feat: render Q10 map obstacle markers by hCoureau · Pull Request #938 · Python-roborock/python-roborock

hCoureau · 2026-08-31T14:46:26Z

Q10 map packets contain obstacle positions without validated type or photo metadata. This parses their bounded point tables and exposes calibrated, position-only markers on live, saved, and clean-history maps.

Implementation

Parse obstacle and skip-clean point tables using their declared counts and section boundaries. Truncated tables do not shift parsing into later sections.
Expose typed Q10Obstacle values through the existing map traits, returning copies of their lists.
Preserve archive obstacle data alongside the composed clean-record map/path response.
Render obstacle positions using their map-header coordinate calibration and honor configured drawable selection.
Keep obstacle state on its owning map packet; no additional request lifecycle is introduced.

Dependencies

Depends on #937. Parser support from #936 and the model-conformance fix in #965 are merged. Upstream main through b3a98b9 (7.12.0) is integrated.

Allen’s follow-up feedback on merged #936 is addressed by separate clean-record and saved-map decoder tests, with no conditional assertions.

Validation and limits

Validation of f157a8c:

uv run pytest -q on Python 3.13: 1,452 passed, 53 xfailed, 92 snapshots passed.
All pre-commit hooks passed, including Ruff, mypy, codespell, and structured-file checks.
uv build passed for both wheel and sdist.
The affected cumulative protocol suite passed on Python 3.11 and 3.14: 96 passed, 10 snapshots passed on each version. The full cumulative suite passed on both versions before this test-only follow-up and merge.

No physical-device run was performed for this revision.

Tests cover bounded/truncated tables, archive data, marker placement, and drawable configuration. Earlier physical Q10 S5 validation exercised position-only obstacles; those hardware checks have not been rerun for this revision.

Obstacle types, confidence, and photo identifiers are not inferred. Rendering requires usable map-header calibration. Archive requests inherit the bounded lifecycle from #937, including its clean-history ambiguity barrier and same-map freshness limitation.

No private map captures or account data are included. Related: #767.

lboue · 2026-09-06T17:31:51Z

@hCoureau Could you fix the conflict?

hCoureau · 2026-09-08T06:32:12Z

Resolved the merge conflicts with current main in ded170d by merging main and retaining its accepted 30-second Q10 CLI map-push timeout. The PR's feature changes are preserved. GitHub now reports this PR as conflict-free, and it remains ready for review.

Validation: 1,026 tests passed, 92 snapshots passed, all pre-commit hooks passed, and sdist/wheel builds passed. GitHub CI was triggered for the new head. Required maintainer approval still applies.

The existing stacked dependencies on #936 and #937 still apply; this update does not bypass their review or merge order. Conflict resolution and validation performed with OpenAI Codex assistance.

# Conflicts: # roborock/devices/traits/b01/q10/maps.py # tests/devices/traits/b01/q10/test_clean_history.py

allenporter

Note: Conducting this code review following our /review skill using Antigravity (AGY) and Gemini 4 Argon.

The map parser and renderer changes for decoding the post-carpet obstacle/skip-clean point tables and drawing Drawable.OBSTACLES look clean and well-bounded.

A few architectural and scoping items to simplify this PR:

Decouple from #937 and keep raw obstacle coordinates internal to the map packet/renderer:
- Neither V1 (v1/map_content.py) nor Q7 (b01/q7/map_content.py) exposes a separate obstacles or detail_obstacles property on MapContentTrait, CleanSummaryTrait, or MapsTrait—obstacles are parsed on the map packet and rendered into the map image (image_content / MapData.obstacles).
- Moreover, Q10Obstacle is in an internal raw map-packet coordinate frame (50 raw units/pixel relative to the internal map header origin), which isn't usable by a trait consumer without Q10HeaderCalibration.
- If we keep obstacles and skip_cleaning_points on Q10MapPacket for the parser and renderer and drop map.obstacles, clean_history.detail_obstacles, and maps.detail_obstacles, this PR no longer depends on #937 (since #936 is already merged into main) and can be rebased directly onto main.
Avoid Q10Obstacle(Q10Point) inheritance and stringified forward references in b01_q10_map_parser.py:
- See inline comments on Q10Obstacle inheriting Q10Point.to_roborock() (which applies the 2.5 mm trace scale factor rather than the 50 raw units/pixel obstacle scale) and the stringified forward references on Q10MapPacket.
Test public behavior rather than private renderer helpers / patched factory call_args:
- See inline comments on tests/map/test_b01_q10_render.py and tests/devices/test_device_manager.py.

allenporter · 2026-10-17T22:55:23Z

        return self._trace_packet.points if self._trace_packet else []

+    @property
+    def obstacles(self) -> list[Q10Obstacle]:


Let's remove obstacles from MapContentTrait (and "obstacles" from as_dict()), as well as detail_obstacles from CleanHistoryTrait and MapsTrait. Neither V1 nor Q7 exposes raw obstacle lists on traits, and Q10Obstacle is in raw map-header-relative coordinates (50 units/pixel) rather than common coordinates. Keeping obstacles on Q10MapPacket for render_q10_map also allows this PR to be rebased directly onto main without depending on #937.

allenporter · 2026-10-17T22:55:24Z

    """Carpet mask decoded from the packet tail: a full ``width*height`` grid in
    the same (top-down) pixel space as :attr:`grid`, where a non-zero cell is
    carpet (the value is the carpet kind). ``None`` if the packet carried none."""
+    obstacles: list["Q10Obstacle"] = field(default_factory=list)


Please define Q10Obstacle (and Q10Point) above Q10MapPacket so we can use concrete types here instead of stringified forward references ("Q10Obstacle", "Q10Point").

allenporter · 2026-10-17T22:55:24Z



+@dataclass
+class Q10Obstacle(Q10Point):


Q10Point represents a 2.5 mm trace-coordinate point and defines to_roborock() using Q10RoborockPoint.from_trace(self.x, self.y). Subclassing Q10Point here means Q10Obstacle (which uses 50 raw units/pixel) inherits to_roborock() with the wrong coordinate scale factor.

Let's make Q10Obstacle(RoborockBase) a standalone dataclass with x: int and y: int (without inheriting Q10Point.to_roborock()), and have _parse_counted_points(tail: bytes, offset: int) return tuple[list[tuple[int, int]], int | None] (or construct the points at the call site) without needing _PointType = TypeVar(...).

allenporter · 2026-10-17T22:55:24Z


-    device_manager = await create_device_manager(USER_PARAMS)
+    map_parser_config = MapParserConfig(drawables=[Drawable.OBSTACLES], map_scale=2)
+    with patch("roborock.devices.device_manager.b01.q10.create", wraps=create_q10) as q10_create:


Avoid patching b01.q10.create with wraps just to assert on call_args.kwargs["map_parser_config"]. If we want to verify that map_parser_config is forwarded to the Q10 trait, we can either check the rendered map behavior or keep config-wiring tests in tests/devices/traits/b01/q10/test_map.py.

allenporter · 2026-10-17T22:55:24Z

+    )
+    map_data = MapData()
+
+    calibration = _obstacle_calibration(packet)


Rather than importing and testing private renderer helpers (_obstacle_calibration and _place_obstacles) directly here and in test_place_obstacles_requires_header_calibration, please test through the public parser/renderer entrypoints (or B01Q10MapParser.parse / render_q10_map).

hCoureau added 4 commits August 31, 2026 14:57

fix: request Q10 maps without starting cleaning

b8bdf3a

feat: parse Q10 archived map packets

95d268e

feat: expose Q10 map archives

eaac141

feat: render Q10 map obstacle markers

2161763

This was referenced Aug 31, 2026

feat: expose Q10 current cleaning room #939

Open

Add Missing Q10 Feature support #767

Open

chore: merge main and resolve Q10 CLI timeout conflict

ded170d

hCoureau added 6 commits September 10, 2026 17:26

chore: merge main for Q10 archive review fixes

1a4ffde

refactor: give Q10 clean-record maps ownership of historical paths

cbd6abc

fix: integrate Q10 archive review changes and upstream timeout

3f8ec38

fix: integrate Q10 archive review changes into obstacle maps

9a68c0d

fix: assert historical paths are exclusive to clean-record maps

60248c4

fix: narrow clean-record packet types in obstacle tests

d6979b4

This was referenced Sep 11, 2026

feat: add Q10 map management controls #934

Open

feat: add Q10 customized cleaning controls #935

Draft

hCoureau added 13 commits September 17, 2026 09:30

refactor: compose Q10 clean-record details and address parser review

4eb0b9b

refactor: consume composed Q10 clean-record details

49dfd31

refactor: compose archived obstacle maps with historical paths

dd92094

fix: preserve immutable Q10 points in model conformance checks

565c7d0

fix: include standalone Q10 point conformance correction

ac6d83b

fix: include standalone Q10 point conformance correction

d4dbd86

fix: include standalone Q10 point conformance correction

db54bd3

Merge remote-tracking branch 'upstream/main' into fix/pr936-review

3d3a337

Merge branch 'fix/pr936-review' into fix/pr937-review

9d5d9fe

fix: bound Q10 archive selections and preserve response correlation

569e6b3

Merge branch 'fix/pr937-review' into fix/pr938-conflicts

f7dfee3

# Conflicts: # roborock/devices/traits/b01/q10/maps.py # tests/devices/traits/b01/q10/test_clean_history.py

Merge remote-tracking branch 'upstream/main' into fix/pr937-review

9b5e77d

test: split Q10 archive decoder cases

d6b7c59

Merge branch 'fix/pr937-review' into fix/pr938-conflicts

f157a8c

allenporter mentioned this pull request Oct 17, 2026

refactor(map): move Q10 rasterization from parser into render module #986

Draft

allenporter requested changes Oct 17, 2026

View reviewed changes

allenporter mentioned this pull request Oct 17, 2026

feat: expose Q10 map archives #937

Open

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feat: render Q10 map obstacle markers - #938

feat: render Q10 map obstacle markers#938
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		@dataclass
		class Q10Obstacle(Q10Point):

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hCoureau commented Aug 31, 2026 •

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