feat: expose Q10 map archives

AGENTS.md

@@ -54,7 +54,7 @@ Evaluate every change against the repository's three core layers in strict prior
 ## Detailed Engineering Conventions
 
 ### 1. Typing & Data Models
-- **Subclass `RoborockBase`**: Define structured domain and wire data models as `@dataclass` subclassing `RoborockBase` (`from_dict`, `as_dict`). Avoid `TypedDict` or loose dicts. (Binary protocol packets, transport message envelopes, and map layers are exempt).
+- **Subclass `RoborockBase`**: Define structured domain and wire data models as `@dataclass` subclassing `RoborockBase` (`from_dict`, `as_dict`). Avoid `TypedDict` or loose dicts. (Binary protocol packets, transport message envelopes, and map layers are exempt). The existing frozen `Q10RoborockPoint` coordinate value is also exempt: it must retain immutability and hashability, and Python disallows frozen dataclass inheritance from the non-frozen `RoborockBase`. This exception does not extend to other domain models.
 - **Enum Fallback Resilience**: All enums representing device status, firmware modes, error codes, and wire protocol integer codes MUST inherit from `RoborockEnum` (defining a lowercase `unknown = -1` or `0` member) or `RoborockModeEnum` (using `from_code_optional()`). Internal enums not decoding unknown firmware codes remain standard `Enum`/`StrEnum`.
 - **Strongly Type What You Know; Contain `Any` to the Wire**: Public trait APIs, method signatures, properties, and domain models MUST declare concrete types. `Any` is accepted only where the underlying wire protocol is dynamic or polymorphic (Tuya DPS maps, low-level RPC dispatch, serialization helpers, evolving cloud schemas).
 - **Avoid Forward References & `TYPE_CHECKING`**: Avoid stringified forward references (`"ClassName"`) and `if typing.TYPE_CHECKING:` guards wherever possible. They typically indicate circular dependencies or coupling that should be refactored by extracting shared models.

roborock/cli.py

@@ -605,6 +605,7 @@ async def maps(ctx, device_id: str):
 async def _await_q10_map_push(
     properties: Q10PropertiesApi,
     predicate: Callable[[], bool],
+    revision: Callable[[], int],
     *,
     timeout: float = _Q10_MAP_PUSH_TIMEOUT,
     allow_cached_on_timeout: bool = False,
@@ -617,9 +618,10 @@ async def _await_q10_map_push(
     """
     loop = asyncio.get_running_loop()
     updated: asyncio.Future[None] = loop.create_future()
+    initial_revision = revision()
 
     def on_update() -> None:
-        if predicate() and not updated.done():
+        if revision() > initial_revision and predicate() and not updated.done():
             updated.set_result(None)
 
     unsub = properties.map.add_update_listener(on_update)
@@ -649,6 +651,7 @@ async def map_image(ctx, device_id: str, output_file: str):
         await _await_q10_map_push(
             properties,
             lambda: properties.map.image_content is not None,
+            lambda: properties.map.map_revision,
             allow_cached_on_timeout=True,
         )
         image_content = properties.map.image_content
@@ -697,8 +700,8 @@ async def map_data(ctx, device_id: str, include_path: bool):
 async def q10_position(ctx, device_id: str, include_path: bool):
     """Get the current Q10 robot position and live cleaning path.
 
-    The Q10 only streams its position/path while it is actively cleaning, so this
-    will report that no live trace is available for an idle/docked robot.
+    The Q10 normally streams position/path while it is actively cleaning, so an
+    idle device may report that no fresh live trace is available.
     """
     context: RoborockContext = ctx.obj
     device_manager = await context.get_device_manager()
@@ -710,9 +713,10 @@ async def q10_position(ctx, device_id: str, include_path: bool):
     got_trace = await _await_q10_map_push(
         properties,
         lambda: bool(properties.map.path),
+        lambda: properties.map.trace_revision,
     )
     if not got_trace:
-        click.echo("No live trace available (the robot only reports position while cleaning).")
+        click.echo("No fresh live trace available.")
         return
     map_trait = properties.map
     position = map_trait.robot_position
@@ -875,6 +879,7 @@ async def rooms(ctx, device_id: str):
         await _await_q10_map_push(
             properties,
             lambda: properties.map.image_content is not None,
+            lambda: properties.map.map_revision,
             allow_cached_on_timeout=True,
         )
         click.echo(dump_json({room.id: room.name for room in properties.map.rooms}))

roborock/data/b01_q10/b01_q10_containers.py

@@ -144,7 +144,9 @@ class Q10MapInfo(RoborockBase):
     """A saved map reported by ``dpMultiMap``.
 
     Q10 firmware represents the map identifier as a string on the wire. The
-    value is sent back unchanged in a subsequent ``{"op": "get"}`` request.
+    value is sent back unchanged in a subsequent ``{"op": "select"}`` detail
+    request. On Q10 firmware, ``select`` previews a saved map without applying
+    it as the active map.
     """
 
     id: str

roborock/devices/device_manager.py

@@ -19,6 +19,7 @@
 from roborock.devices.device import DeviceReadyCallback, RoborockDevice
 from roborock.diagnostics import Diagnostics, redact_device_data
 from roborock.exceptions import RoborockException
+from roborock.map.b01_q10_map_parser import B01Q10MapParserConfig
 from roborock.map.map_parser import MapParserConfig
 from roborock.mqtt.roborock_session import create_lazy_mqtt_session
 from roborock.mqtt.session import MqttSession, SessionUnauthorizedHook
@@ -262,7 +263,12 @@ def device_creator(home_data: HomeData, device: HomeDataDevice, product: HomeDat
                 if "ss" in model_part:
                     b01_q10_channel = create_b01_q10_channel(mqtt_channel)
                     channel = b01_q10_channel
-                    trait = b01.q10.create(channel)
+                    trait = b01.q10.create(
+                        channel,
+                        map_parser_config=(
+                            B01Q10MapParserConfig(map_scale=map_parser_config.map_scale) if map_parser_config else None
+                        ),
+                    )
                 elif "sc" in model_part:
                     # Q7 devices start with 'sc' in their model naming.
                     b01_q7_channel = create_b01_q7_channel(device, product, mqtt_channel)

roborock/devices/traits/b01/q10/__init__.py

@@ -8,7 +8,13 @@
 from roborock.data.containers import RoborockBase
 from roborock.devices.rpc.b01_q10_channel import B01Q10Channel
 from roborock.devices.traits import Trait
-from roborock.map.b01_q10_map_parser import Q10MapPacket, Q10TracePacket
+from roborock.map.b01_q10_map_parser import (
+    B01Q10MapParserConfig,
+    Q10CleanRecordDetail,
+    Q10MapPacket,
+    Q10MapPacketKind,
+    Q10TracePacket,
+)
 from roborock.protocols.b01_q10_protocol import Q10DpsUpdate, Q10Message
 
 from .button_light import ButtonLightTrait
@@ -92,7 +98,12 @@ class Q10PropertiesApi(Trait):
     clean_history: CleanHistoryTrait
     """Trait for fetching the device clean-record history (``dpCleanRecord``)."""
 
-    def __init__(self, channel: B01Q10Channel) -> None:
+    def __init__(
+        self,
+        channel: B01Q10Channel,
+        *,
+        map_parser_config: B01Q10MapParserConfig,
+    ) -> None:
         """Initialize the B01Props API."""
         self._channel = channel
         self.command = CommandTrait(channel)
@@ -106,10 +117,17 @@ def __init__(self, channel: B01Q10Channel) -> None:
         self.network_info = NetworkInfoTrait()
         self.consumable = ConsumableTrait()
         self._map_dps = MapDpsTrait()
-        self.maps = MapsTrait(self.command)
-        self.map = MapContentTrait(self._map_dps, self.maps, self.command)
+        self.maps = MapsTrait(self.command, map_parser_config=map_parser_config)
+        self.map = MapContentTrait(
+            self._map_dps,
+            self.command,
+            map_parser_config=map_parser_config,
+        )
+        self.clean_history = CleanHistoryTrait(
+            self.command,
+            map_parser_config=map_parser_config,
+        )
         self.vacuum = VacuumTrait(self.command, self.status, self.map)
-        self.clean_history = CleanHistoryTrait(self.command)
         # Read-model traits updated from the device's DPS push stream.
         self._updatable_traits = [
             self.status,
@@ -158,7 +176,12 @@ def _handle_message(self, message: Q10Message) -> None:
         Map-list DPS responses and other DPS updates feed the read-model traits.
         """
         if isinstance(message, Q10MapPacket):
-            self.map.update_from_map_packet(message)
+            if message.kind is Q10MapPacketKind.CURRENT:
+                self.map.update_from_map_packet(message)
+            elif message.kind is Q10MapPacketKind.SAVED_MAP_DETAIL:
+                self.maps.update_from_map_packet(message)
+        elif isinstance(message, Q10CleanRecordDetail):
+            self.clean_history.update_from_detail(message)
         elif isinstance(message, Q10TracePacket):
             self.map.update_from_trace_packet(message)
         elif isinstance(message, Q10DpsUpdate):
@@ -179,6 +202,13 @@ def as_dict(self) -> dict[str, Any]:
         return result
 
 
-def create(channel: B01Q10Channel) -> Q10PropertiesApi:
+def create(
+    channel: B01Q10Channel,
+    *,
+    map_parser_config: B01Q10MapParserConfig | None = None,
+) -> Q10PropertiesApi:
     """Create traits for B01 devices."""
-    return Q10PropertiesApi(channel)
+    return Q10PropertiesApi(
+        channel,
+        map_parser_config=map_parser_config or B01Q10MapParserConfig(),
+    )

roborock/devices/traits/b01/q10/clean_history.py

@@ -22,6 +22,16 @@
     YXStartMethod,
 )
 from roborock.data.b01_q10.b01_q10_containers import Q10CleanRecord
+from roborock.exceptions import RoborockException
+from roborock.map.b01_q10_map_parser import (
+    B01Q10MapParserConfig,
+    Q10CleanRecordDetail,
+    Q10HistoricalTracePacket,
+    Q10MapPacket,
+    Q10MapPacketKind,
+    Q10Point,
+)
+from roborock.map.b01_q10_render import Q10MapOverlays, render_q10_map
 
 from .command import CommandTrait
 from .common import UpdatableTrait
@@ -115,12 +125,28 @@ class CleanHistoryTrait(UpdatableTrait):
     or a single ``op:"notify"`` record) rather than a flat data-point-to-field map.
     """
 
-    def __init__(self, command: CommandTrait) -> None:
+    _command: CommandTrait
+
+    def __init__(
+        self,
+        command: CommandTrait,
+        *,
+        map_parser_config: B01Q10MapParserConfig | None = None,
+    ) -> None:
         """Initialize the clean history trait."""
         UpdatableTrait.__init__(self, command, _LOGGER)
+        self._command = command
         self._converter = CleanRecordConverter()
+        self._map_parser_config = map_parser_config or B01Q10MapParserConfig()
         self.records: list[Q10CleanRecord] = []
         """Decoded clean records, most recent first."""
+        self.detail: Q10CleanRecordDetail | None = None
+        """Most recently pushed ``03 01`` clean-record map detail."""
+        self.detail_record: Q10CleanRecord | None = None
+        """Record associated with :attr:`detail_packet`, when requested here."""
+        self.detail_image_content: bytes | None = None
+        """Rendered clean-record detail image, if decoding succeeded."""
+        self._pending_detail_record: Q10CleanRecord | None = None
 
     @property
     def last_record(self) -> Q10CleanRecord | None:
@@ -134,13 +160,52 @@ async def refresh(self) -> None:
         asynchronously on the device stream and populate :attr:`records` once
         :meth:`update_from_dps` processes the ``dpCleanRecord`` push.
         """
-        if self._command is None:
-            raise ValueError("Trait is read-only; no command channel was provided")
         await self._command.send(
             B01_Q10_DP.COMMON,
             params={str(B01_Q10_DP.CLEAN_RECORD.code): {"op": "list"}},
         )
 
+    async def refresh_detail(self, record: Q10CleanRecord) -> None:
+        """Request the saved map and path for one clean record.
+
+        The complete 12-field raw record is the firmware's detail identifier;
+        the shorter human-facing record ID is not accepted. Only one request
+        may be outstanding because ``03 01`` responses carry no correlation ID.
+        """
+        if not record.raw or not record.map_len:
+            raise RoborockException("The Q10 clean record has no saved map detail")
+        if self._pending_detail_record is not None:
+            raise RoborockException("A Q10 clean-record detail request is already pending")
+        self._pending_detail_record = record
+        try:
+            await self._command.send(
+                B01_Q10_DP.COMMON,
+                params={
+                    str(B01_Q10_DP.CLEAN_RECORD.code): {
+                        "op": "select",
+                        "id": record.raw,
+                    }
+                },
+            )
+        except RoborockException:
+            self._pending_detail_record = None
+            raise
+
+    @property
+    def detail_packet(self) -> Q10MapPacket | None:
+        """The map from the most recently received clean-record detail."""
+        return self.detail.map if self.detail else None
+
+    @property
+    def detail_trace(self) -> Q10HistoricalTracePacket | None:
+        """Historical path embedded in the selected clean-record detail."""
+        return self.detail.trace if self.detail else None
+
+    @property
+    def detail_path(self) -> list[Q10Point]:
+        """Historical path points for the selected clean record."""
+        return self.detail_trace.points if self.detail_trace else []
+
     def update_from_dps(self, decoded_dps: dict[B01_Q10_DP, Any]) -> None:
         """Apply a ``dpCleanRecord`` push (a full list reply or a single notify)."""
         envelope = decoded_dps.get(B01_Q10_DP.CLEAN_RECORD)
@@ -151,6 +216,25 @@ def update_from_dps(self, decoded_dps: dict[B01_Q10_DP, Any]) -> None:
             return
         self._apply(push)
 
+    def update_from_detail(self, detail: Q10CleanRecordDetail) -> None:
+        """Store and render a pushed clean-record detail map."""
+        if detail.map.kind is not Q10MapPacketKind.CLEAN_RECORD_DETAIL:
+            raise ValueError(f"Expected a Q10 clean-record detail packet, got {detail.map.kind.value}")
+        self.detail_record = self._pending_detail_record
+        self._pending_detail_record = None
+        self.detail = detail
+        try:
+            self.detail_image_content = render_q10_map(
+                detail.map,
+                detail.trace,
+                Q10MapOverlays(),
+                config=self._map_parser_config,
+            )
+        except RoborockException:
+            _LOGGER.debug("Failed to render Q10 clean-record detail", exc_info=True)
+            self.detail_image_content = None
+        self._notify_update()
+
     def _apply(self, push: CleanRecordPush) -> None:
         """Merge or replace the records from ``push``, then sort newest-first and notify."""
         if push.replace: