Valetudo Vacuums Map Camera for Home Assistant

paddy0174 · July 25, 2024, 2:28am

Seems to be a generous guy, but a little strange. But who isn’t?

Anyway, Valetudo is a cool software, and fortunately it is well maintained. Maybe he’s on a nerd level way above us.

tom_l · July 25, 2024, 2:33am

I imagine it would get quite frustrating dealing with demands by users for such a popular project. You only have to look at this quote he has on his github home page:

Running a successful open source project is just Good Will Hunting in reverse, where you start out as a respected genius and end up being a janitor who gets into fights. - Byrne Hobart

Still, no excuse for deleting well constructed issue reports without comment.

paddy0174 · July 25, 2024, 2:43am

Why do I get the feeling I know that from somewhere…

gsca075 · July 25, 2024, 5:13am

I think this is to be discuss with HA, as per, …Valetudo comes as it is and don’t get me wrong, apparently the guys from HA core are much more cooperative and probably there we can work out a more practical solution.
In the end once again the errors are coming from the MQTT integration. That was an Error in the past… so this mean there is to understand how MQTT.sensors can actually receive… a different value that isn’t binary (what exposed functions are available). Rand256 has also some “issues” with deprecated schemas and actually not support many new types and only one vendor.

tom_l · July 25, 2024, 5:44am

Not according to the HA team:

github.com/home-assistant/core

MQTT random binary or other formats data

opened 07:42AM - 30 Apr 24 UTC

closed 01:34PM - 30 Apr 24 UTC

sca075

integration: mqtt

### The problem The subscribed topics format changed somehow, normally the stri…ngs are set as b"mystring" for this reason is necessary to convert the topic with my_variable.decode("utf-8"). I'm developing an "integration" and I had to, as work around, create a function to check the payload format. The $state of the entity sampled is a b"string" usually.. but sometimes it was output as str not binary value from MQTT (there was no change either on the way to subscribe the topic or in the vacuum data as there was no update on both). ### What version of Home Assistant Core has the issue? 2024.5.b02 ### What was the last working version of Home Assistant Core? 2024.4.4 ### What type of installation are you running? Home Assistant OS ### Integration causing the issue MQTT ### Link to integration documentation on our website https://www.home-assistant.io/integrations/mqtt/ ### Diagnostics information Sorry no diagnostic available. ### Example YAML snippet _No response_ ### Anything in the logs that might be useful for us? ```txt 2024-04-29 16:38:51.694 INFO (MainThread) [custom_components.valetudo_vacuum_camera.valetudo.MQTT.connector] silenttepidstinkbug not ready, not connected to MQTT. 2024-04-29 16:38:54.167 ERROR (MainThread) [homeassistant.util.logging] Exception in async_message_received when handling msg on 'valetudo/SilentTepidStinkbug/$state': 'init' Traceback (most recent call last): File "/config/custom_components/valetudo_vacuum_camera/valetudo/MQTT/connector.py", line 326, in async_message_received await self.hypfer_handle_connect_state(msg) File "/config/custom_components/valetudo_vacuum_camera/valetudo/MQTT/connector.py", line 179, in hypfer_handle_connect_state self._payload = msg.payload.decode("utf-8") ^^^^^^^^^^^^^^^^^^ AttributeError: 'str' object has no attribute 'decode'. Did you mean: 'encode'? 2024-04-29 16:38:54.218 ERROR (MainThread) [homeassistant.util.logging] Exception in async_message_received when handling msg on 'valetudo/SilentTepidStinkbug/$state': 'ready' Traceback (most recent call last): File "/config/custom_components/valetudo_vacuum_camera/valetudo/MQTT/connector.py", line 326, in async_message_received await self.hypfer_handle_connect_state(msg) File "/config/custom_components/valetudo_vacuum_camera/valetudo/MQTT/connector.py", line 179, in hypfer_handle_connect_state self._payload = msg.payload.decode("utf-8") ^^^^^^^^^^^^^^^^^^ AttributeError: 'str' object has no attribute 'decode'. Did you mean: 'encode'? 2024-04-29 16:38:54.255 ERROR (MainThread) [homeassistant.util.logging] Exception in async_message_received when handling msg on 'valetudo/SilentTepidStinkbug/$state': 'init' Traceback (most recent call last): File "/config/custom_components/valetudo_vacuum_camera/valetudo/MQTT/connector.py", line 326, in async_message_received await self.hypfer_handle_connect_state(msg) File "/config/custom_components/valetudo_vacuum_camera/valetudo/MQTT/connector.py", line 179, in hypfer_handle_connect_state self._payload = msg.payload.decode("utf-8") ^^^^^^^^^^^^^^^^^^ AttributeError: 'str' object has no attribute 'decode'. Did you mean: 'encode'? 2024-04-29 16:38:54.258 INFO (MainThread) [custom_components.valetudo_vacuum_camera.valetudo.MQTT.connector] Received silenttepidstinkbug image data from MQTT 2024-04-29 16:38:54.402 ERROR (MainThread) [homeassistant.util.logging] Exception in async_message_received when handling msg on 'valetudo/SilentTepidStinkbug/$state': 'ready' Traceback (most recent call last): File "/config/custom_components/valetudo_vacuum_camera/valetudo/MQTT/connector.py", line 326, in async_message_received await self.hypfer_handle_connect_state(msg) File "/config/custom_components/valetudo_vacuum_camera/valetudo/MQTT/connector.py", line 179, in hypfer_handle_connect_state self._payload = msg.payload.decode("utf-8") ^^^^^^^^^^^^^^^^^^ AttributeError: 'str' object has no attribute 'decode'. Did you mean: 'encode'? 2024-04-29 16:38:54.426 ERROR (MainThread) [homeassistant.util.logging] Exception in async_message_received when handling msg on 'valetudo/SilentTepidStinkbug/$state': 'init' Traceback (most recent call last): File "/config/custom_components/valetudo_vacuum_camera/valetudo/MQTT/connector.py", line 326, in async_message_received await self.hypfer_handle_connect_state(msg) File "/config/custom_components/valetudo_vacuum_camera/valetudo/MQTT/connector.py", line 179, in hypfer_handle_connect_state self._payload = msg.payload.decode("utf-8") ^^^^^^^^^^^^^^^^^^ AttributeError: 'str' object has no attribute 'decode'. Did you mean: 'encode'? 2024-04-29 16:38:54.612 ERROR (MainThread) [homeassistant.util.logging] Exception in async_message_received when handling msg on 'valetudo/SilentTepidStinkbug/$state': 'ready' Traceback (most recent call last): File "/config/custom_components/valetudo_vacuum_camera/valetudo/MQTT/connector.py", line 326, in async_message_received await self.hypfer_handle_connect_state(msg) File "/config/custom_components/valetudo_vacuum_camera/valetudo/MQTT/connector.py", line 179, in hypfer_handle_connect_state self._payload = msg.payload.decode("utf-8") ^^^^^^^^^^^^^^^^^^ AttributeError: 'str' object has no attribute 'decode'. Did you mean: 'encode'? 2024-04-29 16:38:54.696 INFO (MainThread) [custom_components.valetudo_vacuum_camera.valetudo.MQTT.connector] silenttepidstinkbug not ready, not connected to MQTT. ``` ### Additional information https://github.com/sca075/valetudo_vacuum_camera/blob/2024.05/custom_components/valetudo_vacuum_camera/valetudo/MQTT/connector.py ```python workaround code @staticmethod async def async_decode_mqtt_payload(msg): """Check if we need to decode or not the payload""" if isinstance(msg.payload, bytes): # If it's binary data, decode it payload_str = msg.payload.decode("utf-8") return payload_str elif isinstance(msg.payload, (int, float)): # If it's a number, return it as is return msg.payload else: # If it's already a string or another type, return it as is return msg.payload ```

gsca075 · July 25, 2024, 8:01am

Yes according to them it so… again, I will test also this option and see if it fix’s the problem’s, if not I think I should re-discuss the issue.

I know it is a kind of odd. And honestly I hope is clear that I’m trying to understand the phenomenon so that, we can together discuss it, either with the core guys or with Valetudo guys.

For the time be I take the responsibility for it. This is why I felt right to open an issue for it on my side…

Obviously as per, it is mentioned in that comment, nothing has changed but later on MQTT Exception raised while updating state of sensor BatteryStateAttribute/level' with payload: b'88' · Issue #118629 · home-assistant/core · GitHub

There was some changes on the sensors, this is what I’m talking about now.

gsca075 · July 25, 2024, 9:41pm

@tom_l I changed significantly the connector and I will observe it for a couple of days to see if there is still “binary” conversions error.
I did also commented, on the “closed” issue in HA, as per, either the cases… Binary (None Encoding as it was before, or DEFAULT_ENCODING) or Strings the values are just Subscribed… so why MQTT.sensor is raising the warning when the Camera do not publish Sensors data?
Hopefully, this changes on the Camera code, will solve this warnings this is all that matters in the end

tom_l · July 26, 2024, 1:01am

Let me know if you want me to test it. Though I think I have the same model vacuum as you (S5).

gsca075 · July 26, 2024, 2:59pm

Thanks will do I’m still working on a couple of things, and I guess will release a couple of beta’s next week. I need to wait for the HA betas as well before to release the 2024.08.0.

gsca075 · July 29, 2024, 9:42pm

@tom_l and @paddy0174 I did release the 2024.08.0b0 that included the fix for the binary data and some improvements on the snapshots. Hope you guys are willing to test this pre-release and please do not hesitate to open an issue when facing problems.

paddy0174 · July 29, 2024, 9:58pm

Thanks! I for one am willing, but not able to for a few days… My “Else”¹ isn’t available, I needed to unplug her: We’re painting the walls and ceiling, and she wasn’t very helpful in the beginning

But I promise, I will do after the coming weekend!

¹ I named my vacuum after a famous german TV janitor, “Else Kling”. She played the janitor in a TV series (Lindenstrasse), that ran for 35 years. Thought that would be appropriate. Don’t tell me, you haven’t named your vacuum robot…

tom_l · July 29, 2024, 10:42pm

Installed. Will let you Know how it goes after my scheduled vacuum later today.

gsca075 · July 30, 2024, 7:04am

Well honestly… I guess each one renamed the vacuums, had cool ideas for that. I found the names that they get with the firmwares quite interesting. The “V1” is Silent Tepid Stinkbug, and the “S5” Glossy Hard to Found Narwhal, quite original names I need to say… looks interesting so. “Stinkbug” and “Narwhal”, will probably be them after I will change the flat/town later this summer, indeed is cool to give them a little personality and if there is a background is even better

tom_l · July 30, 2024, 7:45am

I added large googly-eyes and moustache stickers to my two, but I have not named them.

Good news, no binary mqtt message warnings!

gsca075 · July 30, 2024, 9:16am

Super then we solved the problem in the end it was the decoding of the payload as I wrote earlier. So just few new adjustments and when Home Assistant 2024.8.0 come out and we can test the Camera with the beta releases we should be able to release the 2024.08.0. As there are issues for the guys using one vacuum on multi floors (using maploader) I will add an option to create the pre-loaded trims file or not, this means old way reload (warning can occur) or new stile with pre-loaded trims (no warnings) will be selectable.
Edit: I would need also to re-flash the S5 with Rand256 to make sure that also this firmware works this is also why this will take time

gsca075 · August 4, 2024, 3:40pm

The version 2024.08.0 of the Camera will be fully packed and include the “reset_trims” service as well a Camera “reload” Service. It also fixes from the tests done the binary data conversion issues faced in the new versions of Home Assistant (due to an update miss interpretation from my side of the new decoding specs of MQTT).
As per there was several changes in the last month, and I couldn’t honestly fully test the Rand256, the robot just now booted with Rand and hopefully 2024.08.0 will also correct the issues that are facing up since the 2024.07.x versions of the Camera.

Note that to beta test the Camera your Home Assistant should be min. 2024.8.0b0.

gsca075 · August 6, 2024, 10:29pm

Screenshot 2024-08-03 at 10.43.04

This are new “Actions” that are now available with the version 2024.08.0 of our Camera. The reset_trims action is the one that will automatically reset the images trims (when you for example reset/change the vacuums maps) and reload the Camera automatically.

We got also Rand256 to work again, and once again sorry for taking so long

Pillow dependencies are right now a little on the large, but this give the possibility to the users that will not update HA to still run our updates. The aim is to keep it woking and improving it not forcing anyone in the end… “never touch a running system” is the role one

No more binary Warning / conversions errors from MQTT with this new version.

FireCheetah · August 9, 2024, 10:51am

Thank-you very much for making this integration.

I have a query on the “action”/service for resetting image trims - will this carry-out/run the same task as the “Reset Map Trims” option under the advanced options?

The reason I ask is because I’m using the valetudo map-loader (GitHub - pkoehlers/maploader: Map loader for Dreame robot vacuums running Valetudo) addon to switch valetudo maps so that I can move the robot from one floor to another in my home. When I reload the vacuum camera, the vacuum map is trimmed/clipped and only part of it shows. If I use the “Reset Map Trims” option, this fixes it. So, it would be great to have that available as a service/“action” if that’s possible

gsca075 · August 9, 2024, 11:44am

@FireCheetah you are really welcome, yes in theory it should do the same. There is although some issue right now → it looks it isn’t working as expected. I will do my best to make it fully functional on the 2024.08.1 next week. There is a discussion on the Camera GitHub page that can give you more details of it.

reset_trims “Action” is design to do the same operations required for “Reset Map Trims” including reload the camera. In the case you use only one vacuum this should work. Mainly I noticed that sometimes the reload fails, but as I stated above I will make sure it woks in full by next week.

gsca075 · August 16, 2024, 11:31am

@FireCheetah I just released the version 2024.08.1 that fixes a couple of thinks on the “Actions”.
With this version the “specifications” for the Actions are now fixed.

Action “reload” = All MQTT Vacuum Cameras are reload no need to specify witch one.
Action “reset-trims” All auto_crop*.json will be deleted from the storage folder, also here no need to specify the camera. This “Action” will invoke the reload one while executing (no need to reload the camera afterword).
So to invoke the action reset_trims:

action: mqtt_vacuum_camera.reset_trims
data: {}

Those changes ensures that when needed also using map-loader is possible to configure a script to manage those scenarios, and the Camera should render the maps correctly.

Another point, is that the auto_crop data will be written only when the vacuum is “docked”.

For those that didn’t yet update the camera the version compatible with Home Assistant 2024.8.x is >= 2024.08.0. If you are running the Camera version 2024.06.3 or earlier, please do not hesitate to let me know, but in general…

Update the Camera to 2024.06.4.
Follow the instruction for the migration process.
Update HACS repository of this integration to MQTT_Vacuum_Camera
Update the MQTT Vacuum Camera to at least 2024.08.0

If you do not want to use / can’t use the 2024.06.4 to migrate… some other users had just updated the HACS url for the repository and manually setup the Camera, you off course would need to remove the Valetudo_Vacuum_Camera once you are done (this is automatically done with the 2024.06.4 migration procedure).