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.
Checked against the real robot at the dacha: room centres arrive as
plain x/y next to the bbox, and the active-map name (selected_map,
'Первый этаж'/'Второй этаж') lives on the VACUUM entity, not on the
camera — without reading it both floors would silently share one
calibration matrix. Parser and card resolver adjusted; the captured
attribute shape is now a unit fixture.
The base marker never moves — it is the dock. While the robot cleans, a
round pulsing puck (no badge plate) drives the plan over an affine
transform solved from vacuum-map coordinates: auto-calibration matches
the robot's room list against plan rooms by name, and a three-point
wizard covers integrations without room data. The trail rides the
integration's own path when offered (it predates the card being opened)
and a self-recorded thinned buffer otherwise, lingering ten minutes
after docking. Adapters read the Map Extractor / Tasshack / Valetudo
attribute dialects through one tolerant parser. Display only — no
commands, per the owner's decision.
vacuum.ts is pure logic under 8 new unit tests; the marker schema grew
an optional vacuum block (56 backend tests); smoke_vacuum drives 19
browser asserts including the wizard end to end.
Matysh