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custom_components/valetudo_vacuum_camera/camera_processing.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,244 @@ | ||
| """ | ||
| Multiprocessing module (version 1.5.7.1) | ||
| This module provide the image multiprocessing in order to | ||
| avoid the overload of the main_thread of Home Assistant. | ||
| """ | ||
|
|
||
| from __future__ import annotations | ||
|
|
||
| import asyncio | ||
| from asyncio import gather, get_event_loop | ||
| import concurrent.futures | ||
|
|
||
| import logging | ||
|
|
||
| from .valetudo.hypfer.image_handler import ( | ||
| MapImageHandler, | ||
| ) | ||
| from .valetudo.valetudore.image_handler import ( | ||
| ReImageHandler, | ||
| ) | ||
|
|
||
| _LOGGER: logging.Logger = logging.getLogger(__name__) | ||
| _LOGGER.propagate = True | ||
|
|
||
|
|
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| class CameraProcessor: | ||
| def __init__(self, camera_shared): | ||
| self._map_handler = MapImageHandler(camera_shared) | ||
| self._re_handler = ReImageHandler(camera_shared) | ||
| self._shared = camera_shared | ||
|
|
||
| async def async_process_valetudo_data(self, parsed_json): | ||
| """ | ||
| Compose the Camera Image from the Vacuum Json data. | ||
| :param parsed_json: | ||
| :return pil_img: | ||
| """ | ||
| if parsed_json is not None: | ||
| pil_img = await self._map_handler.async_get_image_from_json( | ||
| m_json=parsed_json, | ||
| ) | ||
|
|
||
| if self._shared.export_svg: | ||
| self._shared.export_svg = False | ||
|
|
||
| if pil_img is not None: | ||
| if self._shared.map_rooms is None: | ||
| self._shared.map_rooms = ( | ||
| await self._map_handler.async_get_rooms_attributes() | ||
| ) | ||
| if self._shared.map_rooms: | ||
| _LOGGER.debug( | ||
| f"State attributes rooms update: {self._shared.map_rooms}" | ||
| ) | ||
|
|
||
| if self._shared.show_vacuum_state: | ||
| status_text = ( | ||
| f"{self._shared.file_name}: {self._shared.vacuum_state}" | ||
| ) | ||
| text_size = 50 | ||
| if self._shared.current_room: | ||
| try: | ||
| in_room = self._shared.current_room.get("in_room", None) | ||
| except (ValueError, KeyError): | ||
| text_size = 50 | ||
| else: | ||
| if in_room: | ||
| text_size = 45 | ||
| status_text += f", {in_room}" | ||
|
|
||
| self._map_handler.draw.status_text( | ||
| pil_img, | ||
| text_size, | ||
| self._shared.user_colors[8], | ||
| status_text, | ||
| ) | ||
|
|
||
| if self._shared.attr_calibration_points is None: | ||
| self._shared.attr_calibration_points = ( | ||
| self._map_handler.get_calibration_data( | ||
| self._shared.image_rotate | ||
| ) | ||
| ) | ||
|
|
||
| self._shared.vac_json_id = self._map_handler.get_json_id() | ||
|
|
||
| if not self._shared.charger_position: | ||
| self._shared.charger_position = ( | ||
| self._map_handler.get_charger_position() | ||
| ) | ||
|
|
||
| self._shared.current_room = self._map_handler.get_robot_position() | ||
|
|
||
| if not self._shared.image_size: | ||
| self._shared.image_size = self._map_handler.get_img_size() | ||
|
|
||
| if not self._shared.snapshot_take and ( | ||
| self._shared.vacuum_state == "idle" | ||
| or self._shared.vacuum_state == "docked" | ||
| or self._shared.vacuum_state == "error" | ||
| ): | ||
| # suspend image processing if we are at the next frame. | ||
| if ( | ||
| self._shared.frame_number | ||
| != self._map_handler.get_frame_number() | ||
| ): | ||
| self._shared.image_grab = False | ||
| _LOGGER.info( | ||
| f"Suspended the camera data processing for: {self._shared.file_name}." | ||
| ) | ||
| # take a snapshot | ||
| self._shared.snapshot_take = True | ||
| return pil_img | ||
| return None | ||
|
|
||
| async def async_process_rand256_data(self, parsed_json): | ||
| if parsed_json is not None: | ||
| pil_img = await self._re_handler.get_image_from_rrm( | ||
| m_json=parsed_json, | ||
| destinations=self._shared.destinations, | ||
| ) | ||
|
|
||
| if pil_img is not None: | ||
| if self._shared.map_rooms is None: | ||
| destinations = self._shared.destinations | ||
| if destinations is not None: | ||
| ( | ||
| self._shared.map_rooms, | ||
| self._shared.map_pred_zones, | ||
| self._shared.map_pred_points, | ||
| ) = await self._re_handler.get_rooms_attributes(destinations) | ||
| if self._shared.map_rooms: | ||
| _LOGGER.debug( | ||
| f"State attributes rooms update: {self._shared.map_rooms}" | ||
| ) | ||
| if self._shared.show_vacuum_state: | ||
| self.status_text( | ||
| pil_img, | ||
| 50, | ||
| self._shared.user_colors[8], | ||
| self._shared.file_name + ": " + self._shared.vacuum_state, | ||
| ) | ||
|
|
||
| if self._shared.attr_calibration_points is None: | ||
| self._shared.attr_calibration_points = ( | ||
| self._re_handler.get_calibration_data(self._shared.image_rotate) | ||
| ) | ||
|
|
||
| self._shared.vac_json_id = self._re_handler.get_json_id() | ||
| if not self._shared.charger_position: | ||
| self._shared.charger_position = ( | ||
| self._re_handler.get_charger_position() | ||
| ) | ||
| self._shared.current_room = self._re_handler.get_robot_position() | ||
| if not self._shared.image_size: | ||
| self._shared.image_size = self._re_handler.get_img_size() | ||
|
|
||
| if not self._shared.snapshot_take and ( | ||
| self._shared.vacuum_state == "idle" | ||
| or self._shared.vacuum_state == "docked" | ||
| or self._shared.vacuum_state == "error" | ||
| ): | ||
| # suspend image processing if we are at the next frame. | ||
| _LOGGER.info( | ||
| f"Suspended the camera data processing for: {self._shared.file_name}." | ||
| ) | ||
| # take a snapshot | ||
| self._shared.snapshot_take = True | ||
| self._shared.image_grab = False | ||
| return pil_img | ||
| return None | ||
|
|
||
| def process_valetudo_data(self, parsed_json): | ||
| loop = asyncio.new_event_loop() | ||
| asyncio.set_event_loop(loop) | ||
| try: | ||
| if self._shared.is_rand: | ||
| result = loop.run_until_complete( | ||
| self.async_process_rand256_data(parsed_json) | ||
| ) | ||
| else: | ||
| result = loop.run_until_complete( | ||
| self.async_process_valetudo_data(parsed_json) | ||
| ) | ||
| finally: | ||
| loop.close() | ||
| return result | ||
|
|
||
| async def run_async_process_valetudo_data(self, parsed_json): | ||
| num_processes = 1 | ||
| parsed_json_list = [parsed_json for _ in range(num_processes)] | ||
| loop = get_event_loop() | ||
|
|
||
| with concurrent.futures.ThreadPoolExecutor( | ||
| max_workers=1, thread_name_prefix=f"{self._shared.file_name}_camera" | ||
| ) as executor: | ||
| tasks = [ | ||
| loop.run_in_executor(executor, self.process_valetudo_data, parsed_json) | ||
| for parsed_json in parsed_json_list | ||
| ] | ||
| images = await gather(*tasks) | ||
|
|
||
| if isinstance(images, list) and len(images) > 0: | ||
| _LOGGER.debug(f"{self._shared.file_name}: Got {len(images)} elements list..") | ||
| result = images[0] | ||
| else: | ||
| result = None | ||
|
|
||
| return result | ||
|
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| def get_frame_number(self): | ||
| return self._map_handler.get_frame_number() - 1 | ||
|
|
||
| def status_text(self, image, size, color, stat): | ||
| return self._map_handler.draw.status_text( | ||
| image=image, size=size, color=color, status=stat | ||
| ) | ||
|
|
||
|
|
||
| """ | ||
| run_async_process_valetudo_data for MultiProcessing working mode. | ||
| It was tested and it works. It will be at the moment not used. | ||
| There is still no data coming back form the called function. | ||
| # async def run_async_process_valetudo_data(self, parsed_json): | ||
| # num_processes = 1 | ||
| # parsed_json_list = [parsed_json for _ in range(num_processes)] | ||
| # loop = get_event_loop() | ||
| # | ||
| # with concurrent.futures.ProcessPoolExecutor() as executor: | ||
| # tasks = [ | ||
| # loop.run_in_executor(executor, self.process_valetudo_data, parsed_json) | ||
| # for parsed_json in parsed_json_list | ||
| # ] | ||
| # images = await gather(*tasks) | ||
| # | ||
| # result = None | ||
| # if isinstance(images, list) and len(images) > 0: | ||
| # _LOGGER.debug(f"got {len(images)} elements list..") | ||
| # result = images[0] | ||
| # | ||
| # return result | ||
| """ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,53 @@ | ||
| """ | ||
| Class Camera Shared. | ||
| Keep the data between the modules. | ||
| Version 1.5.7.1 | ||
| """ | ||
|
|
||
| import logging | ||
|
|
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| from custom_components.valetudo_vacuum_camera.types import Colors | ||
|
|
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| _LOGGER = logging.getLogger(__name__) | ||
|
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||
|
|
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| class CameraShared(object): | ||
| def __init__(self): | ||
| self.frame_number: int = 0 # camera Frame number | ||
| self.destinations: list = [] # MQTT rand destinations | ||
| self.is_rand: bool = False # MQTT rand data | ||
| self._new_mqtt_message = False # New MQTT message | ||
| self._last_image = None # Last image received | ||
| self.image_size = None # Image size | ||
| self.image_grab = True # Grab image from MQTT | ||
| self.image_rotate: int = 0 # Rotate image | ||
| self.drawing_limit: float = 0.0 # Drawing CPU limit | ||
| self.current_room = None # Current room of rhe vacuum | ||
| self.user_colors = Colors # User base colors | ||
| self.rooms_colors = Colors # Rooms colors | ||
| self.vacuum_state = None # Vacuum state | ||
| self.charger_position = None # Vacuum Charger position | ||
| self.show_vacuum_state = None # Show vacuum state on the map | ||
| self.snapshot_take = False # Take snapshot | ||
| self.vacuum_error = None # Vacuum error | ||
| self.vac_json_id = None # Vacuum json id | ||
| self.margins = None # Image margins | ||
| self.export_svg = None # Export SVG | ||
| self.svg_path = None # SVG Export path | ||
| self.file_name = None # vacuum friendly name as File name | ||
| self.attr_calibration_points = None # Calibration points of the image | ||
| self.map_rooms = None # Rooms data from the vacuum | ||
| self.map_pred_zones = None # Predefined zones data | ||
| self.map_pred_points = None # Predefined points data | ||
|
|
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| def update_user_colors(self, user_colors): | ||
| self.user_colors = user_colors | ||
|
|
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| def get_user_colors(self): | ||
| return self.user_colors | ||
|
|
||
| def update_rooms_colors(self, user_colors): | ||
| self.rooms_colors = user_colors | ||
|
|
||
| def get_rooms_colors(self): | ||
| return self.rooms_colors |
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