valetudo-map-parser 0.1.8__py3-none-any.whl → 0.1.9a1__py3-none-any.whl

valetudo_map_parser/hypfer_draw.py

@@ -6,16 +6,11 @@ Version: 2024.07.2
 
 from __future__ import annotations
 
-import hashlib
-import json
 import logging
 
-from .config.types import (
-    Color,
-    JsonType,
-    NumpyArray,
-    RobotPosition,
-)
+from .config.drawable_elements import DrawableElement
+from .config.types import Color, JsonType, NumpyArray, RobotPosition
+
 
 _LOGGER = logging.getLogger(__name__)
 
@@ -28,6 +23,51 @@ class ImageDraw:
         self.img_h = image_handler
         self.file_name = self.img_h.shared.file_name
 
+    @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 draw_go_to_flag(
         self, np_array: NumpyArray, entity_dict: dict, color_go_to: Color
     ) -> NumpyArray:
@@ -50,8 +90,22 @@ class ImageDraw:
         color_wall,
         color_zone_clean,
         pixel_size,
+        disabled_rooms=None,
     ):
-        """Draw the base layer of the map."""
+        """Draw the base layer of the map.
+
+        Args:
+            img_np_array: The image array to draw on
+            compressed_pixels_list: The list of compressed pixels to draw
+            layer_type: The type of layer to draw (segment, floor, wall)
+            color_wall: The color to use for walls
+            color_zone_clean: The color to use for clean zones
+            pixel_size: The size of each pixel
+            disabled_rooms: A set of room IDs that are disabled
+
+        Returns:
+            A tuple of (room_id, img_np_array)
+        """
         room_id = 0
 
         for compressed_pixels in compressed_pixels_list:
@@ -68,7 +122,7 @@ class ImageDraw:
                 )
             elif layer_type == "wall":
                 img_np_array = await self._process_wall_layer(
-                    img_np_array, pixels, pixel_size, color_wall
+                    img_np_array, pixels, pixel_size, color_wall, disabled_rooms
                 )
 
         return room_id, img_np_array
@@ -77,7 +131,20 @@ class ImageDraw:
         self, img_np_array, pixels, layer_type, room_id, pixel_size, color_zone_clean
     ):
         """Process a room layer (segment or floor)."""
-        room_color = self.img_h.rooms_colors[room_id]
+        # Check if this room should be drawn
+        draw_room = True
+        if layer_type == "segment" and hasattr(self.img_h, "drawing_config"):
+            # The room_id is 0-based, but DrawableElement.ROOM_x is 1-based
+            current_room_id = room_id + 1
+            if 1 <= current_room_id <= 15:
+                # Use the DrawableElement imported at the top of the file
+
+                room_element = getattr(DrawableElement, f"ROOM_{current_room_id}", None)
+                if room_element and hasattr(self.img_h.drawing_config, "is_enabled"):
+                    draw_room = self.img_h.drawing_config.is_enabled(room_element)
+
+        # Get the room color
+        room_color = self.img_h.shared.rooms_colors[room_id]
 
         try:
             if layer_type == "segment":
@@ -85,19 +152,17 @@ class ImageDraw:
                     room_id, room_color, color_zone_clean
                 )
 
-            img_np_array = await self.img_h.draw.from_json_to_image(
-                img_np_array, pixels, pixel_size, room_color
-            )
+            # Only draw the room if it's enabled
+            if draw_room:
+                img_np_array = await self.img_h.draw.from_json_to_image(
+                    img_np_array, pixels, pixel_size, room_color
+                )
+
+            # Always increment the room_id, even if the room is not drawn
             room_id = (room_id + 1) % 16  # Cycle room_id back to 0 after 15
 
         except IndexError as e:
             _LOGGER.warning("%s: Image Draw Error: %s", self.file_name, str(e))
-        _LOGGER.debug(
-            "%s Active Zones: %s and Room ID: %s",
-            self.file_name,
-            str(self.img_h.active_zones),
-            str(room_id),
-        )
 
         return img_np_array, room_id
 
@@ -110,41 +175,115 @@ class ImageDraw:
                 )
         return room_color
 
-    async def _process_wall_layer(self, img_np_array, pixels, pixel_size, color_wall):
-        """Process a wall layer."""
-        return await self.img_h.draw.from_json_to_image(
-            img_np_array, pixels, pixel_size, color_wall
+    async def _process_wall_layer(
+        self, img_np_array, pixels, pixel_size, color_wall, disabled_rooms=None
+    ):
+        """Process a wall layer.
+
+        Args:
+            img_np_array: The image array to draw on
+            pixels: The pixels to draw
+            pixel_size: The size of each pixel
+            color_wall: The color to use for the walls
+            disabled_rooms: A set of room IDs that are disabled
+
+        Returns:
+            The updated image array
+        """
+        # Log the wall color to verify alpha is being passed correctly
+        _LOGGER.debug("%s: Drawing walls with color %s", self.file_name, color_wall)
+
+        # If there are no disabled rooms, draw all walls
+        if not disabled_rooms:
+            return await self.img_h.draw.from_json_to_image(
+                img_np_array, pixels, pixel_size, color_wall
+            )
+
+        # If there are disabled rooms, we need to check each wall pixel
+        # to see if it belongs to a disabled room
+        _LOGGER.debug(
+            "%s: Filtering walls for disabled rooms: %s", self.file_name, disabled_rooms
         )
 
+        # Get the element map if available
+        element_map = getattr(self.img_h, "element_map", None)
+        if element_map is None:
+            _LOGGER.warning(
+                "%s: Element map not available, drawing all walls", self.file_name
+            )
+            return await self.img_h.draw.from_json_to_image(
+                img_np_array, pixels, pixel_size, color_wall
+            )
+
+        # Filter out walls that belong to disabled rooms
+        filtered_pixels = []
+        for x, y, z in pixels:
+            # Check if this wall pixel is adjacent to a disabled room
+            # by checking the surrounding pixels in the element map
+            is_disabled_room_wall = False
+
+            # Check the element map at this position and surrounding positions
+            # to see if this wall is adjacent to a disabled room
+            for dx in range(-1, 2):
+                for dy in range(-1, 2):
+                    # Skip the center pixel
+                    if dx == 0 and dy == 0:
+                        continue
+
+                    # Calculate the position to check
+                    check_x = x + dx
+                    check_y = y + dy
+
+                    # Make sure the position is within bounds
+                    if (
+                        check_x < 0
+                        or check_y < 0
+                        or check_x >= element_map.shape[1]
+                        or check_y >= element_map.shape[0]
+                    ):
+                        continue
+
+                    # Get the element at this position
+                    element = element_map[check_y, check_x]
+
+                    # Check if this element is a disabled room
+                    # Room elements are in the range 101-115 (ROOM_1 to ROOM_15)
+                    if 101 <= element <= 115:
+                        room_id = element - 101  # Convert to 0-based index
+                        if room_id in disabled_rooms:
+                            is_disabled_room_wall = True
+                            break
+
+                if is_disabled_room_wall:
+                    break
+
+            # If this wall is not adjacent to a disabled room, add it to the filtered pixels
+            if not is_disabled_room_wall:
+                filtered_pixels.append((x, y, z))
+
+        # Draw the filtered walls
+        _LOGGER.debug(
+            "%s: Drawing %d of %d wall pixels after filtering",
+            self.file_name,
+            len(filtered_pixels),
+            len(pixels),
+        )
+        if filtered_pixels:
+            return await self.img_h.draw.from_json_to_image(
+                img_np_array, filtered_pixels, pixel_size, color_wall
+            )
+
+        return img_np_array
+
     async def async_draw_obstacle(
-        self, np_array: NumpyArray, entity_dict: dict, color_no_go: Color
+        self, np_array: NumpyArray, obstacle_positions: list[dict], color_no_go: Color
     ) -> NumpyArray:
-        """Get the obstacle positions from the entity data."""
-        try:
-            obstacle_data = entity_dict.get("obstacle")
-        except KeyError:
-            _LOGGER.info("%s No obstacle found.", self.file_name)
-        else:
-            obstacle_positions = []
-            if obstacle_data:
-                for obstacle in obstacle_data:
-                    label = obstacle.get("metaData", {}).get("label")
-                    points = obstacle.get("points", [])
-
-                    if label and points:
-                        obstacle_pos = {
-                            "label": label,
-                            "points": {"x": points[0], "y": points[1]},
-                        }
-                        obstacle_positions.append(obstacle_pos)
-
-            # List of dictionaries containing label and points for each obstacle
-            # and draw obstacles on the map
-            if obstacle_positions:
-                self.img_h.draw.draw_obstacles(
-                    np_array, obstacle_positions, color_no_go
-                )
-            return np_array
+        """Draw the obstacle positions from the entity data."""
+        if obstacle_positions:
+            await self.img_h.draw.async_draw_obstacles(
+                np_array, obstacle_positions, color_no_go
+            )
+        return np_array
 
     async def async_draw_charger(
         self,
@@ -157,18 +296,18 @@ class ImageDraw:
             charger_pos = entity_dict.get("charger_location")
         except KeyError:
             _LOGGER.warning("%s: No charger position found.", self.file_name)
-        else:
-            if charger_pos:
-                charger_pos = charger_pos[0]["points"]
-                self.img_h.charger_pos = {
-                    "x": charger_pos[0],
-                    "y": charger_pos[1],
-                }
-                np_array = await self.img_h.draw.battery_charger(
-                    np_array, charger_pos[0], charger_pos[1], color_charger
-                )
-                return np_array
             return np_array
+        if charger_pos:
+            charger_pos = charger_pos[0]["points"]
+            self.img_h.charger_pos = {
+                "x": charger_pos[0],
+                "y": charger_pos[1],
+            }
+            np_array = await self.img_h.draw.battery_charger(
+                np_array, charger_pos[0], charger_pos[1], color_charger
+            )
+            return np_array
+        return np_array
 
     async def async_get_json_id(self, my_json: JsonType) -> str | None:
         """Return the JSON ID from the image."""
@@ -269,9 +408,9 @@ class ImageDraw:
             for path in path_pixels:
                 # Get the points from the current path and extend multiple paths.
                 points = path.get("points", [])
-                sublists = self.img_h.data.sublist(points, 2)
+                sublist = self.img_h.data.sublist(points, 2)
                 self.img_h.shared.map_new_path = self.img_h.data.sublist_join(
-                    sublists, 2
+                    sublist, 2
                 )
                 np_array = await self.img_h.draw.lines(
                     np_array, self.img_h.shared.map_new_path, 5, color_move
@@ -283,67 +422,181 @@ class ImageDraw:
         try:
             entity_dict = self.img_h.data.find_points_entities(m_json)
         except (ValueError, KeyError):
-            entity_dict = None
-        else:
-            _LOGGER.info("%s: Got the points in the json.", self.file_name)
+            return None
+        _LOGGER.info("%s: Got the points in the json.", self.file_name)
         return entity_dict
 
     @staticmethod
-    async def async_copy_array(original_array: NumpyArray) -> NumpyArray:
-        """Copy the array."""
-        return NumpyArray.copy(original_array)
-
-    async def calculate_array_hash(self, layers: dict, active: list[int] = None) -> str:
-        """Calculate the hash of the image based on the layers and active segments walls."""
-        self.img_h.active_zones = active
-        if layers and active:
-            data_to_hash = {
-                "layers": len(layers["wall"][0]),
-                "active_segments": tuple(active),
-            }
-            data_json = json.dumps(data_to_hash, sort_keys=True)
-            hash_value = hashlib.sha256(data_json.encode()).hexdigest()
-        else:
-            hash_value = None
-        return hash_value
+    def point_in_polygon(x: int, y: int, polygon: list) -> bool:
+        """
+        Check if a point is inside a polygon using ray casting algorithm.
+
+        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
+        """
+        n = len(polygon)
+        inside = False
+
+        p1x, p1y = polygon[0]
+        xinters = None  # Initialize with default value
+        for i in range(1, n + 1):
+            p2x, p2y = polygon[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 (xinters is not None and x <= xinters):
+                            inside = not inside
+            p1x, p1y = p2x, p2y
+
+        return inside
 
     async def async_get_robot_in_room(
         self, robot_y: int = 0, robot_x: int = 0, angle: float = 0.0
     ) -> 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.img_h.robot_in_room:
-            # Check if the robot coordinates are inside the room's corners
-            if (
-                (self.img_h.robot_in_room["right"] >= int(robot_x))
-                and (self.img_h.robot_in_room["left"] <= int(robot_x))
-            ) and (
-                (self.img_h.robot_in_room["down"] >= int(robot_y))
-                and (self.img_h.robot_in_room["up"] <= int(robot_y))
+            # If we have outline data, use point_in_polygon for accurate detection
+            if "outline" in self.img_h.robot_in_room:
+                outline = self.img_h.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.img_h.robot_in_room["room"],
+                    }
+                    # Handle active zones
+                    if self.img_h.active_zones and (
+                        self.img_h.robot_in_room["id"]
+                        in range(len(self.img_h.active_zones))
+                    ):
+                        self.img_h.zooming = bool(
+                            self.img_h.active_zones[self.img_h.robot_in_room["id"]]
+                        )
+                    else:
+                        self.img_h.zooming = False
+                    return temp
+            # Fallback to bounding box check if no outline data
+            elif all(
+                k in self.img_h.robot_in_room for k in ["left", "right", "up", "down"]
             ):
-                temp = {
-                    "x": robot_x,
-                    "y": robot_y,
-                    "angle": angle,
-                    "in_room": self.img_h.robot_in_room["room"],
-                }
-                if self.img_h.active_zones and (
-                    self.img_h.robot_in_room["id"]
-                    in range(len(self.img_h.active_zones))
-                ):  # issue #100 Index out of range.
-                    self.img_h.zooming = bool(
-                        self.img_h.active_zones[self.img_h.robot_in_room["id"]]
+                if (
+                    (self.img_h.robot_in_room["right"] >= int(robot_x))
+                    and (self.img_h.robot_in_room["left"] <= int(robot_x))
+                ) and (
+                    (self.img_h.robot_in_room["down"] >= int(robot_y))
+                    and (self.img_h.robot_in_room["up"] <= int(robot_y))
+                ):
+                    temp = {
+                        "x": robot_x,
+                        "y": robot_y,
+                        "angle": angle,
+                        "in_room": self.img_h.robot_in_room["room"],
+                    }
+                    # Handle active zones
+                    if self.img_h.active_zones and (
+                        self.img_h.robot_in_room["id"]
+                        in range(len(self.img_h.active_zones))
+                    ):
+                        self.img_h.zooming = bool(
+                            self.img_h.active_zones[self.img_h.robot_in_room["id"]]
+                        )
+                    else:
+                        self.img_h.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.img_h.robot_in_room:
+            last_room = self.img_h.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 = 20000  # Typical map size is around 5000-10000 units
+        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.img_h.robot_in_room = last_room
+            self.img_h.zooming = False
+            temp = {
+                "x": robot_x,
+                "y": robot_y,
+                "angle": angle,
+                "in_room": last_room["room"] if last_room else None,
+            }
+            return temp
+
+        # Search through all rooms to find which one contains the robot
+        if self.img_h.rooms_pos is None:
+            _LOGGER.debug(
+                "%s: No rooms data available for robot position detection.",
+                self.file_name,
+            )
+            self.img_h.robot_in_room = last_room
+            self.img_h.zooming = False
+            temp = {
+                "x": robot_x,
+                "y": robot_y,
+                "angle": angle,
+                "in_room": last_room["room"] if last_room else None,
+            }
+            return temp
+
+        for room in self.img_h.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.img_h.robot_in_room = {
+                        "id": room_count,
+                        "room": str(room["name"]),
+                        "outline": outline,
+                    }
+                    temp = {
+                        "x": robot_x,
+                        "y": robot_y,
+                        "angle": angle,
+                        "in_room": self.img_h.robot_in_room["room"],
+                    }
+
+                    # Handle active zones - Set zooming based on active zones
+                    if self.img_h.active_zones:
+                        # Convert room ID to integer index
+                        room_id = int(self.img_h.robot_in_room["id"])
+                        if room_id < len(self.img_h.active_zones):
+                            self.img_h.zooming = bool(
+                                self.img_h.active_zones[room_id]
+                            )
+                        else:
+                            self.img_h.zooming = False
+                    else:
+                        self.img_h.zooming = False
+
+                    _LOGGER.debug(
+                        "%s is in %s room (polygon detection).",
+                        self.file_name,
+                        self.img_h.robot_in_room["room"],
                     )
-                else:
-                    self.img_h.zooming = False
-                return temp
-        # else we need to search and use the async method.
-        if self.img_h.rooms_pos:
-            last_room = None
-            room_count = 0
-            if self.img_h.robot_in_room:
-                last_room = self.img_h.robot_in_room
-            for room in self.img_h.rooms_pos:
+                    return temp
+            # Fallback to bounding box if no outline is available
+            elif "corners" in room:
                 corners = room["corners"]
+                # Create a bounding box from the corners
                 self.img_h.robot_in_room = {
                     "id": room_count,
                     "left": int(corners[0][0]),
@@ -352,8 +605,7 @@ class ImageDraw:
                     "down": int(corners[2][1]),
                     "room": str(room["name"]),
                 }
-                room_count += 1
-                # Check if the robot coordinates are inside the room's corners
+                # Check if the robot is inside the bounding box
                 if (
                     (self.img_h.robot_in_room["right"] >= int(robot_x))
                     and (self.img_h.robot_in_room["left"] <= int(robot_x))
@@ -367,28 +619,42 @@ class ImageDraw:
                         "angle": angle,
                         "in_room": self.img_h.robot_in_room["room"],
                     }
+
+                    # Handle active zones - Set zooming based on active zones
+                    if self.img_h.active_zones:
+                        # Convert room ID to integer index
+                        room_id = int(self.img_h.robot_in_room["id"])
+                        if room_id < len(self.img_h.active_zones):
+                            self.img_h.zooming = bool(
+                                self.img_h.active_zones[room_id]
+                            )
+                        else:
+                            self.img_h.zooming = False
+                    else:
+                        self.img_h.zooming = False
+
                     _LOGGER.debug(
-                        "%s is in %s room.",
+                        "%s is in %s room (bounding box detection).",
                         self.file_name,
                         self.img_h.robot_in_room["room"],
                     )
-                    del room, corners, robot_x, robot_y  # free memory.
                     return temp
-            del room, corners  # free memory.
-            _LOGGER.debug(
-                "%s not located within Camera Rooms coordinates.",
-                self.file_name,
-            )
-            self.img_h.robot_in_room = last_room
-            self.img_h.zooming = False
-            temp = {
-                "x": robot_x,
-                "y": robot_y,
-                "angle": angle,
-                "in_room": last_room["room"] if last_room else None,
-            }
-            # If the robot is not inside any room, return a default value
-            return temp
+            room_count += 1
+
+        # Robot not found in any room
+        _LOGGER.debug(
+            "%s not located within any room coordinates.",
+            self.file_name,
+        )
+        self.img_h.robot_in_room = last_room
+        self.img_h.zooming = False
+        temp = {
+            "x": robot_x,
+            "y": robot_y,
+            "angle": angle,
+            "in_room": last_room["room"] if last_room else None,
+        }
+        return temp
 
     async def async_get_robot_position(self, entity_dict: dict) -> tuple | None:
         """Get the robot position from the entity data."""