Valetudo RE integration (patform_template and possibly automatic map calibration)

Description

I have recently flashed my vacuum with Valetudo RE and would love a seamless integration in HA with your amazing card.

Therefore two features would be neat

• Have a platform_template for Valetudo RE, which directly sends MQTT commands to the robot (or a different topic and add an automation which parses the data to the format required by Valetudo re.
• (future?) Enable automatic calibration of the map: I found a way to generate calibration points from Valetudo RE’s mapper. Moments ago I asked for a feature request over there to auto-calibrate and serve the calibration points.

Solution

platform_template This is how far I got:

I have cloned your repo and my work-in-progress platform_template currently looks like this(excerpt):

{
    "map_modes": {
        "defaultTemplates": ["vacuum_clean_zone", "vacuum_goto"],
        "templates": {
            "vacuum_clean_zone_predefined": {
                "name": "map_mode.vacuum_clean_zone_predefined",
                "icon": "mdi:floor-plan",
                "selection_type": "PREDEFINED_RECTANGLE",
                "max_selections": 5,
                "coordinates_rounding": true,
                "repeats_type": "INTERNAL",
                "max_repeats": 3,
                "service_call_schema": {
                    "service": "mqtt.publish",
                    "service_data": {
                        "topic": "vacuum/bb8/custom_command",
                        "payload": "{ \"command\": \"zoned_cleanup\", \"zone_ids\": [{ \"id\": [[selection_id]], \"repeats\": [[repeats]] }], \"afterCleaning\": \"Base\" }"
                    }
                }
            }
        }
    },
    "tiles": {
        "from_attributes": [
            {
                "attribute": "mainBrush",
                "label": "tile.main_brush_left.label",
                "icon": "mdi:fan-speed-1",
                "unit": "unit.hour_shortcut"
            },
            {
                "attribute": "sideBrush",
                "label": "tile.side_brush_left.label",
                "icon": "mdi:fan-speed-2",
                "unit": "unit.hour_shortcut"
            },
            {
                "attribute": "filter",
                "label": "tile.filter_left.label",
                "icon": "mdi:air-filter",
                "unit": "unit.hour_shortcut"
            }
		],
        "from_sensors": []
    }
}

And the card:

type: custom:xiaomi-vacuum-map-card
title: Xiaomi Card TESTING
preset_name: Live map
entity: vacuum.rockrobo
map_source:
  camera: camera.rockrobo_map_data
map_locked: true
vacuum_platform: mqtt_generic
debug: true
calibration_source:
  calibration_points:
    - vacuum:
        x: 23800
        'y': 22600
      map:
        x: 21
        'y': 21
    - vacuum:
        x: 30250
        'y': 29850
      map:
        x: 537
        'y': 601
    - vacuum:
        x: 36700
        'y': 22600
      map:
        x: 1053
        'y': 21
map_modes:
  - template: vacuum_clean_zone
  - template: vacuum_clean_zone_predefined
    predefined_selections:
      - zones:
          - - 28889
            - 23472
            - 30306
            - 24685
        label:
          text: Bad
          x: 29500
          'y': 24000
          offset_y: 35
        icon:
          name: mdi:shower
          x: 29500
          'y': 24000
      - zones:
          - - 28475
            - 24604
            - 30665
            - 25960
          - - 28676
            - 25871
            - 30219
            - 29701
        label:
          text: Flur
          x: 29500
          'y': 27200
          offset_y: 35
        icon:
          name: mdi:pot-mix
          x: 29500
          'y': 27200

The sensor integration works well.

Unfortunately the parsing of parameters [[selection_id]] and [[repeats]] is not yet resolved correctly, neither works |[[jsonize]] as suggested in your [readme](- |[[jsonize]]: if value ends with this modifier it will be decoded as a JSON). Is this limited to service_data or is also applicable to payload? Maybe you could point me in the right direction, how to accomplish this.

calibration points Unfortunately, I do not really know how to achieve auto-calibration. I believe parsing them initialized from the robot itself should be the way to go. But how to make them accessible to your card?

Alternatives

No response

Context

The Valetudo RE MQTT api for the “clean predefined zones” should go to topic

valetudo/rockrobo/custom_command

and look like this:

{
"command": "zoned_cleanup",
"zone_ids": [
   "Foo",
   {
        "id": "Bar",
        "repeats": 2
   }
],
"afterCleaning": "Stop"
}

[PiotrMachowski]

You don’t have to create a platform template to define your own service calls, it is possible by default in the card. Below you have modes that will work with current version of the card. Please notice that they all use selection_type: ROOM - that’s because Valetudo uses identifiers, not coordinates.

map_modes:
  - name: Single zone cleanup with repeats
    icon: mdi:floor-plan
    selection_type: ROOM
    max_selections: 1
    repeats_type: EXTERNAL
    max_repeats: 3
    service_call_schema:
      service: mqtt.publish
      service_data:
        topic: vacuum/bb8/custom_command
        payload: >-
          { "command": "zoned_cleanup", "zone_ids": [{ "id": "[[selection_unwrapped]]", "repeats": [[repeats]] }], "afterCleaning": "Base" }
    predefined_selections:
      - id: Bar
        outline: [[ 21458, 32131 ], [ 24235, 32152 ], [ 24194, 27409 ], [ 23181, 27409 ], [ 23160, 28807 ], [ 21417, 28807 ]]

  - name: Multiple zone cleanup without repeats
    icon: mdi:floor-plan
    selection_type: ROOM
    max_selections: 5
    repeats_type: NONE
    service_call_schema:
      service: mqtt.publish
      service_data:
        topic: vacuum/bb8/custom_command
        payload: >-
          { "command": "zoned_cleanup", "zone_ids": [[selection]], "afterCleaning": "Base" }
    predefined_selections:
      - id: Bar
        outline: [[ 21458, 32131 ], [ 24235, 32152 ], [ 24194, 27409 ], [ 23181, 27409 ], [ 23160, 28807 ], [ 21417, 28807 ]]

  - name: Multiple segment cleanup with repeats
    icon: mdi:floor-plan
    selection_type: ROOM
    max_selections: 5
    repeats_type: EXTERNAL
    max_repeats: 3
    service_call_schema:
      service: mqtt.publish
      service_data:
        topic: vacuum/bb8/custom_command
        payload: >-
          { "command": "segmented_cleanup", "segment_ids": [[selection]], "repeats": [[repeats]], "afterCleaning": "Base" }
    predefined_selections:
      - id: Bar
        outline: [[ 21458, 32131 ], [ 24235, 32152 ], [ 24194, 27409 ], [ 23181, 27409 ], [ 23160, 28807 ], [ 21417, 28807 ]]

  - name: Go to specific point
    icon: mdi:floor-plan
    selection_type: ROOM
    max_selections: 1
    repeats_type: NONE
    service_call_schema:
      service: mqtt.publish
      service_data:
        topic: vacuum/bb8/custom_command
        payload: >-
          { "command": "go_to", "spot_id": "[[selection_unwrapped]]" }
    predefined_selections:
      - id: Bar
        label:
          text: "Bar"
          x: 22932
          y: 30339
          offset_y: 35
        icon:
          name: "mdi:glass-mug"
          x: 22932
          y: 30339

[maximweb]

Thank you for the integration of Valetudo RE. I finally found the time to pull the latest version of your card and test it.

I can confirm that vacuum_clean_segment and vacuum_goto_predefined works.