valetudo-map-parser 0.1.9b42__py3-none-any.whl → 0.1.9b44__py3-none-any.whl

valetudo_map_parser/config/enhanced_drawable.py

@@ -66,10 +66,10 @@ class EnhancedDrawable(Drawable):
 
         # Convert back to 0-255 range and return as tuple
         return (
-            int(max(0, min(255, r_out))),
-            int(max(0, min(255, g_out))),
-            int(max(0, min(255, b_out))),
-            int(max(0, min(255, a_out * 255))),
+            int(max(0, min(255, int(r_out)))),
+            int(max(0, min(255, int(g_out)))),
+            int(max(0, min(255, int(b_out)))),
+            int(max(0, min(255, int(a_out * 255)))),
         )
 
     def blend_pixel(
@@ -280,11 +280,6 @@ class EnhancedDrawable(Drawable):
                             DrawableElement.ROBOT,
                             element_map,
                         )
-
-            # TODO: Draw robot orientation indicator
-            # This would be a line or triangle showing the direction
-            # For now, we'll skip this part as it requires more complex drawing
-
         return array, element_map
 
     async def _draw_charger(

valetudo_map_parser/config/optimized_element_map.py

@@ -0,0 +1,363 @@
+"""
+Optimized Element Map Generator.
+Uses scipy for efficient element map generation and processing.
+Version: 0.1.9
+"""
+
+from __future__ import annotations
+
+import logging
+import numpy as np
+from scipy import ndimage
+
+from .drawable_elements import DrawableElement, DrawingConfig
+from .types import LOGGER
+
+
+class OptimizedElementMapGenerator:
+    """Class for generating 2D element maps from JSON data with optimized performance.
+
+    This class creates a 2D array where each cell contains an integer code
+    representing the element at that position (floor, wall, room, etc.).
+    It uses scipy for efficient processing and supports sparse matrices for memory efficiency.
+    """
+
+    def __init__(self, drawing_config: DrawingConfig = None, shared_data=None):
+        """Initialize the optimized element map generator.
+
+        Args:
+            drawing_config: Optional drawing configuration for element properties
+            shared_data: Shared data object for accessing common resources
+        """
+        self.drawing_config = drawing_config or DrawingConfig()
+        self.shared = shared_data
+        self.element_map = None
+        self.element_map_shape = None
+        self.scale_info = None
+        self.file_name = getattr(shared_data, 'file_name', 'ElementMap') if shared_data else 'ElementMap'
+
+    async def async_generate_from_json(self, json_data, existing_element_map=None):
+        """Generate a 2D element map from JSON data with optimized performance.
+
+        Args:
+            json_data: The JSON data from the vacuum
+            existing_element_map: Optional pre-created element map to populate
+
+        Returns:
+            numpy.ndarray: The 2D element map
+        """
+        if not self.shared:
+            LOGGER.warning("Shared data not provided, some features may not work.")
+            return None
+
+        # Use existing element map if provided
+        if existing_element_map is not None:
+            self.element_map = existing_element_map
+            return existing_element_map
+
+        # Detect JSON format
+        is_valetudo = "layers" in json_data and "pixelSize" in json_data
+        is_rand256 = "map_data" in json_data
+
+        if not (is_valetudo or is_rand256):
+            LOGGER.error("Unknown JSON format, cannot generate element map")
+            return None
+
+        if is_valetudo:
+            return await self._generate_valetudo_element_map(json_data)
+        elif is_rand256:
+            return await self._generate_rand256_element_map(json_data)
+
+    async def _generate_valetudo_element_map(self, json_data):
+        """Generate an element map from Valetudo format JSON data."""
+        # Get map dimensions from the JSON data
+        size_x = json_data["size"]["x"]
+        size_y = json_data["size"]["y"]
+        pixel_size = json_data["pixelSize"]
+        
+        # Calculate downscale factor based on pixel size
+        # Standard pixel size is 5mm, so adjust accordingly
+        downscale_factor = max(1, pixel_size // 5 * 2)  # More aggressive downscaling
+        
+        # Calculate dimensions for the downscaled map
+        map_width = max(100, size_x // (pixel_size * downscale_factor))
+        map_height = max(100, size_y // (pixel_size * downscale_factor))
+        
+        LOGGER.info(
+            "%s: Creating optimized element map with dimensions: %dx%d (downscale factor: %d)",
+            self.file_name,
+            map_width, map_height, downscale_factor
+        )
+        
+        # Create the element map at the reduced size
+        element_map = np.zeros((map_height, map_width), dtype=np.int32)
+        element_map[:] = DrawableElement.FLOOR
+        
+        # Store scaling information for coordinate conversion
+        self.scale_info = {
+            "original_size": (size_x, size_y),
+            "map_size": (map_width, map_height),
+            "scale_factor": downscale_factor * pixel_size,
+            "pixel_size": pixel_size
+        }
+        
+        # Process layers at the reduced resolution
+        for layer in json_data.get("layers", []):
+            layer_type = layer.get("type")
+            
+            # Process rooms (segments)
+            if layer_type == "segment":
+                # Get room ID
+                meta_data = layer.get("metaData", {})
+                segment_id = meta_data.get("segmentId")
+                
+                if segment_id is not None:
+                    # Convert segment_id to int if it's a string
+                    segment_id_int = int(segment_id) if isinstance(segment_id, str) else segment_id
+                    if 1 <= segment_id_int <= 15:
+                        room_element = getattr(DrawableElement, f"ROOM_{segment_id_int}", None)
+                        
+                        # Skip if room is disabled
+                        if room_element is None or not self.drawing_config.is_enabled(room_element):
+                            continue
+                        
+                        # Create a temporary high-resolution mask for this room
+                        temp_mask = np.zeros((size_y // pixel_size, size_x // pixel_size), dtype=np.uint8)
+                        
+                        # Process pixels for this room
+                        compressed_pixels = layer.get("compressedPixels", [])
+                        if compressed_pixels:
+                            # Process in chunks of 3 (x, y, count)
+                            for i in range(0, len(compressed_pixels), 3):
+                                if i + 2 < len(compressed_pixels):
+                                    x = compressed_pixels[i]
+                                    y = compressed_pixels[i+1]
+                                    count = compressed_pixels[i+2]
+                                    
+                                    # Set pixels in the high-resolution mask
+                                    for j in range(count):
+                                        px = x + j
+                                        if 0 <= y < temp_mask.shape[0] and 0 <= px < temp_mask.shape[1]:
+                                            temp_mask[y, px] = 1
+                        
+                        # Use scipy to downsample the mask efficiently
+                        # This preserves the room shape better than simple decimation
+                        downsampled_mask = ndimage.zoom(
+                            temp_mask, 
+                            (map_height / temp_mask.shape[0], map_width / temp_mask.shape[1]),
+                            order=0  # Nearest neighbor interpolation
+                        )
+                        
+                        # Apply the downsampled mask to the element map
+                        element_map[downsampled_mask > 0] = room_element
+                        
+                        # Clean up
+                        del temp_mask, downsampled_mask
+            
+            # Process walls similarly
+            elif layer_type == "wall" and self.drawing_config.is_enabled(DrawableElement.WALL):
+                # Create a temporary high-resolution mask for walls
+                temp_mask = np.zeros((size_y // pixel_size, size_x // pixel_size), dtype=np.uint8)
+                
+                # Process compressed pixels for walls
+                compressed_pixels = layer.get("compressedPixels", [])
+                if compressed_pixels:
+                    # Process in chunks of 3 (x, y, count)
+                    for i in range(0, len(compressed_pixels), 3):
+                        if i + 2 < len(compressed_pixels):
+                            x = compressed_pixels[i]
+                            y = compressed_pixels[i+1]
+                            count = compressed_pixels[i+2]
+                            
+                            # Set pixels in the high-resolution mask
+                            for j in range(count):
+                                px = x + j
+                                if 0 <= y < temp_mask.shape[0] and 0 <= px < temp_mask.shape[1]:
+                                    temp_mask[y, px] = 1
+                
+                # Use scipy to downsample the mask efficiently
+                downsampled_mask = ndimage.zoom(
+                    temp_mask, 
+                    (map_height / temp_mask.shape[0], map_width / temp_mask.shape[1]),
+                    order=0
+                )
+                
+                # Apply the downsampled mask to the element map
+                # Only overwrite floor pixels, not room pixels
+                wall_mask = (downsampled_mask > 0) & (element_map == DrawableElement.FLOOR)
+                element_map[wall_mask] = DrawableElement.WALL
+                
+                # Clean up
+                del temp_mask, downsampled_mask
+        
+        # Store the element map
+        self.element_map = element_map
+        self.element_map_shape = element_map.shape
+        
+        LOGGER.info(
+            "%s: Element map generation complete with shape: %s",
+            self.file_name,
+            element_map.shape
+        )
+        return element_map
+
+    async def _generate_rand256_element_map(self, json_data):
+        """Generate an element map from Rand256 format JSON data."""
+        # Get map dimensions from the Rand256 JSON data
+        map_data = json_data["map_data"]
+        size_x = map_data["dimensions"]["width"]
+        size_y = map_data["dimensions"]["height"]
+        
+        # Calculate downscale factor
+        downscale_factor = max(1, min(size_x, size_y) // 500)  # Target ~500px in smallest dimension
+        
+        # Calculate dimensions for the downscaled map
+        map_width = max(100, size_x // downscale_factor)
+        map_height = max(100, size_y // downscale_factor)
+        
+        LOGGER.info(
+            "%s: Creating optimized Rand256 element map with dimensions: %dx%d (downscale factor: %d)",
+            self.file_name,
+            map_width, map_height, downscale_factor
+        )
+        
+        # Create the element map at the reduced size
+        element_map = np.zeros((map_height, map_width), dtype=np.int32)
+        element_map[:] = DrawableElement.FLOOR
+        
+        # Store scaling information for coordinate conversion
+        self.scale_info = {
+            "original_size": (size_x, size_y),
+            "map_size": (map_width, map_height),
+            "scale_factor": downscale_factor,
+            "pixel_size": 1  # Rand256 uses 1:1 pixel mapping
+        }
+        
+        # Process rooms
+        if "rooms" in map_data and map_data["rooms"]:
+            for room in map_data["rooms"]:
+                # Get room ID and check if it's enabled
+                room_id_int = room["id"]
+                
+                # Get room element code (ROOM_1, ROOM_2, etc.)
+                room_element = None
+                if 0 < room_id_int <= 15:
+                    room_element = getattr(DrawableElement, f"ROOM_{room_id_int}", None)
+                
+                # Skip if room is disabled
+                if room_element is None or not self.drawing_config.is_enabled(room_element):
+                    continue
+                
+                if "coordinates" in room:
+                    # Create a high-resolution mask for this room
+                    temp_mask = np.zeros((size_y, size_x), dtype=np.uint8)
+                    
+                    # Fill the mask with room coordinates
+                    for coord in room["coordinates"]:
+                        x, y = coord
+                        if 0 <= y < size_y and 0 <= x < size_x:
+                            temp_mask[y, x] = 1
+                    
+                    # Use scipy to downsample the mask efficiently
+                    downsampled_mask = ndimage.zoom(
+                        temp_mask, 
+                        (map_height / size_y, map_width / size_x),
+                        order=0  # Nearest neighbor interpolation
+                    )
+                    
+                    # Apply the downsampled mask to the element map
+                    element_map[downsampled_mask > 0] = room_element
+                    
+                    # Clean up
+                    del temp_mask, downsampled_mask
+        
+        # Process walls
+        if "walls" in map_data and map_data["walls"] and self.drawing_config.is_enabled(DrawableElement.WALL):
+            # Create a high-resolution mask for walls
+            temp_mask = np.zeros((size_y, size_x), dtype=np.uint8)
+            
+            # Fill the mask with wall coordinates
+            for coord in map_data["walls"]:
+                x, y = coord
+                if 0 <= y < size_y and 0 <= x < size_x:
+                    temp_mask[y, x] = 1
+            
+            # Use scipy to downsample the mask efficiently
+            downsampled_mask = ndimage.zoom(
+                temp_mask, 
+                (map_height / size_y, map_width / size_x),
+                order=0
+            )
+            
+            # Apply the downsampled mask to the element map
+            # Only overwrite floor pixels, not room pixels
+            wall_mask = (downsampled_mask > 0) & (element_map == DrawableElement.FLOOR)
+            element_map[wall_mask] = DrawableElement.WALL
+            
+            # Clean up
+            del temp_mask, downsampled_mask
+        
+        # Store the element map
+        self.element_map = element_map
+        self.element_map_shape = element_map.shape
+        
+        LOGGER.info(
+            "%s: Rand256 element map generation complete with shape: %s",
+            self.file_name,
+            element_map.shape
+        )
+        return element_map
+
+    def map_to_element_coordinates(self, x, y):
+        """Convert map coordinates to element map coordinates."""
+        if not hasattr(self, 'scale_info'):
+            return x, y
+            
+        scale = self.scale_info["scale_factor"]
+        return int(x / scale), int(y / scale)
+        
+    def element_to_map_coordinates(self, x, y):
+        """Convert element map coordinates to map coordinates."""
+        if not hasattr(self, 'scale_info'):
+            return x, y
+            
+        scale = self.scale_info["scale_factor"]
+        return int(x * scale), int(y * scale)
+
+    def get_element_at_position(self, x, y):
+        """Get the element at the specified position."""
+        if not hasattr(self, 'element_map') or self.element_map is None:
+            return None
+            
+        if not (0 <= y < self.element_map.shape[0] and 0 <= x < self.element_map.shape[1]):
+            return None
+            
+        return self.element_map[y, x]
+
+    def get_room_at_position(self, x, y):
+        """Get the room ID at a specific position, or None if not a room."""
+        element_code = self.get_element_at_position(x, y)
+        if element_code is None:
+            return None
+            
+        # Check if it's a room (codes 101-115)
+        if 101 <= element_code <= 115:
+            return element_code
+        return None
+
+    def get_element_name(self, element_code):
+        """Get the name of the element from its code."""
+        if element_code is None:
+            return 'NONE'
+
+        # Check if it's a room
+        if element_code >= 100:
+            room_number = element_code - 100
+            return f'ROOM_{room_number}'
+
+        # Check standard elements
+        for name, code in vars(DrawableElement).items():
+            if not name.startswith('_') and isinstance(code, int) and code == element_code:
+                return name
+
+        return f'UNKNOWN_{element_code}'

valetudo_map_parser/config/room_outline.py

@@ -0,0 +1,148 @@
+"""
+Room Outline Extraction Utilities.
+Uses scipy for efficient room outline extraction.
+Version: 0.1.9
+"""
+
+from __future__ import annotations
+
+import numpy as np
+from scipy import ndimage
+
+from .types import LOGGER
+
+
+async def extract_room_outline_with_scipy(
+    room_mask, min_x, min_y, max_x, max_y, file_name=None, room_id=None
+):
+    """Extract a room outline using scipy for contour finding.
+    
+    Args:
+        room_mask: Binary mask of the room (1 for room, 0 for non-room)
+        min_x, min_y, max_x, max_y: Bounding box coordinates
+        file_name: Optional file name for logging
+        room_id: Optional room ID for logging
+        
+    Returns:
+        List of points forming the outline of the room
+    """
+    # If the mask is empty, return a rectangular outline
+    if np.sum(room_mask) == 0:
+        LOGGER.warning(
+            "%s: Empty room mask for room %s, using rectangular outline",
+            file_name or "RoomOutline",
+            str(room_id) if room_id is not None else "unknown",
+        )
+        return [(min_x, min_y), (max_x, min_y), (max_x, max_y), (min_x, max_y)]
+    
+    # Use scipy to clean up the mask (remove noise, fill holes)
+    # Fill small holes
+    room_mask = ndimage.binary_fill_holes(room_mask).astype(np.uint8)
+    
+    # Remove small objects
+    labeled_array, num_features = ndimage.label(room_mask)
+    if num_features > 1:
+        # Find the largest connected component
+        component_sizes = np.bincount(labeled_array.ravel())[1:]
+        largest_component = np.argmax(component_sizes) + 1
+        room_mask = (labeled_array == largest_component).astype(np.uint8)
+    
+    # Find the boundary points by tracing the perimeter
+    boundary_points = []
+    height, width = room_mask.shape
+    
+    # Scan horizontally (top and bottom edges)
+    for x in range(width):
+        # Top edge
+        for y in range(height):
+            if room_mask[y, x] == 1:
+                boundary_points.append((x + min_x, y + min_y))
+                break
+                
+        # Bottom edge
+        for y in range(height-1, -1, -1):
+            if room_mask[y, x] == 1:
+                boundary_points.append((x + min_x, y + min_y))
+                break
+    
+    # Scan vertically (left and right edges)
+    for y in range(height):
+        # Left edge
+        for x in range(width):
+            if room_mask[y, x] == 1:
+                boundary_points.append((x + min_x, y + min_y))
+                break
+                
+        # Right edge
+        for x in range(width-1, -1, -1):
+            if room_mask[y, x] == 1:
+                boundary_points.append((x + min_x, y + min_y))
+                break
+    
+    # Remove duplicates while preserving order
+    unique_points = []
+    for point in boundary_points:
+        if point not in unique_points:
+            unique_points.append(point)
+    
+    # If we have too few points, return a simple rectangle
+    if len(unique_points) < 4:
+        LOGGER.warning(
+            "%s: Too few boundary points for room %s, using rectangular outline",
+            file_name or "RoomOutline",
+            str(room_id) if room_id is not None else "unknown",
+        )
+        return [(min_x, min_y), (max_x, min_y), (max_x, max_y), (min_x, max_y)]
+    
+    # Simplify the outline by keeping only significant points
+    simplified = simplify_outline(unique_points, tolerance=5)
+    
+    LOGGER.debug(
+        "%s: Extracted outline for room %s with %d points",
+        file_name or "RoomOutline",
+        str(room_id) if room_id is not None else "unknown",
+        len(simplified),
+    )
+    
+    return simplified
+
+
+def simplify_outline(points, tolerance=5):
+    """Simplify an outline by removing points that don't contribute much to the shape."""
+    if len(points) <= 4:
+        return points
+    
+    # Start with the first point
+    simplified = [points[0]]
+    
+    # Process remaining points
+    for i in range(1, len(points) - 1):
+        # Get previous and next points
+        prev = simplified[-1]
+        current = points[i]
+        next_point = points[i + 1]
+        
+        # Calculate vectors
+        v1 = (current[0] - prev[0], current[1] - prev[1])
+        v2 = (next_point[0] - current[0], next_point[1] - current[1])
+        
+        # Calculate change in direction
+        dot_product = v1[0] * v2[0] + v1[1] * v2[1]
+        len_v1 = (v1[0]**2 + v1[1]**2)**0.5
+        len_v2 = (v2[0]**2 + v2[1]**2)**0.5
+        
+        # Avoid division by zero
+        if len_v1 == 0 or len_v2 == 0:
+            continue
+            
+        # Calculate cosine of angle between vectors
+        cos_angle = dot_product / (len_v1 * len_v2)
+        
+        # If angle is significant or distance is large, keep the point
+        if abs(cos_angle) < 0.95 or len_v1 > tolerance or len_v2 > tolerance:
+            simplified.append(current)
+    
+    # Add the last point
+    simplified.append(points[-1])
+    
+    return simplified

valetudo_map_parser/config/shared.py

@@ -107,6 +107,7 @@ class CameraShared:
         self.trims = TrimsData.from_dict(DEFAULT_VALUES["trims_data"])  # Trims data
         self.skip_room_ids: List[str] = []
         self.device_info = None  # Store the device_info
+        self.element_map = None  # Map of element codes
 
     def update_user_colors(self, user_colors):
         """Update the user colors."""