valetudo-map-parser 0.1.10rc7__py3-none-any.whl → 0.1.11b1__py3-none-any.whl

valetudo_map_parser/config/auto_crop.py

@@ -1,452 +0,0 @@
-"""Auto Crop Class for trimming and zooming images.
-Version: 2024.10.0"""
-
-from __future__ import annotations
-
-import logging
-
-import numpy as np
-from scipy import ndimage
-
-from .async_utils import AsyncNumPy
-from .types import Color, NumpyArray, TrimCropData, TrimsData
-from .utils import BaseHandler
-
-
-_LOGGER = logging.getLogger(__name__)
-
-
-class TrimError(Exception):
-    """Exception raised for errors in the trim process."""
-
-    def __init__(self, message, image):
-        super().__init__(message)
-        self.image = image
-
-
-class AutoCrop:
-    """Auto Crop Class for trimming and zooming images."""
-
-    def __init__(self, handler: BaseHandler):
-        self.auto_crop = None  # auto crop data to be calculate once.
-        self.crop_area = None
-        self.handler = handler
-        trim_data = self.handler.shared.trims.to_dict()  # trims data
-        self.trim_up = trim_data.get("trim_up", 0)  # trim up
-        self.trim_down = trim_data.get("trim_down", 0)  # trim down
-        self.trim_left = trim_data.get("trim_left", 0)  # trim left
-        self.trim_right = trim_data.get("trim_right", 0)  # trim right
-        self.offset_top = self.handler.shared.offset_top  # offset top
-        self.offset_bottom = self.handler.shared.offset_down  # offset bottom
-        self.offset_left = self.handler.shared.offset_left  # offset left
-        self.offset_right = self.handler.shared.offset_right  # offset right
-
-    @staticmethod
-    def validate_crop_dimensions(shared):
-        """Ensure width and height are valid before processing cropping."""
-        if shared.image_ref_width <= 0 or shared.image_ref_height <= 0:
-            _LOGGER.warning(
-                "Auto-crop failed: Invalid dimensions (width=%s, height=%s). Using original image.",
-                shared.image_ref_width,
-                shared.image_ref_height,
-            )
-            return False
-        return True
-
-    def check_trim(
-        self, trimmed_height, trimmed_width, margin_size, image_array, file_name, rotate
-    ):
-        """Check if the trim is okay."""
-        if trimmed_height <= margin_size or trimmed_width <= margin_size:
-            self.crop_area = [0, 0, image_array.shape[1], image_array.shape[0]]
-            self.handler.img_size = (image_array.shape[1], image_array.shape[0])
-            raise TrimError(
-                f"{file_name}: Trimming failed at rotation {rotate}.", image_array
-            )
-
-    def _calculate_trimmed_dimensions(self):
-        """Calculate and update the dimensions after trimming."""
-        trimmed_width = max(
-            1,  # Ensure at least 1px
-            (self.trim_right - self.offset_right) - (self.trim_left + self.offset_left),
-        )
-        trimmed_height = max(
-            1,  # Ensure at least 1px
-            (self.trim_down - self.offset_bottom) - (self.trim_up + self.offset_top),
-        )
-
-        # Ensure shared reference dimensions are updated
-        if hasattr(self.handler.shared, "image_ref_height") and hasattr(
-            self.handler.shared, "image_ref_width"
-        ):
-            self.handler.shared.image_ref_height = trimmed_height
-            self.handler.shared.image_ref_width = trimmed_width
-        else:
-            _LOGGER.warning(
-                "Shared attributes for image dimensions are not initialized."
-            )
-
-        return trimmed_width, trimmed_height
-
-    async def _async_auto_crop_data(self, tdata: TrimsData):  # , tdata=None
-        """Load the auto crop data from the Camera config."""
-        if not self.auto_crop:
-            trims_data = TrimCropData.from_dict(dict(tdata.to_dict())).to_list()
-            (
-                self.trim_left,
-                self.trim_up,
-                self.trim_right,
-                self.trim_down,
-            ) = trims_data
-            if trims_data != [0, 0, 0, 0]:
-                self._calculate_trimmed_dimensions()
-            else:
-                trims_data = None
-            return trims_data
-        return None
-
-    def auto_crop_offset(self):
-        """Calculate the offset for the auto crop."""
-        if self.auto_crop:
-            self.auto_crop[0] += self.offset_left
-            self.auto_crop[1] += self.offset_top
-            self.auto_crop[2] -= self.offset_right
-            self.auto_crop[3] -= self.offset_bottom
-
-    async def _init_auto_crop(self):
-        """Initialize the auto crop data."""
-        if not self.auto_crop:  # and self.handler.shared.vacuum_state == "docked":
-            self.auto_crop = await self._async_auto_crop_data(self.handler.shared.trims)
-            if self.auto_crop:
-                self.auto_crop_offset()
-        else:
-            self.handler.max_frames = 1205
-
-        # Fallback: Ensure auto_crop is valid
-        if not self.auto_crop or any(v < 0 for v in self.auto_crop):
-            self.auto_crop = None
-
-        return self.auto_crop
-
-    async def async_image_margins(
-        self, image_array: NumpyArray, detect_colour: Color
-    ) -> tuple[int, int, int, int]:
-        """Crop the image based on the auto crop area using scipy.ndimage for better performance."""
-        # Import scipy.ndimage here to avoid import at module level
-
-        # Create a binary mask where True = non-background pixels
-        # This is much more memory efficient than storing coordinates
-        mask = ~np.all(image_array == list(detect_colour), axis=2)
-
-        # Use scipy.ndimage.find_objects to efficiently find the bounding box
-        # This returns a list of slice objects that define the bounding box
-        # Label the mask with a single label (1) and find its bounding box
-        labeled_mask = mask.astype(np.int8)  # Convert to int8 (smallest integer type)
-        objects = ndimage.find_objects(labeled_mask)
-
-        if not objects:  # No objects found
-            _LOGGER.warning(
-                "%s: No non-background pixels found in image", self.handler.file_name
-            )
-            # Return full image dimensions as fallback
-            return 0, 0, image_array.shape[1], image_array.shape[0]
-
-        # Extract the bounding box coordinates from the slice objects
-        y_slice, x_slice = objects[0]
-        min_y, max_y = y_slice.start, y_slice.stop - 1
-        min_x, max_x = x_slice.start, x_slice.stop - 1
-
-        return min_y, min_x, max_x, max_y
-
-    async def async_get_room_bounding_box(
-        self, room_name: str, rand256: bool = False
-    ) -> tuple[int, int, int, int] | None:
-        """Calculate bounding box coordinates from room outline for zoom functionality.
-
-        Args:
-            room_name: Name of the room to get bounding box for
-            rand256: Whether this is for a rand256 vacuum (applies /10 scaling)
-
-        Returns:
-            Tuple of (left, right, up, down) coordinates or None if room not found
-        """
-        try:
-            # For Hypfer vacuums, check room_propriety first, then rooms_pos
-            if hasattr(self.handler, "room_propriety") and self.handler.room_propriety:
-                # Handle different room_propriety formats
-                room_data_dict = None
-
-                if isinstance(self.handler.room_propriety, dict):
-                    # Hypfer handler: room_propriety is a dictionary
-                    room_data_dict = self.handler.room_propriety
-                elif (
-                    isinstance(self.handler.room_propriety, tuple)
-                    and len(self.handler.room_propriety) >= 1
-                ):
-                    # Rand256 handler: room_propriety is a tuple (room_properties, zone_properties, point_properties)
-                    room_data_dict = self.handler.room_propriety[0]
-
-                if room_data_dict and isinstance(room_data_dict, dict):
-                    for room_id, room_data in room_data_dict.items():
-                        if room_data.get("name") == room_name:
-                            outline = room_data.get("outline", [])
-                            if outline:
-                                xs, ys = zip(*outline)
-                                left, right = min(xs), max(xs)
-                                up, down = min(ys), max(ys)
-
-                                if rand256:
-                                    # Apply scaling for rand256 vacuums
-                                    left = round(left / 10)
-                                    right = round(right / 10)
-                                    up = round(up / 10)
-                                    down = round(down / 10)
-
-                                return left, right, up, down
-
-            # Fallback: check rooms_pos (used by both Hypfer and Rand256)
-            if hasattr(self.handler, "rooms_pos") and self.handler.rooms_pos:
-                for room in self.handler.rooms_pos:
-                    if room.get("name") == room_name:
-                        outline = room.get("outline", [])
-                        if outline:
-                            xs, ys = zip(*outline)
-                            left, right = min(xs), max(xs)
-                            up, down = min(ys), max(ys)
-
-                            if rand256:
-                                # Apply scaling for rand256 vacuums
-                                left = round(left / 10)
-                                right = round(right / 10)
-                                up = round(up / 10)
-                                down = round(down / 10)
-
-                            return left, right, up, down
-
-            _LOGGER.warning(
-                "%s: Room '%s' not found for zoom bounding box calculation",
-                self.handler.file_name,
-                room_name,
-            )
-            return None
-
-        except Exception as e:
-            _LOGGER.warning(
-                "%s: Error calculating room bounding box for '%s': %s",
-                self.handler.file_name,
-                room_name,
-                e,
-            )
-            return None
-
-    async def async_check_if_zoom_is_on(
-        self,
-        image_array: NumpyArray,
-        margin_size: int = 100,
-        zoom: bool = False,
-        rand256: bool = False,
-    ) -> NumpyArray:
-        """Check if the image needs to be zoomed."""
-
-        if (
-            zoom
-            and self.handler.shared.vacuum_state == "cleaning"
-            and self.handler.shared.image_auto_zoom
-        ):
-            # Get the current room name from robot_pos (not robot_in_room)
-            current_room = (
-                self.handler.robot_pos.get("in_room")
-                if self.handler.robot_pos
-                else None
-            )
-            _LOGGER.info(f"Current room: {current_room}")
-
-            if not current_room:
-                # For Rand256 handler, try to zoom based on robot position even without room data
-                if (
-                    rand256
-                    and hasattr(self.handler, "robot_position")
-                    and self.handler.robot_position
-                ):
-                    robot_x, robot_y = (
-                        self.handler.robot_position[0],
-                        self.handler.robot_position[1],
-                    )
-
-                    # Create a zoom area around the robot position (e.g., 800x800 pixels for better view)
-                    zoom_size = 800
-                    trim_left = max(0, int(robot_x - zoom_size // 2))
-                    trim_right = min(
-                        image_array.shape[1], int(robot_x + zoom_size // 2)
-                    )
-                    trim_up = max(0, int(robot_y - zoom_size // 2))
-                    trim_down = min(image_array.shape[0], int(robot_y + zoom_size // 2))
-
-                    _LOGGER.info(
-                        "%s: Zooming to robot position area (%d, %d) with size %dx%d",
-                        self.handler.file_name,
-                        robot_x,
-                        robot_y,
-                        trim_right - trim_left,
-                        trim_down - trim_up,
-                    )
-
-                    return image_array[trim_up:trim_down, trim_left:trim_right]
-                else:
-                    _LOGGER.warning(
-                        "%s: No room information available for zoom. Using full image.",
-                        self.handler.file_name,
-                    )
-                    return image_array[
-                        self.auto_crop[1] : self.auto_crop[3],
-                        self.auto_crop[0] : self.auto_crop[2],
-                    ]
-
-            # Calculate bounding box from room outline
-            bounding_box = await self.async_get_room_bounding_box(current_room, rand256)
-
-            if not bounding_box:
-                _LOGGER.warning(
-                    "%s: Could not calculate bounding box for room '%s'. Using full image.",
-                    self.handler.file_name,
-                    current_room,
-                )
-                return image_array[
-                    self.auto_crop[1] : self.auto_crop[3],
-                    self.auto_crop[0] : self.auto_crop[2],
-                ]
-
-            left, right, up, down = bounding_box
-
-            # Apply margins
-            trim_left = left - margin_size
-            trim_right = right + margin_size
-            trim_up = up - margin_size
-            trim_down = down + margin_size
-            # Ensure valid trim values
-            trim_left, trim_right = sorted([trim_left, trim_right])
-            trim_up, trim_down = sorted([trim_up, trim_down])
-
-            # Prevent zero-sized images
-            if trim_right - trim_left < 1 or trim_down - trim_up < 1:
-                _LOGGER.warning(
-                    "Zooming resulted in an invalid crop area. Using full image."
-                )
-                return image_array  # Return original image
-
-            trimmed = image_array[trim_up:trim_down, trim_left:trim_right]
-
-        else:
-            trimmed = image_array[
-                self.auto_crop[1] : self.auto_crop[3],
-                self.auto_crop[0] : self.auto_crop[2],
-            ]
-
-        return trimmed
-
-    async def async_rotate_the_image(
-        self, trimmed: NumpyArray, rotate: int
-    ) -> NumpyArray:
-        """Rotate the image and return the new array."""
-        if rotate == 90:
-            rotated = await AsyncNumPy.async_rot90(trimmed)
-            self.crop_area = [
-                self.trim_left,
-                self.trim_up,
-                self.trim_right,
-                self.trim_down,
-            ]
-        elif rotate == 180:
-            rotated = await AsyncNumPy.async_rot90(trimmed, 2)
-            self.crop_area = self.auto_crop
-        elif rotate == 270:
-            rotated = await AsyncNumPy.async_rot90(trimmed, 3)
-            self.crop_area = [
-                self.trim_left,
-                self.trim_up,
-                self.trim_right,
-                self.trim_down,
-            ]
-        else:
-            rotated = trimmed
-            self.crop_area = self.auto_crop
-        return rotated
-
-    async def async_auto_trim_and_zoom_image(
-        self,
-        image_array: NumpyArray,
-        detect_colour: Color = (93, 109, 126, 255),
-        margin_size: int = 0,
-        rotate: int = 0,
-        zoom: bool = False,
-        rand256: bool = False,
-    ):
-        """
-        Automatically crops and trims a numpy array and returns the processed image.
-        """
-        try:
-            self.auto_crop = await self._init_auto_crop()
-            if (self.auto_crop is None) or (self.auto_crop == [0, 0, 0, 0]):
-                # Find the coordinates of the first occurrence of a non-background color
-                min_y, min_x, max_x, max_y = await self.async_image_margins(
-                    image_array, detect_colour
-                )
-                # Calculate and store the trims coordinates with margins
-                self.trim_left = int(min_x) - margin_size
-                self.trim_up = int(min_y) - margin_size
-                self.trim_right = int(max_x) + margin_size
-                self.trim_down = int(max_y) + margin_size
-                del min_y, min_x, max_x, max_y
-
-                # Calculate the dimensions after trimming using min/max values
-                trimmed_width, trimmed_height = self._calculate_trimmed_dimensions()
-
-                # Test if the trims are okay or not
-                try:
-                    self.check_trim(
-                        trimmed_height,
-                        trimmed_width,
-                        margin_size,
-                        image_array,
-                        self.handler.file_name,
-                        rotate,
-                    )
-                except TrimError as e:
-                    return e.image
-
-                # Store Crop area of the original image_array we will use from the next frame.
-                self.auto_crop = TrimCropData(
-                    self.trim_left,
-                    self.trim_up,
-                    self.trim_right,
-                    self.trim_down,
-                ).to_list()
-                # Update the trims data in the shared instance
-                self.handler.shared.trims = TrimsData.from_dict(
-                    {
-                        "trim_left": self.trim_left,
-                        "trim_up": self.trim_up,
-                        "trim_right": self.trim_right,
-                        "trim_down": self.trim_down,
-                    }
-                )
-                self.auto_crop_offset()
-            # If it is needed to zoom the image.
-            trimmed = await self.async_check_if_zoom_is_on(
-                image_array, margin_size, zoom, rand256
-            )
-            del image_array  # Free memory.
-            # Rotate the cropped image based on the given angle
-            rotated = await self.async_rotate_the_image(trimmed, rotate)
-            del trimmed  # Free memory.
-            self.handler.crop_img_size = [rotated.shape[1], rotated.shape[0]]
-
-        except RuntimeError as e:
-            _LOGGER.warning(
-                "%s: Error %s during auto trim and zoom.",
-                self.handler.file_name,
-                e,
-                exc_info=True,
-            )
-            return None
-        return rotated

valetudo_map_parser/config/color_utils.py

@@ -1,105 +0,0 @@
-"""Utility functions for color operations in the map parser."""
-
-from typing import Optional, Tuple
-
-from .colors import ColorsManagement
-from .types import Color, NumpyArray
-
-
-def get_blended_color(
-    x0: int,
-    y0: int,
-    x1: int,
-    y1: int,
-    arr: Optional[NumpyArray],
-    color: Color,
-) -> Color:
-    """
-    Get a blended color for a pixel based on the current element map and the new element to draw.
-
-    This function:
-    1. Gets the background colors at the start and end points (with offset to avoid sampling already drawn pixels)
-    2. Directly blends the foreground color with the background using straight alpha
-    3. Returns the average of the two blended colors
-
-    Returns:
-        Blended RGBA color to use for drawing
-    """
-    # Extract foreground color components
-    fg_r, fg_g, fg_b, fg_a = color
-    fg_alpha = fg_a / 255.0  # Convert to 0-1 range
-
-    # Fast path for fully opaque or transparent foreground
-    if fg_a == 255:
-        return color
-    if fg_a == 0:
-        # Sample background at midpoint
-        mid_x, mid_y = (x0 + x1) // 2, (y0 + y1) // 2
-        if 0 <= mid_y < arr.shape[0] and 0 <= mid_x < arr.shape[1]:
-            return tuple(arr[mid_y, mid_x])
-        return (0, 0, 0, 0)  # Default if out of bounds
-
-    # Calculate direction vector for offset sampling
-    dx = x1 - x0
-    dy = y1 - y0
-    length = max(1, (dx**2 + dy**2) ** 0.5)  # Avoid division by zero
-    offset = 5  # 5-pixel offset to avoid sampling already drawn pixels
-
-    # Calculate offset coordinates for start point (move away from the line)
-    offset_x0 = int(x0 - (offset * dx / length))
-    offset_y0 = int(y0 - (offset * dy / length))
-
-    # Calculate offset coordinates for end point (move away from the line)
-    offset_x1 = int(x1 + (offset * dx / length))
-    offset_y1 = int(y1 + (offset * dy / length))
-
-    # Sample background at offset start point
-    if 0 <= offset_y0 < arr.shape[0] and 0 <= offset_x0 < arr.shape[1]:
-        bg_color_start = arr[offset_y0, offset_x0]
-        # Direct straight alpha blending
-        start_r = int(fg_r * fg_alpha + bg_color_start[0] * (1 - fg_alpha))
-        start_g = int(fg_g * fg_alpha + bg_color_start[1] * (1 - fg_alpha))
-        start_b = int(fg_b * fg_alpha + bg_color_start[2] * (1 - fg_alpha))
-        start_a = int(fg_a + bg_color_start[3] * (1 - fg_alpha))
-        start_blended_color = (start_r, start_g, start_b, start_a)
-    else:
-        # If offset point is out of bounds, try original point
-        if 0 <= y0 < arr.shape[0] and 0 <= x0 < arr.shape[1]:
-            bg_color_start = arr[y0, x0]
-            start_r = int(fg_r * fg_alpha + bg_color_start[0] * (1 - fg_alpha))
-            start_g = int(fg_g * fg_alpha + bg_color_start[1] * (1 - fg_alpha))
-            start_b = int(fg_b * fg_alpha + bg_color_start[2] * (1 - fg_alpha))
-            start_a = int(fg_a + bg_color_start[3] * (1 - fg_alpha))
-            start_blended_color = (start_r, start_g, start_b, start_a)
-        else:
-            start_blended_color = color
-
-    # Sample background at offset end point
-    if 0 <= offset_y1 < arr.shape[0] and 0 <= offset_x1 < arr.shape[1]:
-        bg_color_end = arr[offset_y1, offset_x1]
-        # Direct straight alpha blending
-        end_r = int(fg_r * fg_alpha + bg_color_end[0] * (1 - fg_alpha))
-        end_g = int(fg_g * fg_alpha + bg_color_end[1] * (1 - fg_alpha))
-        end_b = int(fg_b * fg_alpha + bg_color_end[2] * (1 - fg_alpha))
-        end_a = int(fg_a + bg_color_end[3] * (1 - fg_alpha))
-        end_blended_color = (end_r, end_g, end_b, end_a)
-    else:
-        # If offset point is out of bounds, try original point
-        if 0 <= y1 < arr.shape[0] and 0 <= x1 < arr.shape[1]:
-            bg_color_end = arr[y1, x1]
-            end_r = int(fg_r * fg_alpha + bg_color_end[0] * (1 - fg_alpha))
-            end_g = int(fg_g * fg_alpha + bg_color_end[1] * (1 - fg_alpha))
-            end_b = int(fg_b * fg_alpha + bg_color_end[2] * (1 - fg_alpha))
-            end_a = int(fg_a + bg_color_end[3] * (1 - fg_alpha))
-            end_blended_color = (end_r, end_g, end_b, end_a)
-        else:
-            end_blended_color = color
-
-    # Use the average of the two blended colors
-    blended_color = (
-        (start_blended_color[0] + end_blended_color[0]) // 2,
-        (start_blended_color[1] + end_blended_color[1]) // 2,
-        (start_blended_color[2] + end_blended_color[2]) // 2,
-        (start_blended_color[3] + end_blended_color[3]) // 2,
-    )
-    return blended_color