Valetudo Vacuums Map Camera for Home Assistant

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@gsca075 Thanks for the update - the reset-trims action is working perfectly :+1:.

I’ve included below my scripts for running maploader and the reset-trims actions in case it helps anyone, although they’re quite simple - I included a 20 second pause between both steps as that seems to be enough time for maploader to finish and for the map files on the robot to be updated.

Main / Ground floor script [ID = main]:

alias: Robot Vacuum Cleaner - Main
sequence:
  - if:
      - condition: state
        entity_id: vacuum.valetudo_homecleanrobot
        state: docked
    then:
      - action: select.select_option
        target:
          entity_id: select.valetudo_homecleanrobot_maploader_map
        data:
          option: main
      - delay:
          hours: 0
          minutes: 0
          seconds: 20
          milliseconds: 0
      - action: mqtt_vacuum_camera.reset_trims
        data: {}
description: ""
icon: mdi:robot-vacuum

First floor / upstairs floor script [ID = first_floor]:

alias: Robot Vacuum Cleaner - First Floor
sequence:
  - if:
      - condition: state
        entity_id: vacuum.valetudo_homecleanrobot
        state: docked
    then:
      - action: select.select_option
        target:
          entity_id: select.valetudo_homecleanrobot_maploader_map
        data:
          option: first_floor
      - delay:
          hours: 0
          minutes: 0
          seconds: 20
          milliseconds: 0
      - action: mqtt_vacuum_camera.reset_trims
        data: {}
description: ""
icon: mdi:robot-vacuum

Then for the Xiaomi Vacuum Interactive Map Card I’m using the following code twice with a different segments and the card visibility settings depending on the maploader floor status. I included a menu selection (menu_id: House Floor Map) to switch between each floor map.

type: custom:xiaomi-vacuum-map-card
map_source:
  camera: camera.robot_vacuum_cleaner_camera
calibration_source:
  camera: true
internal_variables:
  topic: valetudo/homecleanrobot
entity: vacuum.valetudo_homecleanrobot
vacuum_platform: Hypfer/Valetudo
card_mod:
  style: |
    ha-card {
      --map-card-room-outline-line-width: 0px;
    }
map_modes:
  - template: vacuum_clean_segment
    predefined_selections:
      - id: '1'
        icon:
          name: mdi:countertop
          x: 3575
          'y': 3170
        label:
          text: Kitchen & Dining Room
          x: 3575
          'y': 3170
          offset_y: 30
        outline:
          - - 3200
            - 3005
          - - 3950
            - 3005
          - - 3950
            - 3385
          - - 3200
            - 3385
      - id: '2'
        icon:
          name: mdi:paper-roll
          x: 3897
          'y': 3463
        label:
          text: Bathroom
          x: 3897
          'y': 3463
          offset_y: 30
        outline:
          - - 3795
            - 3430
          - - 4000
            - 3430
          - - 4000
            - 3550
          - - 3795
            - 3550
      - id: '3'
        icon:
          name: mdi:chair-rolling
          x: 3890
          'y': 3645
        label:
          text: Study
          x: 3890
          'y': 3645
          offset_y: 30
        outline:
          - - 3800
            - 3550
          - - 4000
            - 3550
          - - 4000
            - 3820
          - - 3800
            - 3820
      - id: '4'
        icon:
          name: mdi:stairs-down
          x: 3652
          'y': 3712
        label:
          text: Hallway
          x: 3652
          'y': 3712
          offset_y: 30
        outline:
          - - 3585
            - 3365
          - - 3800
            - 3365
          - - 3800
            - 3840
          - - 3585
            - 3840
      - id: '5'
        icon:
          name: mdi:sofa
          x: 3362
          'y': 3595
        label:
          text: Living Room
          x: 3362
          'y': 3595
          offset_y: 30
        outline:
          - - 3200
            - 3325
          - - 3585
            - 3325
          - - 3585
            - 3865
          - - 3200
            - 3865
  - template: vacuum_clean_zone
  - template: vacuum_goto
map_locked: false
append_tiles: true
tiles:
  - entity: sensor.valetudo_homecleanrobot_maploader_status
    label: Map Load Status
    icon: mdi:map-legend
append_icons: true
icons:
  - type: menu
    menu_id: Water_Amount
    tooltip: Water Amount
    entity: select.valetudo_homecleanrobot_water
    available_values_attribute: options
    icon: mdi:water
    icon_mapping:
      low: mdi:water-outline
      medium: mdi:water-opacity
      high: mdi:water
    tap_action:
      action: call-service
      service: select.select_option
      service_data:
        option: '[[value]]'
        entity_id: '[[entity_id]]'
  - type: menu
    menu_id: Robot Mode
    tooltip: Robot Mode
    entity: select.valetudo_homecleanrobot_mode
    available_values_attribute: options
    icon: mdi:robot-vacuum
    icon_mapping:
      mop: mdi:waves
      vacuum: mdi:fan-chevron-up
      vacuum_and_mop: mdi:hydro-power
    tap_action:
      action: call-service
      service: select.select_option
      service_data:
        option: '[[value]]'
        entity_id: '[[entity_id]]'
  - type: menu
    menu_id: House Floor Map
    tooltip: House Floor Map
    entity: select.valetudo_homecleanrobot_maploader_map
    available_values_attribute: options
    icon: mdi:home-floor-0
    icon_mapping:
      main: mdi:home-floor-0
      first_floor: mdi:home-floor-1
    tap_action:
      action: call-service
      service: script.turn_on
      service_data:
        entity_id: script.robot_vacuum_cleaner_[[value]]
visibility:
  - condition: or
    conditions:
      - condition: state
        entity: select.valetudo_homecleanrobot_maploader_map
        state: main
      - condition: state
        entity: select.valetudo_homecleanrobot_maploader_map
        state: unavailable
      - condition: state
        entity: select.valetudo_homecleanrobot_maploader_map
        state: unknown
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