feat: add vacuum map generation

README.md

@@ -6,6 +6,7 @@ It allow home assistant to:
 - pause cleaning
 - go to dock
 - retrieve vacuum informations (battery, state)
+- show the cleaning map
 
 ![screenshot](./doc/screen.png)
 
@@ -47,6 +48,34 @@ deviceId, token and userId can be retrieved using the Proscenic robotic applicat
     2. click on the line `<your_vacuum_ip>:8888`
     3. get you informations ![screenshot](./doc/packet_with_info.jpg)
 5. you can add your vacuum on lovelace ui entities
+    1. You can simply add it as an entity
+    2. You can use the [vacuum-card](https://github.com/denysdovhan/vacuum-card)
+
+## Cleaning map management
+
+The vacuum cleaning map can be displayed on lovelace-ui.
+
+![map](./doc/map.png)
+
+to work you should add a camera entity.
+
+``` yaml
+camera:
+  - platform: local_file 
+    name: vacuum_map
+    file_path: "/tmp/proscenic_vacuum_map.svg"
+```
+
+You can use this camera on lovelace to show the map.
+
+The default path to generate the map is `/tmp/proscenic_vacuum_map.svg`. You can define another using this configuration :
+
+``` yaml
+vacuum:
+  - platform: proscenic
+    map_path: "your_custome_map_path"
+```
+
 
 ## Know issue
 

custom_components/proscenic/manifest.json

@@ -7,5 +7,7 @@
     "codeowners": [
         "deblockt"
     ],
-    "requirements": []
+    "requirements": [
+        "drawSvg==1.6.0"
+    ]
 }

custom_components/proscenic/vacuum.py

@@ -50,6 +50,7 @@
 CONF_USER_ID = 'userId'
 CONF_SLEEP = 'sleep_duration_on_exit'
 CONF_AUTH_CODE = 'authCode'
+CONF_MAP_PATH='map_path'
 
 PLATFORM_SCHEMA = PLATFORM_SCHEMA.extend({
     vol.Required(CONF_HOST): cv.string,
@@ -58,6 +59,7 @@
     vol.Required(CONF_USER_ID): cv.string,
     vol.Required(CONF_AUTH_CODE): cv.string,
     vol.Optional(CONF_SLEEP, default = 60): int,
+    vol.Optional(CONF_MAP_PATH, default = '/tmp/proscenic_vacuum_map.svg'): cv.string,
     vol.Optional(CONF_NAME): cv.string
 })
 
@@ -67,8 +69,8 @@
     WorkState.PENDING: STATE_IDLE,
     WorkState.UNKNONW3: STATE_ERROR,
     WorkState.NEAR_BASE: STATE_DOCKED,
-    WorkState.POWER_OFF: STATE_PAUSED,
-    WorkState.OTHER_POWER_OFF: STATE_PAUSED,
+    WorkState.POWER_OFF: 'off',
+    WorkState.OTHER_POWER_OFF: 'off',
     WorkState.CHARGING: STATE_DOCKED,
     None: STATE_ERROR
 }
@@ -86,9 +88,10 @@ async def async_setup_platform(hass, config, async_add_entities, discovery_info=
         CONF_AUTH_CODE: config[CONF_AUTH_CODE]
     }
     name = config[CONF_NAME] if CONF_NAME in config else '790T vacuum'
-    device = Vacuum(config[CONF_HOST], auth, loop = hass.loop, config = {CONF_SLEEP: config[CONF_SLEEP]})
+    device = Vacuum(config[CONF_HOST], auth, loop = hass.loop, config = {CONF_SLEEP: config[CONF_SLEEP], CONF_MAP_PATH: config[CONF_MAP_PATH]})
     vacuums = [ProscenicVacuum(device, name)]
     hass.loop.create_task(device.listen_state_change())
+    hass.loop.create_task(device.start_map_generation())
 
     _LOGGER.debug("Adding 790T Vacuums to Home Assistant: %s", vacuums)
     async_add_entities(vacuums, update_before_add = False)

custom_components/proscenic/vacuum_map_generator.py

@@ -0,0 +1,84 @@
+import base64
+import struct
+import drawSvg as draw
+
+def build_map(m, track, file_path):
+    inp = base64.b64decode(m)
+    d = struct.unpack('<' + 'B' * (len(inp)), inp)
+    full = [['.' for i in range(100)] for j in range(110)]
+    akt = 0
+    i = 0
+
+    def placebyte(by):
+        pair = by
+        if pair & 0b10 == 0b10:
+            full[((akt + 3) // 100)][((akt + 3) % 100)] = '_'
+        elif pair & 0b01 == 0b01:
+            full[((akt + 3) // 100)][((akt + 3) % 100)] = '0'
+        pair = by >> 2
+        if pair & 0b10 == 0b10:
+            full[((akt + 2) // 100)][((akt + 2) % 100)] = '_'
+        elif pair & 0b01 == 0b01:
+            full[((akt + 2) // 100)][((akt + 2) % 100)] = '0'
+        pair = by >> 4
+        if pair & 0b10 == 0b10:
+            full[((akt + 1) // 100)][((akt + 1) % 100)] = '_'
+        elif pair & 0b01 == 0b01:
+            full[((akt + 1) // 100)][((akt + 1) % 100)] = '0'
+        pair = by >> 6
+        if pair & 0b10 == 0b10:
+            full[(akt // 100)][(akt % 100)] = '_'
+        elif pair & 0b01 == 0b01:
+            full[(akt // 100)][(akt % 100)] = '0'
+
+    while i < len(d):
+        if i >= 9:
+            if d[i] & 0b11000000 == 0b11000000:
+                mul = d[i] & 0b00111111
+                if d[i + 1] & 0b11000000 == 0b11000000:
+                    i += 1
+                    mul <<= 6
+                    mul |= (d[i] & 0b00111111)
+                for rep in range(mul):
+                    placebyte(d[i + 1])
+                    akt += 4
+                i += 1
+            else:
+                placebyte(d[i])
+                akt = akt + 4
+        i += 1
+
+    # print("\n".join(["".join(map(str,fline)) for fline in full]))
+
+    wallx = []
+    wally = []
+    floorx = []
+    floory = []
+    for idy,l in enumerate(full):
+        for idx,r in enumerate(l):
+            if r == '0':
+                wallx.append(idx)
+                wally.append(idy)
+            if r == '_':
+                floorx.append(idx)
+                floory.append(idy)
+
+    inp = base64.b64decode(track)
+    path = struct.unpack('<' + 'b'*(len(inp)-4), inp[4:])
+
+    d = draw.Drawing(500, 550)
+    for i in range(len(wallx)):
+        d.append(draw.Rectangle(wallx[i] * 5, 500 - (wally[i] * 5), 5, 5, fill='#000000', fill_opacity=0.7))
+
+    for i in range(len(floorx)):
+        d.append(draw.Rectangle(floorx[i] * 5, 500 - (floory[i] * 5), 5, 5, fill='#000000', fill_opacity=0.3))
+
+    draw_path = [((coord * 5) + 2.5 if i % 2 == 0 else (500 - (coord * 5)) + 2.5) for i, coord in enumerate(path)]
+    d.append(draw.Lines(*draw_path, fill="white", fill_opacity=0, stroke = 'black', stroke_opacity = 0.8))
+
+    d.saveSvg(file_path)
+
+#m = "AAAAAAAAZABkwvIAFUDXABXCVUDVABaqwlXVAFbCqqlA1ABmw6pUVUDSAGbDqqTCVVDRAFbDqqVqqpDRAFbDqqVVqJDRAFqqqaqlVqSQ0QBaqpZqwqqkkNEAWqqZmsKqpJDRAFqqmWrCqqSQ0QAVVapawqqkkNIABVVawqqkkNQAFsKqpJDUABbCqqWQ1AAWwqqplNQAFsOqpdQAGsOqqUDTABrDqppQ0wAaw6qmkNMAFWrCqplQ0wAFw6qZQNMABcOqmkDTAAXDqplA0wAFw6pJQNMABcOqSdQABalqqkpA0wBWqVqqolDTAGqkFqqmkNIAAWqkBqqklNIAAaqQBqqkkNIAAaqQBqqkkNIAAZqQGqqklVTRAAGqkCqqpaqk0QABqpAqw6qoFNAAAaqQFqqlqpqk0AAGqpAqqqWqkKTQAAaqkCrDqlWU0AAGqpQaqsKWqZDQAAaqpGqqlqqpoNAABaqpasKqpalo0AABWqqawqpWqmqA0AAaxKpVwqrRABVVaqpaw6rSAAFVmcSq0wABVVbCVVbVAAVAAALYAALYAAVA0P0A"
+#track = "ASg+ATI0NDQrNCs1KzM2MzYyNzIgMiEyHDIcMRoxIDEfMR4wGTAZLxgvHS8cLhcuFy0cLRwsFywYKxwrHCoYKhgpHCkcKBgoGCccJxwmGSYZJR0lHSQZJBojHiMdIhsiHiIeIRshHyEfICAgGyAcHxsfKB8oHhseHB4bHhsdKB0oHBwcHBspGygaGhoaGSgZJxgaGBoXJhclFhoWGhUlFSUUGhQaEyUTJRIZEhkRJRElEBgQGA8XDyUPJQ4mDh4OHw0fDh8NIA4hDiINJg0lDCIMIQ0hDCENHA4NDg0NHA0cDA0MDQsaCxkKDgoOCRcJEQkPCA4IDg8NDxYPFBANEA0RFBEUEhESDxEhICcgJyEgISEiJyInIygjIiMjJCkkKSUjJSMmKSYpJyMnIygpKCkpIikiKiEqLiouKy8rLyowKjArKyssKywsMCwvLC8tIS0iLSEtIi4pLiguKC8hLyEwLTAtLysvMi8yMDAwMDEzMTAxMzE1MjUxMS4yLiwuKSwpKysqLSooLCsuKzEiMSIzLjMqNCk0NjQkNCQzIDMgMhoyGjEZMRkwGDAXLxctFy4XLBgqGCYZJhgmGCUZJRkkGiQcIhwbGhsaGhsYGxUaFBoSGRIYEBgRFxAWERcRFhIWExcTExMTEg4SDg4PDg8JFAkUChoKHAwdDB0OHg4eDx8PHxAfDx8QIBAhDiENIw0hDSEOIg0oDScNKA0oGCkYKRkqGSoaKxorGywbKxwqHCodKx0qHSoeKx4qHiohKiAqISshKyIqIisjKyQtJCwlLCgtKCwoLCkxKTEqMioyKzQrNCw1LDQsNSw1KzUsNCw0LzUvNTA2MDYyNzM3Nw=="
+
+#build_map(m, track, 'map.svg')

custom_components/proscenic/vacuum_proscenic.py

@@ -2,6 +2,7 @@
 import json
 from enum import Enum
 import logging
+from .vacuum_map_generator import build_map
 
 _LOGGER = logging.getLogger(__name__)
 
@@ -27,19 +28,29 @@ def __init__(self, ip, auth, loop = None, config = {}):
         self.auth = auth
         self.device_id = auth['deviceId']
         self.sleep_duration_on_exit = config['sleep_duration_on_exit'] if 'sleep_duration_on_exit' in config  else 60
-
+        self.map_path = config['map_path'] if 'map_path' in config  else '/tmp/map.svg'
+
+    async def start_map_generation(self):
+        while True:
+            try:
+                await self._wait_for_map_input()
+            except:
+                _LOGGER.debug('can not contact the vacuum. Wait 60 second before retry. (maybe that the vacuum switch is off)')
+                await asyncio.sleep(60)
+                pass
+
     async def listen_state_change(self):
         try:
             await self._refresh_loop()
         except:
             _LOGGER.exception('error while listening proscenic vacuum state change')
-        
+
     def subcribe(self, subscriber):
         self.listner.append(subscriber)
-        
+
     async def clean(self):
         await self._send_command(b'{"transitCmd":"100"}')
-    
+
     async def stop(self):
         await self._send_command(b'{"transitCmd":"102"}')
 
@@ -66,18 +77,15 @@ async def _send_command(self, command: bytes, input_writer = None):
             _LOGGER.debug('send command {}'.format(str(body)))
             writer.write(header + body)
             await writer.drain()
-
-            if not input_writer:
-                writer.close();
-                await writer.wait_closed()
         except OSError:
             raise VacuumUnavailable('can not connect to the vacuum. Turn on the physical switch button.')
 
     async def _ping(self, writer):
+        _LOGGER.debug('send ping request')
         body = b'\x14\x00\x00\x00\x00\x01\xc8\x00\x00\x00\x01\x00\x22\x27\x00\x00\x00\x00\x00\x00'
         writer.write(body)
         await writer.drain()
-        
+
     async def _login(self, writer):
         header = b'\xfb\x00\x00\x00\x10\x00\xc8\x00\x00\x00\x29\x27\x2a\x27\x00\x00\x00\x00\x00\x00'
         body = b'{"cmd":0,"control":{"targetId":""},"seq":0,"value":{"appKey":"67ce4fabe562405d9492cad9097e09bf","deviceId":"' \
@@ -95,7 +103,7 @@ async def _wait_for_state_refresh(self, reader):
         while not disconnected:
             data = await reader.read(1000)
             if data != b'':
-                _LOGGER.debug(str(data))
+                _LOGGER.debug('receive from state refresh: {}'.format(str(data)))
                 data = self._extract_json(data)
                 if data and'msg' in data and data['msg'] == 'exit succeed':
                     _LOGGER.warn('receive exit succeed - I have been disconnected')
@@ -120,12 +128,57 @@ async def _wait_for_state_refresh(self, reader):
 
         return disconnected
 
+    async def _get_map(self):
+        (reader, writer) = await asyncio.open_connection(self.ip, 8888, loop = self.loop)
+        await self._send_command(b'{"transitCmd":"131"}', writer)
+        read_data = ''
+        while True:
+            data = await reader.read(1000)
+            if data == b'':
+                break
+            try:
+                read_data = read_data + data.decode()
+                #_LOGGER.info('read data {}'.format(read_data))
+                nb_openning = read_data.count('{')
+                nb_close = read_data.count('}')
+                if nb_openning > 0 and nb_openning == nb_close:
+                    #_LOGGER.info('return valid json {}'.format(read_data))
+                    return read_data
+                elif nb_close > nb_openning:
+                    #_LOGGER.info('malformed json json {}'.format(read_data))
+                    read_data = ''
+            except:
+                _LOGGER.error('unreadable data {}'.format(data))
+                read_data = ''
+
+    async def _wait_for_map_input(self):
+        while True:
+            try:
+                if self.work_state == WorkState.CLEANING:
+                    _LOGGER.debug('try to get the map')
+                    data = await asyncio.wait_for(self._get_map(), timeout=60.0)
+                    if data:
+                        _LOGGER.info('receive map {}'.format(data))
+                        json = self._extract_json(str.encode(data))
+                        if 'value' in json and 'map' in json['value']:
+                            build_map(json['value']['map'], json['value']['track'], self.map_path)
+                    await asyncio.sleep(5)
+                else:
+                    _LOGGER.debug('do not get the map. The vacuum is not cleaning. Waiting 30 seconds')
+                    await asyncio.sleep(30)
+            except ConnectionResetError:
+                await asyncio.sleep(60) 
+            except asyncio.TimeoutError:
+                _LOGGER.error('unable to get map on time')
+
     async def verify_vacuum_online(self):
         try:
+            _LOGGER.debug('verify vacuum online')
             await self._send_command(b'{"transitCmd":"131"}')
             if self.work_state == WorkState.POWER_OFF or self.work_state == WorkState.OTHER_POWER_OFF:
                 self.work_state = WorkState.PENDING
         except VacuumUnavailable:
+            _LOGGER.debug('the vacuum is unavailable')
             self.work_state = WorkState.POWER_OFF 
             self._call_listners()