feat: decode Q10 (03 01) saved-map obstacle markers#1
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Saved-map frames (marker `03 01`) share the current-map (`01 01`) header/grid/room layout but append an obstacle-marker section to the tail, after the carpet block: `[count:u8]` then `count` int16-BE (x, y) pairs in raw obstacle coordinates. - Parse `03 01` frames (`is_saved_map_packet`; `parse_map_packet` now accepts both markers) and decode the obstacle section into `Q10MapPacket.obstacles`. Located after a validated carpet block, so a frame without one decodes no obstacles rather than misreading the tail. - Place obstacles onto `MapData.obstacles` in `render_q10_map` using a fixed header-anchored scale (`col = ox/10 + x/50`, `row = oy/10 - y/50`, resolution 50 around the header pixel origin) -- independent of the fitted path calibration, so they appear as soon as the saved map arrives. - Route `03 01` through the protocol dispatch; the map trait needs no change. Fixtures + byte-level decode ground-truthed against two real ss07 captures shared by @andrewlyeats (2- and 53-obstacle frames, map id zeroed): obstacle raw (-4633, -1946) with header origin (1651, 434) lands at grid px (72.4, 82.3), matching his expected decode. Follow-ups (not in this PR): the trailing 17-byte-header path package and the skip-clean section that also live in the `03 01` tail.
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Draft / stacked on Python-roborock#848 — builds on the
q10-map-layersrender pipeline (render_q10_map/MapDataplacement). Base isq10-map-layersso this diff shows only the obstacle work; retarget tomainonce Python-roborock#848 merges.Implements the obstacle-layer follow-up @andrewlyeats offered in #848 (gist: https://gist.github.com/andrewlyeats/6c0c5892ab61e6d1c75d4c42c9202903).
What
Saved-map frames (marker
03 01) share the current-map (01 01) header/grid/room layout but append an obstacle-marker section to the tail, after the carpet block:03 01frames —is_saved_map_packet();parse_map_packet()now accepts both markers — and decode the obstacle section intoQ10MapPacket.obstacles. Obstacles are located immediately after a validated carpet block (sameuncompressed_len == w*hguard as the carpet parser), so a frame without one decodes no obstacles rather than misreading the tail.MapData.obstaclesinrender_q10_map, using the fixed header-anchored obstacle scale (col = ox/10 + x/50,row = oy/10 − y/50→ aGridCalibration(resolution=50, origin=header.origin_pixels())). This is independent of the fitted path calibration, so obstacles show up as soon as the saved map arrives (no clean required).03 01through the protocol dispatch; the map trait needs no change (obstacles flow through the existingQ10MapPacketpath).Provenance / fixtures
Byte-level decode ground-truthed against two real ss07 captures @andrewlyeats shared (map id zeroed, rest as-captured), added as fixtures:
b01_q10_saved_map_2obstacles.bin— 2 obstacles; headerW=219 H=254 ox=1651 oy=434 res=5b01_q10_saved_map_53obstacles.bin— 53 obstaclesHis expected decode reproduces exactly: raw
(-4633, -1946)→ grid px(72.4, 82.3), raw(-5231, -3852)→(60.5, 120.4).Tests
Parser (marker recognition, 2/53 obstacle decode, synthetic tail, no-carpet defensiveness), render (placement at the expected pixels, keepalive-header no-op), protocol dispatch.
pre-commit(ruff + mypy) clean; full suite green.Not in this PR (follow-ups)
The
03 01tail also carries the skip-clean section and the trailing path package (17-byte header + int16(x, y)points, same geometry as02 01). Left for a follow-up to keep this focused on obstacles.