iobroker.roborock/src/lib/map/b01/MapParser.ts

roborock

import * as protobuf from "protobufjs";
import { classifyB01MapPayload } from "./B01MapPayloadClassifier";
import { B01MapData } from "./types";
import { beautify } from "./GridBeautifier";
import { MapDecryptor } from "./MapDecryptor";
import * as MapHelper from "../MapHelper";
import { ROBOROCK_PROTO_STR } from "./roborock_proto";
import { interpolate } from "./utils";

export class MapParser {
	adapter: any;
	private protoRoot: protobuf.Root | null = null;
	private RobotMapType: protobuf.Type | null = null;

	constructor(adapter: any) {
		this.adapter = adapter;
		try {
			this.protoRoot = protobuf.parse(ROBOROCK_PROTO_STR).root;
			this.RobotMapType = this.protoRoot.lookupType("SCMap.RobotMap");
		} catch (e: any) {
			this.adapter.rLog("System", null, "Error", undefined, undefined, `Failed to parse Proto Schema: ${e.message}`, "error");
		}
	}

	public parse(rawData: Buffer, serial: string, model: string, duid: string, connectionType: string): B01MapData | null {
		try {
			const decrypted = this.smartDecrypt(rawData, serial, model, duid);
			if (!decrypted) {
				this.adapter.rLog(connectionType as any, duid, "Error", "B01", 301, "[MapParser] Pipeline failed to produce valid data.", "error");
				return null;
			}

			const payload = classifyB01MapPayload(decrypted);

			if (payload.variant === "protobuf") {
				return this.parseProtobuf(decrypted, duid, connectionType);
			}

			if (payload.variant === "q10") {
				return payload.q10?.mapData ?? null;
			}

			this.adapter.rLog(connectionType as any, duid, "Warn", "B01", 301, "[MapParser] Unsupported B01 payload format after decryption.", "warn");
			return null;
		} catch (e: any) {
			this.adapter.rLog(connectionType as any, duid, "Error", "B01", 301, `[MapParser] Parse failed: ${e.message}`, "error");
			return null;
		}
	}

	/**
	 * Delegates decryption to the centralized B01MapDecryptor.
	 */
	private smartDecrypt(buf: Buffer, serial: string, model: string, duid: string): Buffer | null {
		const localKey = this.adapter.http_api.getMatchedLocalKeys().get(duid);
		return MapDecryptor.decrypt(buf, serial, model, duid, this.adapter, localKey);
	}

	public parseProtobuf(buffer: Buffer, duid: string, connectionType: string): B01MapData {
		const mapData: B01MapData = {
			sourceFormat: "protobuf",
			header: { sizeX: 0, sizeY: 0, minX: 0, minY: 0, maxX: 0, maxY: 0, resolution: 0.05 },
			mapGrid: Buffer.alloc(0)
		};

		if (!this.RobotMapType) return mapData;

		try {
			const object: any = this.RobotMapType.decode(buffer);

			// Map Header
			if (object.mapHead) {
				mapData.header.sizeX = object.mapHead.sizeX || 0;
				mapData.header.sizeY = object.mapHead.sizeY || 0;
				mapData.header.minX = object.mapHead.minX || 0;
				mapData.header.minY = object.mapHead.minY || 0;
				mapData.header.maxX = object.mapHead.maxX || 0;
				mapData.header.maxY = object.mapHead.maxY || 0;
				mapData.header.resolution = object.mapHead.resolution || 0.05;
			}

			// Map Data (Grid)
			if (object.mapData && object.mapData.mapData) {
				let gridBytes = object.mapData.mapData;
				if (gridBytes.length > 2 && ((gridBytes[0] === 0x1f && gridBytes[1] === 0x8b) || gridBytes[0] === 0x78)) {
					gridBytes = MapHelper.decompress(gridBytes);
				}
				mapData.mapGrid = Buffer.from(gridBytes);
			}

			// Positions
			if (object.chargeStation) {
				mapData.chargerPos = { x: object.chargeStation.x, y: object.chargeStation.y, phi: object.chargeStation.phi || 0 };
			}
			if (object.currentPose) {
				mapData.robotPos = { x: object.currentPose.x, y: object.currentPose.y, phi: object.currentPose.phi || 0 };
			}

			// Areas
			if (object.areasInfo) {
				mapData.areasInfo = object.areasInfo.map((a: any) => ({
					status: a.status, type: a.type, areaIndex: a.areaIndex, points: a.points
				}));
			}
			if (object.virtualWalls) {
				mapData.virtualWalls = object.virtualWalls.map((v: any) => ({
					status: v.status, type: v.type, areaIndex: v.areaIndex, points: v.points
				}));
			}
			if (object.recmForbitZone) {
				mapData.recmForbitZone = object.recmForbitZone.map((f: any) => ({
					status: f.status, type: f.type, areaIndex: f.areaIndex, points: f.points
				}));
			}

			// Rooms
			if (object.roomDataInfo) {
				mapData.rooms = object.roomDataInfo.map((r: any) => ({
					roomId: r.roomId, roomName: r.roomName, roomTypeId: r.roomTypeId, colorId: r.colorId,
					labelPos: r.roomNamePost ? { x: r.roomNamePost.x, y: r.roomNamePost.y } : undefined
				}));
			}

			// Room Chain
			if (object.roomChain) {
				mapData.roomChain = object.roomChain.map((rc: any) => ({
					roomId: rc.roomId,
					points: rc.points ? rc.points.map((p: any) => ({ x: p.x, y: p.y, value: p.value })) : [],
					door_info: rc.door_info ? rc.door_info.map((d: any) => ({
						door_point: d.door_point ? d.door_point.map((dp: any) => ({ x: dp.x, y: dp.y })) : [],
						area_id: d.area_id
					})) : []
				}));
			}

			// History
			if (object.historyPose && object.historyPose.points) {
				mapData.history = object.historyPose.points.map((p: any) => ({ update: p.update, x: p.x, y: p.y }));
			}

			// Carpet
			if (object.carpetInfo) {
				mapData.carpetInfo = object.carpetInfo.map((c: any) => ({ id: c.id, points: c.points }));
			}

			this.beautifyMap(mapData);
		} catch (e: any) {
			const level = connectionType === "B01History" ? "debug" : "warn";
			if (level === "warn") {
				this.adapter.rLog(connectionType as any, duid, "Warn", "B01", 301, `Protobuf decode failure: ${e.message}`, "warn");
			}
		}

		return mapData;
	}

	public beautifyMap(mapData: B01MapData) {
		if (!mapData.mapGrid || mapData.mapGrid.length === 0) return;

		const tMapStruct = {
			map: new Int8Array(mapData.mapGrid),
			x_min: mapData.header.minX,
			x_max: mapData.header.maxX,
			y_min: mapData.header.minY,
			y_max: mapData.header.maxY,
			resolution: mapData.header.resolution,
			info: mapData.roomChain ? mapData.roomChain.map(rc => {
				const rInfo = mapData.rooms ? mapData.rooms.find(r => r.roomId === rc.roomId) : null;
				let center = { x: 0, y: 0 };
				if (rInfo && rInfo.labelPos) {
					center = { x: rInfo.labelPos.x, y: rInfo.labelPos.y };
				} else if (rc.points && rc.points.length > 0) {
					center = {
						x: mapData.header.minX + (rc.points[0].x * mapData.header.resolution),
						y: mapData.header.minY + (rc.points[0].y * mapData.header.resolution)
					};
				}

				const rawChain = rc.points ? rc.points.map(p => ({ chain_point: { x: p.x, y: p.y } })) : [];

				return {
					tid: rc.roomId,
					center_pose: center,
					chain_infor: interpolate(rawChain),
					door_info: rc.door_info ? rc.door_info.map(d => ({
						door_point: d.door_point ? d.door_point.map(dp => ({ x: dp.x, y: dp.y })) : [],
						area_id: d.area_id || []
					})) : []
				};
			}) : null
		};

		const result = beautify(tMapStruct).result;
		if (result && result.length > 0) {
			mapData.mapGrid = Buffer.from(result);
		}
	}
}