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Return calibration points together with map #423

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Return calibration points together with map #423

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6616a10
Add calibration points to map
Jan 21, 2024
9e11681
Set image size
Jan 22, 2024
a76299f
Add calibration points to map - refactor
Feb 16, 2024
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74 changes: 64 additions & 10 deletions deebot_client/map.py
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Original file line number Diff line number Diff line change
Expand Up @@ -185,6 +185,22 @@ class BackgroundImage:
image: bytes


@dataclasses.dataclass
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class CalibrationPoint:
"""Calibration point."""

vacuum: Point
map: Point
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@dataclasses.dataclass
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class CalibratedMap:
"""Map image with calibration points."""

calibration_points: tuple[CalibrationPoint, CalibrationPoint, CalibrationPoint]
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image: str


# SVG definitions referred by map elements
_SVG_DEFS = svg.Defs(
elements=[
Expand Down Expand Up @@ -262,18 +278,16 @@ def _calc_value(value: float, axis_manipulation: AxisManipulation) -> float:
(float(value) / _PIXEL_WIDTH) + _OFFSET - axis_manipulation.map_shift
)
new_value = axis_manipulation.transform(new_value)
# return value inside min and max
return round(
min(axis_manipulation.svg_max, max(0, new_value)), _ROUND_TO_DIGITS
)

return round(new_value, _ROUND_TO_DIGITS)

except (ZeroDivisionError, ValueError):
pass

return 0


def _calc_point(
def _calc_unbounded_point(
x: float,
y: float,
map_manipulation: MapManipulation,
Expand All @@ -284,6 +298,19 @@ def _calc_point(
)


def _calc_point(
x: float,
y: float,
map_manipulation: MapManipulation,
) -> Point:
unbounded = _calc_unbounded_point(x, y, map_manipulation)

return Point(
min(map_manipulation.x.svg_max, max(0, unbounded.x)),
min(map_manipulation.y.svg_max, max(0, unbounded.y)),
)


def _points_to_svg_path(
points: Sequence[Point | TracePoint],
) -> list[svg.PathData]:
Expand Down Expand Up @@ -390,7 +417,7 @@ def __init__(

self._map_data: Final[MapData] = MapData(event_bus)
self._amount_rooms: int = 0
self._last_image: str | None = None
self._last_image: CalibratedMap | None = None
self._unsubscribers: list[Callable[[], None]] = []

async def on_map_set(event: MapSetEvent) -> None:
Expand Down Expand Up @@ -564,6 +591,13 @@ def _get_background_image(self) -> BackgroundImage | None:
)

def get_svg_map(self) -> str | None:
"""Return map as SVG string and set of calibration points."""
map = self.get_calibrated_map()
if map is None:
return None
return map.image

def get_calibrated_map(self) -> CalibratedMap | None:
"""Return map as SVG string."""
if not self._unsubscribers:
raise MapError("Please enable the map first")
Expand All @@ -582,9 +616,6 @@ def get_svg_map(self) -> str | None:
self._last_image = None
return None

# Build the SVG elements
svg_map = svg.SVG()
svg_map.elements = [_SVG_DEFS]
manipulation = MapManipulation(
AxisManipulation(
map_shift=background.bounding_box[0],
Expand All @@ -597,6 +628,10 @@ def get_svg_map(self) -> str | None:
),
)

# Build the SVG elements
svg_map = svg.SVG(width=manipulation.x.svg_max, height=manipulation.y.svg_max)
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Why is these changed needed?

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When the SVG image has no size it makes it difficult (or impossible) for the Vacuum Map card to translate the vacuum coordinates back to the map after the image gets scaled again in the Home Assistant UI.
image

For example in my case the viewport size is 229x237, but Chrome reports the naturalWidth/naturalHeight as 145x150. I believe height is always 150 and width is proportional. Firefox returns 0 for both naturalWidth and naturalHeight. The viewport size is not readily available.
image

However, if we set the width and height explicitly for the SVG then its available as naturalWidth/naturalHeight and the coordinate mapping works correctly.
image

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We should not set a width or height, as the front end should decide how big it should be drawn.
The problem with setting a width/height on an SVG is that the frontend will use it for showing. For that reason, we use the viewport.
More info about this topic can be found in home-assistant/core#98036 (comment)

We are calculating the calibration points against the viewport and it's the card's job to apply the difference between the viewport and the actual width/height which the card decided to display.

@PiotrMachowski How much work is it to calculate the position of the object according to the viewport if an SVG only has a viewport and no width/height?

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@edenhaus I haven't tried using the map card with SVG yet, I'll have to check it out.

svg_map.elements = [_SVG_DEFS]

# Set map viewBox based on background map bounding box.
svg_map.viewBox = svg.ViewBoxSpec(
0,
Expand Down Expand Up @@ -637,7 +672,26 @@ def get_svg_map(self) -> str | None:
_get_svg_positions(self._map_data.positions, manipulation)
)

self._last_image = str(svg_map)
p0 = Point(0, 0)
p1 = Point(0, 100000)
p2 = Point(100000, 0)

points = (
CalibrationPoint(
vacuum=p0,
map=_calc_unbounded_point(p0.x, p0.y, manipulation),
),
CalibrationPoint(
vacuum=p1,
map=_calc_unbounded_point(p1.x, p1.y, manipulation),
),
CalibrationPoint(
vacuum=p2,
map=_calc_unbounded_point(p2.x, p2.y, manipulation),
),
)
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self._last_image = CalibratedMap(calibration_points=points, image=str(svg_map))
_LOGGER.debug("[get_svg_map] Finish")
return self._last_image

Expand Down