Skip to content

Commit

Permalink
camera.py Auto standby (no data processing if vacuum do not operate).…
Browse files Browse the repository at this point in the history 
… Auto snapshot each time the vacuum is idle, docked or in error state.

connector.py improved logging to identify separated payloads.
image_handler.py adding get_frame_number.
Signed-off-by: SCA075 <[email protected]>

Signed-off-by: SCA075 <[email protected]>
  • Loading branch information
@sca075
sca075 committed Jul 16, 2023
1 parent 401aa36 commit ee0380b
Show file tree
Hide file tree
Showing 3 changed files with 85 additions and 46 deletions.
119 changes: 76 additions & 43 deletions custom_components/valetudo_vacuum_camera/camera.py
View file
Original file line number Diff line number Diff line change
@@ -1,9 +1,10 @@
"""Camera Version 1.1.5"""
"""Camera Version 1.1.7"""
from __future__ import annotations
import logging
import os
import json
from io import BytesIO
from datetime import datetime
from PIL import Image
from datetime import timedelta
from typing import Optional
Expand Down Expand Up @@ -56,9 +57,9 @@


async def async_setup_entry(
hass: core.HomeAssistant,
config_entry: config_entries.ConfigEntry,
async_add_entities,
hass: core.HomeAssistant,
config_entry: config_entries.ConfigEntry,
async_add_entities,
) -> None:
"""Setup camera from a config entry created in the integrations UI."""
config = hass.data[DOMAIN][config_entry.entry_id]
Expand All @@ -70,10 +71,10 @@ async def async_setup_entry(


async def async_setup_platform(
hass: HomeAssistantType,
config: ConfigType,
async_add_entities,
discovery_info: DiscoveryInfoType | None = None,
hass: HomeAssistantType,
config: ConfigType,
async_add_entities,
discovery_info: DiscoveryInfoType | None = None,
):
async_add_entities([ValetudoCamera(hass, config)])
await async_setup_reload_service(hass, DOMAIN, PLATFORMS)
Expand Down Expand Up @@ -118,6 +119,8 @@ def __init__(self, hass, device_info):
self._image = self.update()
self._snapshot_taken = False
self._last_image = None
self._image_grab = True
self._frame_nuber = 0
self.throttled_camera_image = Throttle(timedelta(seconds=5))(self.camera_image)
self._should_poll = True

Expand All @@ -136,7 +139,7 @@ def frame_interval(self) -> float:
return 1

def camera_image(
self, width: Optional[int] = None, height: Optional[int] = None
self, width: Optional[int] = None, height: Optional[int] = None
) -> Optional[bytes]:
return self._image

Expand Down Expand Up @@ -188,13 +191,57 @@ def empty_if_no_data(self):
_LOGGER.info("Staring up ...")
return empty_img

def take_snapshot(self, json_data, image_data):
try:
self._snapshot_taken = True
_LOGGER.info("Saving datas and Image Snapshot")
# if still available save MQTT payload.
if self._mqtt is not None:
self._mqtt.save_payload()
# Write the JSON data to the file
with open(
"custom_components/valetudo_vacuum_camera/snapshots/valetudo_json.json",
"w",
) as file:
json_data = json.dumps(json_data, indent=4)
file.write(json_data)
image_data.save(
"custom_components/valetudo_vacuum_camera/snapshots/valetudo_snapshot.png"
)
except IOError:
self._snapshot_taken = None
_LOGGER.warning(
"Error Saving Image Snapshot, no snapshot available till restart."
)
else:
_LOGGER.debug(
"valetudo_snapshot.png acquired during %s",
{self._vacuum_state},
" Vacuum State.",
)

def update(self):
# check and update the vacuum reported state
if self._mqtt:
self._vacuum_state = self._mqtt.get_vacuum_status()
# If we have data from MQTT, we process the image
process_data = self._mqtt.is_data_available()
if process_data:
_LOGGER.info("Camera image update process: %s", process_data)
# if the vacuum is working, or it is the first image.
if (self._vacuum_state == "cleaning"
or self._vacuum_state == "moving"
or self._vacuum_state == "returning"):
# grab the image
self._image_grab = True
self._frame_nuber = self._map_handler.get_frame_number()
# when the vacuum goes / is in idle, error or docked
# take the snapshot.
self._snapshot_taken = False
# Starting the image processing.
_LOGGER.info("Camera image data update available: %s", process_data)
start_time = datetime.now()
try:
parsed_json = self._mqtt.update_data()
parsed_json = self._mqtt.update_data(self._image_grab)
self._vac_json_data = "Success"
except ValueError:
self._vac_json_data = "Error"
Expand All @@ -211,37 +258,16 @@ def update(self):
"Applied image rotation: %s", {self._image_rotate}
)
if not self._snapshot_taken and (
self._vacuum_state == "idle"
or self._vacuum_state == "docked"
or self._vacuum_state == "error"
self._vacuum_state == "idle"
or self._vacuum_state == "docked"
or self._vacuum_state == "error"
):
try:
self._snapshot_taken = True
_LOGGER.info("Saving datas and Image Snapshot")
# if still available save MQTT payload.
if self._mqtt is not None:
self._mqtt.save_payload()
# Write the JSON data to the file
with open(
"custom_components/valetudo_vacuum_camera/snapshots/valetudo_json.json",
"w",
) as file:
json_data = json.dumps(parsed_json, indent=4)
file.write(json_data)
pil_img.save(
"custom_components/valetudo_vacuum_camera/snapshots/valetudo_snapshot.png"
)
except IOError:
self._snapshot_taken = None
_LOGGER.warning(
"Error Saving Image Snapshot, no snapshot available till restart."
)
else:
_LOGGER.debug(
"valetudo_snapshot.png acquired during %s",
{self._vacuum_state},
" Vacuum State.",
)
# 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("Suspended the camera data processing.")
# take a snapshot
self.take_snapshot(parsed_json, pil_img)
self._vac_json_id = self._map_handler.get_json_id()
self._base = self._map_handler.get_charger_position()
self._current = self._map_handler.get_robot_position()
Expand All @@ -250,17 +276,24 @@ def update(self):
self._map_handler.get_calibration_data(self._image_rotate)
)
else:
# if no image was processed empty or last snapshot/frame
pil_img = self.empty_if_no_data()
# Converting the image obtained to bytes
# Using openCV would reduce the CPU and memory usage.
# On Py4 HA OS is not possible to install the openCV library.
buffered = BytesIO()
# backup the image
self._last_image = pil_img
pil_img.save(buffered, format="PNG")
bytes_data = buffered.getvalue()
self._image = bytes_data
# clean up
del buffered, pil_img, bytes_data
self._vacuum_state = self._mqtt.get_vacuum_status()
_LOGGER.info("Camera image update complete")
processing_time = (datetime.now() - start_time).total_seconds()
self._frame_interval = max(0.1, processing_time)
_LOGGER.debug("Adjusted frame interval: %s", self._frame_interval)
else:
_LOGGER.info("Camera image not updated")
_LOGGER.info("Camera image not processed. Returning not updated image.")
self._frame_interval = 0.1
return self._image
7 changes: 5 additions & 2 deletions custom_components/valetudo_vacuum_camera/valetudo/connector.py
View file
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
"""Version 1.1.6beta"""
"""Version 1.1.7"""
import logging
import time
import paho.mqtt.client as client
Expand Down Expand Up @@ -61,20 +61,23 @@ def save_payload(self):
"custom_components/valetudo_vacuum_camera/snapshots/mqtt_data.raw", "wb"
) as file:
file.write(self._img_payload)
_LOGGER.info("Saved image data from MQTT in mqtt_data.raw!")

def on_message_callback(self, client, userdata, msg):
self._rcv_topic = msg.topic
if self._rcv_topic == (self._mqtt_topic + "/MapData/map-data-hass"):
_LOGGER.debug("Received data from MQTT")
_LOGGER.debug("Received image data from MQTT")
self._img_payload = msg.payload
self._data_in = True
elif self._rcv_topic == (self._mqtt_topic + "/StatusStateAttribute/status"):
_LOGGER.debug("Received vacuum status data from MQTT")
self._payload = msg.payload
if self._payload:
self._mqtt_vac_stat = bytes.decode(msg.payload, "utf-8")
elif self._rcv_topic == (
self._mqtt_topic + "/StatusStateAttribute/error_description"
):
_LOGGER.debug("Received vacuum error data from MQTT")
self._payload = msg.payload
self._mqtt_vac_err = bytes.decode(msg.payload, "utf-8")

Expand Down
5 changes: 4 additions & 1 deletion custom_components/valetudo_vacuum_camera/valetudo/image_handler.py
View file
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
"""Version 1.1.6"""
"""Version 1.1.7"""
# Image Handler Module
# Collection of routines to extract data from the received json.
# It returns values and images relative to the Map Data extrapolated from the vacuum json.
Expand Down Expand Up @@ -576,6 +576,9 @@ def get_image_from_json(self, m_json, robot_state, crop: int = 50):
_LOGGER.error("Error in get_image_from_json: %s", str(e))
return None

def get_frame_number(self):
return self.frame_number

def get_robot_position(self):
return self.robot_pos

Expand Down

0 comments on commit ee0380b

Please sign in to comment.