valetudo-map-parser 0.1.7__py3-none-any.whl → 0.1.9a1__py3-none-any.whl

valetudo_map_parser/config/drawable.py

@@ -3,70 +3,144 @@ Collections of Drawing Utility
 Drawable is part of the Image_Handler
 used functions to draw the elements on the Numpy Array
 that is actually our camera frame.
-Version: v2024.12.0
+Version: v0.1.10
+Refactored for clarity, consistency, and optimized parameter usage.
+Optimized with NumPy and SciPy for better performance.
 """
 
 from __future__ import annotations
 
+import logging
 import math
 
-from PIL import ImageDraw, ImageFont
 import numpy as np
+from PIL import ImageDraw, ImageFont
+
+from .color_utils import get_blended_color
+from .colors import ColorsManagement
+from .types import Color, NumpyArray, PilPNG, Point, Tuple, Union
+
 
-from .types import Color, NumpyArray, PilPNG, Point, Union
+_LOGGER = logging.getLogger(__name__)
 
 
 class Drawable:
     """
     Collection of drawing utility functions for the image handlers.
-    This class contains static methods to draw various elements on the Numpy Arrays (images).
-    We cant use openCV because it is not supported by the Home Assistant OS.
+    This class contains static methods to draw various elements on NumPy arrays (images).
+    We can't use OpenCV because it is not supported by the Home Assistant OS.
     """
 
-    ERROR_OUTLINE = (0, 0, 0, 255)  # Red color for error messages
-    ERROR_COLOR = (255, 0, 0, 191)  # Red color with lower opacity for error outlines
+    ERROR_OUTLINE: Color = (0, 0, 0, 255)  # Red color for error messages
+    ERROR_COLOR: Color = (
+        255,
+        0,
+        0,
+        191,
+    )  # Red color with lower opacity for error outlines
 
     @staticmethod
     async def create_empty_image(
         width: int, height: int, background_color: Color
     ) -> NumpyArray:
-        """Create the empty background image numpy array.
-        Background color is specified as RGBA tuple."""
-        image_array = np.full((height, width, 4), background_color, dtype=np.uint8)
-        return image_array
+        """Create the empty background image NumPy array.
+        Background color is specified as an RGBA tuple."""
+        return np.full((height, width, 4), background_color, dtype=np.uint8)
 
     @staticmethod
     async def from_json_to_image(
         layer: NumpyArray, pixels: Union[dict, list], pixel_size: int, color: Color
     ) -> NumpyArray:
-        """Drawing the layers (rooms) from the vacuum json data."""
+        """Draw the layers (rooms) from the vacuum JSON data onto the image array."""
         image_array = layer
+        # Extract alpha from color
+        alpha = color[3] if len(color) == 4 else 255
+
+        # Create the full color with alpha
+        full_color = color if len(color) == 4 else (*color, 255)
+
+        # Check if we need to blend colors (alpha < 255)
+        need_blending = alpha < 255
+
         # Loop through pixels to find min and max coordinates
         for x, y, z in pixels:
             col = x * pixel_size
             row = y * pixel_size
-            # Draw pixels
+            # Draw pixels as blocks
             for i in range(z):
-                image_array[
-                    row : row + pixel_size,
-                    col + i * pixel_size : col + (i + 1) * pixel_size,
-                ] = color
+                # Get the region to update
+                region_slice = (
+                    slice(row, row + pixel_size),
+                    slice(col + i * pixel_size, col + (i + 1) * pixel_size),
+                )
+
+                if need_blending:
+                    # Sample the center of the region for blending
+                    center_y = row + pixel_size // 2
+                    center_x = col + i * pixel_size + pixel_size // 2
+
+                    # Only blend if coordinates are valid
+                    if (
+                        0 <= center_y < image_array.shape[0]
+                        and 0 <= center_x < image_array.shape[1]
+                    ):
+                        # Get blended color
+                        blended_color = ColorsManagement.sample_and_blend_color(
+                            image_array, center_x, center_y, full_color
+                        )
+                        # Apply blended color to the region
+                        image_array[region_slice] = blended_color
+                    else:
+                        # Use original color if out of bounds
+                        image_array[region_slice] = full_color
+                else:
+                    # No blending needed, use direct assignment
+                    image_array[region_slice] = full_color
+
         return image_array
 
     @staticmethod
     async def battery_charger(
         layers: NumpyArray, x: int, y: int, color: Color
     ) -> NumpyArray:
-        """Draw the battery charger on the input layer."""
+        """Draw the battery charger on the input layer with color blending."""
+        # Check if coordinates are within bounds
+        height, width = layers.shape[:2]
+        if not (0 <= x < width and 0 <= y < height):
+            return layers
+
+        # Calculate charger dimensions
         charger_width = 10
         charger_height = 20
-        # Get the starting and ending indices of the charger rectangle
-        start_row = y - charger_height // 2
-        end_row = start_row + charger_height
-        start_col = x - charger_width // 2
-        end_col = start_col + charger_width
-        # Fill in the charger rectangle with the specified color
-        layers[start_row:end_row, start_col:end_col] = color
+        start_row = max(0, y - charger_height // 2)
+        end_row = min(height, start_row + charger_height)
+        start_col = max(0, x - charger_width // 2)
+        end_col = min(width, start_col + charger_width)
+
+        # Skip if charger is completely outside the image
+        if start_row >= end_row or start_col >= end_col:
+            return layers
+
+        # Extract alpha from color
+        alpha = color[3] if len(color) == 4 else 255
+
+        # Check if we need to blend colors (alpha < 255)
+        if alpha < 255:
+            # Sample the center of the charger for blending
+            center_y = (start_row + end_row) // 2
+            center_x = (start_col + end_col) // 2
+
+            # Get blended color
+            blended_color = ColorsManagement.sample_and_blend_color(
+                layers, center_x, center_y, color
+            )
+
+            # Apply blended color
+            layers[start_row:end_row, start_col:end_col] = blended_color
+        else:
+            # No blending needed, use direct assignment
+            layers[start_row:end_row, start_col:end_col] = color
+
         return layers
 
     @staticmethod
@@ -74,13 +148,36 @@ class Drawable:
         layer: NumpyArray, center: Point, rotation_angle: int, flag_color: Color
     ) -> NumpyArray:
         """
-        It is draw a flag on centered at specified coordinates on
-        the input layer. It uses the rotation angle of the image
-        to orientate the flag on the given layer.
+        Draw a flag centered at specified coordinates on the input layer.
+        It uses the rotation angle of the image to orient the flag.
+        Includes color blending for better visual integration.
         """
-        # Define flag color
-        pole_color = (0, 0, 255, 255)  # RGBA color (blue)
-        # Define flag size and position
+        # Check if coordinates are within bounds
+        height, width = layer.shape[:2]
+        x, y = center
+        if not (0 <= x < width and 0 <= y < height):
+            return layer
+
+        # Get blended colors for flag and pole
+        flag_alpha = flag_color[3] if len(flag_color) == 4 else 255
+        pole_color_base = (0, 0, 255)  # Blue for the pole
+        pole_alpha = 255
+
+        # Blend flag color if needed
+        if flag_alpha < 255:
+            flag_color = ColorsManagement.sample_and_blend_color(
+                layer, x, y, flag_color
+            )
+
+        # Create pole color with alpha
+        pole_color: Color = (*pole_color_base, pole_alpha)
+
+        # Blend pole color if needed
+        if pole_alpha < 255:
+            pole_color = ColorsManagement.sample_and_blend_color(
+                layer, x, y, pole_color
+            )
+
         flag_size = 50
         pole_width = 6
         # Adjust flag coordinates based on rotation angle
@@ -91,23 +188,16 @@ class Drawable:
             y2 = y1 + (flag_size // 2)
             x3 = center[0] + (flag_size // 2)
             y3 = center[1] - (pole_width // 2)
-            # Define pole end position
-            xp1 = center[0]
-            yp1 = center[1] - (pole_width // 2)
-            xp2 = center[0] + flag_size
-            yp2 = center[1] - (pole_width // 2)
+            xp1, yp1 = center[0], center[1] - (pole_width // 2)
+            xp2, yp2 = center[0] + flag_size, center[1] - (pole_width // 2)
         elif rotation_angle == 180:
             x1 = center[0]
             y1 = center[1] - (flag_size // 2)
             x2 = center[0] - (flag_size // 2)
             y2 = y1 + (flag_size // 4)
-            x3 = center[0]
-            y3 = center[1]
-            # Define pole end position
-            xp1 = center[0] + (pole_width // 2)
-            yp1 = center[1] - flag_size
-            xp2 = center[0] + (pole_width // 2)
-            yp2 = y3
+            x3, y3 = center[0], center[1]
+            xp1, yp1 = center[0] + (pole_width // 2), center[1] - flag_size
+            xp2, yp2 = center[0] + (pole_width // 2), y3
         elif rotation_angle == 270:
             x1 = center[0] - flag_size
             y1 = center[1] + (pole_width // 2)
@@ -115,61 +205,40 @@ class Drawable:
             y2 = y1 - (flag_size // 2)
             x3 = center[0] - (flag_size // 2)
             y3 = center[1] + (pole_width // 2)
-            # Define pole end position
-            xp1 = center[0] - flag_size
-            yp1 = center[1] + (pole_width // 2)
-            xp2 = center[0]
-            yp2 = center[1] + (pole_width // 2)
-        else:
-            # rotation_angle == 0 (no rotation)
-            x1 = center[0]
-            y1 = center[1]
-            x2 = center[0] + (flag_size // 2)
-            y2 = y1 + (flag_size // 4)
-            x3 = center[0]
-            y3 = center[1] + flag_size // 2
-            # Define pole end position
-            xp1 = center[0] - (pole_width // 2)
-            yp1 = y1
-            xp2 = center[0] - (pole_width // 2)
-            yp2 = center[1] + flag_size
+            xp1, yp1 = center[0] - flag_size, center[1] + (pole_width // 2)
+            xp2, yp2 = center[0], center[1] + (pole_width // 2)
+        else:  # rotation_angle == 0 (no rotation)
+            x1, y1 = center[0], center[1]
+            x2, y2 = center[0] + (flag_size // 2), center[1] + (flag_size // 4)
+            x3, y3 = center[0], center[1] + flag_size // 2
+            xp1, yp1 = center[0] - (pole_width // 2), y1
+            xp2, yp2 = center[0] - (pole_width // 2), center[1] + flag_size
 
         # Draw flag outline using _polygon_outline
         points = [(x1, y1), (x2, y2), (x3, y3)]
         layer = Drawable._polygon_outline(layer, points, 1, flag_color, flag_color)
-
         # Draw pole using _line
         layer = Drawable._line(layer, xp1, yp1, xp2, yp2, pole_color, pole_width)
-
         return layer
 
     @staticmethod
-    def point_inside(x: int, y: int, points) -> bool:
+    def point_inside(x: int, y: int, points: list[Tuple[int, int]]) -> bool:
         """
         Check if a point (x, y) is inside a polygon defined by a list of points.
-        Utility to establish the fill point of the geometry.
-        Parameters:
-        - x, y: Coordinates of the point to check.
-        - points: List of (x, y) coordinates defining the polygon.
-
-        Returns:
-        - True if the point is inside the polygon, False otherwise.
         """
         n = len(points)
         inside = False
-        xinters = 0
+        xinters = 0.0
         p1x, p1y = points[0]
         for i in range(1, n + 1):
             p2x, p2y = points[i % n]
             if y > min(p1y, p2y):
-                if y <= max(p1y, p2y):
-                    if x <= max(p1x, p2x):
-                        if p1y != p2y:
-                            xinters = (y - p1y) * (p2x - p1x) / (p2y - p1y) + p1x
-                        if p1x == p2x or x <= xinters:
-                            inside = not inside
+                if y <= max(p1y, p2y) and x <= max(p1x, p2x):
+                    if p1y != p2y:
+                        xinters = (y - p1y) * (p2x - p1x) / (p2y - p1y) + p1x
+                    if p1x == p2x or x <= xinters:
+                        inside = not inside
             p1x, p1y = p2x, p2y
-
         return inside
 
     @staticmethod
@@ -183,46 +252,54 @@ class Drawable:
         width: int = 3,
     ) -> NumpyArray:
         """
-        Draw a line on a NumPy array (layer) from point A to B.
-        Parameters:
-        - layer: NumPy array representing the image.
-        - x1, y1: Starting coordinates of the line.
-        - x2, y2: Ending coordinates of the line.
-        - color: Color of the line (e.g., [R, G, B] or [R, G, B, A] for RGBA).
-        - width: Width of the line (default is 3).
-
-        Returns:
-        - Modified layer with the line drawn.
+        Draw a line on a NumPy array (layer) from point A to B using vectorized operations.
+
+        Args:
+            layer: The numpy array to draw on
+            x1, y1: Start point coordinates
+            x2, y2: End point coordinates
+            color: Color to draw with
+            width: Width of the line
         """
-        # Ensure the coordinates are integers
+        # Ensure coordinates are integers
         x1, y1, x2, y2 = int(x1), int(y1), int(x2), int(y2)
 
-        # Use Bresenham's line algorithm to get the coordinates of the line pixels
-        dx = abs(x2 - x1)
-        dy = abs(y2 - y1)
-        sx = 1 if x1 < x2 else -1
-        sy = 1 if y1 < y2 else -1
-        err = dx - dy
+        # Get blended color for the line
+        blended_color = get_blended_color(x1, y1, x2, y2, layer, color)
 
-        while True:
-            # Draw a rectangle with the specified width at the current coordinates
+        # Calculate line length
+        length = max(abs(x2 - x1), abs(y2 - y1))
+        if length == 0:  # Handle case of a single point
+            # Draw a dot with the specified width
             for i in range(-width // 2, (width + 1) // 2):
                 for j in range(-width // 2, (width + 1) // 2):
                     if 0 <= x1 + i < layer.shape[1] and 0 <= y1 + j < layer.shape[0]:
-                        layer[y1 + j, x1 + i] = color
-
-            if x1 == x2 and y1 == y2:
-                break
-
-            e2 = 2 * err
-
-            if e2 > -dy:
-                err -= dy
-                x1 += sx
-
-            if e2 < dx:
-                err += dx
-                y1 += sy
+                        layer[y1 + j, x1 + i] = blended_color
+            return layer
+
+        # Create parametric points along the line
+        t = np.linspace(0, 1, length * 2)  # Double the points for smoother lines
+        x_coords = np.round(x1 * (1 - t) + x2 * t).astype(int)
+        y_coords = np.round(y1 * (1 - t) + y2 * t).astype(int)
+
+        # Draw the line with the specified width
+        if width == 1:
+            # Fast path for width=1
+            for x, y in zip(x_coords, y_coords):
+                if 0 <= x < layer.shape[1] and 0 <= y < layer.shape[0]:
+                    layer[y, x] = blended_color
+        else:
+            # For thicker lines, draw a rectangle at each point
+            half_width = width // 2
+            for x, y in zip(x_coords, y_coords):
+                for i in range(-half_width, half_width + 1):
+                    for j in range(-half_width, half_width + 1):
+                        if (
+                            i * i + j * j <= half_width * half_width  # Make it round
+                            and 0 <= x + i < layer.shape[1]
+                            and 0 <= y + j < layer.shape[0]
+                        ):
+                            layer[y + j, x + i] = blended_color
 
         return layer
 
@@ -243,42 +320,26 @@ class Drawable:
     @staticmethod
     async def lines(arr: NumpyArray, coords, width: int, color: Color) -> NumpyArray:
         """
-        it joins the coordinates creating a continues line.
-        the result is our path.
+        Join the coordinates creating a continuous line (path).
+        Optimized with vectorized operations for better performance.
         """
         for coord in coords:
-            # Use Bresenham's line algorithm to get the coordinates of the line pixels
             x0, y0 = coord[0]
             try:
                 x1, y1 = coord[1]
             except IndexError:
-                x1 = x0
-                y1 = y0
-            dx = abs(x1 - x0)
-            dy = abs(y1 - y0)
-            sx = 1 if x0 < x1 else -1
-            sy = 1 if y0 < y1 else -1
-            err = dx - dy
-            line_pixels = []
-            while True:
-                line_pixels.append((x0, y0))
-                if x0 == x1 and y0 == y1:
-                    break
-                e2 = 2 * err
-                if e2 > -dy:
-                    err -= dy
-                    x0 += sx
-                if e2 < dx:
-                    err += dx
-                    y0 += sy
-
-            # Iterate over the line pixels and draw filled rectangles with the specified width
-            for pixel in line_pixels:
-                x, y = pixel
-                for i in range(width):
-                    for j in range(width):
-                        if 0 <= x + i < arr.shape[0] and 0 <= y + j < arr.shape[1]:
-                            arr[y + i, x + j] = color
+                x1, y1 = x0, y0
+
+            # Skip if coordinates are the same
+            if x0 == x1 and y0 == y1:
+                continue
+
+            # Get blended color for this line segment
+            blended_color = get_blended_color(x0, y0, x1, y1, arr, color)
+
+            # Use the optimized line drawing method
+            arr = Drawable._line(arr, x0, y0, x1, y1, blended_color, width)
+
         return arr
 
     @staticmethod
@@ -292,32 +353,67 @@ class Drawable:
     ) -> NumpyArray:
         """
         Draw a filled circle on the image using NumPy.
-
-        Parameters:
-        - image: NumPy array representing the image.
-        - center: Center coordinates of the circle (x, y).
-        - radius: Radius of the circle.
-        - color: Color of the circle (e.g., [R, G, B] or [R, G, B, A] for RGBA).
-
-        Returns:
-        - Modified image with the filled circle drawn.
+        Optimized to only process the bounding box of the circle.
         """
         y, x = center
-        rr, cc = np.ogrid[: image.shape[0], : image.shape[1]]
-        circle = (rr - x) ** 2 + (cc - y) ** 2 <= radius**2
-        image[circle] = color
-        if outline_width > 0:
-            # Create a mask for the outer circle
-            outer_circle = (rr - x) ** 2 + (cc - y) ** 2 <= (
-                radius + outline_width
-            ) ** 2
-            # Create a mask for the outline by subtracting the inner circle mask from the outer circle mask
-            outline_mask = outer_circle & ~circle
-            # Fill the outline with the outline color
-            image[outline_mask] = outline_color
+        height, width = image.shape[:2]
+
+        # Calculate the bounding box of the circle
+        min_y = max(0, y - radius - outline_width)
+        max_y = min(height, y + radius + outline_width + 1)
+        min_x = max(0, x - radius - outline_width)
+        max_x = min(width, x + radius + outline_width + 1)
+
+        # Create coordinate arrays for the bounding box
+        y_indices, x_indices = np.ogrid[min_y:max_y, min_x:max_x]
+
+        # Calculate distances from center
+        dist_sq = (y_indices - y) ** 2 + (x_indices - x) ** 2
+
+        # Create masks for the circle and outline
+        circle_mask = dist_sq <= radius**2
+
+        # Apply the fill color
+        image[min_y:max_y, min_x:max_x][circle_mask] = color
+
+        # Draw the outline if needed
+        if outline_width > 0 and outline_color is not None:
+            outer_mask = dist_sq <= (radius + outline_width) ** 2
+            outline_mask = outer_mask & ~circle_mask
+            image[min_y:max_y, min_x:max_x][outline_mask] = outline_color
 
         return image
 
+    @staticmethod
+    def _filled_circle_optimized(
+        image: np.ndarray,
+        center: Tuple[int, int],
+        radius: int,
+        color: Color,
+        outline_color: Color = None,
+        outline_width: int = 0,
+    ) -> np.ndarray:
+        """
+        Optimized _filled_circle ensuring dtype compatibility with uint8.
+        """
+        x, y = center
+        h, w = image.shape[:2]
+        color_np = np.array(color, dtype=image.dtype)
+        outline_color_np = (
+            np.array(outline_color, dtype=image.dtype)
+            if outline_color is not None
+            else None
+        )
+        y_indices, x_indices = np.meshgrid(np.arange(h), np.arange(w), indexing="ij")
+        dist_sq = (y_indices - y) ** 2 + (x_indices - x) ** 2
+        circle_mask = dist_sq <= radius**2
+        image[circle_mask] = color_np
+        if outline_width > 0 and outline_color_np is not None:
+            outer_mask = dist_sq <= (radius + outline_width) ** 2
+            outline_mask = outer_mask & ~circle_mask
+            image[outline_mask] = outline_color_np
+        return image
+
     @staticmethod
     def _ellipse(
         image: NumpyArray, center: Point, radius: int, color: Color
@@ -325,32 +421,28 @@ class Drawable:
         """
         Draw an ellipse on the image using NumPy.
         """
-        # Create a copy of the image to avoid modifying the original
-        result_image = image
-        # Calculate the coordinates of the ellipse's bounding box
         x, y = center
         x1, y1 = x - radius, y - radius
         x2, y2 = x + radius, y + radius
-        # Draw the filled ellipse
-        result_image[y1:y2, x1:x2] = color
-        return result_image
+        image[y1:y2, x1:x2] = color
+        return image
 
     @staticmethod
     def _polygon_outline(
         arr: NumpyArray,
-        points,
+        points: list[Tuple[int, int]],
         width: int,
         outline_color: Color,
         fill_color: Color = None,
     ) -> NumpyArray:
         """
-        Draw the outline of a filled polygon on the array using _line.
+        Draw the outline of a polygon on the array using _line, and optionally fill it.
+        Uses NumPy vectorized operations for improved performance.
         """
-        for i, point in enumerate(points):
-            # Get the current and next points to draw a line between them
+        # Draw the outline
+        for i, _ in enumerate(points):
             current_point = points[i]
-            next_point = points[(i + 1) % len(points)]  # Wrap around to the first point
-            # Use the _line function to draw a line between the current and next points
+            next_point = points[(i + 1) % len(points)]
             arr = Drawable._line(
                 arr,
                 current_point[0],
@@ -360,39 +452,89 @@ class Drawable:
                 outline_color,
                 width,
             )
-            # Fill the polygon area with the specified fill color
-            if fill_color is not None:
-                min_x = min(point[0] for point in points)
-                max_x = max(point[0] for point in points)
-                min_y = min(point[1] for point in points)
-                max_y = max(point[1] for point in points)
-                # check if we are inside the area and set the color
-                for x in range(min_x, max_x + 1):
-                    for y in range(min_y, max_y + 1):
-                        if Drawable.point_inside(x, y, points):
-                            arr[y, x] = fill_color
+
+        # Fill the polygon if a fill color is provided
+        if fill_color is not None:
+            # Get the bounding box of the polygon
+            min_x = max(0, min(p[0] for p in points))
+            max_x = min(arr.shape[1] - 1, max(p[0] for p in points))
+            min_y = max(0, min(p[1] for p in points))
+            max_y = min(arr.shape[0] - 1, max(p[1] for p in points))
+
+            # Create a mask for the polygon region
+            mask = np.zeros((max_y - min_y + 1, max_x - min_x + 1), dtype=bool)
+
+            # Adjust points to the mask's coordinate system
+            adjusted_points = [(p[0] - min_x, p[1] - min_y) for p in points]
+
+            # Create a grid of coordinates and use it to test all points at once
+            y_indices, x_indices = np.mgrid[0 : mask.shape[0], 0 : mask.shape[1]]
+
+            # Test each point in the grid
+            for i in range(mask.shape[0]):
+                for j in range(mask.shape[1]):
+                    mask[i, j] = Drawable.point_inside(j, i, adjusted_points)
+
+            # Apply the fill color to the masked region
+            arr[min_y : max_y + 1, min_x : max_x + 1][mask] = fill_color
+
         return arr
 
     @staticmethod
     async def zones(layers: NumpyArray, coordinates, color: Color) -> NumpyArray:
         """
-        Draw the zones on the input layer.
+        Draw the zones on the input layer with color blending.
+        Optimized with NumPy vectorized operations for better performance.
         """
-        dot_radius = 1  # number of pixels the dot should be
-        dot_spacing = 4  # space between dots.
-        # Iterate over zones
+        dot_radius = 1  # Number of pixels for the dot
+        dot_spacing = 4  # Space between dots
+
         for zone in coordinates:
             points = zone["points"]
-            # determinate the points to cover.
-            min_x = min(points[::2])
-            max_x = max(points[::2])
-            min_y = min(points[1::2])
-            max_y = max(points[1::2])
-            # Draw ellipses (dots)
-            for y in range(min_y, max_y, dot_spacing):
-                for x in range(min_x, max_x, dot_spacing):
-                    for _ in range(dot_radius):
-                        layers = Drawable._ellipse(layers, (x, y), dot_radius, color)
+            min_x = max(0, min(points[::2]))
+            max_x = min(layers.shape[1] - 1, max(points[::2]))
+            min_y = max(0, min(points[1::2]))
+            max_y = min(layers.shape[0] - 1, max(points[1::2]))
+
+            # Skip if zone is outside the image
+            if min_x >= max_x or min_y >= max_y:
+                continue
+
+            # Sample a point from the zone to get the background color
+            # Use the center of the zone for sampling
+            sample_x = (min_x + max_x) // 2
+            sample_y = (min_y + max_y) // 2
+
+            # Blend the color with the background color at the sample point
+            if 0 <= sample_y < layers.shape[0] and 0 <= sample_x < layers.shape[1]:
+                blended_color = ColorsManagement.sample_and_blend_color(
+                    layers, sample_x, sample_y, color
+                )
+            else:
+                blended_color = color
+
+            # Create a grid of dot centers
+            x_centers = np.arange(min_x, max_x, dot_spacing)
+            y_centers = np.arange(min_y, max_y, dot_spacing)
+
+            # Draw dots at each grid point
+            for y in y_centers:
+                for x in x_centers:
+                    # Create a small mask for the dot
+                    y_min = max(0, y - dot_radius)
+                    y_max = min(layers.shape[0], y + dot_radius + 1)
+                    x_min = max(0, x - dot_radius)
+                    x_max = min(layers.shape[1], x + dot_radius + 1)
+
+                    # Create coordinate arrays for the dot
+                    y_indices, x_indices = np.ogrid[y_min:y_max, x_min:x_max]
+
+                    # Create a circular mask
+                    mask = (y_indices - y) ** 2 + (x_indices - x) ** 2 <= dot_radius**2
+
+                    # Apply the color to the masked region
+                    layers[y_min:y_max, x_min:x_max][mask] = blended_color
+
         return layers
 
     @staticmethod
@@ -405,66 +547,93 @@ class Drawable:
         robot_state: str | None = None,
     ) -> NumpyArray:
         """
-        We Draw the robot with in a smaller array
-        this helps numpy to work faster and at lower
-        memory cost.
+        Draw the robot on a smaller array to reduce memory cost.
+        Optimized with NumPy vectorized operations for better performance.
         """
-        # Create a 52*52 empty image numpy array of the background
-        top_left_x = x - 26
-        top_left_y = y - 26
-        bottom_right_x = top_left_x + 52
-        bottom_right_y = top_left_y + 52
+        # Ensure coordinates are within bounds
+        height, width = layers.shape[:2]
+        if not (0 <= x < width and 0 <= y < height):
+            return layers
+
+        # Calculate the bounding box for the robot
+        radius = 25
+        box_size = radius * 2 + 2  # Add a small margin
+
+        # Calculate the region to draw on
+        top_left_x = max(0, x - radius - 1)
+        top_left_y = max(0, y - radius - 1)
+        bottom_right_x = min(width, x + radius + 1)
+        bottom_right_y = min(height, y + radius + 1)
+
+        # Skip if the robot is completely outside the image
+        if top_left_x >= bottom_right_x or top_left_y >= bottom_right_y:
+            return layers
+
+        # Create a temporary layer for the robot
+        tmp_width = bottom_right_x - top_left_x
+        tmp_height = bottom_right_y - top_left_y
         tmp_layer = layers[top_left_y:bottom_right_y, top_left_x:bottom_right_x].copy()
-        # centre of the above array is used from the rest of the code.
-        # to draw the robot.
-        tmp_x, tmp_y = 26, 26
-        # Draw Robot
-        radius = 25  # Radius of the vacuum constant
-        r_scaled = radius // 11  # Offset scale for placement of the objects.
-        r_cover = r_scaled * 12  # Scale factor for cover
-        lidar_angle = np.deg2rad(
-            angle + 90
-        )  # Convert angle to radians and adjust for LIDAR orientation
-        r_lidar = r_scaled * 3  # Scale factor for the lidar
-        r_button = r_scaled * 1  # scale factor of the button
-        # Outline colour from fill colour
+
+        # Calculate the robot center in the temporary layer
+        tmp_x = x - top_left_x
+        tmp_y = y - top_left_y
+
+        # Calculate robot parameters
+        r_scaled = radius // 11
+        r_cover = r_scaled * 12
+        lidar_angle = np.deg2rad(angle + 90)
+        r_lidar = r_scaled * 3
+        r_button = r_scaled * 1
+
+        # Set colors based on robot state
         if robot_state == "error":
             outline = Drawable.ERROR_OUTLINE
             fill = Drawable.ERROR_COLOR
         else:
             outline = (fill[0] // 2, fill[1] // 2, fill[2] // 2, fill[3])
-        # Draw the robot outline
+
+        # Draw the main robot body
         tmp_layer = Drawable._filled_circle(
-            tmp_layer, (tmp_x, tmp_y), radius, fill, outline, 1
+            tmp_layer, (tmp_y, tmp_x), radius, fill, outline, 1
         )
-        # Draw bin cover
-        angle -= 90  # we remove 90 for the cover orientation
+
+        # Draw the robot direction indicator
+        angle -= 90
         a1 = ((angle + 90) - 80) / 180 * math.pi
         a2 = ((angle + 90) + 80) / 180 * math.pi
         x1 = int(tmp_x - r_cover * math.sin(a1))
         y1 = int(tmp_y + r_cover * math.cos(a1))
         x2 = int(tmp_x - r_cover * math.sin(a2))
         y2 = int(tmp_y + r_cover * math.cos(a2))
-        tmp_layer = Drawable._line(tmp_layer, x1, y1, x2, y2, outline, width=1)
-        # Draw Lidar
-        lidar_x = int(tmp_x + 15 * np.cos(lidar_angle))  # Calculate LIDAR x-coordinate
-        lidar_y = int(tmp_y + 15 * np.sin(lidar_angle))  # Calculate LIDAR y-coordinate
-        tmp_layer = Drawable._filled_circle(
-            tmp_layer, (lidar_x, lidar_y), r_lidar, outline
-        )
-        # Draw Button
-        butt_x = int(
-            tmp_x - 20 * np.cos(lidar_angle)
-        )  # Calculate the button x-coordinate
-        butt_y = int(
-            tmp_y - 20 * np.sin(lidar_angle)
-        )  # Calculate the button y-coordinate
-        tmp_layer = Drawable._filled_circle(
-            tmp_layer, (butt_x, butt_y), r_button, outline
-        )
-        # at last overlay the new robot image to the layer in input.
-        layers = Drawable.overlay_robot(layers, tmp_layer, x, y)
-        # return the new layer as np array.
+
+        # Draw the direction line
+        if (
+            0 <= x1 < tmp_width
+            and 0 <= y1 < tmp_height
+            and 0 <= x2 < tmp_width
+            and 0 <= y2 < tmp_height
+        ):
+            tmp_layer = Drawable._line(tmp_layer, x1, y1, x2, y2, outline, width=1)
+
+        # Draw the lidar indicator
+        lidar_x = int(tmp_x + 15 * np.cos(lidar_angle))
+        lidar_y = int(tmp_y + 15 * np.sin(lidar_angle))
+        if 0 <= lidar_x < tmp_width and 0 <= lidar_y < tmp_height:
+            tmp_layer = Drawable._filled_circle(
+                tmp_layer, (lidar_y, lidar_x), r_lidar, outline
+            )
+
+        # Draw the button indicator
+        butt_x = int(tmp_x - 20 * np.cos(lidar_angle))
+        butt_y = int(tmp_y - 20 * np.sin(lidar_angle))
+        if 0 <= butt_x < tmp_width and 0 <= butt_y < tmp_height:
+            tmp_layer = Drawable._filled_circle(
+                tmp_layer, (butt_y, butt_x), r_button, outline
+            )
+
+        # Copy the robot layer back to the main layer
+        layers[top_left_y:bottom_right_y, top_left_x:bottom_right_x] = tmp_layer
+
         return layers
 
     @staticmethod
@@ -473,49 +642,233 @@ class Drawable:
     ) -> NumpyArray:
         """
         Overlay the robot image on the background image at the specified coordinates.
-        @param background_image:
-        @param robot_image:
-        @param robot x:
-        @param robot y:
-        @return: robot image overlaid on the background image.
         """
-        # Calculate the dimensions of the robot image
         robot_height, robot_width, _ = robot_image.shape
-        # Calculate the center of the robot image (in case const changes)
         robot_center_x = robot_width // 2
         robot_center_y = robot_height // 2
-        # Calculate the position to overlay the robot on the background image
         top_left_x = x - robot_center_x
         top_left_y = y - robot_center_y
         bottom_right_x = top_left_x + robot_width
         bottom_right_y = top_left_y + robot_height
-        # Overlay the robot on the background image
         background_image[top_left_y:bottom_right_y, top_left_x:bottom_right_x] = (
             robot_image
         )
         return background_image
 
     @staticmethod
-    def draw_obstacles(
-        image: NumpyArray, obstacle_info_list, color: Color
-    ) -> NumpyArray:
+    def draw_filled_circle(
+        image: np.ndarray,
+        centers: Tuple[int, int],
+        radius: int,
+        color: Tuple[int, int, int, int],
+    ) -> np.ndarray:
         """
-        Draw filled circles for obstacles on the image.
-        Parameters:
-        - image: NumPy array representing the image.
-        - obstacle_info_list: List of dictionaries containing obstacle information.
+        Draw multiple filled circles at once using a single NumPy mask.
+        """
+        h, w = image.shape[:2]
+        y_indices, x_indices = np.ogrid[:h, :w]  # Precompute coordinate grids
+        mask = np.zeros((h, w), dtype=bool)
+        for cx, cy in centers:
+            mask |= (x_indices - cx) ** 2 + (y_indices - cy) ** 2 <= radius**2
+        image[mask] = color
+        return image
+
+    @staticmethod
+    def batch_draw_elements(
+        image: np.ndarray,
+        elements: list,
+        element_type: str,
+        color: Color,
+    ) -> np.ndarray:
+        """
+        Efficiently draw multiple elements of the same type at once.
+
+        Args:
+            image: The image array to draw on
+            elements: List of element data (coordinates, etc.)
+            element_type: Type of element to draw ('circle', 'line', etc.)
+            color: Color to use for drawing
+
         Returns:
-        - Modified image with filled circles for obstacles.
+            Modified image array
         """
-        for obstacle_info in obstacle_info_list:
-            enter = obstacle_info.get("points", {})
-            # label = obstacle_info.get("label", {})
-            center = (enter["x"], enter["y"])
+        if not elements or len(elements) == 0:
+            return image
+
+        # Get image dimensions
+        height, width = image.shape[:2]
+
+        if element_type == "circle":
+            # Extract circle centers and radii
+            centers = []
+            radii = []
+            for elem in elements:
+                if isinstance(elem, dict) and "center" in elem and "radius" in elem:
+                    centers.append(elem["center"])
+                    radii.append(elem["radius"])
+                elif isinstance(elem, (list, tuple)) and len(elem) >= 3:
+                    # Format: (x, y, radius)
+                    centers.append((elem[0], elem[1]))
+                    radii.append(elem[2])
+
+            # Process circles with the same radius together
+            for radius in set(radii):
+                same_radius_centers = [
+                    centers[i] for i in range(len(centers)) if radii[i] == radius
+                ]
+                if same_radius_centers:
+                    # Create a combined mask for all circles with this radius
+                    mask = np.zeros((height, width), dtype=bool)
+                    for cx, cy in same_radius_centers:
+                        if 0 <= cx < width and 0 <= cy < height:
+                            # Calculate circle bounds
+                            min_y = max(0, cy - radius)
+                            max_y = min(height, cy + radius + 1)
+                            min_x = max(0, cx - radius)
+                            max_x = min(width, cx + radius + 1)
+
+                            # Create coordinate arrays for the circle
+                            y_indices, x_indices = np.ogrid[min_y:max_y, min_x:max_x]
+
+                            # Add this circle to the mask
+                            circle_mask = (y_indices - cy) ** 2 + (
+                                x_indices - cx
+                            ) ** 2 <= radius**2
+                            mask[min_y:max_y, min_x:max_x] |= circle_mask
+
+                    # Apply color to all circles at once
+                    image[mask] = color
+
+        elif element_type == "line":
+            # Extract line endpoints
+            lines = []
+            widths = []
+            for elem in elements:
+                if isinstance(elem, dict) and "start" in elem and "end" in elem:
+                    lines.append((elem["start"], elem["end"]))
+                    widths.append(elem.get("width", 1))
+                elif isinstance(elem, (list, tuple)) and len(elem) >= 4:
+                    # Format: (x1, y1, x2, y2, [width])
+                    lines.append(((elem[0], elem[1]), (elem[2], elem[3])))
+                    widths.append(elem[4] if len(elem) > 4 else 1)
+
+            # Process lines with the same width together
+            for width in set(widths):
+                same_width_lines = [
+                    lines[i] for i in range(len(lines)) if widths[i] == width
+                ]
+                if same_width_lines:
+                    # Create a combined mask for all lines with this width
+                    mask = np.zeros((height, width), dtype=bool)
+
+                    # Draw all lines into the mask
+                    for start, end in same_width_lines:
+                        x1, y1 = start
+                        x2, y2 = end
+
+                        # Skip invalid lines
+                        if not (
+                            0 <= x1 < width
+                            and 0 <= y1 < height
+                            and 0 <= x2 < width
+                            and 0 <= y2 < height
+                        ):
+                            continue
+
+                        # Use Bresenham's algorithm to get line points
+                        length = max(abs(x2 - x1), abs(y2 - y1))
+                        if length == 0:
+                            continue
+
+                        t = np.linspace(0, 1, length * 2)
+                        x_coords = np.round(x1 * (1 - t) + x2 * t).astype(int)
+                        y_coords = np.round(y1 * (1 - t) + y2 * t).astype(int)
+
+                        # Add line points to mask
+                        for x, y in zip(x_coords, y_coords):
+                            if width == 1:
+                                mask[y, x] = True
+                            else:
+                                # For thicker lines
+                                half_width = width // 2
+                                min_y = max(0, y - half_width)
+                                max_y = min(height, y + half_width + 1)
+                                min_x = max(0, x - half_width)
+                                max_x = min(width, x + half_width + 1)
+
+                                # Create a circular brush
+                                y_indices, x_indices = np.ogrid[
+                                    min_y:max_y, min_x:max_x
+                                ]
+                                brush = (y_indices - y) ** 2 + (
+                                    x_indices - x
+                                ) ** 2 <= half_width**2
+                                mask[min_y:max_y, min_x:max_x] |= brush
+
+                    # Apply color to all lines at once
+                    image[mask] = color
 
-            radius = 6
+        return image
 
-            # Draw filled circle
-            image = Drawable._filled_circle(image, center, radius, color)
+    @staticmethod
+    async def async_draw_obstacles(
+        image: np.ndarray, obstacle_info_list, color: Color
+    ) -> np.ndarray:
+        """
+        Optimized async version of draw_obstacles using batch processing.
+        Includes color blending for better visual integration.
+        """
+        if not obstacle_info_list:
+            return image
+
+        # Extract alpha from color
+        alpha = color[3] if len(color) == 4 else 255
+        need_blending = alpha < 255
+
+        # Extract obstacle centers and prepare for batch processing
+        centers = []
+        for obs in obstacle_info_list:
+            try:
+                x = obs["points"]["x"]
+                y = obs["points"]["y"]
+
+                # Skip if coordinates are out of bounds
+                if not (0 <= x < image.shape[1] and 0 <= y < image.shape[0]):
+                    continue
+
+                # Apply color blending if needed
+                obstacle_color = color
+                if need_blending:
+                    obstacle_color = ColorsManagement.sample_and_blend_color(
+                        image, x, y, color
+                    )
+
+                # Add to centers list with radius
+                centers.append({"center": (x, y), "radius": 6, "color": obstacle_color})
+            except (KeyError, TypeError):
+                continue
+
+        # Draw each obstacle with its blended color
+        if centers:
+            for obstacle in centers:
+                cx, cy = obstacle["center"]
+                radius = obstacle["radius"]
+                obs_color = obstacle["color"]
+
+                # Create a small mask for the obstacle
+                min_y = max(0, cy - radius)
+                max_y = min(image.shape[0], cy + radius + 1)
+                min_x = max(0, cx - radius)
+                max_x = min(image.shape[1], cx + radius + 1)
+
+                # Create coordinate arrays for the circle
+                y_indices, x_indices = np.ogrid[min_y:max_y, min_x:max_x]
+
+                # Create a circular mask
+                mask = (y_indices - cy) ** 2 + (x_indices - cx) ** 2 <= radius**2
+
+                # Apply the color to the masked region
+                image[min_y:max_y, min_x:max_x][mask] = obs_color
 
         return image
 
@@ -528,32 +881,24 @@ class Drawable:
         path_font: str,
         position: bool,
     ) -> None:
-        """Draw the Status Test on the image."""
-        # Load a fonts
+        """Draw the status text on the image."""
         path_default_font = (
             "custom_components/mqtt_vacuum_camera/utils/fonts/FiraSans.ttf"
         )
         default_font = ImageFont.truetype(path_default_font, size)
         user_font = ImageFont.truetype(path_font, size)
-        # Define the text and position
         if position:
             x, y = 10, 10
         else:
             x, y = 10, image.height - 20 - size
-        # Create a drawing object
         draw = ImageDraw.Draw(image)
-        # Draw the text
         for text in status:
             if "\u2211" in text or "\u03de" in text:
                 font = default_font
                 width = None
             else:
                 font = user_font
-                is_variable = path_font.endswith("VT.ttf")
-                if is_variable:
-                    width = 2
-                else:
-                    width = None
+                width = 2 if path_font.endswith("VT.ttf") else None
             if width:
                 draw.text((x, y), text, font=font, fill=color, stroke_width=width)
             else: