x87\x02\n\x0cRoomDataInfo\x12\x0e\n\x06roomId\x18\x01 \x01(\r\x12\x10\n\x08roomName\x18\x02 \x01(\t\x12\x12\n\nroomTypeId\x18\x03 \x01(\r\x12\x12\n\nmeterialId\x18\x04 \x01(\r\x12\x12\n\ncleanState\x18\x05 \x01(\r\x12\x11\n\troomClean\x18\x06 \x01(\r\x12\x16\n\x0eroomCleanIndex\x18\x07 \x01(\r\x12\x30\n\x0croomNamePost\x18\x08 \x01(\x0b\x32\x1a.b01.scmap.DevicePointInfo\x12\x0f\n\x07\x63olorId\x18\n \x01(\r\x12\x17\n\x0f\x66loor_direction\x18\x0b \x01(\r\x12\x12\n\nglobal_seq\x18\x0c \x01(\r\"\xcc\x04\n\x08RobotMap\x12\x0f\n\x07mapType\x18\x01 \x01(\r\x12)\n\nmapExtInfo\x18\x02 \x01(\x0b\x32\x15.b01.scmap.MapExtInfo\x12\'\n\x07mapHead\x18\x03 \x01(\x0b\x32\x16.b01.scmap.MapHeadInfo\x12\'\n\x07mapData\x18\x04 \x01(\x0b\x32\x16.b01.scmap.MapDataInfo\x12#\n\x07mapInfo\x18\x05 \x03(\x0b\x32\x12.b01.scmap.MapInfo\x12\x35\n\x0bhistoryPose\x18\x06 \x01(\x0b\x32 .b01.scmap.DeviceHistoryPoseInfo\x12\x30\n\rchargeStation\x18\x07 \x01(\x0b\x32\x19.b01.scmap.DevicePoseInfo\x12\x35\n\x0b\x63urrentPose\x18\x08 \x01(\x0b\x32 .b01.scmap.DeviceCurrentPoseInfo\x12/\n\x08\x61reaInfo\x18\t \x03(\x0b\x32\x1d.b01.scmap.DeviceAreaDataInfo\x12-\n\x0croomDataInfo\x18\x0c \x03(\x0b\x32\x17.b01.scmap.RoomDataInfo\x12-\n\nroomMatrix\x18\r \x01(\x0b\x32\x19.b01.scmap.RoomMatrixInfo\x12/\n\x0broomOutline\x18\x0e \x03(\x0b\x32\x1a.b01.scmap.RoomOutlineInfo\x12-\n\ncarpetInfo\x18\x14 \x03(\x0b\x32\x19.b01.scmap.CarpetDataInfo')
 
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
@@ -41,8 +41,32 @@ if not _descriptor._USE_C_DESCRIPTORS:
   _globals['_MAPHEADINFO']._serialized_end=544
   _globals['_MAPDATAINFO']._serialized_start=546
   _globals['_MAPDATAINFO']._serialized_end=576
-  _globals['_ROOMDATAINFO']._serialized_start=579
-  _globals['_ROOMDATAINFO']._serialized_end=842
-  _globals['_ROBOTMAP']._serialized_start=845
-  _globals['_ROBOTMAP']._serialized_end=1044
+  _globals['_MAPINFO']._serialized_start=578
+  _globals['_MAPINFO']._serialized_end=619
+  _globals['_DEVICEPOSEDATAINFO']._serialized_start=621
+  _globals['_DEVICEPOSEDATAINFO']._serialized_end=679
+  _globals['_DEVICEHISTORYPOSEINFO']._serialized_start=681
+  _globals['_DEVICEHISTORYPOSEINFO']._serialized_end=767
+  _globals['_DEVICEPOSEINFO']._serialized_start=769
+  _globals['_DEVICEPOSEINFO']._serialized_end=820
+  _globals['_DEVICECURRENTPOSEINFO']._serialized_start=822
+  _globals['_DEVICECURRENTPOSEINFO']._serialized_end=912
+  _globals['_DEVICEAREADATAINFO']._serialized_start=914
+  _globals['_DEVICEAREADATAINFO']._serialized_end=1027
+  _globals['_ROOMMATRIXINFO']._serialized_start=1029
+  _globals['_ROOMMATRIXINFO']._serialized_end=1061
+  _globals['_ROOMOUTLINEPOINTINFO']._serialized_start=1063
+  _globals['_ROOMOUTLINEPOINTINFO']._serialized_end=1122
+  _globals['_ROOMBORDERPOINTINFO']._serialized_start=1124
+  _globals['_ROOMBORDERPOINTINFO']._serialized_end=1167
+  _globals['_ROOMBORDERINFO']._serialized_start=1169
+  _globals['_ROOMBORDERINFO']._serialized_end=1250
+  _globals['_ROOMOUTLINEINFO']._serialized_start=1252
+  _globals['_ROOMOUTLINEINFO']._serialized_end=1378
+  _globals['_CARPETDATAINFO']._serialized_start=1381
+  _globals['_CARPETDATAINFO']._serialized_end=1544
+  _globals['_ROOMDATAINFO']._serialized_start=1547
+  _globals['_ROOMDATAINFO']._serialized_end=1810
+  _globals['_ROBOTMAP']._serialized_start=1813
+  _globals['_ROBOTMAP']._serialized_end=2401
 # @@protoc_insertion_point(module_scope)