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camera.py minor refactoring.
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draweble.py added obstacle drawing.
image_handler.py added obstacles
manifest.json version v1.5.5

Signed-off-by: SCA075 <[email protected]>
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@sca075
sca075 committed Jan 4, 2024
1 parent cc27dc3 commit 41c8ecb
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Showing 4 changed files with 210 additions and 113 deletions.
235 changes: 133 additions & 102 deletions custom_components/valetudo_vacuum_camera/camera.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,8 @@
"""Camera Version 1.5.4
Valetudo Re Test image.
"""
Camera Version 1.5.5
Valetudo Firmwares Vacuums maps.
for Valetudo Hypfer and rand256 maps.
From PI4 up to all other Home Assistant supported platforms.
"""

from __future__ import annotations
Expand Down Expand Up @@ -60,7 +63,7 @@
ALPHA_ROOM_3, ALPHA_ROOM_4, ALPHA_ROOM_5, ALPHA_ROOM_6,
ALPHA_ROOM_7, ALPHA_ROOM_8, ALPHA_ROOM_9, ALPHA_ROOM_10,
ALPHA_ROOM_11, ALPHA_ROOM_12, ALPHA_ROOM_13, ALPHA_ROOM_14,
ALPHA_ROOM_15,
ALPHA_ROOM_15
)
from custom_components.valetudo_vacuum_camera.common import get_vacuum_unique_id_from_mqtt_topic

Expand Down Expand Up @@ -142,7 +145,7 @@ def __init__(self, hass, device_info):
self._map_pred_points = None
self._vacuum_shared = Vacuum()
self._vacuum_state = None
self._frame_interval = 1
self._attr_frame_interval = 1
self._vac_img_data = None
self._vac_json_data = None
self._vac_json_id = None
Expand Down Expand Up @@ -350,7 +353,7 @@ async def take_snapshot(self, json_data, image_data):
_LOGGER.info(f"{self.file_name}: Camera Snapshot Taken.")
except IOError:
self._snapshot_taken = None
_LOGGER.warning(f"Error Saving{self.file_name}: Snapshot, will not be available till restart.")
_LOGGER.warning(f"Error Saving {self.file_name}: Snapshot, will not be available till restart.")
else:
_LOGGER.debug(f"{self.file_name}: Snapshot acquired during {self._vacuum_state} Vacuum State.")

Expand Down Expand Up @@ -417,102 +420,12 @@ async def async_update(self):
pid = os.getpid() # Start to log the CPU usage of this PID.
proc = proc_insp.PsutilWrapper().psutil.Process(pid) # Get the process PID.
self._cpu_percent = round((proc.cpu_percent() / proc_insp.PsutilWrapper().psutil.cpu_count()) / 2, 2)
_LOGGER.debug(f"{self.file_name} System CPU usage stat (1/2): {self._cpu_percent}%")
if parsed_json is not None:
if self._rrm_data:
destinations = await self._mqtt.get_destinations()
self._cpu_percent = round((proc.cpu_percent() / proc_insp.PsutilWrapper().psutil.cpu_count())
/ 2, 2)
_LOGGER.debug(f"{self.file_name} System CPU usage stat (1/2): {self._cpu_percent}%")
pil_img = await self._re_handler.get_image_from_rrm(
m_json=self._rrm_data,
img_rotation=self._image_rotate,
margins=self._margins,
user_colors=self._vacuum_shared.get_user_colors(),
rooms_colors=self._vacuum_shared.get_rooms_colors(),
file_name=self.file_name,
destinations=destinations,
drawing_limit=self._cpu_percent
)
else:
pil_img = await self._map_handler.get_image_from_json(
m_json=parsed_json,
robot_state=self._vacuum_state,
img_rotation=self._image_rotate,
margins=self._margins,
user_colors=self._vacuum_shared.get_user_colors(),
rooms_colors=self._vacuum_shared.get_rooms_colors(),
file_name=self.file_name,
)
if pil_img is not None:
if self._map_rooms is None:
if self._rrm_data is None:
self._map_rooms = await self._map_handler.get_rooms_attributes()
elif (self._map_rooms is None) and (self._rrm_data is not None):
destinations = await self._mqtt.get_destinations()
if destinations is not None:
self._map_rooms, self._map_pred_zones, self._map_pred_points = \
await self._re_handler.get_rooms_attributes(destinations)
if self._map_rooms:
_LOGGER.debug(
f"State attributes rooms update: {self._map_rooms}"
)
if self._show_vacuum_state:
self._map_handler.draw.status_text(
pil_img,
50,
self._vacuum_shared.user_colors[8],
self.file_name + ": " + self._vacuum_state,
)
if self._attr_calibration_points is None:
if self._rrm_data is None:
self._attr_calibration_points = (
self._map_handler.get_calibration_data(self._image_rotate)
)
else:
self._attr_calibration_points = (
self._re_handler.get_calibration_data(self._image_rotate)
)

if self._rrm_data is None:
self._vac_json_id = self._map_handler.get_json_id()
if not self._base:
self._base = self._map_handler.get_charger_position()
self._current = self._map_handler.get_robot_position()
if not self._vac_img_data:
self._vac_img_data = self._map_handler.get_img_size()

else:
self._vac_json_id = self._re_handler.get_json_id()
if not self._base:
self._base = self._re_handler.get_charger_position()
self._current = self._re_handler.get_robot_position()
if not self._vac_img_data:
self._vac_img_data = self._re_handler.get_img_size()

if not self._snapshot_taken and (
self._vacuum_state == "idle"
or self._vacuum_state == "docked"
or self._vacuum_state == "error"
):
# suspend image processing if we are at the next frame.
if not self._rrm_data:
if (
self._frame_nuber
is not self._map_handler.get_frame_number()
):
self._image_grab = False
_LOGGER.info(
f"Suspended the camera data processing for: {self.file_name}."
)
# take a snapshot
await self.take_snapshot(parsed_json, pil_img)
else:
_LOGGER.info(
f"Suspended the camera data processing for: {self.file_name}."
)
# take a snapshot
await self.take_snapshot(self._rrm_data, pil_img)
self._image_grab = False
pil_img = await self.process_rand256_data(parsed_json)
elif self._rrm_data is None:
pil_img = await self.proces_valetudo_data(parsed_json)
else:
# if no image was processed empty or last snapshot/frame
pil_img = self.empty_if_no_data()
Expand All @@ -537,14 +450,14 @@ async def async_update(self):
del buffered, pil_img, bytes_data
_LOGGER.debug(f"{self.file_name}: Image update complete")
processing_time = (datetime.now() - start_time).total_seconds()
self._frame_interval = max(0.1, processing_time)
_LOGGER.debug(f"Adjusted {self.file_name}: Frame interval: {self._frame_interval}")
self._attr_frame_interval = max(0.1, processing_time)
_LOGGER.debug(f"Adjusted {self.file_name}: Frame interval: {self._attr_frame_interval}")

else:
_LOGGER.info(
f"{self.file_name}: Image not processed. Returning not updated image."
)
self._frame_interval = 0.1
self._attr_frame_interval = 0.1
self.camera_image(self._image_w, self._image_h)
# HA supervised memory and CUP usage report.
self._cpu_percent = round(((self._cpu_percent + proc.cpu_percent())
Expand All @@ -560,3 +473,121 @@ async def async_update(self):
self._processing = False
# threading.Thread(target=self.async_update).start()
return self._image

# let's separate the vacuums:
async def proces_valetudo_data(self, parsed_json):
if parsed_json is not None:
pil_img = await self._map_handler.get_image_from_json(
m_json=parsed_json,
robot_state=self._vacuum_state,
img_rotation=self._image_rotate,
margins=self._margins,
user_colors=self._vacuum_shared.get_user_colors(),
rooms_colors=self._vacuum_shared.get_rooms_colors(),
file_name=self.file_name,
)
if pil_img is not None:
if self._map_rooms is None:
if self._rrm_data is None:
self._map_rooms = await self._map_handler.get_rooms_attributes()
if self._map_rooms:
_LOGGER.debug(
f"State attributes rooms update: {self._map_rooms}"
)
if self._show_vacuum_state:
self._map_handler.draw.status_text(
pil_img,
50,
self._vacuum_shared.user_colors[8],
self.file_name + ": " + self._vacuum_state,
)

if self._attr_calibration_points is None:
self._attr_calibration_points = (
self._map_handler.get_calibration_data(self._image_rotate)
)

self._vac_json_id = self._map_handler.get_json_id()
if not self._base:
self._base = self._map_handler.get_charger_position()
self._current = self._map_handler.get_robot_position()
if not self._vac_img_data:
self._vac_img_data = self._map_handler.get_img_size()

if not self._snapshot_taken and (
self._vacuum_state == "idle"
or self._vacuum_state == "docked"
or self._vacuum_state == "error"
):
# suspend image processing if we are at the next frame.
if (
self._frame_nuber
is not self._map_handler.get_frame_number()
):
self._image_grab = False
_LOGGER.info(
f"Suspended the camera data processing for: {self.file_name}."
)
# take a snapshot
await self.take_snapshot(parsed_json, pil_img)
return pil_img
return None

async def process_rand256_data(self, parsed_json):
if parsed_json is not None:
destinations = await self._mqtt.get_destinations()
pil_img = await self._re_handler.get_image_from_rrm(
m_json=self._rrm_data,
img_rotation=self._image_rotate,
margins=self._margins,
user_colors=self._vacuum_shared.get_user_colors(),
rooms_colors=self._vacuum_shared.get_rooms_colors(),
file_name=self.file_name,
destinations=destinations,
drawing_limit=self._cpu_percent
)

if pil_img is not None:
if self._map_rooms is None:
destinations = await self._mqtt.get_destinations()
if destinations is not None:
self._map_rooms, self._map_pred_zones, self._map_pred_points = \
await self._re_handler.get_rooms_attributes(destinations)
if self._map_rooms:
_LOGGER.debug(
f"State attributes rooms update: {self._map_rooms}"
)
if self._show_vacuum_state:
self._map_handler.draw.status_text(
pil_img,
50,
self._vacuum_shared.user_colors[8],
self.file_name + ": " + self._vacuum_state,
)

if self._attr_calibration_points is None:
self._attr_calibration_points = (
self._re_handler.get_calibration_data(self._image_rotate)
)

self._vac_json_id = self._re_handler.get_json_id()
if not self._base:
self._base = self._re_handler.get_charger_position()
self._current = self._re_handler.get_robot_position()
if not self._vac_img_data:
self._vac_img_data = self._re_handler.get_img_size()

if not self._snapshot_taken and (
self._vacuum_state == "idle"
or self._vacuum_state == "docked"
or self._vacuum_state == "error"
):
# suspend image processing if we are at the next frame.
_LOGGER.info(
f"Suspended the camera data processing for: {self.file_name}."
)
# take a snapshot
await self.take_snapshot(self._rrm_data, pil_img)
self._image_grab = False
return pil_img
return None
2 changes: 1 addition & 1 deletion custom_components/valetudo_vacuum_camera/manifest.json
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Original file line number Diff line number Diff line change
Expand Up @@ -15,5 +15,5 @@
"pillow",
"numpy"
],
"version": "v1.5.4"
"version": "v1.5.5"
}
26 changes: 25 additions & 1 deletion custom_components/valetudo_vacuum_camera/utils/draweble.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
Drawable is part of the Image_Handler
used functions to draw the elements on the Numpy Array
that is actually our camera frame.
Last changes on Version: 1.4.7
Last changes on Version: 1.5.5
"""

import logging
Expand Down Expand Up @@ -404,6 +404,30 @@ def overlay_robot(background_image, robot_image, x, y):
background_image[top_left_y:bottom_right_y, top_left_x:bottom_right_x] = robot_image
return background_image

@staticmethod
def draw_obstacles(image, obstacle_info_list, color):
"""
Draw filled circles for obstacles on the image.
Parameters:
- image: NumPy array representing the image.
- obstacle_info_list: List of dictionaries containing obstacle information.
Returns:
- Modified image with filled circles for obstacles.
"""
for obstacle_info in obstacle_info_list:
enter = obstacle_info.get("points", {})
label = obstacle_info.get("label", {})
center = (enter['x'], enter['y'])

radius = 6

# Draw filled circle
image = Drawable._filled_circle(image, center, radius, color)

return image

@staticmethod
def status_text(image, size, color, status):
# Load a font
Expand Down
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