createState('vis.RockroboMap', '');
var fs = require("fs");
const {
createCanvas,
Canvas
} = require('canvas')
const {
Image
} = require('canvas')
const request = require('request');
const XMLHttpRequest = require("xmlhttprequest").XMLHttpRequest;
//________________________________________________________________________________________________________________________________________________
// Farben änder
const COLOR_FLOOR = "#23465e";
const COLOR_WALLS = "#2b2e30";
const COLOR_PATH = "white";
// Telegram
const SENDTELEGRAM = true;
const FINISHTEXT = 'Saugen erfolgreich beendet!'
const ERRORTEXT = 'Beim saugen ist ein fehler aufgetreten!'
//________________________________________________________________________________________________________________________________________________
//Robot Image
const rocky = "data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACAAAAAfCAMAAAHGjw8oAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAADbUExURQAAAICAgICAgICAgICAgICAgHx8fH19fX19fYCAgIGBgX5+foCAgH5+foCAgH9/f39/f35+foCAgH9/f39/f4CAgH5+foGBgYCAgICAgIGBgX9/f39/f35+foCAgH9/f39/f4CAgIODg4eHh4mJiZCQkJycnJ2dnZ6enqCgoKSkpKenp62trbGxsbKysry8vL29vcLCwsXFxcbGxsvLy87OztPT09XV1d/f3+Tk5Ojo6Ozs7O3t7e7u7vHx8fLy8vPz8/X19fb29vf39/j4+Pn5+f39/f7+/v///9yECocAAAAgdFJOUwAGChgcKCkzOT5PVWZnlJmfsLq7wcrS1Nre4OXz+vr7ZhJmqwAAAAlwSFlzAAAXEQAAFxEByibzPwAAAcpJREFUKFNlkolaWkEMhYPggliBFiwWhGOx3AqCsggI4lZt8/5P5ElmuEX5P5hMMjeZJBMRafCvUKnbIqpcioci96owTQWqP0QKC54nImUAyr9k7VD1me4YvibHlJKpVUzQhR+dmdTRSDUvdHh8NK8nhqUVch7cITmXA3rtYDmH+3OL4XI1T+BhJUcXczQxOBXJuve0/daeUr5A6g9muJzo5NI2kPKtyRSGBStKQZ5RC1hENWn6NSRTrDUqLD/lsNKoFTNRETlGMn9dDoGdoDcT1fHPi7EuUDD9dMBw4+6vMQVyInnPXDsdW+8tjWfbYTbzg/OstcagzSlb0+wL/6k+1KPhCrj6YFhzS5eXuHcYNF4bsGtDYhFLTOSMqTsx9e3iyKfynb1SK+RqtEq70RzZPwEGKwv7G0OK1QA42Y+HIgct9P3WWG9ItI/mQTgvoeuWAMdlTRclO/+Km2jwlhDvinGNbyJH6EWV84AJ1wl8JowejqTqTmv+0GqDmVLlg/wLX5Mp2rO3WRs2Zs5fznAVd1EzRh10OONr7hhhM4ctevhiVVxHdYsbq+JzHzaIfdjs5CZ9tGInSfoWEXuL7//fwtn9+Jp7wSryDjBFqnOGeuUxAAAAAElFTkSuQmCC";
const charger = "data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAMAAADXqc3KAAAAdVBMVEUAAAA44Yo44Yo44Yo44Yo44Yo44Yo44Yo44Yp26q844Yr///9767Kv89DG9t2g8Md26q5C44/5/vvz/fjY+ei19NNV5ZtJ45T2/fmY78KP7r1v6atq6Kjs/PPi+u7e+uvM9+Gb8MSS7r+H7bhm6KVh56JZ5p3ZkKITAAAACnRSTlMABTr188xpJ4aepd0A4wAAANZJREFUKM9VklmCgzAMQwkQYCSmLKWl2+zL/Y9YcIUL7wvkJHIUJyKkVcyy+JIGCZILGF//QLEqlTmMdsBEXi56igfH/QVGqvXSu49+1KftCbn+dtxB5LOPfNGQNRaKaQNkTJ46OMGczZg8wJB/9TB+J3nFkyqJMp44vBrnWYhJJmOn/5uVzAotV/zACnbUtTbOpHcQzVx8kxw6mavdpYP90dsNcE5k6xd8RoIb2Xgk6xAbfm5C9NiHtxGiXD/U2P96UJunrS/LOeV2GG4wfBi241P5+NwBnAEUFx9FUdUAAAAASUVORK5CYII=";
//last map
let last_map;
var canvasimg = new Canvas();
var ctximg = canvasimg.getContext('2d');
var res = {};
var img = new Image(); // Create a new Image
img.src = rocky
const img_charger = new Image();
img_charger.src = charger;
const robotIp = "192.168.20.60"; // IP of the robot
const robotState = "mihome-vacuum.0.info.state" // e.g : "mihome-vacuum.0.info.state"
httpGetAsync("http://" + robotIp + "/api/map/latest", updateMapPage);
// get actuel map data from Valetudo
function httpGetAsync(theUrl, callback) {
var xmlHttp = new XMLHttpRequest();
var jdata = {};
xmlHttp.onreadystatechange = function () {
//console.log(JSON.stringify(xmlHttp));
if (xmlHttp.readyState == 4 && xmlHttp.status == 200) {
try {
jdata = JSON.parse(xmlHttp.responseText)
//console.log(JSON.stringify(jdata));
} catch (err) {}
callback(jdata);
}
}
xmlHttp.open("GET", theUrl, true); // true for asynchronous
xmlHttp.send(null);
}
function updateMapPage(res) {
var canvas = createCanvas();
var ctx = canvas.getContext('2d');
let mapImageData;
var map;
canvas.height = 1024 * 4 //res.image.dimensions.height;
canvas.width = 1024 * 4 //res.image.dimensions.width;
// Male Boden
if (res.image.pixels.floor && res.image.pixels.floor.length !== 0) {
ctx.fillStyle = COLOR_FLOOR;
res.image.pixels.floor.forEach(function (coord) {
ctx.fillRect(coord[0] * 4 + res.image.position.left * 4, coord[1] * 4 + res.image.position.top * 4, 4, 4);
});
}
// Male Wände
if (res.image.pixels.obstacle_strong && res.image.pixels.obstacle_strong.length !== 0) {
ctx.fillStyle = COLOR_WALLS;
res.image.pixels.obstacle_strong.forEach(function (coord) {
ctx.fillRect(coord[0] * 4 + res.image.position.left * 4, coord[1] * 4 + res.image.position.top * 4, 4, 4);
});
}
// Male den Pfad
if (res.path.points && res.path.points.length !== 0) {
ctx.fillStyle = COLOR_PATH;
let first = true;
let cold1, cold2;
res.path.points.forEach(function (coord) {
if (first) {
ctx.fillRect(coord[0] / 12.5, coord[1] / 50, 2, 2);
cold1 = coord[0] / 12.5;
cold2 = coord[1] / 12.5;
} else {
ctx.beginPath();
ctx.lineWidth = 1;
ctx.strokeStyle = "#FFFFFF";
ctx.moveTo(cold1, cold2);
ctx.lineTo(coord[0] / 12.5, coord[1] / 12.5);
ctx.stroke();
cold1 = coord[0] / 12.5
cold2 = coord[1] / 12.5
}
first = false
});
}
// Zeichne Roboter
ctx.beginPath();
if (res.robot) {
if (res.path.current_angle && typeof res.robot[0] !== "undefined" && typeof res.robot[1] !== "undefined") {
canvasimg = rotateRobo(img, res.path.current_angle);
ctx.drawImage(canvasimg, res.robot[0] / 12.5 - 15, res.robot[1] / 12.5 - 15, img.width, img.height);
} else {
ctx.drawImage(img, res.robot[0] / 12.5 - 15, res.robot[1] / 12.5 - 15, img.width, img.height);
}
}
// Zeichne Ladestation wenn vorhanden
if (res.charger) {
if (typeof res.charger[0] !== "undefined" && typeof res.charger[1] !== "undefined") {
ctx.beginPath();
ctx.drawImage(img_charger, res.charger[0] / 12.5 - 15, res.charger[1] / 12.5 - 15);
}
}
// crop image
let canvas_final = createCanvas();
let ctx_final = canvas_final.getContext('2d');
var trimmed = ctx.getImageData(res.image.position.left * 4, res.image.position.top * 4, res.image.dimensions.width * 4, res.image.dimensions.height * 4);
canvas_final.height = res.image.dimensions.height * 4;
canvas_final.width = res.image.dimensions.width * 4;
ctx_final.putImageData(trimmed, 0, 0);
map = canvas_final.toDataURL();
last_map = canvas_final;
setState("javascript.0.vis.RockroboMap", '<img src="' + canvas_final.toDataURL() + '" /style="width: auto ;height: 100%;">');
//log('<img src="' + canvas_final.toDataURL() + '" />');
}
function send(canvas){
var buf = canvas.toBuffer();
fs.writeFile("/opt/iobroker/vac_map.png", buf, (err) => {
if (err) throw err;
log('The file has been saved!');
});
setTimeout(function(){
// sendTo('telegram.0', '/opt/iobroker/vac_map.png');
sendTo('telegram.0', {text: '/opt/iobroker/vac_map.png', caption: 'Fertig mit saugen!'});
}, 3000);
}
function rotateRobo(img, angle) {
var canvasimg = createCanvas(img.width, img.height);
var ctximg = canvasimg.getContext('2d');
const offset = 90;
ctximg.clearRect(0, 0, img.width, img.height);
ctximg.translate(img.width / 2, img.width / 2);
ctximg.rotate((angle + offset) * Math.PI / 180);
ctximg.translate(-img.width / 2, -img.width / 2);
ctximg.drawImage(img, 0, 0);
return canvasimg;
}
schedule("*2 * * * * *", function () {
var robyState = getState(robotState).val;
if (robyState === 5 || robyState === 11 || robyState === 17) httpGetAsync("http://" + robotIp + "/api/map/latest", updateMapPage);
});
subscribe({
id: 'mihome-vacuum.0.info.state' ,
change: "ne"
}, function (obj) {
if (SENDTELEGRAM) {
if (obj.newState.val === 8 && obj.oldState.val !== 8) {
send(last_map, FINISHTEXT);
} else if ((obj.oldState.val === 5 || obj.oldState.val === 11 || obj.oldState.val === 17) && obj.newState.val !== 6) {
send(last_map, ERRORTEXT);
}
}
});
