Implemented non-interactive Map via MQTT

README.md

@@ -32,7 +32,6 @@ The Valetudo binary however does not so if you are upgrading your firmware, you
 * Carpet Mode
 * Cleaning History
 * Volume Control
-* [DEPRECATED] Image API which provides Map PNGs
 
 ### Screenshots:
 
@@ -52,32 +51,6 @@ The Valetudo binary however does not so if you are upgrading your firmware, you
 2. Replace the binary `/usr/local/bin/valetudo` by the new one (make sure to `chmod +x` it).
 3. Start the service again `service valetudo start`.
 
-### [DEPRECATED] Remote API
-The map is available as a PNG using this API.
-It can be found at:
-`YOUR.VACUUM.ROBOT.IP/api/remote/map`
-
-The current implementation allows you to _grab_/**set**:
-* The recent generated map as PNG
-* The map contains the 2D contour and configurable:
-   - `drawPath` [**true**|undefined]
-   - `drawCharger` [**true**|undefined]
-   - `drawRobot` [**true**|undefined]
-   - `border` (in px around the map, will be scaled as well!), default: **2**
-   - `doCropping` (for debug purpose) [**true**|undefined]
-   - `scale` [1,..n], default: **4**
-* The position of the charger (`charger[X,Y]`: position in px to overlay on the generated image)
-* The position of the robot (`robot[X,Y]`: position in px to overlay on the generated image)
-* The angle of the robot defined by the last path (`robotAngle`: angle in [0-360] of the robot; 0: oriented to the top, 90: oriented to the right)
-
-A fully configured call would look like that:
-`YOUR.VACUUM.ROBOT.IP/api/remote/map?drawRobot=false&drawCharger=true&scale=5&border=3&doCropping=true&drawPath=true`.
-The json answer would look like the following:
-```json
-{"scale":5, "border":15, "doCropping":true, "drawPath":true, "mapsrc":"/maps/2018-08-19_10-43-50.png", "drawCharger":true, "charger":[65,620], "drawRobot":false, "robot":[51,625], "robotAngle":90}
-```
-If a parameter has not been defined/set, the default value will be used (marked bold above).
-
 ### Misc
 Valetudo does not feature access controls and I'm not planning on adding it since I trust my local network.
 You could just put a reverse proxy with authentication in front of it if you really need it.

client/index.html

@@ -2000,7 +2000,7 @@
                     if (remainingShownCount>0) {
                         loadingBarSettingsCleaningHistory.setAttribute("indeterminate", "indeterminate");
                         var historyTimestamp = historyArray.shift(); //array is sorted with latest items in the beginning                           
-                        fn.requestWithPayload("/api/clean_record", JSON.stringify({recordId : historyTimestamp}) , "PUT", function (err, res) {
+                        fn.requestWithPayload("api/clean_record", JSON.stringify({recordId : historyTimestamp}) , "PUT", function (err, res) {
                             loadingBarSettingsCleaningHistory.removeAttribute("indeterminate");
                             if (err) {
                                 ons.notification.toast(err, { buttonLabel: 'Dismiss', timeout: 1500 });

lib/Configuration.js

@@ -13,7 +13,16 @@ const Configuration = function() {
         "mqtt" : {
             enabled: false,
             identifier: "rockrobo",
-            broker_url: "mqtt://foobar.example"
+            broker_url: "mqtt://user:[email protected]",
+            mapSettings: {
+                drawPath: true,
+                drawCharger: true,
+                drawRobot: true,
+                border: 2,
+                doCropping: true,
+                scale: 4
+            },
+            mapUpdateInterval: 30000
         }
     };
 
@@ -24,9 +33,10 @@ const Configuration = function() {
         try {
             this.settings = JSON.parse(fs.readFileSync(this.location));
         } catch(e) {
-            //TODO: handle this
             console.error("Invalid configuration file!");
-            throw e;
+            console.log("Writing new file using defaults");
+
+            this.persist();
         }
     } else {
         console.log("No configuration file present. Creating one at:", this.location);

lib/MqttClient.js

@@ -1,4 +1,5 @@
 const mqtt = require("mqtt");
+const Tools = require("./Tools");
 
 
 const COMMANDS = {
@@ -27,23 +28,74 @@ const FAN_SPEEDS = {
  * @param options.vacuum {Vacuum}
  * @param options.brokerURL {string}
  * @param options.identifier {string}
+ * @param options.mapSettings {object}
+ * @param options.mapUpdateInterval {number}
  * @constructor
  */
 const MqttClient = function(options) {
     this.vacuum = options.vacuum;
     this.brokerURL = options.brokerURL;
     this.identifier = options.identifier || "rockrobo";
+    this.mapSettings = options.mapSettings || {};
+    this.mapUpdateInterval = options.mapUpdateInterval || 30000;
 
     this.topics = {
         command: "valetudo/" + this.identifier + "/command",
         set_fan_speed: "valetudo/" + this.identifier + "/set_fan_speed",
         send_command: "valetudo/" + this.identifier + "/custom_command",
         state: "valetudo/" + this.identifier + "/state",
-        homeassistant_autoconf: "homeassistant/vacuum/valetudo_" + this.identifier + "/config"
+        map: "valetudo/" + this.identifier + "/map",
+        homeassistant_autoconf_vacuum: "homeassistant/vacuum/valetudo_" + this.identifier + "/config",
+        homeassistant_autoconf_map: "homeassistant/camera/valetudo_" + this.identifier + "_map/config"
+    };
+
+    this.autoconf_payloads = {
+        vacuum: {
+            name: this.identifier,
+            supported_features: [
+                "turn_on",
+                "pause",
+                "stop",
+                "return_home",
+                "battery",
+                "status",
+                "locate",
+                "clean_spot",
+                "fan_speed",
+                "send_command"
+            ],
+            command_topic: this.topics.command,
+            battery_level_topic: this.topics.state,
+            battery_level_template: "{{ value_json.battery_level }}",
+            charging_topic: this.topics.state,
+            charging_template: "{{value_json.charging}}",
+            cleaning_topic: this.topics.state,
+            cleaning_template: "{{value_json.cleaning}}",
+            docked_topic: this.topics.state,
+            docked_template: "{{value_json.docked}}",
+            error_topic: this.topics.state,
+            error_template: "{{value_json.error}}",
+            fan_speed_topic: this.topics.state,
+            fan_speed_template: "{{ value_json.fan_speed }}",
+            set_fan_speed_topic: this.topics.set_fan_speed,
+            fan_speed_list: [
+                "min",
+                "medium",
+                "high",
+                "max"
+            ],
+            send_command_topic: this.topics.send_command
+        },
+        map: {
+            name: this.identifier + "_map",
+            unique_id: this.identifier + "_map",
+            topic: this.topics.map
+        }
     };
 
     this.connect();
     this.updateStateTopic();
+    this.updateMapTopic();
 };
 
 MqttClient.prototype.connect = function() {
@@ -56,45 +108,15 @@ MqttClient.prototype.connect = function() {
                 this.topics.set_fan_speed
             ], err => {
                 if(!err) {
-                    this.client.publish(this.topics.homeassistant_autoconf, JSON.stringify({
-                        name: this.identifier,
-                        supported_features: [
-                            "turn_on",
-                            "pause",
-                            "stop",
-                            "return_home",
-                            "battery",
-                            "status",
-                            "locate",
-                            "clean_spot",
-                            "fan_speed",
-                            "send_command"
-                        ],
-                        command_topic: this.topics.command,
-                        battery_level_topic: this.topics.state,
-                        battery_level_template: "{{ value_json.battery_level }}",
-                        charging_topic: this.topics.state,
-                        charging_template: "{{value_json.charging}}",
-                        cleaning_topic: this.topics.state,
-                        cleaning_template: "{{value_json.cleaning}}",
-                        docked_topic: this.topics.state,
-                        docked_template: "{{value_json.docked}}",
-                        error_topic: this.topics.state,
-                        error_template: "{{value_json.error}}",
-                        fan_speed_topic: this.topics.state,
-                        fan_speed_template: "{{ value_json.fan_speed }}",
-                        set_fan_speed_topic: this.topics.set_fan_speed,
-                        fan_speed_list: [
-                            "min",
-                            "medium",
-                            "high",
-                            "max"
-                        ],
-                        send_command_topic: this.topics.send_command
-
-                    }), {
+
+                    this.client.publish(this.topics.homeassistant_autoconf_vacuum, JSON.stringify(this.autoconf_payloads.vacuum), {
+                        retain: true
+                    });
+
+                    this.client.publish(this.topics.homeassistant_autoconf_map, JSON.stringify(this.autoconf_payloads.map), {
                         retain: true
-                    })
+                    });
+
                 } else {
                     //TODO: needs more error handling
                     console.error(err);
@@ -108,6 +130,45 @@ MqttClient.prototype.connect = function() {
     }
 };
 
+MqttClient.prototype.updateMapTopic = function() {
+    if(this.mapUpdateTimeout) {
+        clearTimeout(this.mapUpdateTimeout);
+    }
+
+    if(this.client && this.client.connected === true) {
+        Tools.FIND_LATEST_MAP((err, data) => {
+            if(!err) {
+                Tools.DRAW_MAP_PNG({
+                    mapData: data.mapData,
+                    log: data.log,
+                    settings: this.mapSettings
+                }, (err, buf) => {
+                    if(!err) {
+                        this.client.publish(this.topics.map, buf, {retain: true});
+                        this.mapUpdateTimeout = setTimeout(() => {
+                            this.updateMapTopic()
+                        }, this.mapUpdateInterval);
+                    } else {
+                        console.error(err);
+                        this.mapUpdateTimeout = setTimeout(() => {
+                            this.updateMapTopic()
+                        }, this.mapUpdateInterval);
+                    }
+                })
+            } else {
+                console.error(err);
+                this.mapUpdateTimeout = setTimeout(() => {
+                    this.updateMapTopic()
+                }, this.mapUpdateInterval);
+            }
+        });
+    } else {
+        this.mapUpdateTimeout = setTimeout(() => {
+            this.updateMapTopic()
+        }, this.mapUpdateInterval);
+    }
+};
+
 MqttClient.prototype.updateStateTopic = function() {
     if(this.stateUpdateTimeout) {
         clearTimeout(this.stateUpdateTimeout);
@@ -144,7 +205,7 @@ MqttClient.prototype.updateStateTopic = function() {
                     response.error = res.human_error;
                 }
 
-                this.client.publish(this.topics.state, JSON.stringify(response));
+                this.client.publish(this.topics.state, JSON.stringify(response), {retain: true});
                 this.stateUpdateTimeout = setTimeout(() => {
                     this.updateStateTopic()
                 }, 10000);
@@ -227,4 +288,4 @@ MqttClient.prototype.handleCommand = function(topic, command) {
 
 };
 
-module.exports = MqttClient;
+module.exports = MqttClient;