valetudo-map-parser 0.1.8__py3-none-any.whl → 0.1.9__py3-none-any.whl

valetudo_map_parser/rand256_handler.py

@@ -0,0 +1,674 @@
+"""
+Image Handler Module for Valetudo Re Vacuums.
+It returns the PIL PNG image frame relative to the Map Data extrapolated from the vacuum json.
+It also returns calibration, rooms data to the card and other images information to the camera.
+Version: 0.1.9.a6
+"""
+
+from __future__ import annotations
+
+import logging
+import uuid
+from typing import Any
+
+import numpy as np
+
+from .config.async_utils import AsyncNumPy, AsyncPIL
+from .config.auto_crop import AutoCrop
+from .config.drawable_elements import DrawableElement
+from .config.types import (
+    COLORS,
+    DEFAULT_IMAGE_SIZE,
+    DEFAULT_PIXEL_SIZE,
+    Colors,
+    JsonType,
+    PilPNG,
+    RobotPosition,
+    RoomsProperties,
+    RoomStore,
+    WebPBytes,
+)
+from .config.utils import (
+    BaseHandler,
+    initialize_drawing_config,
+    manage_drawable_elements,
+    numpy_to_webp_bytes,
+    prepare_resize_params,
+)
+from .map_data import RandImageData
+from .reimg_draw import ImageDraw
+from .rooms_handler import RandRoomsHandler
+
+
+_LOGGER = logging.getLogger(__name__)
+
+
+# noinspection PyTypeChecker
+class ReImageHandler(BaseHandler, AutoCrop):
+    """
+    Image Handler for Valetudo Re Vacuums.
+    """
+
+    def __init__(self, shared_data):
+        BaseHandler.__init__(self)
+        self.shared = shared_data  # Shared data
+        AutoCrop.__init__(self, self)
+        self.auto_crop = None  # Auto crop flag
+        self.segment_data = None  # Segment data
+        self.outlines = None  # Outlines data
+        self.calibration_data = None  # Calibration data
+        self.data = RandImageData  # Image Data
+
+        # Initialize drawing configuration using the shared utility function
+        self.drawing_config, self.draw, self.enhanced_draw = initialize_drawing_config(
+            self
+        )
+        self.go_to = None  # Go to position data
+        self.img_base_layer = None  # Base image layer
+        self.img_rotate = shared_data.image_rotate  # Image rotation
+        self.room_propriety = None  # Room propriety data
+        self.active_zones = None  # Active zones
+        self.file_name = self.shared.file_name  # File name
+        self.imd = ImageDraw(self)  # Image Draw
+        self.rooms_handler = RandRoomsHandler(
+            self.file_name, self.drawing_config
+        )  # Room data handler
+
+    async def extract_room_properties(
+        self, json_data: JsonType, destinations: JsonType
+    ) -> RoomsProperties:
+        """Extract the room properties."""
+        # unsorted_id = RandImageData.get_rrm_segments_ids(json_data)
+        size_x, size_y = RandImageData.get_rrm_image_size(json_data)
+        top, left = RandImageData.get_rrm_image_position(json_data)
+        try:
+            if not self.segment_data or not self.outlines:
+                (
+                    self.segment_data,
+                    self.outlines,
+                ) = await RandImageData.async_get_rrm_segments(
+                    json_data, size_x, size_y, top, left, True
+                )
+
+            dest_json = destinations
+            zones_data = dict(dest_json).get("zones", [])
+            points_data = dict(dest_json).get("spots", [])
+
+            # Use the RandRoomsHandler to extract room properties
+            room_properties = await self.rooms_handler.async_extract_room_properties(
+                json_data, dest_json
+            )
+
+            # Update self.rooms_pos from room_properties for compatibility with other methods
+            self.rooms_pos = []
+            room_ids = []  # Collect room IDs for shared.map_rooms
+            for room_id, room_data in room_properties.items():
+                self.rooms_pos.append(
+                    {"name": room_data["name"], "outline": room_data["outline"]}
+                )
+                # Store the room number (segment ID) for MQTT active zone mapping
+                room_ids.append(room_data["number"])
+
+            # Update shared.map_rooms with the room IDs for MQTT active zone mapping
+            self.shared.map_rooms = room_ids
+            _LOGGER.debug("Updated shared.map_rooms with room IDs: %s", room_ids)
+
+            # get the zones and points data
+            zone_properties = await self.async_zone_propriety(zones_data)
+            # get the points data
+            point_properties = await self.async_points_propriety(points_data)
+
+            if room_properties or zone_properties:
+                extracted_data = [
+                    f"{len(room_properties)} Rooms" if room_properties else None,
+                    f"{len(zone_properties)} Zones" if zone_properties else None,
+                ]
+                extracted_data = ", ".join(filter(None, extracted_data))
+                _LOGGER.debug("Extracted data: %s", extracted_data)
+            else:
+                self.rooms_pos = None
+                _LOGGER.debug("%s: Rooms and Zones data not available!", self.file_name)
+
+            rooms = RoomStore(self.file_name, room_properties)
+            _LOGGER.debug("Rooms Data: %s", rooms.get_rooms())
+            return room_properties, zone_properties, point_properties
+        except (RuntimeError, ValueError) as e:
+            _LOGGER.debug(
+                "No rooms Data or Error in extract_room_properties: %s",
+                e,
+                exc_info=True,
+            )
+            return None, None, None
+
+    async def get_image_from_rrm(
+        self,
+        m_json: JsonType,  # json data
+        destinations: None = None,  # MQTT destinations for labels
+        return_webp: bool = False,
+    ) -> WebPBytes | PilPNG | None:
+        """Generate Images from the json data.
+        @param m_json: The JSON data to use to draw the image.
+        @param destinations: MQTT destinations for labels (unused).
+        @param return_webp: If True, return WebP bytes; if False, return PIL Image (default).
+        @return WebPBytes | Image.Image: WebP bytes or PIL Image depending on return_webp parameter.
+        """
+        colors: Colors = {
+            name: self.shared.user_colors[idx] for idx, name in enumerate(COLORS)
+        }
+        self.active_zones = self.shared.rand256_active_zone
+
+        try:
+            if (m_json is not None) and (not isinstance(m_json, tuple)):
+                _LOGGER.info("%s: Composing the image for the camera.", self.file_name)
+                self.json_data = m_json
+                size_x, size_y = self.data.get_rrm_image_size(m_json)
+                self.img_size = DEFAULT_IMAGE_SIZE
+                self.json_id = str(uuid.uuid4())  # image id
+                _LOGGER.info("Vacuum Data ID: %s", self.json_id)
+
+                (
+                    img_np_array,
+                    robot_position,
+                    robot_position_angle,
+                ) = await self._setup_robot_and_image(
+                    m_json, size_x, size_y, colors, destinations
+                )
+
+                # Increment frame number
+                self.frame_number += 1
+                img_np_array = await self.async_copy_array(self.img_base_layer)
+                _LOGGER.debug(
+                    "%s: Frame number %s", self.file_name, str(self.frame_number)
+                )
+                if self.frame_number > 5:
+                    self.frame_number = 0
+
+                # Draw map elements
+                img_np_array = await self._draw_map_elements(
+                    img_np_array, m_json, colors, robot_position, robot_position_angle
+                )
+
+                # Return WebP bytes or PIL Image based on parameter
+                if return_webp:
+                    # Convert directly to WebP bytes for better performance
+                    webp_bytes = await numpy_to_webp_bytes(img_np_array)
+                    del img_np_array  # free memory
+                    return webp_bytes
+                else:
+                    # Convert to PIL Image using async utilities
+                    pil_img = await AsyncPIL.async_fromarray(img_np_array, mode="RGBA")
+                    del img_np_array  # free memory
+                    return await self._finalize_image(pil_img)
+
+        except (RuntimeError, RuntimeWarning) as e:
+            _LOGGER.warning(
+                "%s: Runtime Error %s during image creation.",
+                self.file_name,
+                str(e),
+                exc_info=True,
+            )
+            return None
+
+        # If we reach here without returning, return None
+        return None
+
+    async def _setup_robot_and_image(
+        self, m_json, size_x, size_y, colors, destinations
+    ):
+        (
+            _,
+            robot_position,
+            robot_position_angle,
+        ) = await self.imd.async_get_robot_position(m_json)
+
+        if self.frame_number == 0:
+            # Create element map for tracking what's drawn where
+            self.element_map = np.zeros((size_y, size_x), dtype=np.int32)
+            self.element_map[:] = DrawableElement.FLOOR
+
+            # Draw base layer if floor is enabled
+            if self.drawing_config.is_enabled(DrawableElement.FLOOR):
+                room_id, img_np_array = await self.imd.async_draw_base_layer(
+                    m_json,
+                    size_x,
+                    size_y,
+                    colors["wall"],
+                    colors["zone_clean"],
+                    colors["background"],
+                    DEFAULT_PIXEL_SIZE,
+                )
+                _LOGGER.info("%s: Completed base Layers", self.file_name)
+
+                # Update element map for rooms
+                if 0 < room_id <= 15:
+                    # This is a simplification - in a real implementation we would
+                    # need to identify the exact pixels that belong to each room
+                    pass
+
+                if room_id > 0 and not self.room_propriety:
+                    self.room_propriety = await self.get_rooms_attributes(destinations)
+
+                # Ensure room data is available for robot room detection (even if not extracted above)
+                if not self.rooms_pos and not self.room_propriety:
+                    self.room_propriety = await self.get_rooms_attributes(destinations)
+
+                # Always check robot position for zooming (fallback)
+                if self.rooms_pos and robot_position and not hasattr(self, "robot_pos"):
+                    self.robot_pos = await self.async_get_robot_in_room(
+                        (robot_position[0] * 10),
+                        (robot_position[1] * 10),
+                        robot_position_angle,
+                    )
+                self.img_base_layer = await self.async_copy_array(img_np_array)
+            else:
+                # If floor is disabled, create an empty image
+                background_color = self.drawing_config.get_property(
+                    DrawableElement.FLOOR, "color", colors["background"]
+                )
+                img_np_array = await self.draw.create_empty_image(
+                    size_x, size_y, background_color
+                )
+                self.img_base_layer = await self.async_copy_array(img_np_array)
+
+        # Check active zones BEFORE auto-crop to enable proper zoom functionality
+        # This needs to run on every frame, not just frame 0
+        if (
+            self.shared.image_auto_zoom
+            and self.shared.vacuum_state == "cleaning"
+            and robot_position
+            and destinations  # Check if we have destinations data for room extraction
+        ):
+            # Extract room data early if we have destinations
+            try:
+                temp_room_properties = (
+                    await self.rooms_handler.async_extract_room_properties(
+                        m_json, destinations
+                    )
+                )
+                if temp_room_properties:
+                    # Create temporary rooms_pos for robot room detection
+                    temp_rooms_pos = []
+                    for room_id, room_data in temp_room_properties.items():
+                        temp_rooms_pos.append(
+                            {"name": room_data["name"], "outline": room_data["outline"]}
+                        )
+
+                    # Store original rooms_pos and temporarily use the new one
+                    original_rooms_pos = self.rooms_pos
+                    self.rooms_pos = temp_rooms_pos
+
+                    # Restore original rooms_pos
+                    self.rooms_pos = original_rooms_pos
+
+            except Exception as e:
+                _LOGGER.debug(
+                    "%s: Early room extraction failed: %s, falling back to robot-position zoom",
+                    self.file_name,
+                    e,
+                )
+                # Fallback to robot-position-based zoom if room extraction fails
+                if (
+                    self.shared.image_auto_zoom
+                    and self.shared.vacuum_state == "cleaning"
+                    and robot_position
+                ):
+                    self.zooming = True
+                    _LOGGER.debug(
+                        "%s: Enabling fallback robot-position-based zoom",
+                        self.file_name,
+                    )
+
+        return self.img_base_layer, robot_position, robot_position_angle
+
+    async def _draw_map_elements(
+        self, img_np_array, m_json, colors, robot_position, robot_position_angle
+    ):
+        # Draw charger if enabled
+        if self.drawing_config.is_enabled(DrawableElement.CHARGER):
+            img_np_array, self.charger_pos = await self.imd.async_draw_charger(
+                img_np_array, m_json, colors["charger"]
+            )
+
+        # Draw zones if enabled
+        if self.drawing_config.is_enabled(DrawableElement.RESTRICTED_AREA):
+            img_np_array = await self.imd.async_draw_zones(
+                m_json, img_np_array, colors["zone_clean"]
+            )
+
+        # Draw virtual restrictions if enabled
+        if self.drawing_config.is_enabled(DrawableElement.VIRTUAL_WALL):
+            img_np_array = await self.imd.async_draw_virtual_restrictions(
+                m_json, img_np_array, colors["no_go"]
+            )
+
+        # Draw path if enabled
+        if self.drawing_config.is_enabled(DrawableElement.PATH):
+            img_np_array = await self.imd.async_draw_path(
+                img_np_array, m_json, colors["move"]
+            )
+
+        # Draw go-to flag if enabled
+        if self.drawing_config.is_enabled(DrawableElement.GO_TO_TARGET):
+            img_np_array = await self.imd.async_draw_go_to_flag(
+                img_np_array, m_json, colors["go_to"]
+            )
+
+        # Draw robot if enabled
+        if robot_position and self.drawing_config.is_enabled(DrawableElement.ROBOT):
+            # Get robot color (allows for customization)
+            robot_color = self.drawing_config.get_property(
+                DrawableElement.ROBOT, "color", colors["robot"]
+            )
+
+            img_np_array = await self.imd.async_draw_robot_on_map(
+                img_np_array, robot_position, robot_position_angle, robot_color
+            )
+
+        # Store robot position for potential zoom function use
+        if robot_position:
+            self.robot_position = robot_position
+
+        # Check if Zoom should be enabled based on active zones
+        if (
+            self.shared.image_auto_zoom
+            and self.shared.vacuum_state == "cleaning"
+            and robot_position
+        ):
+            # For Rand256, we need to check active zones differently since room data is not available yet
+            # Use a simplified approach: enable zoom if any active zones are set
+            active_zones = self.shared.rand256_active_zone
+            if active_zones and any(zone for zone in active_zones):
+                self.zooming = True
+                _LOGGER.debug(
+                    "%s: Enabling zoom for Rand256 - active zones detected: %s",
+                    self.file_name,
+                    active_zones,
+                )
+            else:
+                self.zooming = False
+                _LOGGER.debug(
+                    "%s: Zoom disabled for Rand256 - no active zones set",
+                    self.file_name,
+                )
+
+        img_np_array = await self.async_auto_trim_and_zoom_image(
+            img_np_array,
+            detect_colour=colors["background"],
+            margin_size=int(self.shared.margins),
+            rotate=int(self.shared.image_rotate),
+            zoom=self.zooming,
+            rand256=True,
+        )
+        return img_np_array
+
+    async def _finalize_image(self, pil_img):
+        if not self.shared.image_ref_width or not self.shared.image_ref_height:
+            _LOGGER.warning(
+                "Image finalization failed: Invalid image dimensions. Returning original image."
+            )
+            return pil_img
+        if self.check_zoom_and_aspect_ratio():
+            resize_params = prepare_resize_params(self, pil_img, True)
+            pil_img = await self.async_resize_images(resize_params)
+        _LOGGER.debug("%s: Frame Completed.", self.file_name)
+        return pil_img
+
+    async def get_rooms_attributes(
+        self, destinations: JsonType = None
+    ) -> tuple[RoomsProperties, Any, Any]:
+        """Return the rooms attributes."""
+        if self.room_propriety:
+            return self.room_propriety
+        if self.json_data and destinations:
+            _LOGGER.debug("Checking for rooms data..")
+            self.room_propriety = await self.extract_room_properties(
+                self.json_data, destinations
+            )
+            if self.room_propriety:
+                _LOGGER.debug("Got Rooms Attributes.")
+        return self.room_propriety
+
+    @staticmethod
+    def point_in_polygon(x: int, y: int, polygon: list) -> bool:
+        """
+        Check if a point is inside a polygon using ray casting algorithm.
+        Enhanced version with better handling of edge cases.
+
+        Args:
+            x: X coordinate of the point
+            y: Y coordinate of the point
+            polygon: List of (x, y) tuples forming the polygon
+
+        Returns:
+            True if the point is inside the polygon, False otherwise
+        """
+        # Ensure we have a valid polygon with at least 3 points
+        if len(polygon) < 3:
+            return False
+
+        # Make sure the polygon is closed (last point equals first point)
+        if polygon[0] != polygon[-1]:
+            polygon = polygon + [polygon[0]]
+
+        # Use winding number algorithm for better accuracy
+        wn = 0  # Winding number counter
+
+        # Loop through all edges of the polygon
+        for i in range(len(polygon) - 1):  # Last vertex is first vertex
+            p1x, p1y = polygon[i]
+            p2x, p2y = polygon[i + 1]
+
+            # Test if a point is left/right/on the edge defined by two vertices
+            if p1y <= y:  # Start y <= P.y
+                if p2y > y:  # End y > P.y (upward crossing)
+                    # Point left of edge
+                    if ((p2x - p1x) * (y - p1y) - (x - p1x) * (p2y - p1y)) > 0:
+                        wn += 1  # Valid up intersect
+            else:  # Start y > P.y
+                if p2y <= y:  # End y <= P.y (downward crossing)
+                    # Point right of edge
+                    if ((p2x - p1x) * (y - p1y) - (x - p1x) * (p2y - p1y)) < 0:
+                        wn -= 1  # Valid down intersect
+
+        # If winding number is not 0, the point is inside the polygon
+        return wn != 0
+
+    async def async_get_robot_in_room(
+        self, robot_x: int, robot_y: int, angle: float
+    ) -> RobotPosition:
+        """Get the robot position and return in what room is."""
+        # First check if we already have a cached room and if the robot is still in it
+        if self.robot_in_room:
+            # If we have outline data, use point_in_polygon for accurate detection
+            if "outline" in self.robot_in_room:
+                outline = self.robot_in_room["outline"]
+                if self.point_in_polygon(int(robot_x), int(robot_y), outline):
+                    temp = {
+                        "x": robot_x,
+                        "y": robot_y,
+                        "angle": angle,
+                        "in_room": self.robot_in_room["room"],
+                    }
+                    # Handle active zones
+                    self.active_zones = self.shared.rand256_active_zone
+                    self.zooming = False
+                    if self.active_zones and (
+                        self.robot_in_room["id"] in range(len(self.active_zones))
+                    ):
+                        self.zooming = bool(self.active_zones[self.robot_in_room["id"]])
+                    else:
+                        self.zooming = False
+                    return temp
+            # Fallback to bounding box check if no outline data
+            elif all(k in self.robot_in_room for k in ["left", "right", "up", "down"]):
+                if (
+                    self.robot_in_room["right"]
+                    <= int(robot_x)
+                    <= self.robot_in_room["left"]
+                ) and (
+                    self.robot_in_room["up"]
+                    <= int(robot_y)
+                    <= self.robot_in_room["down"]
+                ):
+                    temp = {
+                        "x": robot_x,
+                        "y": robot_y,
+                        "angle": angle,
+                        "in_room": self.robot_in_room["room"],
+                    }
+                    # Handle active zones
+                    self.active_zones = self.shared.rand256_active_zone
+                    self.zooming = False
+                    if self.active_zones and (
+                        self.robot_in_room["id"] in range(len(self.active_zones))
+                    ):
+                        self.zooming = bool(self.active_zones[self.robot_in_room["id"]])
+                    else:
+                        self.zooming = False
+                    return temp
+
+        # If we don't have a cached room or the robot is not in it, search all rooms
+        last_room = None
+        room_count = 0
+        if self.robot_in_room:
+            last_room = self.robot_in_room
+
+        # Check if the robot is far outside the normal map boundaries
+        # This helps prevent false positives for points very far from any room
+        map_boundary = 50000  # Typical map size is around 25000-30000 units for Rand25
+        if abs(robot_x) > map_boundary or abs(robot_y) > map_boundary:
+            _LOGGER.debug(
+                "%s robot position (%s, %s) is far outside map boundaries.",
+                self.file_name,
+                robot_x,
+                robot_y,
+            )
+            self.robot_in_room = last_room
+            self.zooming = False
+            temp = {
+                "x": robot_x,
+                "y": robot_y,
+                "angle": angle,
+                "in_room": last_room["room"] if last_room else "unknown",
+            }
+            return temp
+
+        # Search through all rooms to find which one contains the robot
+        if not self.rooms_pos:
+            _LOGGER.debug(
+                "%s: No rooms data available for robot position detection.",
+                self.file_name,
+            )
+            self.robot_in_room = last_room
+            self.zooming = False
+            temp = {
+                "x": robot_x,
+                "y": robot_y,
+                "angle": angle,
+                "in_room": last_room["room"] if last_room else "unknown",
+            }
+            return temp
+
+        _LOGGER.debug("%s: Searching for robot in rooms...", self.file_name)
+        for room in self.rooms_pos:
+            # Check if the room has an outline (polygon points)
+            if "outline" in room:
+                outline = room["outline"]
+                # Use point_in_polygon for accurate detection with complex shapes
+                if self.point_in_polygon(int(robot_x), int(robot_y), outline):
+                    # Robot is in this room
+                    self.robot_in_room = {
+                        "id": room_count,
+                        "room": str(room["name"]),
+                        "outline": outline,
+                    }
+                    temp = {
+                        "x": robot_x,
+                        "y": robot_y,
+                        "angle": angle,
+                        "in_room": self.robot_in_room["room"],
+                    }
+
+                    # Handle active zones - Set zooming based on active zones
+                    self.active_zones = self.shared.rand256_active_zone
+                    if self.active_zones and (
+                        self.robot_in_room["id"] in range(len(self.active_zones))
+                    ):
+                        self.zooming = bool(self.active_zones[self.robot_in_room["id"]])
+                    else:
+                        self.zooming = False
+
+                    _LOGGER.debug(
+                        "%s is in %s room (polygon detection).",
+                        self.file_name,
+                        self.robot_in_room["room"],
+                    )
+                    return temp
+            room_count += 1
+
+        # Robot not found in any room
+        _LOGGER.debug(
+            "%s not located within any room coordinates.",
+            self.file_name,
+        )
+        self.robot_in_room = last_room
+        self.zooming = False
+        temp = {
+            "x": robot_x,
+            "y": robot_y,
+            "angle": angle,
+            "in_room": last_room["room"] if last_room else "unknown",
+        }
+        return temp
+
+    def get_calibration_data(self, rotation_angle: int = 0) -> Any:
+        """Return the map calibration data."""
+        if not self.calibration_data and self.crop_img_size:
+            self.calibration_data = []
+            _LOGGER.info(
+                "%s: Getting Calibrations points %s",
+                self.file_name,
+                str(self.crop_area),
+            )
+
+            # Define the map points (fixed)
+            map_points = self.get_map_points()
+
+            # Valetudo Re version need corrections of the coordinates and are implemented with *10
+            vacuum_points = self.re_get_vacuum_points(rotation_angle)
+
+            # Create the calibration data for each point
+            for vacuum_point, map_point in zip(vacuum_points, map_points):
+                calibration_point = {"vacuum": vacuum_point, "map": map_point}
+                self.calibration_data.append(calibration_point)
+
+        return self.calibration_data
+
+    # Element selection methods
+    def enable_element(self, element_code: DrawableElement) -> None:
+        """Enable drawing of a specific element."""
+        self.drawing_config.enable_element(element_code)
+
+    def disable_element(self, element_code: DrawableElement) -> None:
+        """Disable drawing of a specific element."""
+        manage_drawable_elements(self, "disable", element_code=element_code)
+
+    def set_elements(self, element_codes: list[DrawableElement]) -> None:
+        """Enable only the specified elements, disable all others."""
+        manage_drawable_elements(self, "set_elements", element_codes=element_codes)
+
+    def set_element_property(
+        self, element_code: DrawableElement, property_name: str, value
+    ) -> None:
+        """Set a drawing property for an element."""
+        manage_drawable_elements(
+            self,
+            "set_property",
+            element_code=element_code,
+            property_name=property_name,
+            value=value,
+        )
+
+    async def async_copy_array(self, original_array):
+        """Copy the array using async utilities."""
+        return await AsyncNumPy.async_copy(original_array)