{
"map": {
"mapId": 11,
"type": "STABLE",
"width": 4,
"height": 1,
"resolution": 0.05,
"docking": [1, 0],
"pixels": "᭠ᠭᰩ䘨掊庀֢嫠嵀 ",
"rooms": [
{
"roomId": 0,
"cleaningSequence": 0,
"sweepingTimes": 1,
"moppingTimes": 0,
"name": "Room 1"
}
]
},
"zones": {
"virtualWalls": [
{
"id": 0,
"coordinates": [
[52, -19],
[103, -24]
]
}
],
"forbiddenZones": [
{
"id": 0,
"mode": "ALL_FORBIDDEN",
"coordinates": [
[60, -50],
[90, -50],
[90, -30],
[60, -30],
],
"name": ""
}
]
}
}
| mapId | unique map ID |
|---|---|
| type | STABLE = map is finished, virtual zones etc can be used |
| UNSTABLE = map is not yet finished | |
| width | map width in pixels |
| height | map height in pixels |
| resolution | map resolution, e.g. 1 pixel equals 1 cm |
| docking | Docking station coordinates (x, y) |
| pixels | see below |
| rooms | detected rooms and their properties: |
| roomId = unique room ID | |
| cleaningSequence = cleaning sequence position | |
| sweepingTimes = how often the room should be swept | |
| moppingTimes = how often the room should be mopped | |
| name = room name | |
| zones | virtualWalls: |
| id: unique wall ID | |
| coordinates: array of coordinates (x, y) | |
| forbiddenZones: | |
| id: unique room ID | |
| mode: ALL_FORBIDDEN, SWEEP_FORBIDDEN, MOPPING_FORBIDDEN | |
| coordinates: array of coordinates | |
| name: zone name |
The format of the pixels attribute is the following:
Based on Pixel array (e.g. x, y and type) the data needs to be compressed to the following format similar to this:
x, y, length, type
length = the amount of following horizontal pixels
type = the type of the pixel:
1 => unkown area
2 => border (e.g. wall)
3 => door
10...49 => obstacle
50...99 => room ID
Example:
[x, y, t, x, y, t, ...]
[
0, 0, 1,
1, 0, 1,
2, 0, 2,
3, 0, 2,
4, 0, 1
]
=>
[x, y, l, t, x, y, l, t, ...]
[
0, 0, 2, 1,
2, 0, 2, 2,
4, 0, 1, 1
]
The resulting compressed pixel array needs to be compressed using LZString Compression (UTF16)
[0,0,2,1,2,0,2,2,4,0,1,1]
=>
᭠ᠭᰩ䘨掊庀֢嫠嵀