Valetudo RE: (Almost) fully working example

[maximweb]

Since I decided to free my vacuum from the cloud early this year, I finally succeeded with (almost) every function available. As @rand256 as well as @PiotrMachowski helped me a lot to get there, I'd like to share my configuration as an example.

A) System
Vacuum Model: Rockrobo S5
Vacuum Software: Valetudo RE by @rand256 (https://github.com/rand256/valetudo)
Map Generator: valetudo mapper by @rand256 (https://github.com/rand256/valetudo-mapper)
Home Assistant Integration: lovelace-xiaomi-vacuum-map-card by @PiotrMachowski (this repo)
Communication: (Mostly with) MQTT, and a little REST

The vacuum supports predefined rooms (inferred from the map), zones (chosen rectangle(s)), and spots (single points). All of these are selected in the vacuum's web ui. I was able to address all of these types as follows.

A few issues remain (see #434), but overall it works pretty well.

B) Automatic map calibration
Thanks to @rand256, the valetudo mapper now publishes the calibration points in MQTT under the topic <parent topic>/map_calibration_points

In order to get them into the card, I added a sensor in Home Assistant's configuration.yaml:

sensor:
  - patform: mqtt
    state_topic: "<parent topic>/map_calibration_points"
    name: rockrobo_calibration
    scan_interval: 1

This new sensor can then be used in the card:

calibration_source:
  entity: sensor.rockrobo_calibration

C) Card integration: Clean predefined rooms, and go to predefined spots
Thanks to @PiotrMachowski, the platform rand256/ValetudoRE is now supported with the templates vacuum_clean_segment (rooms) and vacuum_goto_predefined (spots). The rooms can be configured and named directly in the vacuum's web interface and can be either adressed by id or chosen name. The spots are solely addressed by names. The coordinates for cleaning are stored solely on the vacuum. Those numbers in the following example are only for the icon and text displayed on the card's map.

In my card this looks like:

map_modes:
  - template: vacuum_goto_predefined
    max_selections: 1
    variables:
      topic: <parent topic>
    predefined_selections:
      - id: Sofa  // must be identical to the name defined in the vacuum's web interface
        label:
          text: Sofa
          x: 32000
          'y': 24100
          offset_y: 25
        icon:
          name: mdi:sofa-outline
          x: 32000
          'y': 24100
  - template: vacuum_clean_segment
    variables:
      topic: <parent topic>
    predefined_selections:
      - id: Bath
        label:
          text: Bath
          x: 29500
          'y': 24100
          offset_y: 25
        icon:
          name: mdi:shower
          x: 29500
          'y': 24100

D) Card integration: Predefined zones
As cleaning predefined zones is not (yet?) supported by the card, I was able to do it manually defining my own MQTT service call:

map_modes:
  - name: Predefined Zones
    icon: mdi:floor-plan
    selection_type: ROOM
    service_call_schema:
      service: mqtt.publish
      service_data:
        topic: <parent topic>/custom_command
        payload: >-
          { "command": "zoned_cleanup", "zone_ids": [[selection]],
          "afterCleaning": "Base" }
    predefined_selections:
      - id: Bath   // again, this name has to be configured in the vacuum's web interface
        label:
          text: Bath
          x: 29500
          'y': 24100
          offset_y: 25
        icon:
          name: mdi:shower
          x: 29500
          'y': 24100

I am still struggling with repeated zone cleans (see #434). Will update here as soon as I found a solution

E) Card integration: Clean manually selected zones, and go to manually selected spots
Here it gets a little tricky because ValetudoRE's MQTT API does currently not support this. It is, however, supported by it's REST API.

So before integrating this into the card, I had to (again) modify Home Assistant's configuration.yaml in order to add some rest commands:

rest_command:
    valetudo_goto:
        url: <vacuum IP address>/api/go_to
        method: put
        headers:
            content-type: application/json
        payload: "{{ payload }}"
        verify_ssl: false
    valetudo_start_cleaning_zone:
        url: <vacuum IP address>/api/start_cleaning_zone
        method: put
        headers:
            content-type: application/json
        payload: "{{ payload }}"
        verify_ssl: false

With this done, I was able to integrate these commands into the card:

map_modes:
  - name: Clean Manualy Selected Zone
    icon: mdi:select-drag
    selection_type: MANUAL_RECTANGLE
    repeats_type: INTERNAL
    max_repeats: 3
    service_call_schema:
      service: rest_command.valetudo_start_cleaning_zone
      service_data:
        payload: '[[selection]]'
  - name: Go To Point
    icon: mdi:map-marker-plus
    selection_type: MANUAL_POINT
    service_call_schema:
      service: rest_command.valetudo_goto
      service_data:
        payload: '{ "x": [[point_x]], "y": [[point_y]]}'

F) End
I hope this helps others struggling with the combination of ValetudoRE and this card.

[burpeenerd]

@maximweb Hi and thank you very much for putting so much effort into making the lifes of ppl like me slightly easier/better :-)
I've got an Roborock Gen 1 with ValetudoRE and a containerized instance of valetudo-mapper.
I tried to recreate your steps B) and E) because I really want to have GoTo directly on the map in HA. I can select a point on the map and when I click on the Play/GoTo Button, it even says "Success" in the card's popup... But the vacuum does not react on the command :-( Do you have an idea?
Some infos:

• "Go To" on valetudos web interface works
• "Go To" via REST PUT Request works, too
• All other standard buttons on the card are working as expected

For reference, my configs:
mqtt-sensors.yaml

- state_topic: "valetudo/igor/map_calibration_points"
  name: igor_calibration

configuration.yaml

rest_command:
  valetudo_goto:
    url: "http://192.168.178.4/api/go_to"
    method: put
    headers:
      content-type: application/json
    payload: "{{ payload }}"
    verify_ssl: false
  valetudo_start_cleaning_zone:
    url: "http://192.168.178.4/api/start_cleaning_zone"
    method: put
    headers:
      content-type: application/json
    payload: "{{ payload }}"
    verify_ssl: false

Full card config:

type: custom:xiaomi-vacuum-map-card
entity: vacuum.igor
vacuum_platform: rand256/ValetudoRE
map_source:
  image: http://192.168.178.2:7666/api/map/image
calibration_source:
  entity: sensor.igor_calibration
map_modes:
  - name: Clean Manualy Selected Zone
    icon: mdi:select-drag
    selection_type: MANUAL_RECTANGLE
    repeats_type: INTERNAL
    max_repeats: 3
    service_call_schema:
      service: rest_command.valetudo_start_cleaning_zone
      service_data:
        payload: '[[selection]]'
  - name: Go To Point
    icon: mdi:map-marker-plus
    selection_type: MANUAL_POINT
    service_call_schema:
      service: rest_command.valetudo_goto
      service_data:
        payload: '{ "x": [[point_x]], "y": [[point_y]]}'

[maximweb]

If you see the map_calibration_points populated correctly on your mqtt server, you could check whether the home assistant entity also shows these values.

I faintly remember reading somewhere that even if the map calibration points are outside the bounds of the image, it still should return numbers and not NaN.

[burpeenerd]

Yes, the sensor is in HA, and it matches the values on the mqtt topic, but the values itself seem to be strange:
[{"vacuum":{"x":null,"y":null},"map":{"x":20,"y":20}},{"vacuum":{"x":null,"y":null},"map":{"x":470,"y":900}},{"vacuum":{"x":null,"y":null},"map":{"x":920,"y":20}}]
Map seems to be OK, but vacuum is null. What does your readings say about vacuum? Could you please post your valetudo-mapper config?

[maximweb]

My calibration sensor in home assistant shows [{"vacuum":{"x":23750,"y":22600},"map":{"x":20,"y":20}},{"vacuum":{"x":30225,"y":29850},"map":{"x":538,"y":600}},{"vacuum":{"x":36700,"y":22600},"map":{"x":1056,"y":20}}] with actual values for vacuum.

Hmm, maybe I messed up some thing with my proposed extension of valetudo-mapper. There, my config is:

{
  "mqtt": {
    "identifier": "rockrobo",
    "topicPrefix": "valetudo",
    "autoconfPrefix": "homeassistant",
    "broker_url": "mqtt://<mqtt user>:<mqtt password>@<mqtt ip>",
    "caPath": "",
    "mapDataTopic": "valetudo/rockrobo/map_data",
    "minMillisecondsBetweenMapUpdates": 2000,
    "publishMapImage": true,
    "publishMapData": true
  },
  "mapSettings": {
    "colors": {
      "background": "#33a1f5",
      "background2": "#046cd4",
      "floor": "#56affc",
      "obstacle_strong": "#a1dbff",
      "path": "white",
      "forbidden_marker": "red",
      "forbidden_zone": "rgba(255, 0, 0, 0.38)",
      "cleaned_marker": "rgba(53, 125, 46, 1.0)",
      "cleaned_zone": "rgba(107, 244, 66, 0.3)",
      "cleaned_block": "rgba(107, 244, 36, 0.34)"
    },
    "drawPath": true,
    "drawCharger": true,
    "drawRobot": true,
    "drawCurrentlyCleanedZones": true,
    "drawCurrentlyCleanedBlocks": true,
    "drawForbiddenZones": true,
    "drawVirtualWalls": true,
    "scale": 4,
    "gradientBackground": false,
    "autoCrop": 20,
    "crop_x1": 0,
    "crop_y1": 0,
    "crop_x2": 0,
    "crop_y2": 0,
    "rotate": 0
  },
  "webserver": {
    "enabled": true,
    "port": 3000
  }
}

Could you post yours? I did not test all combinations of rotate, autoCrop or crop. So maybe I overlooked some combinations not accounted for in my extension.

[burpeenerd]

Hi @maximweb,
i don't know which of the settings from your config did the trick, but my coordinates topic is now well-populated and move-to commands from HomeAssistant are working as expected. Thank you very much!

[dimmuboy]

I had same issue - just rotate is missing in config 👍

[dimmuboy]

I tried it with new version of Valetudo Mapper but when I add map mode vacuum_goto_predefined I got these errors in browser debug and icon is in the left top corner

Error: <foreignObject> attribute x: Expected length, "NaNpx".
Error: <foreignObject> attribute y: Expected length, "NaNpx".
Error: <text> attribute x: Expected length, "NaNpx".
Error: <text> attribute y: Expected length, "NaNpx".

[dimmuboy]

Oh yes, you're right. In MQTT map_calibraton_points I have null values for vacuum

[
  {
    "vacuum": {
      "x": null,
      "y": null
    },
    "map": {
      "x": 20,
      "y": 20
    }
  },
  {
    "vacuum": {
      "x": null,
      "y": null
    },
    "map": {
      "x": 820,
      "y": 430
    }
  },
  {
    "vacuum": {
      "x": null,
      "y": null
    },
    "map": {
      "x": 20,
      "y": 840
    }
  }
]

[burpeenerd]

@dimmuboy Ah okay, in this case you maybe want to give @maximweb 's valetudo-mapper config a shot #435 (reply in thread)
This helped me, see thread above

[dimmuboy]

thanks a lot! rotate option made a magic :)

[maximweb]

thanks a lot! rotate option made a magic :)

Interesting. Thanks for investigating. I will have a look at valetudo-mapper, maybe I find why rotate option is required...

[maximweb]

thanks a lot! rotate option made a magic :)

Interesting. Thanks for investigating. I will have a look at valetudo-mapper, maybe I find why rotate option is required...

Hmm, it appears that rotate has no default value when not set explicitly. This might cause the error at this point:

https://github.com/rand256/valetudo-mapper/blob/master/lib/Tools.js#L355