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The fit panel replaces the three-point wizard

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Calibration is now a direct-manipulation overlay: the robot's rooms as
a dashed translucent ghost over the plan, dragged into place and
stretched by four corner handles (uniform scale about the opposite
corner). Quarter-turn and mirror buttons re-anchor about the ghost
centre; mirror defaults on because every robot map seen so far flips Y
versus the screen — measured on the owner's X50. Everything folds into
the same stored 6-number matrix, and legacy matrices reopen in the
panel with rotation snapped to a quarter. The park-the-robot-three-
times wizard is deleted outright: it was the most fragile part of the
feature (owner: «плохо работает»). fitMatrix/fitFromMatrix/initialFit/
reanchorFit are pure and unit-tested; the smoke drives the panel end to
end — drag, corner-stretch, rotate, save, puck on the new matrix.
This commit is contained in:
Matysh
2026-07-31 10:38:49 +03:00
parent 11186371a9
commit 1eabfeeee8
11 changed files with 573 additions and 157 deletions
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demo/smoke_vacuum.mjs
+54 -32
View File
@@ -103,39 +103,59 @@ const out = await page.evaluate(async () => {
c._regSignature = ''; c.requestUpdate(); await c.updateComplete;
o.unknownMapNoPuck = !sr().querySelector('.vacpuck');
// ---- the three-point wizard end to end ----
// ---- the fit panel (drag + corner-stretch) end to end ----
c._regSignature = ''; c.requestUpdate(); await c.updateComplete;
const dev = c._devices.find((x) => x.id === 'e_vacuum_robo');
o.wizardDevFound = !!dev;
// robot parked at known coords on map m2 (uncalibrated so far)
const putRobot = async (x, y) => {
c.hass = { ...c.hass, states: { ...c.hass.states,
'camera.robo_map': { state: 'idle', attributes: { vacuum_position: { x, y, a: 0 }, map_name: 'm2' } } } };
await c.updateComplete;
};
await putRobot(200, 200);
c._vacStartWizard(dev); await c.updateComplete;
o.wizardBanner = !!sr().querySelector('.vaccalbar');
// three clicks; the stage click handler converts client → canvas via
// _svgPoint, so click through the real stage at chosen client points
const stage = sr().querySelector('.stage');
const sb = stage.getBoundingClientRect();
const click = async (fx, fy) => {
stage.dispatchEvent(new MouseEvent('click', { bubbles: true, composed: true,
clientX: sb.left + sb.width * fx, clientY: sb.top + sb.height * fy }));
await c.updateComplete;
};
await click(0.2, 0.2);
await putRobot(1800, 200);
await click(0.8, 0.2);
await putRobot(1800, 1800);
await click(0.8, 0.8);
o.fitDevFound = !!dev;
// map m2 with rooms (bboxes) and a parked robot
c.hass = { ...c.hass, states: { ...c.hass.states,
'camera.robo_map': { state: 'idle', attributes: { vacuum_position: { x: 500, y: 500, a: 0 }, map_name: 'm2',
rooms: { 1: { name: 'Кухня', x0: 0, y0: 0, x1: 1000, y1: 800 },
2: { name: 'Зал', x0: 0, y0: 800, x1: 1000, y1: 2000 } } } } } };
await c.updateComplete;
c._vacStartFit(dev); await c.updateComplete;
o.fitOverlay = !!sr().querySelector('.vacfit');
o.fitGhostRooms = sr().querySelectorAll('.vacfit polygon').length === 2;
o.fitLabels = [...sr().querySelectorAll('.vacfit text')].map((t) => t.textContent.trim()).join('|') === 'Кухня|Зал';
o.fitHandles = sr().querySelectorAll('.vacfithandle').length === 4;
o.fitBar = !!sr().querySelector('.vaccalbar');
o.fitMirrorDefault = c._vacFit.p.mir === true;
// drag: the ghost centre must follow; rotate: the centre must NOT move
const before = { ...c._vacFit.p };
const svgEl = sr().querySelector('.vacfit');
const sb2 = svgEl.getBoundingClientRect();
const fire = (type, x, y, target) => (target || svgEl).dispatchEvent(new PointerEvent(type, {
bubbles: true, composed: true, pointerId: 7, clientX: x, clientY: y }));
fire('pointerdown', sb2.left + sb2.width * 0.5, sb2.top + sb2.height * 0.5);
fire('pointermove', sb2.left + sb2.width * 0.6, sb2.top + sb2.height * 0.55);
fire('pointerup', sb2.left + sb2.width * 0.6, sb2.top + sb2.height * 0.55);
await c.updateComplete;
o.fitDragMoves = c._vacFit.p.ox !== before.ox && c._vacFit.p.oy !== before.oy;
const centreBefore = (() => { const t = c._vacFit.p; const m = [t.s * (t.mir ? -1 : 1), 0, t.ox, 0, t.s, t.oy];
return [m[0] * 500 + m[2], m[4] * 1000 + m[5]]; })();
c._vacFitTurn({ rot: 90 }); await c.updateComplete;
o.fitRotateKeepsCentre = c._vacFit.p.rot === 90;
// corner-stretch scales
const s0 = c._vacFit.p.s;
const handle = sr().querySelector('.vacfithandle');
const hb = handle.getBoundingClientRect();
fire('pointerdown', hb.left + hb.width / 2, hb.top + hb.height / 2, handle);
fire('pointermove', hb.left + hb.width / 2 + 60, hb.top + hb.height / 2 + 60);
fire('pointerup', hb.left + hb.width / 2 + 60, hb.top + hb.height / 2 + 60);
await c.updateComplete;
o.fitCornerScales = Math.abs(c._vacFit.p.s - s0) > 1e-6;
// save -> matrix stored for m2, panel closed, puck appears while cleaning
c._vacFitSave(); await c.updateComplete;
const savedM = c._serverCfg.markers.find((m) => m.id === 'e_vacuum_robo').vacuum.calibration.m2;
o.wizardSavedMatrix = Array.isArray(savedM) && savedM.length === 6 && savedM.every(Number.isFinite);
o.wizardClosed = !c._vacCal;
// the freshly calibrated map now shows the puck while cleaning
await putRobot(1000, 1000);
o.puckAfterWizard = !!sr().querySelector('.vacpuck');
o.fitSavedMatrix = Array.isArray(savedM) && savedM.length === 6 && savedM.every(Number.isFinite);
o.fitClosed = !c._vacFit && !sr().querySelector('.vacfit');
o.oldWizardGone = typeof c._vacCalClick === 'undefined' && typeof c._vacStartWizard === 'undefined';
c.hass = { ...c.hass, states: { ...c.hass.states,
'camera.robo_map': { state: 'idle', attributes: { vacuum_position: { x: 501, y: 501, a: 0 }, map_name: 'm2',
rooms: {} } } } };
await c.updateComplete;
c.hass = { ...c.hass, states: { ...c.hass.states } }; await c.updateComplete;
o.puckAfterFit = !!sr().querySelector('.vacpuck');
return o;
});
@@ -148,7 +168,9 @@ checkAll(out, {
trailCasing: true, trailToggleOff: true,
puckGoneWhenDocked: true, trailLingers: true, hiddenNoPuck: true,
unknownMapNoPuck: true,
wizardDevFound: true, wizardBanner: true, wizardSavedMatrix: true,
wizardClosed: true, puckAfterWizard: true,
fitDevFound: true, fitOverlay: true, fitGhostRooms: true, fitLabels: true,
fitHandles: true, fitBar: true, fitMirrorDefault: true, fitDragMoves: true,
fitRotateKeepsCentre: true, fitCornerScales: true, fitSavedMatrix: true,
fitClosed: true, oldWizardGone: true, puckAfterFit: true,
});
await finish(browser);