Add support for map rotation #1252

shmuelzon · 2025-10-18T18:57:49Z

This PR adds support for rotating the map according to the user's preference in the app. The value is a part of the cached map info structure so, if it's there, we include it in the map information, otherwise, we use the default 0 degrees.

This time I chose not to make use of the built-in SVG transformations as we still needed to calculate the new viewbox, taking into consideration the rotation, so we needed to calculate the new points anyway. This made the code more complicated as everything was done twice. In addition, I opted to support only 90-degree turns to avoid "heavy" trigonometry functions, I'll soon find out how much it hurt performance when the benchmark pipeline runs.

A few notes to consider when reviewing:

I'm sure there are better ways to "Rustify" my code, any suggestions are welcome
There are 3 places that need to handle the rotation where each does it a bit differently (different axes, offsets, etc.) so it might seem a bit cumbersome. I tried to separate those to functions to make the code a bit easier to read
The map info version of the map calculated all of the points when the information has arrived but the rotation angle might be set before/after. To handle that I save the "raw" X,Y values from the robot and only calculate the new positions when generating the SVG. This is a bit disappointing as it's now calculated each time the SVG is generated even though it's not likely to change, but I don't think I can rely on the order of the messages. It's also, for better or worse, similar to how the background image is generated
Regarding the tests, I currently generate each map data with all rotations (using the private _map_data.set_rotation_deg()), this seemed a bit wrong to me but I though it would cover more than adding one type of rotation to each map type (map_info and background image) or adding 8 more map data items to cover all the possibilities. Let me know what you think of it

As always, thank you for your continued work on this, I am now hooked on seeing the map updated in HA when the robot is cleaning :)

Edit - Since the map generation tests were changed to support rotation, the benchmark doesn't verify them against dev so I manually compared with https://codspeed.io/DeebotUniverse/client.py/runs/68eea224abcd9f647da55998:

test	dev	PR (with 0 degree rotation)
test1	26.3 ms	26.7 ms
test2	22.1 ms	22.4 ms
test3	8.5 ms	8.5 ms
test4	7.2 ms	7.2 ms

So it seems there is some loss on maps that are based on the background image. I'll try to inline the functions as you've done elsewhere and see if that makes any difference.

Edit 2 - It doesn't... I tried changing the functions to closures that would avoid the match on each iteration but the end result is still the same. Weird...

codecov · 2025-10-18T19:42:54Z

Codecov Report

❌ Patch coverage is 98.94737% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 94.51%. Comparing base (35dd830) to head (ea66495).
⚠️ Report is 1 commits behind head on dev.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
deebot_client/map.py	88.88%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##              dev    #1252      +/-   ##
==========================================
+ Coverage   94.47%   94.51%   +0.04%     
==========================================
  Files         148      148              
  Lines        5643     5707      +64     
  Branches      349      350       +1     
==========================================
+ Hits         5331     5394      +63     
  Misses        251      251              
- Partials       61       62       +1

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codspeed-hq · 2025-10-18T19:47:32Z

CodSpeed Performance Report

Merging #1252 will not alter performance

_{Comparing shmuelzon:add-support-for-map-rotation (ea66495) with dev (35dd830)}

Summary

✅ 106 untouched
🆕 1 new

Benchmarks breakdown

	Benchmark	`BASE`	`HEAD`	Change
🆕	`test_onCachedMapInfo[info2-expected_event2-expected_args2]`	N/A	1.9 ms	N/A

Copilot

Pull Request Overview

This PR adds support for rotating maps according to user preferences by integrating rotation angles from cached map information. The rotation angle is stored in the map data structure and applied during SVG generation, with support for 90-degree increments (0, 90, 180, 270 degrees) to avoid complex trigonometry.

Key changes:

Map rotation angle is extracted from cached map info events and stored in the map data structure
Rotation transformations are applied at three different levels: trace points, map subsets, and background images
Test coverage expanded to verify all rotation angles across existing test cases

Reviewed Changes

Copilot reviewed 12 out of 13 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
deebot_client/events/map.py	Added `angle` field to Map dataclass with default value of 0
deebot_client/messages/json/map/cached_map_info.py	Extract angle from map info dictionary with default fallback
deebot_client/map.py	Store rotation angle and pass it to SVG generation; set rotation from cached map info event
deebot_client/rs/map.pyi	Updated type stub to include rotation_deg parameter
src/map/mod.rs	Added rotation parameter to coordinate calculation functions and updated all callers
src/map/map_info.rs	Transform map info points using rotation before generating SVG paths
src/map/background_image.rs	Implemented rotation-aware position calculators for map pieces and pixels
src/map/points.rs	Convert trace points with rotation transformation
tests/init.py	Modified extractor to return list of parameters instead of single parameter
tests/test_map.py	Generate test cases for all rotation angles using private API
tests/messages/json/map/test_cached_map_info.py	Added angle values to test data
tests/commands/json/map/test_cached_map_info.py	Added angle values to test data

_{Tip: Customize your code reviews with copilot-instructions.md. Create the file or learn how to get started.}

Copilot · 2025-10-23T11:34:38Z

src/map/map_info.rs

+                path_points.push(Point {
+                    x,
+                    y,
+                    connected: coords.next().unwrap_or("1").trim() != "3-1-0",
+                });


The raw x and y coordinates are now stored without normalization, but the calc_point transformation is applied later during generate(). Consider adding a comment explaining that these coordinates will be normalized and rotated when generate() is called, as this is a significant change from the previous behavior where calc_point was applied immediately.

Copilot · 2025-10-23T11:34:38Z

src/map/map_info.rs

+            .map(|(x, y)| Point {
+                x,
+                y,
+                connected: true,
+            })


Similar to the outline processing, these raw coordinates are stored without normalization. Consider adding a comment explaining that calc_point transformation will be applied during generate() to clarify this deferred processing pattern.

edenhaus

I was not reviewing it in detail, but merging it as it is will increase the map generation for old devices up to 30%. Can you maybe ask AI to improve the code?
Just so you know, the performance tests are executed on cloud servers, which are much more powerful than the end devices users will use. I moved the map code to Rust, as some users had issues with the Python code back in the day.

edenhaus · 2025-10-23T11:14:54Z

tests/test_map.py

+            angle,
+            id=f"{filename}-{module.DEVICE_CLASS}-{angle}",
+        )
+        for angle in [0, 90, 180, 270]


We should only create rotation tests for devices that support it and not everyone.
Especially, these tests should be maps that are also generated from the actual model.

Hey, it's closer to 3%, even less, not 30%.
If we assume that older models don't support rotation anyway, then I can remove the support for it when generating the background image but I don't know if there are any versions in between that use the background image but also allow rotation in the app, and those will break, I can remove and wait to see if anyone files a bug 🤷

BTW - It may also be, as you've found from your robot, that other robots can switch their hardware file to use the new map API and cut the SVG generation time to a third.

Please let me know your thoughts and I'll modify accordingly.

Thanks!

I have considered the worst case:

yna5xi: 33.3/26.3 => ~26%

kr0277: 29/22.1 => ~37%

Only bots that have been recently updated support the new format. So any older bot will never get an update.
Are we sure that the angle can only be 0, 90, 180, 270? If not, we should create a warning log entry, so users will report it if there are different values.

My app only allows 90 degree rotation

I can add an error/warning just the same.

What do you say about rotation of the background image? Should I remove that as well with an error if it's ever attempted?

I would remove the background image rotation for now (as I'm expecting that it will not be used). Also, my bot is not even showing the rotation setting in the app.

As we are using an enum, we should create a log entry for invalid angles and set it to 0.
Please also remove the rotation from all tests expect your bot as the other don't support rotation

Done (I hope the enum is what you were thinking of)

edenhaus · 2025-10-23T16:49:51Z

deebot_client/events/map.py

    name: str
    using: bool
    built: bool
+    angle: int = field(default=0, kw_only=True)


Suggested change

angle: int = field(default=0, kw_only=True)

angle: int

edenhaus · 2025-10-23T17:25:41Z

tests/test_map.py

+            angle,
+            id=f"{filename}-{module.DEVICE_CLASS}-{angle}",
+        )
+        for angle in [0, 90, 180, 270]


I have considered the worst case:

yna5xi: 33.3/26.3 => ~26%

kr0277: 29/22.1 => ~37%

Only bots that have been recently updated support the new format. So any older bot will never get an update.
Are we sure that the angle can only be 0, 90, 180, 270? If not, we should create a warning log entry, so users will report it if there are different values.

edenhaus · 2025-10-26T13:25:31Z

deebot_client/messages/json/map/cached_map_info.py

                name=map_info.get("name", ""),
                using=map_info["using"] == 1,
                built=map_info["built"] == 1,
+                angle=map_info.get("angle", 0),


Check the angle here and create a warning if it's not a valid one. In case of an invalid one, set it to 0

The check/log and default values are implemented in Rust

edenhaus · 2025-10-26T13:27:10Z

src/map/background_image.rs

 const MAP_PIECE_SIZE: u16 = 100;
 pub(super) const MAP_MAX_SIZE: u16 = 8 * MAP_PIECE_SIZE;

+type PiecePositionCalculator = Box<dyn Fn(usize) -> (u16, u16)>;


Remove rotation support for now

edenhaus · 2025-10-26T13:33:00Z

src/map/map_info.rs

    }

-    pub(super) fn generate(&self) -> MapInfoGenerateResult {
+    pub(super) fn generate(&self, rotation_deg: i16) -> MapInfoGenerateResult {


Create an enum for the rotation with the 4 valid cases and use it directly in Python. See PositionType as an example

edenhaus · 2025-10-26T13:35:01Z

tests/test_map.py

+            angle,
+            id=f"{filename}-{module.DEVICE_CLASS}-{angle}",
+        )
+        for angle in [0, 90, 180, 270]


I would remove the background image rotation for now (as I'm expecting that it will not be used). Also, my bot is not even showing the rotation setting in the app.

As we are using an enum, we should create a log entry for invalid angles and set it to 0.
Please also remove the rotation from all tests expect your bot as the other don't support rotation

edenhaus · 2025-10-26T13:36:15Z

tests/test_map.py


        await block_till_done(event_bus)
+
+        map_obj._map_data.set_rotation_deg(angle)


We should not set the rotation here. Instead set the angle in the correct event

…tation

edenhaus

It looks amazing some small improvement and we can merge :)
I will bump afterwards the lib and try to include in HA 2025.11

edenhaus · 2025-10-30T19:00:50Z

tests/messages/json/map/test_cached_map_info.py

                    "built": 1,
                    "name": "Erdgeschoss",
                    "isFastBuilding": 1,
+                    "angle": 90,


Suggested change

"angle": 90,

Don't modify this test as I want to check the data as much possible to the original.
Please add a new tests with the result of your bot

edenhaus · 2025-10-30T19:08:46Z

src/map/mod.rs

+impl RotationAngle {
+    #[staticmethod]
+    fn from_int(value: i16) -> Self {
+        RotationAngle::from(value)


Please move the mapping from above here and raise instead of creating a log entry.

The reason behind this is that I had a discussion today with a colleague about it and it's easier to add new functionality instead of providing the wrong one (Using 0 instead the correct angle)

I don't expect that different values currently exist but we will see if users are reporting errors

…tation

edenhaus

Thanks @shmuelzon 👍

shmuelzon added 2 commits October 18, 2025 21:38

Add support for map rotation

ecba170

Fixed Rust formatting

7a5b4b1

shmuelzon added 2 commits October 18, 2025 23:08

Inline Rust functions

db63954

Replace calculation functions with closures

5b05239

edenhaus requested a review from Copilot October 23, 2025 11:33

Copilot AI reviewed Oct 23, 2025

View reviewed changes

edenhaus reviewed Oct 23, 2025

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edenhaus reviewed Oct 25, 2025

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edenhaus requested changes Oct 26, 2025

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shmuelzon added 3 commits October 29, 2025 22:06

Remove background image rotation and change rotation angle to enum

b62759b

Merge remote-tracking branch 'origin/dev' into add-support-for-map-ro…

5f72bf0

…tation

Change warning call

6b9408b

shmuelzon requested a review from edenhaus October 29, 2025 21:31

edenhaus requested changes Oct 30, 2025

View reviewed changes

edenhaus added the pr: enhancement PR with Improve something label Oct 31, 2025

shmuelzon added 2 commits October 31, 2025 14:10

More CR fixes

e3b81fd

Merge remote-tracking branch 'origin/dev' into add-support-for-map-ro…

ea66495

…tation

shmuelzon requested a review from edenhaus October 31, 2025 12:21

edenhaus approved these changes Oct 31, 2025

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edenhaus merged commit fda85af into DeebotUniverse:dev Oct 31, 2025
36 checks passed

shmuelzon deleted the add-support-for-map-rotation branch October 31, 2025 13:22


		await block_till_done(event_bus)

		map_obj._map_data.set_rotation_deg(angle)

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Add support for map rotation #1252

Add support for map rotation #1252

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Merging #1252 will not alter performance

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shmuelzon commented Oct 18, 2025 •

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