fix: refine a high-residual calibration on the map's own floor

User-Visible: no
Issue: #162

src/editors/vacuum-maps-section.ts

@@ -9,6 +9,7 @@
 import { TemplateResult, html, nothing } from 'lit';
 import type { HpConfirmRequest } from '../danger-confirm';
 import type { DevItem } from '../types';
+import type { VacSourceCandidate, VacSourceResolution } from '../vacuum';
 import { langOf, type I18nKey } from '../i18n';
 import { supportT, type SupportI18nKey } from '../i18n/support';
 import { VacuumMapRoute, effectiveRoutes, observedMapIds, resolveRoute } from '../vacuum-routes';
@@ -49,6 +50,7 @@ const spaceName = (host: VacuumMapsCardHost, spaceId: string): string => {
  */
 export function renderVacuumMapsSection(
   runtime: VacuumMapsHost, dev: DevItem, setVac: (patch: Record<string, unknown>) => void,
+  sources: VacSourceResolution,
 ): TemplateResult | typeof nothing {
   const host = runtime.host;
   const lang = langOf(host.hass, host._config?.language);
@@ -96,6 +98,27 @@ export function renderVacuumMapsSection(
     ));
   };
 
+  /**
+   * Second supported integration shape: one camera per map (spec 9.3).
+   *
+   * The map id is read from the picked source with the same fallback the rest
+   * of the card uses. A source that names no map cannot be told apart from
+   * another later, so no route is created and the reason is shown instead of
+   * a route that could never resolve.
+   */
+  const addSource = (candidate: VacSourceCandidate) => {
+    const mapId = host._vacObservedMapId(dev, candidate.entityId);
+    if (mapId === undefined) return;
+    writeRoutes((current) => addRoute(
+      current,
+      { source: candidate.entityId, map_id: mapId, space: current.length ? '' : dev.space },
+      newRouteId(takenIds()),
+    ));
+  };
+
+  const spare = sources.candidates.filter((candidate) => candidate.entityId !== rootSource
+    && !routes.some((route) => route.source === candidate.entityId));
+
   const retarget = async (route: VacuumMapRoute, space: string) => {
     if (!space || space === route.space) return;
     const accepted = await host._confirmDanger({
@@ -186,6 +209,22 @@ export function renderVacuumMapsSection(
         <button type="button" class="btn" ?disabled=${!canAddCurrent}
           @click=${addCurrent}>${t('vac.route_add_current')}</button>
       </div>
+      ${spare.length ? html`<details class="vacroute-sources">
+        <summary class="btn ghostbtn">${t('vac.route_add_source')}</summary>
+        <div class="rhint">${t('vac.route_add_source_hint')}</div>
+        <div class="vacsource-list">
+          ${spare.map((candidate) => {
+            const mapId = host._vacObservedMapId(dev, candidate.entityId);
+            return html`<button type="button" class="vacsource" ?disabled=${mapId === undefined}
+              @click=${() => addSource(candidate)}>
+              <span><b>${candidate.name}</b><small>${candidate.entityId}</small></span>
+              <span class="vacsource-meta">${mapId === undefined
+                ? t('vac.route_source_no_map')
+                : (mapId || t('vac.route_map_default'))}</span>
+            </button>`;
+          })}
+        </div>
+      </details>` : nothing}
       ${rows.some((route) => !spaceIds.has(route.space)) ? html`
         <div class="warn">${t('vac.route_missing_space_hint')}</div>` : nothing}
       ${routes.some((route) => route.map_id === 'default') ? html`

src/houseplan-card.ts

@@ -2512,7 +2512,7 @@ export class HouseplanCard extends LitElement {
   private _vacAllCameraCache: { devId: string; candidates: VacSourceCandidate[] } | null = null;
   /** Proposed high-residual auto-calibration. Config remains untouched until Apply. */
   private _vacCalConfirm: {
-    markerId: string; source: string; mapId: string; routeId?: string; matrix: Affine;
+    markerId: string; source: string; mapId: string; routeId?: string; space?: string; matrix: Affine;
     rooms: number; error: string;
   } | null = null;
   private _kioskDots = false;

src/houseplan-editor-runtime.ts

@@ -1147,7 +1147,7 @@ export interface HouseplanEditorHostPort {
   _undoPoint: () => void;
   _vacAllCameraCache: { devId: string; candidates: VacSourceCandidate[]; } | null;
   _vacAllCamerasFor: string | null;
-  _vacCalConfirm: { markerId: string; source: string; mapId: string; routeId?: string; matrix: Affine; rooms: number; error: string; } | null;
+  _vacCalConfirm: { markerId: string; source: string; mapId: string; routeId?: string; space?: string; matrix: Affine; rooms: number; error: string; } | null;
   _vacEnsureMarker: (d: DevItem) => Marker | null;
   _vacEntity: (d: DevItem) => string | null;
   _vacMapId: (d: DevItem, tele: { mapId: string }, planHass?: any) => string;
@@ -10970,7 +10970,7 @@ public _renderVacSection(dlg: any): TemplateResult | typeof nothing {
             ${(['never', 'cleaning', 'always'] as const).map((mv) => html`
               <option value=${mv} ?selected=${vacTrailMode(v) === mv}>${this.host._t(('vac.trail_' + mv) as any)}</option>`)}
           </select>
-          ${renderVacuumMapsSection(this, dev, setVac)}
+          ${renderVacuumMapsSection(this, dev, setVac, resolution)}
         ` : nothing}
       </div>`;
   }
@@ -10981,9 +10981,7 @@ public _vacMapId(d: DevItem, tele: { mapId: string }, planHass = this.host._plan
     return this.host._vacMapId(d, tele, planHass);
   }
 
-public _vacSaveMatrix(
-    markerId: string, source: string, mapId: string, matrix: Affine, routeId = '',
-  ): boolean {
+public _vacSaveMatrix(markerId: string, source: string, mapId: string, matrix: Affine, routeId = ''): boolean {
     // HP-1540-01: a first-use vacuum has no marker yet — materialise it
     const dev = this.host._devices.find((x) => x.id === markerId);
     const m = dev ? this.host._vacEnsureMarker(dev)
@@ -11034,7 +11032,7 @@ public _vacAutoCalibrate(d: DevItem): void {
     const residualCm = vacCalibrationResidualCm(res.residual, this.host._gridPitch, cellCm);
     if (residualCm > VAC_CALIBRATION_WARN_CM) {
       this.host._vacCalConfirm = {
-        markerId: d.id, source: src, mapId, routeId: target.routeId, matrix: res.matrix,
+        markerId: d.id, source: src, mapId, routeId: target.routeId, space: target.space, matrix: res.matrix,
         rooms: res.matched.length,
         error: formatLength(residualCm, this.host.hass?.config?.unit_system?.length === 'mi'),
       };
@@ -11053,11 +11051,11 @@ public _vacApplyCalibrationProposal(manual: boolean): void {
       const fit = fitFromMatrix(proposal.matrix);
       if (!dev || !fit) return;
       this.host._markerDialog = null;
-      if (dev.space !== this.host._space && !this.host._commitSpace(dev.space)) return;
-      this.host._vacFit = {
-        markerId: proposal.markerId, source: proposal.source, routeId: proposal.routeId,
-        mapId: proposal.mapId, p: fit, drag: null,
-      };
+      // #162: матрица решена против пространства МАРШРУТА, а не дока.
+      const space = proposal.space || dev.space;
+      if (space !== this.host._space && !this.host._commitSpace(space)) return;
+      this.host._vacFit = { markerId: proposal.markerId, source: proposal.source,
+        routeId: proposal.routeId, mapId: proposal.mapId, p: fit, drag: null };
       return;
     }
     if (this._vacSaveMatrix(

src/i18n/support/de.json

@@ -72,5 +72,8 @@
   "vac.route_space_confirm": "Verschieben",
   "vac.route_missing_space_hint": "Eine Karte verweist auf einen gelöschten Raum: neuen wählen oder Karte entfernen. Bis dahin wird der Roboter für diese Karte nicht gezeichnet.",
   "vac.route_default_hint": "Die Quelle meldet keine stabile Karten-ID. Mehrere Etagen lassen sich ohne andere Quelle oder die vom Roboter gewählte Karte nicht unterscheiden.",
-  "vac.route_target_hint": "Die Station bleibt unabhängig von der aktuellen Karte im Raum „{space}“."
+  "vac.route_target_hint": "Die Station bleibt unabhängig von der aktuellen Karte im Raum „{space}“.",
+  "vac.route_add_source": "Kartenquelle hinzufügen",
+  "vac.route_add_source_hint": "Für Integrationen, die jeder Karte eine eigene Kamera geben. Der Abschnitt „Alle Kameras“ oben erweitert diese Liste.",
+  "vac.route_source_no_map": "keine Karte gemeldet"
 }

src/i18n/support/en.json

@@ -72,5 +72,8 @@
   "vac.route_space_confirm": "Move",
   "vac.route_missing_space_hint": "One of the maps points at a deleted space: pick a new one or remove the map. Until then the robot is not drawn for that map.",
   "vac.route_default_hint": "The source reports no stable map id. Several floors cannot be told apart without another source or the robot's own selected map.",
-  "vac.route_target_hint": "The dock stays in the “{space}” space regardless of the current map."
+  "vac.route_target_hint": "The dock stays in the “{space}” space regardless of the current map.",
+  "vac.route_add_source": "Add a map source",
+  "vac.route_add_source_hint": "For integrations that give each map its own camera. The “All cameras” section above widens this list.",
+  "vac.route_source_no_map": "no map reported"
 }

src/i18n/support/fr.json

@@ -72,5 +72,8 @@
   "vac.route_space_confirm": "Déplacer",
   "vac.route_missing_space_hint": "Une carte pointe vers un espace supprimé : choisissez-en un autre ou supprimez la carte. D'ici là, le robot n'est pas dessiné pour cette carte.",
   "vac.route_default_hint": "La source ne fournit pas d'identifiant de carte stable. Plusieurs étages ne peuvent pas être distingués sans une autre source ou la carte sélectionnée du robot.",
-  "vac.route_target_hint": "La station reste dans l'espace « {space} » quelle que soit la carte actuelle."
+  "vac.route_target_hint": "La station reste dans l'espace « {space} » quelle que soit la carte actuelle.",
+  "vac.route_add_source": "Ajouter une source de carte",
+  "vac.route_add_source_hint": "Pour les intégrations qui donnent à chaque carte sa propre caméra. La section « Toutes les caméras » ci-dessus élargit cette liste.",
+  "vac.route_source_no_map": "aucune carte signalée"
 }

src/i18n/support/ru.json

@@ -72,5 +72,8 @@
   "vac.route_space_confirm": "Перенести",
   "vac.route_missing_space_hint": "Одна из карт ссылается на удалённое пространство: выберите новое или удалите карту. Пока ссылка не исправлена, робот на этой карте не рисуется.",
   "vac.route_default_hint": "Источник не сообщает стабильный идентификатор карты. Несколько этажей нельзя различить без другого источника или собственной карты робота.",
-  "vac.route_target_hint": "Док остаётся в пространстве «{space}» независимо от текущей карты."
+  "vac.route_target_hint": "Док остаётся в пространстве «{space}» независимо от текущей карты.",
+  "vac.route_add_source": "Добавить источник карты",
+  "vac.route_add_source_hint": "Для интеграций, где у каждой карты своя камера. Список расширяется разделом «Все камеры» выше.",
+  "vac.route_source_no_map": "карта не читается"
 }