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Align viewbox center with vacuum map center #433

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merged 6 commits into from
May 30, 2024
Merged

Align viewbox center with vacuum map center #433

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e394441
Align viewbox center with vacuum map center
Feb 21, 2024
73a7121
Add test for Map._get_svg_positions
Feb 24, 2024
4ce9449
Add test for deebot_client.Map._get_svg_traces_path
May 6, 2024
de7a37e
Merge branch 'dev' into feature/align_viewbox_to_map
edenhaus May 29, 2024
d6463b5
Apply suggestions from code review
edenhaus May 30, 2024
6cca195
Some optimations
edenhaus May 30, 2024
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125 changes: 33 additions & 92 deletions deebot_client/map.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
from PIL import Image, ImageColor, ImageOps, ImagePalette
import svg

from deebot_client import util
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from deebot_client.events.map import CachedMapInfoEvent, MapChangedEvent

from .commands.json import GetMinorMap
Expand All @@ -38,7 +39,6 @@
from .util import (
OnChangedDict,
OnChangedList,
decompress_7z_base64_data,
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)

if TYPE_CHECKING:
Expand Down Expand Up @@ -155,32 +155,6 @@ class TracePoint(Point):
connected: bool


@dataclasses.dataclass
class AxisManipulation:
"""Map manipulation."""

map_shift: float
svg_max: float
_transform: Callable[[float, float], float] | None = None

def __post_init__(self) -> None:
self._svg_center = self.svg_max / 2

def transform(self, value: float) -> float:
"""Transform value."""
if self._transform is None:
return value
return self._transform(self._svg_center, value)


@dataclasses.dataclass
class MapManipulation:
"""Map manipulation."""

x: AxisManipulation
y: AxisManipulation


@dataclasses.dataclass
class BackgroundImage:
"""Background image."""
Expand Down Expand Up @@ -237,33 +211,27 @@ class BackgroundImage:
)


def _calc_value(value: float, axis_manipulation: AxisManipulation) -> float:
try:
if value is not None:
# SVG allows sub-pixel precision, so we use floating point coordinates for better placement.
new_value = (
(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
)

except (ZeroDivisionError, ValueError):
pass

return 0


def _calc_point(
x: float,
y: float,
map_manipulation: MapManipulation,
) -> Point:
return Point(
_calc_value(x, map_manipulation.x),
_calc_value(y, map_manipulation.y),
0 if x is None else round(x / _PIXEL_WIDTH, _ROUND_TO_DIGITS),
0 if y is None else round(-y / _PIXEL_WIDTH, _ROUND_TO_DIGITS),
)


def _calc_point_in_viewbox(x: float, y: float, viewbox: svg.ViewBoxSpec) -> Point:
point = _calc_point(x, y)
return Point(
min(
max(point.x, float(viewbox.min_x)),
float(viewbox.min_x) + float(viewbox.width),
),
min(
max(point.y, float(viewbox.min_y)),
float(viewbox.min_y) + float(viewbox.height),
),
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)


Expand Down Expand Up @@ -295,12 +263,11 @@ def _points_to_svg_path(


def _get_svg_positions(
positions: list[Position],
map_manipulation: MapManipulation,
positions: list[Position], viewbox: svg.ViewBoxSpec
) -> list[svg.Element]:
svg_positions: list[svg.Element] = []
for position in sorted(positions, key=lambda x: _POSITIONS_SVG[x.type].order):
pos = _calc_point(position.x, position.y, map_manipulation)
pos = _calc_point_in_viewbox(position.x, position.y, viewbox)
svg_positions.append(
svg.Use(href=f"#{_POSITIONS_SVG[position.type].svg_id}", x=pos.x, y=pos.y)
)
Expand All @@ -310,7 +277,6 @@ def _get_svg_positions(

def _get_svg_subset(
subset: MapSubsetEvent,
map_manipulation: MapManipulation,
) -> Path | svg.Polygon:
_LOGGER.debug("Creating svg subset for %s", subset)

Expand All @@ -319,7 +285,6 @@ def _get_svg_subset(
_calc_point(
subset_coordinates[i],
subset_coordinates[i + 1],
map_manipulation,
)
for i in range(0, len(subset_coordinates), 2)
]
Expand Down Expand Up @@ -448,10 +413,7 @@ def _draw_map_pieces(self, image: Image.Image) -> None:
if current_piece.in_use:
image.paste(current_piece.image, (image_x, image_y))

def _get_svg_traces_path(
self,
map_manipulation: MapManipulation,
) -> Path | None:
def _get_svg_traces_path(self) -> Path | None:
if len(self._map_data.trace_values) > 0:
_LOGGER.debug("[get_svg_map] Draw Trace")
return Path(
Expand All @@ -461,11 +423,7 @@ def _get_svg_traces_path(
stroke_linejoin="round",
vector_effect="non-scaling-stroke",
transform=[
svg.Translate(
_OFFSET - map_manipulation.x.map_shift,
_OFFSET - map_manipulation.y.map_shift,
),
svg.Scale(0.2, 0.2),
svg.Scale(0.2, -0.2),
],
d=_points_to_svg_path(self._map_data.trace_values),
)
Expand Down Expand Up @@ -569,56 +527,39 @@ def get_svg_map(self) -> str | None:
# Build the SVG elements
svg_map = svg.SVG()
svg_map.elements = [_SVG_DEFS]
manipulation = MapManipulation(
AxisManipulation(
map_shift=background.bounding_box[0],
svg_max=background.bounding_box[2] - background.bounding_box[0],
),
AxisManipulation(
map_shift=background.bounding_box[1],
svg_max=background.bounding_box[3] - background.bounding_box[1],
_transform=lambda c, v: 2 * c - v,
),
)

# Set map viewBox based on background map bounding box.
svg_map.viewBox = svg.ViewBoxSpec(
0,
0,
manipulation.x.svg_max,
manipulation.y.svg_max,
background.bounding_box[0] - _OFFSET,
_OFFSET - background.bounding_box[3],
(background.bounding_box[2] - background.bounding_box[0]),
(background.bounding_box[3] - background.bounding_box[1]),
)

# Map background.
svg_map.elements.append(
svg.Image(
x=svg_map.viewBox.min_x,
y=svg_map.viewBox.min_y,
width=svg_map.viewBox.width,
height=svg_map.viewBox.height,
style="image-rendering: pixelated",
href=f"data:image/png;base64,{base64.b64encode(background.image).decode('ascii')}",
)
)

# Additional subsets (VirtualWalls and NoMopZones)
svg_map.elements.extend(
[
_get_svg_subset(subset, manipulation)
for subset in self._map_data.map_subsets.values()
]
[_get_svg_subset(subset) for subset in self._map_data.map_subsets.values()]
)

# Traces (if any)
if svg_traces_path := self._get_svg_traces_path(manipulation):
svg_map.elements.append(
# Elements to vertically flip
svg.G(
transform_origin=r"50% 50%",
transform=[svg.Scale(1, -1)],
elements=[svg_traces_path],
)
)
if svg_traces_path := self._get_svg_traces_path():
svg_map.elements.append(svg_traces_path)

# Bot and Charge stations
svg_map.elements.extend(
_get_svg_positions(self._map_data.positions, manipulation)
_get_svg_positions(self._map_data.positions, svg_map.viewBox)
)

self._last_image = str(svg_map)
Expand Down
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