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fix(vendor.dreame): Handle carpet information in maps
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@Hypfer
Hypfer committed Oct 10, 2022
1 parent bc7c92e commit d1ad1af
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Showing 4 changed files with 4,237 additions and 5 deletions.
11 changes: 8 additions & 3 deletions backend/lib/robots/dreame/DreameMapParser.js
View file
Expand Up @@ -379,14 +379,19 @@ class DreameMapParser {
} else if (type === MAP_DATA_TYPES.RISM) {
/**
* A rism Pixel is one byte consisting of
* 1 0000000
* isWall flag The Segment ID
* 1 1 000000
* isWall flag isCarpet flag The Segment ID
*/
const px = buf[(i * parsedHeader.width) + j];

const segmentId = px & 0b01111111;
const segmentId = px & 0b00111111;
const wallFlag = px >> 7;

/*
TODO: figure out what to do with the carpet information
px >> 6 & 0b00000001
*/

if (wallFlag) {
wallPixels.push(coords);
} else if (segmentId > 0) {
Expand Down
28 changes: 26 additions & 2 deletions backend/test/lib/robots/dreame/DreameMapParser_spec.js
View file
Expand Up @@ -267,7 +267,7 @@ describe("DreameMapParser", function () {
actual.should.deepEqual(expected);
});

it("Should pre-process & parse L10S Ultra FW 1058 map with goto target", async function() {
it("Should pre-process & parse L10S Ultra FW 1058 map with goto target correctly", async function() {
let data = await fs.readFile(path.join(__dirname, "/res/map/l10su_1058_goto_target.bin"));
let expected = JSON.parse(await fs.readFile(path.join(__dirname, "/res/map/l10su_1058_goto_target.json"), { encoding: "utf-8" }));
let actual = await DreameMapParser.PARSE(await DreameMapParser.PREPROCESS(data));
Expand All @@ -291,7 +291,7 @@ describe("DreameMapParser", function () {
actual.should.deepEqual(expected);
});

it("Should pre-process & parse L10S Ultra FW 1121 map with new path", async function() {
it("Should pre-process & parse L10S Ultra FW 1121 map with new path correctly", async function() {
let data = await fs.readFile(path.join(__dirname, "/res/map/l10su_1121_new_path.bin"));
let expected = JSON.parse(await fs.readFile(path.join(__dirname, "/res/map/l10su_1121_new_path.json"), { encoding: "utf-8" }));
let actual = await DreameMapParser.PARSE(await DreameMapParser.PREPROCESS(data));
Expand All @@ -314,4 +314,28 @@ describe("DreameMapParser", function () {

actual.should.deepEqual(expected);
});

it("Should pre-process & parse L10S Ultra FW 1121 map with carpet correctly", async function() {
let data = await fs.readFile(path.join(__dirname, "/res/map/l10su_1121_carpet.bin"));
let expected = JSON.parse(await fs.readFile(path.join(__dirname, "/res/map/l10su_1121_carpet.json"), { encoding: "utf-8" }));
let actual = await DreameMapParser.PARSE(await DreameMapParser.PREPROCESS(data));

if (actual.metaData?.nonce) {
delete(actual.metaData.nonce);
}

actual.layers.length.should.equal(expected.layers.length, "layerCount");

actual.layers.forEach((layer, i) => {
actual.layers[i].should.deepEqual(expected.layers[i]);
});

actual.entities.length.should.equal(expected.entities.length, "entitiesCount");

actual.entities.forEach((layer, i) => {
actual.entities[i].should.deepEqual(expected.entities[i]);
});

actual.should.deepEqual(expected);
});
});
1 change: 1 addition & 0 deletions backend/test/lib/robots/dreame/res/map/l10su_1121_carpet.bin
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@@ -0,0 +1 @@
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7-qLtmGapjsuZMgut94Np_J28LpcGnwpr1axhp52FkWFXyt9QdOZ0tKTOUbaM73X0norr1SNKckjz1MFh8MNIcdQet8s8vVZzlm0-zlKmFuk1KuwnDzp9AqVFr3umLUq3ef5VzrFD7otayqs6bUw2lGs2coVmtx-KHWcXJXeDCXaYR1DoLcpRTdz2g7f8xY_tOpW6lWvGKMyPtXGI45smIvBVNjUyzO8bVdbrjAu2bnVoM9nhOau4YpL3OHnzeKgPh3tsdRObSwwgUrpPLfJFM3hWKj2NJKx3Snf9JbNaolC3NuF63IpoyPppqbqOu3lTLBQhWWzZprTqjRse3JJUCoU39uq6flu1OyM2-tNrWRZA3NW6VbStq6k05OsWzCG1ZSINfB8cdvf2J0etjM7WjHVb07JnFDYyXSzkS87ulutbua9SYvCW0zxtbvqUjWOr8I-w1WXbgqLnl6ca5OZbM24lKlZBNZdavNG2WvPq3qxta2uernyJl2VK-291VSXPJ7qu-yq6OVppkZ5E2_XWFAdvKBboFG0mOErtnSLeVzwTKFJtbY6mWtlDTtn4KXG3NVHebfX0LGyUqxhXn1W3VbxRnrGzYtNoVDrzAytQBmcmyrluel-ZzJKqbKTO82dZdRzPFF_zfEbS-atRrff8GRr7FSHk-FCs5Rhk1pUuml-WqKrWkMgaiRFzaeC09k0eIpXeEUuyoN5sSVtvQaV60xJTZKE3GhZVSdZfNtvr9lVh9IGJYEpV1YZoQf2y7a1a7SVer0zcWmlwOpCZ56uUfwwK9CDwnbCK25qR-wb7Tw2q3fsrlrpNsAaLzvttsGlMW7LacTqtTtbpDlqN-wovOXw5ZQqFnvj5Yh217t-d7op4Ll1i5yW4bx1aaoUGEVprRne1GY8XaZ1XST4Fd7S-qmmolJ8F3A0OKdWJmZjbcwtu5X8vOoUDLppj_gCmV4UaKMz3eVZc2QJ03F67NmNflfZve7seVv2CLzQLc0Fzi2Y4M-ex6xtqrnAJLZVIvs4tyzUuOUU3YPajinvLLVAOzZrNGhWN8fpviPS5OsIJ1yeJNrORqnsrWF-vmu3p24hXyu_2nSBFzP1MrdtY5jZ1lojfgSqwXQ8brnFzkKXmJFiWINUnV8VK1lqJ3N5q8hu63KrOShbm4Je3ZUn9cVatDLZLLxnY7baT9tasYA7M34MTixEc9wzZiB3JbOy72Z0qmM0MElcj2YpYgvir5qwLhZ2Cql5BQbb9cm9J8-qzSo-XdqCMFgJnrqpkK3X9ATeN3vbZNn-QjMtXSDZVG-vWi5Tkliyw2eVUbMCngk0WWwvzGGpXPckGeQkqfWGpkAtlHWx4eachtTJbvE8yCdvOqxPumy6y7E83-OGWCmvcK0V2WVne7YvmEx-1pL7-WlzLnM5l1U2eXNnF9hsTcr3dpNpurqbdGrzQXtb0SleUgkVE5ZOnupVRWNSqM83FTPPd_LgMV2reHJnOXQtd5nXmq2NI7Q66_FWMia8YLO8JGhVzKzRsyK20YZuXWNS4sbkXvMTy1juOadkaWxZZlqtPL6ojtJDIpeWZ31T8Fqv43Wxsq5tlfmwnlkXa6NmlmqS6ybYV1rL7lWd6YbwupaO5aekOjN4yh021cW8usvq6XVtKBDNaavAqr3FYFIc790CxtF1QdLcBmsp1ZaY0XJrvJEXWsw2Nx56SrbGttieSGe4YqG-35P7qacIYr04HDW3ea1axGSXG4G9sSwJXj1XtfIajsuZ2liprVf9_LCTrYD64rWtqUI4jZzOoBi76tUzG1IpL22yLs2yK8_RdIJP70ZZatQc5RVz1pG5kplivKpHD5uzwtgcrKaV0XqitgSuIjvDfldtS5OVhnsrNqNvDQvsp33Gy2qbPZPrLxvlyoYtvnLkclYXqotymdUm_XWXqBf7xcVk_Wphs-Y6zXfVIT9KZbgWa2J0NmUymmDRXd1pLF7VRdUY2pN0z8YxBivNLKfRA8_oRbmTl-cFo2xS2itm1_NZe-BqBkGKnVYLLEhWzHCFLklxVYF2SyZtz4Zattoq1VLtHCgkG2u_EtJ5dYSPG-R0pU7a-h5YEoWNMCrzbXKqW0VDyAzyE9noFNOeLYBt6hFmXWFEbuPs-stRa2C3BK3Y4gpye6Rvm-JIlndre7XwRsQIb2btCVMQJt6mD4xu9akMtla96jZxuQYe7jyjCnwqw5RH9oInpgTZpV0qU1o2SoXUiFHm3VI5N2nQrQ6Tz83aenrMKAvZbXdWeW7WtlihUZt6Q4HNKxnbllL0q1eZj8wq0cpmZWW6LNC9YS8tyxXhlWwzlKEzrMKOGJXrLkogf10JS2W6WKumZCZcg3jNKQ03288rzBKMKfew6pbYMOAZCl4C8S47VUuTllgnKXki2FamZJOYLLq2K5ZlnBH7w7Rq7zNM15BEkqVeK2QbcJRn7Ia1wN-Ml9pRQ5V1vPTEJOm0Wt6SKXFWHwyWmYWMU4pAqINGZpEZ1eWmOGhnGiSVUfu55nq_4uRxQ-0OmwwvNncpdyRX9Y2U3aoGP8wYe5lKiTmV1eW9uWiWFdZt57ujdo6oVjO0uqjXDYvDG-xqztOat8ZNspKdr4uOnNmsF_Z4TAjDFtOoC8WZwmX0jlHCZ5JMvLqkmUlv6hnwRjqrFMQ5w7upymy2aW_37f7GrfeY1AIrm0Ktk_IMg9DbvVRrxAj9jUFtbGYyK6WcrZeWqyrpdOYq325ajNym2zV-jI3rjNthVRtfUg0jPZgpg8yEWrTz-fbAJsYKU64S4kYWiH1-oKpdncB1Y0iBXx9nwpbt7-fgV1HHLVf03WbVAQ-HPVZnutUyU69P2_nUnhFylEUtOqWdqnkMZxpTzKgyRDufTtutST1f6ehpr-zVBsxrf9zatqQVPcYz2V6zgqWl8jhDd9pzIU8ObNGddFYZg8o0Ns6eEO0VRbg7zJHabZJ83RNkM9XukBOCJcRUY6CT5SXw7LJj8Diw8uNid2IsXKbjqi6920tpusrse7uNKguDqWmNu5LoaePxTFL2maJe3Hb0QmoiUoI7KRHu9J__fP71_wHIRpVr

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