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@okets
Last active May 22, 2024 20:51
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figure out the room Valetudo robot is right now.
const mapData = msg.payload;
const _pixelSize = mapData.pixelSize;
let _robotXY = null;
for (let i = 0; i < mapData.entities.length; i++) {
if (mapData.entities[i].type == "robot_position") {
_robotXY = {
x: Math.floor(mapData.entities[i].points[0] / _pixelSize),
y: Math.floor(mapData.entities[i].points[1] / _pixelSize)
};
break;
}
}
// Test Data
// _robotXY = {
// x: 1000,
// y: 1000
// };
const _nearestPoint = {
x: mapData.size.x,
y: mapData.size.y,
distance: Math.pow(mapData.size.x,2) + Math.pow(mapData.size.y,2), //Just a placeholder with the biggest distance possible
foundRoom:{
segmentId: null,
name: null
}
}
if (mapData.metaData?.version === 2 && Array.isArray(mapData.layers)) {
mapData.layers.forEach(layer => {
if (layer.pixels.length === 0 && layer.compressedPixels.length !== 0 && layer.type == "segment") {
for (let i = 0; i < layer.compressedPixels.length; i = i + 3) {
const xStart = layer.compressedPixels[i];
const y = layer.compressedPixels[i + 1]
const count = layer.compressedPixels[i + 2]
for (let j = 0; j < count; j++) {
let x = xStart + j;
let _distanceX = x - _robotXY.x;
let _distanceY = y - _robotXY.y;
//const _pointToRobotDistance = Math.sqrt(Math.pow(_distanceX, 2) + Math.pow(_distanceY, 2));
const _pointToRobotDistance = Math.pow(_distanceX, 2) + Math.pow(_distanceY, 2);//sqrt is the "correct" trig function, but I only need to compare relative to other points, not exact distance, so I dropped the "sqrt" function for efficiancy
if (_nearestPoint.distance > _pointToRobotDistance){
_nearestPoint.distance = _pointToRobotDistance;
_nearestPoint.x = x;
_nearestPoint.y = y;
_nearestPoint.foundRoom= {
segmentId: layer.metaData.segmentId,
name: layer.metaData.name
};
}
if (_nearestPoint.distance==0) {
return;
}
}
}
}
})
}
return _nearestPoint.foundRoom;
@carefulcomputer
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@okets , thanks for creating this code. Would love to see if you can publish it as a repo. I have similar needs (to find the room robot is in) and would love to use this feature. IMHO Having a separate git repo will solve it for all. People who want it can get it from your repo and some folks might even contribute further. WDYT ?

@carefulcomputer
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carefulcomputer commented Feb 24, 2023

@okets , I see that you are using node-red in your code. When I popped your code in NR, it didn't work out of the box. I had to decode the payload buffer.
For it to work I had to 'inflate' the payload before feeding it to the function. Here is what i did

  1. Make sure to filter mqtt messages topic (using switch node) to match the topic of message to 'homeassistant/[your robot name]/MapData/map-data'. Make sure it matches the topic exactly. There is another similar topic which sends png image as payload for home assistant consumption. You do not want to get that message.
  2. Create a function node which receives input from above switch node.
  3. Add package 'pako' in function node's 'setup' section
    image
  4. Copy paste above code into function node and then replaced first line of function like this
//const mapData = msg.payload;
const mapData = JSON.parse(pako.inflate(msg.payload, { to: 'string' }));

Now output of this function node can be used as you desire. It contains both the segment Id and name of segment. For me, I am feeding it to a HA sensor state.
Then based on the that sensor state you can do more automations (like track which rooms were cleaned, or turn mop/carpet feature when it reaches a certain room)

Hopefully it helps other folks who are looking for same solution.

@okets
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okets commented Feb 24, 2023

Hi @carefulcomputer,

I'm glad to hear that you were able to use my code. Just to clarify, my intention was to contribute it to the official API, not for external use in node red.

Unfortunately, the owner of the project, Hypfer, strongly objected to the idea so I had to drop it. I don't have the time to fork Valetudo and continue maintaining it. I just wanted to share a code I wrote back to the project.

However, I'm confident that the code is working well since I've been using it for a long time. If you encounter any issues, please let me know.

I hope you enjoy using it!

@carefulcomputer
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@okets my request was for not forking valetudo , but creating a new repo with just your code instead of it being a gist. That way other folks can add/suggest more details/improvements. Like current version of valetudo seem to send compressed map whereas your code assumes it is not (which was probably true in earlier versions). I will be happy to create a public repo with your permissions (and giving credits to you), if you do not have time.

@carefulcomputer
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@okets ?

@okets
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okets commented Feb 28, 2023

@carefulcomputer
sorry for the delayed response. home with the flu...
I uploaded my complete flow to this repo:
https://github.com/okets/Valetudo-NodeRed-Extensions
Feel free to add/change whatever you want.

@carefulcomputer
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@okets apologies for the nag. I hope you are feeling better now.

@carefulcomputer
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And thanks for creating the repo !

@killone78
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@okets thanks for your code, but I can't get it to work, if you could help me I would be grateful.
I imported the flow (json) from your public repo, changed IP address
but when I start the switch timestamp I have the following error : node: Get Robot Info
msg : string[31]
"Missing return node information"
Could you help me? what I'm interested in is getting the ID and name of the room where the robot is located to create an automation in home assistant that notifies me when the cleaning of each individual room is finished.. Thanks a lot :)

@carefulcomputer
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carefulcomputer commented Sep 24, 2023

@killone78 , try this and let me know if this works..
Before you use this node, you will need to import 'pako' in 'setup' tab of function node.
After you give it a try, please confirm if this worked for you.

// parse map and find segment and location of robot
const mapData = JSON.parse(pako.inflate(msg.payload, { to: 'string' }));

const _pixelSize = mapData.pixelSize;
let _robotXY = null;
for (let i = 0; i < mapData.entities.length; i++) {
    if (mapData.entities[i].type == "robot_position") {
        _robotXY = {
            x: Math.floor(mapData.entities[i].points[0] / _pixelSize),
            y: Math.floor(mapData.entities[i].points[1] / _pixelSize)
        };
        break;
    }
}

const _nearestPoint = {
    x: mapData.size.x,
    y: mapData.size.y,
    distance: Math.pow(mapData.size.x, 2) + Math.pow(mapData.size.y, 2), //Just a placeholder with the biggest distance possible
    foundRoom: {
        segmentId: null,
        name: null
    }
}

if (mapData.metaData?.version === 2 && Array.isArray(mapData.layers)) {
    mapData.layers.forEach(layer => {
        if (layer.pixels.length === 0 && layer.compressedPixels.length !== 0 && layer.type == "segment") {
            for (let i = 0; i < layer.compressedPixels.length; i = i + 3) {
                const xStart = layer.compressedPixels[i];
                const y = layer.compressedPixels[i + 1]
                const count = layer.compressedPixels[i + 2]
                for (let j = 0; j < count; j++) {
                    let x = xStart + j;

                    let _distanceX = x - _robotXY.x;
                    let _distanceY = y - _robotXY.y;
                    //const _pointToRobotDistance = Math.sqrt(Math.pow(_distanceX, 2) + Math.pow(_distanceY, 2));
                    const _pointToRobotDistance = Math.pow(_distanceX, 2) + Math.pow(_distanceY, 2);//sqrt is the "correct" trig function, but I only need to compare relative to other points, not exact distance, so I dropped the "sqrt" function for efficiancy
                    if (_nearestPoint.distance > _pointToRobotDistance) {
                        _nearestPoint.distance = _pointToRobotDistance;
                        _nearestPoint.x = x;
                        _nearestPoint.y = y;
                        _nearestPoint.foundRoom = {
                            segmentId: layer.metaData.segmentId,
                            name: layer.metaData.name
                        };
                    }
                    if (_nearestPoint.distance == 0) {
                        return;
                    }
                }
            }
        }
    })
}
msg.foundLocation = _nearestPoint;
return msg;

@killone78
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@carefulcomputer I'm not very familiar with nodered, I have to modify the function node Locate Robot Segment & extract States with your code right? I have nodered installed in home assistant as an add-on, how do I add pako? It's not there in Manage Palette-install. Thanks for your help

@okets
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okets commented Sep 26, 2023

Good Morning Guys,
I updated the code and removed the pako dependency.
give it a shot and let me know if it solved your issues.
https://github.com/okets/Valetudo-NodeRed-Extensions

@killone78
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killone78 commented Sep 26, 2023

@okets Thanks!!! I imported the json stream changed Robot_IP but now how do I start it to test it? timestamp is no longer there. Sorry if it's a stupid question but I don't know node-red...I'm trying to use it just for your code :) Also how do I integrate it into home assistant?

@okets
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okets commented Sep 26, 2023

just add an inject node and a debug node to a call link.
you can import this to get you started:

[
    {
        "id": "68210ec37d259197",
        "type": "link call",
        "z": "9f65cbcec408475d",
        "name": "",
        "links": [
            "88d70eed23d2244a"
        ],
        "linkType": "static",
        "timeout": "30",
        "x": 2040,
        "y": 1940,
        "wires": [
            [
                "621873f956d45dec"
            ]
        ]
    },
    {
        "id": "c2be63af5597ec74",
        "type": "inject",
        "z": "9f65cbcec408475d",
        "name": "",
        "props": [
            {
                "p": "payload"
            },
            {
                "p": "topic",
                "vt": "str"
            }
        ],
        "repeat": "",
        "crontab": "",
        "once": false,
        "onceDelay": 0.1,
        "topic": "",
        "payload": "",
        "payloadType": "date",
        "x": 1840,
        "y": 1940,
        "wires": [
            [
                "68210ec37d259197"
            ]
        ]
    },
    {
        "id": "621873f956d45dec",
        "type": "debug",
        "z": "9f65cbcec408475d",
        "name": "result",
        "active": true,
        "tosidebar": true,
        "console": false,
        "tostatus": false,
        "complete": "true",
        "targetType": "full",
        "statusVal": "",
        "statusType": "auto",
        "x": 2230,
        "y": 1940,
        "wires": []
    }
]

@killone78
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msg : Object
object
_msgid: "99934942dcd05226"
payload: 1695721029654
topic: ""
originalPayload: null
statusCode: 200
headers: object
responseUrl: "http://192.168.1.122/api/v2/robot/state"
redirectList: array[0]
retry: 0
robot_info: object
_event: "node:82edb3154bea08ce"

@killone78
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"http://192.168.1.122/api/v2/robot/state" show this: 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@okets
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okets commented Sep 26, 2023

The parsed data should be in:
robot_info: object

the object there contains my calculations output.
also, remember to update your robot to the latest valetudo version if you haven't already.

@killone78
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I dati analizzati dovrebbero essere in: robot_info: object

l'oggetto lì contiene l'output dei miei calcoli. inoltre, ricordati di aggiornare il tuo robot all'ultima versione di valetudo se non l'hai già fatto.

yes!!! {"state":"returning","battery_level":96,"main_brush_remaining":{"value":16860,"unit":"minutes"},"side_right_brush_remaining":{"value":6060,"unit":"minutes"},"main_filter_remaining":{"value":6060,"unit":"minutes"},"currentLocation":{"segmentId":"15","name":"Camera da letto"},"_linkSource":[]}

so every time I start the robot will the flow process the computation data or will it only do it when I start the timestamp node?

How can I view them in Home Assistant? Thanks a lot!

@okets
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okets commented Sep 26, 2023

My code only calculates the robot's info, most importantly, it tells you where the robot is, the official API does not.
You can now call this in your own NodeRed automations and make decisions based on this information.
It's up to you and what you want to do with this information.

@killone78
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killone78 commented Sep 26, 2023

it tells you where the robot is, the official API does not.

And that's exactly what interests me... :)
To get the value of "currentLocation" and use it with home assistant automations do I have to create a new topic by adding an node mqtt out? but where should I connect it?

@okets
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okets commented Sep 26, 2023

I am doing most of my automations in NodeRed, so I don't export this info to home assistant.
if you want to export this info to home assistant you can create a sensor, put my info in the sensors' attributes and publish it to home assistant.
You can do it in MQTT or using the node-red-contrib-home-assistant-websocket integration.
its out of the scope of this topic though, just research "Creating a sensor in home assistant using NodeRed".

@carefulcomputer
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carefulcomputer commented Sep 26, 2023

Good Morning Guys, I updated the code and removed the pako dependency. give it a shot and let me know if it solved your issues. https://github.com/okets/Valetudo-NodeRed-Extensions

Hi @okets , thanks for updating the code. I am bit puzzled by payload handling. In my case, I received a zipped payload, whereas in your code it expects an unzipped payload. Is it because of different versions of valetudo we are using ?

Edit: i think I know what is going on after studying your flow. In your flow, you are making a rest call to valetudo to fetch the data, in my case, I am listening to MQTT events published by valetudo. Valetudo sends the packed map info json, whereas when you make a rest call, it will return unzipped json.

@okets
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okets commented Sep 27, 2023

@carefulcomputer you are right, the mqtt data is compressed (the data that is sent to homeassistant entities created by Valetudo).
In my custom card for the robot, the map data is still compressed.
I don't quite remember when they changed the API to return uncompressed data. I routinely update to the latest version and fix compatibility issues in my flows.

@killone78
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I am doing most of my automations in NodeRed, so I don't export this info to home assistant. if you want to export this info to home assistant you can create a sensor, put my info in the sensors' attributes and publish it to home assistant. You can do it in MQTT or using the node-red-contrib-home-assistant-websocket integration. its out of the scope of this topic though, just research "Creating a sensor in home assistant using NodeRed".

@okets Thanks for info, but I find it really difficult to understand how to do it, I'm really a node-red noob...^_^; in the end what I would like to do is simply publish via mqtt "currentLocation" with "segmentId": and "name":
Even if it has nothing to do with the purpose of this topic, could you help me? Thank you so much :)

@okets
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okets commented Sep 27, 2023

@killone78, I wouldn't know where to start.
Your request sounds simple but it has some complexities.
My code isn't monitoring the robot's activity, it only tells you where it is at the moment you run it.
I can help you with guidelines:

  1. you should monitor the state of your robot.
  2. on any state change publish mqtt message with the location of the robot.
    2.1) if the robot is in a moving state (not "docked"/"error"/"paused") publish the position in a regular interval (5 sec. Seems fine)
    2.2) if its not moving, stop the interval.

In my opinion, it would be easier to just write whatever automation you are trying to write in homeassistant directly in NodeRed.
It is a much better automation engine and it can work alongside homeassistant's automation engine, you don't have to transfer existing automations.

@coxtor
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coxtor commented May 22, 2024

@carefulcomputer sorry for the delayed response. home with the flu... I uploaded my complete flow to this repo: https://github.com/okets/Valetudo-NodeRed-Extensions Feel free to add/change whatever you want.

This is so simple and brilliant thank you so much for this!

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