feat: decode Q7 (B01) map geometry — dock, robot pose, path and rooms

[andig]

Summary

Decodes the previously unmapped SCMap RobotMap protobuf fields for Q7 (B01) devices and renders dock, robot position and cleaning path with the shared V1 glyphs — the top open item ("Map") of #739, and the Q7 side of #827.

Field semantics were established empirically by diffing live MQTT captures from a Q7 Series (roborock.vacuum.sc05, fw 03.01.80) while docked, cleaning and returning to dock:

field	name	content
5	mapInfo (repeated)	saved-map list (id + name)
6	historyPose	cleaning path points (meters); grows during a clean
7	chargeStation	dock pose (x, y, phi)
8	currentPose	live robot pose + path index + activity flag
9	areaInfo (repeated)	zone polygons
13	roomMatrix	room matrix bytes
14	roomOutline (repeated)	per-room boundary pixel chains + room-to-room border chains

Changes

• Extend b01_scmap.proto with the messages above and regenerate b01_scmap_pb2.py (protoc gencode 6.31.1, matching the checked-in file).
• B01MapParser projects into MapData:
  • charger from chargeStation;
  • vacuum_position from currentPose — saved maps carry a (1100.0, 1100.0) placeholder pose, so out-of-map-bounds poses are rejected and the robot falls back to its dock;
  • path from historyPose;
  • rooms (bounding box + label position + name) from roomOutline + roomDataInfo.
• Render charger/vacuum/path with the shared V1 ImageGenerator (same approach as the Q10 renderer); raster converted to RGBA for glyph compositing.
• Correct the occupancy value comment: 127 is floor, 128 is wall (verified against the rendered floor plan and pixel histogram: ~28k floor px ≈ 70 m² home vs ~2.6k wall px).

Validation

• 4 new unit tests: world→pixel projection, placeholder-pose rejection, room-outline extraction, existing fixture unchanged.
• Full test suite passes locally (one pre-existing unrelated failure in test_web_api::test_url_cycling fails on a clean checkout too); ruff check/format clean.
• Live-tested against a real sc05: saved map renders dock + docked robot in the correct rooms; during a clean the robot marker and path track the actual movement.

Companion PR (independent): live map pushes — the same capture showed Q7 devices stream these frames unsolicited during cleaning.

🤖 Generated with Claude Code

[Copilot]

Pull request overview

Adds support for decoding and rendering additional Q7 (B01) SCMap geometry by extending the protobuf schema and projecting decoded poses/path/rooms into the shared V1 MapData + renderer pipeline.

Changes:

• Extended b01_scmap.proto with additional Q7/B01 map fields (poses, path history, areas, room matrix/outline) and regenerated the checked-in *_pb2.py.
• Updated B01MapParser to project charger pose, robot pose, and cleaning path into MapData, and to derive room bounding boxes from roomOutline.
• Added unit tests covering world→pixel projection, placeholder-pose rejection, and room-outline extraction.

Reviewed changes

Copilot reviewed 3 out of 4 changed files in this pull request and generated 2 comments.

File	Description
tests/map/test_b01_map_parser.py	Adds unit tests for pose/path projection, placeholder pose handling, and room-outline extraction.
roborock/map/proto/b01_scmap.proto	Extends the B01/Q7 SCMap proto2 schema with newly decoded messages/fields.
roborock/map/proto/b01_scmap_pb2.py	Updates checked-in protobuf gencode to match the extended schema.
roborock/map/b01_map_parser.py	Projects decoded charger/robot/path/rooms into MapData and renders overlays using the shared V1 image generator.

Files not reviewed (1)

• roborock/map/proto/b01_scmap_pb2.py: Generated file

Suppressed comments (2)

roborock/map/proto/b01_scmap_pb2.py:32

• The generated module name passed to BuildTopDescriptorsAndMessages is now 'b01_scmap_pb2', but this file is imported as roborock.map.proto.b01_scmap_pb2. This mismatch changes the generated message classes’ module and can break pickling / dynamic imports and some protobuf reflection use cases. Regenerate with the correct module path (or update this line) so it matches the actual import path.
  roborock/map/proto/b01_scmap_pb2.py:19
• The runtime version validation call embeds the proto filename ('b01_scmap.proto'), which no longer matches the proto path used elsewhere in the repo/regeneration instructions. Keeping it consistent with the checked-in proto path makes it easier to trace where this descriptor came from when debugging descriptor collisions.

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[andig]

Seems this repo isn‘t very friendly to contributions. Giving up.

[allenporter]

andig@ You can see recent contributions here: https://github.com/Python-roborock/python-roborock/pulls?q=is%3Apr+is%3Aclosed

I'll admit directly: i personally didn't prioritize this as I don't have this device and there were a massive number of q10 incoming reviews (a device I own).

I would say your PR is still welcome here, just haven't had a chance to review yet.

[andig]

Thanks. It has been tested against device and still works on my Q7.

[allenporter]

OK thanks for understanding the review delay. There are currently some lint errors that need to be resolved on CI. Please have a look and mark ready for review.

[andig]

Sorry, hadn't seen those- fixed.