# Valetudo by [@Hypfer](https://github.com/Hypfer) over MQTT

[Integration's documentation](https://valetudo.cloud)

This platform can be used to control vacuums flashed with Valetudo created by [@Hypfer](https://github.com/Hypfer) connected to Home Assistant using [MQTT](https://www.home-assistant.io/integrations/mqtt/).

## Calibration

If you want to use **just** room cleaning you can calibrate the map using following config:
```yaml
calibration_source:
  identity: true
```

In other cases you have to manually calibrate the map and provide calibration points.

## Requirements

To use this card with a Valetudo vacuum you have to define `topic` internal variable in your preset:

```yaml
type: custom:xiaomi-vacuum-map-card
map_source:
  camera: camera.valetudo
calibration_source:
  calibration_points:
    - vacuum:
        x: 25500
        y: 25500
      map:
        x: 466
        y: 1889
    - vacuum:
        x: 26500
        y: 26500
      map:
        x: 730
        y: 1625
    - vacuum:
        x: 25500
        y: 26500
      map:
        x: 466
        y: 1625
entity: vacuum.valetudo
vacuum_platform: Hypfer/Valetudo
internal_variables:
  topic: valetudo/rockrobo
```

## Retrieving map image

To retrieve map image you have to use [MQTT Vacuum Camera](https://github.com/sca075/mqtt_vacuum_camera/) custom integration made by [@sca075](https://github.com/sca075) (recommended; supports auto-calibration) or [I can't believe it's not Valetudo](https://github.com/Hypfer/Icantbelieveitsnotvaletudo) (not recommended; manual calibration required).

## Available templates

* ### Room cleaning (`vacuum_clean_segment`)

  Uses IDs to clean specific rooms. Requires `topic` variable and `predefined_selections` to be provided.

  [Getting coordinates](/docs/templates/setup.md#getting-coordinates)

  Used service: `mqtt.publish`

  <details>
  <summary>Example configuration</summary>

  ```yaml
  map_modes:
    - template: vacuum_clean_segment
      variables:
        topic: valetudo/robot
      predefined_selections:
        - id: "12"
          outline: [[ 21458, 32131 ], [ 24235, 32152 ], [ 24194, 27409 ], [ 23181, 27409 ]]
          label:
            text: "Bedroom"
            x: 22932
            y: 30339
            offset_y: 35
          icon:
            name: "mdi:bed"
            x: 22932
            y: 30339
        - id: "9"
          outline: [[ 21478, 27237 ], [ 23048, 27250 ], [ 23061, 25655 ], [ 21478, 25680 ]]
          label:
            text: "Bathroom"
            x: 22282
            y: 26496
            offset_y: 35
          icon:
            name: "mdi:shower"
            x: 22282
            y: 26496
  ```

  </details>
  <details>
  <summary>Example video</summary>

  https://user-images.githubusercontent.com/6118709/141666925-34b01cde-82ff-447b-aecc-e9ced402b1ed.mp4

  </details>

* ### Zone cleaning (`vacuum_clean_zone`)

  Uses 4 points to clean rectangular zones.

  Used service: `mqtt.publish`

  <details>
  <summary>Example configuration</summary>

  ```yaml
  map_modes:
    - template: vacuum_clean_zone
  ```

  </details>
  <details>
  <summary>Example video</summary>

    https://user-images.githubusercontent.com/6118709/141666913-d95f082d-f5bf-4ab5-a478-ba44effe6f34.mp4

  </details>

* ### Predefined zone cleaning (`vacuum_clean_zone_predefined`)

  Uses 4 coordinates to clean rectangular zones that have been defined in the configuration. Requires `predefined_selections` to be provided.

  [Getting coordinates](/docs/templates/setup.md#getting-coordinates)

  Used service: `mqtt.publish`

  <details>
  <summary>Example configuration</summary>

  ```yaml
  map_modes:
    - template: vacuum_clean_zone_predefined
      predefined_selections:
        - zones: [[ 21485, 28767, 24236, 32131 ], [ 23217, 27379, 24216, 28737 ]]
          label:
            text: "Bedroom"
            x: 22932
            y: 30339
            offset_y: 35
          icon:
            name: "mdi:bed"
            x: 22932
            y: 30339
        - zones: [[ 27782, 27563, 29678, 29369 ]]
          label:
            text: "Kitchen"
            x: 28760
            y: 28403
            offset_y: 35
          icon:
            name: "mdi:pot-mix"
            x: 28760
            y: 28403
  ```

  </details>
  <details>
  <summary>Example video</summary>

    https://user-images.githubusercontent.com/6118709/141666920-492a000c-9a78-4c20-b4f5-9343928140c7.mp4

  </details>

* ### Going to a specified point (`vacuum_goto`)

  Uses a pair of coordinates for vacuum to get to a user-specified point.

  Used service: `mqtt.publish`

  <details>
  <summary>Example configuration</summary>

  ```yaml
  map_modes:
    - template: vacuum_goto
  ```

  </details>
  <details>
  <summary>Example video</summary>

    https://user-images.githubusercontent.com/6118709/141666921-2f3d66da-6ffc-492a-8439-625da97651bd.mp4

  </details>

* ### Going to a predefined point (`vacuum_goto_predefined`)

  Uses a pair of coordinates for vacuum to go to a point that has been defined in the configuration. Requires `predefined_selections` to be provided.

  [Getting coordinates](/docs/templates/setup.md#getting-coordinates)

  Used service: `mqtt.publish`

  <details>
  <summary>Example configuration</summary>

  ```yaml
  map_modes:
    - template: vacuum_goto_predefined
      predefined_selections:
        - position: [ 28006, 28036 ]
          label:
            text: "Emptying"
            x: 28006
            y: 28036
            offset_y: 35
          icon:
            name: "mdi:broom"
            x: 28006
            y: 28036
        - position: [ 32143, 26284 ]
          label:
            text: "Sofa"
            x: 32143
            y: 26284
            offset_y: 35
          icon:
            name: "mdi:sofa"
            x: 32143
            y: 26284
  ```

  </details>
  <details>
  <summary>Example video</summary>

    https://user-images.githubusercontent.com/6118709/141666923-965679e9-25fb-44cd-be08-fc63e5c85ce0.mp4

  </details>