Dreame Vacuum Robot Maploader

Provides a map changing functionality for rooted vacuum robots running Valetudo controllable via MQTT.

Currently this only supports Dreame robots, tested with a Dreame L10 Pro.

A similar project for Xiaomi/Roborock vacuums (without further affiliation) can be found here: Thyraz/MapLoader

Note

The map changing process used in this project is purely based on observations and testing. This is neither supported by Dreame nor Valetudo. If you consider your map valueable, back it up before using the maploader.

It does not matter if the vacuum is docked or not but ensure that map changes don't take place during cleaning tasks.

How it works

The maploader is a small programm running on the robot. It creates a state and command topic in the configured MQTT broker.

When a new map name is sent to the command topic, the robot will backup the current map files, remove all the map files and restore the other map if it exists. It will finally restart relevant processes on the vacuum to load the new map.

In case anything goes wrong, you can get the last few backup archives for each map in /data/maploader.

The default map name is "main".

After the map change, Valetudo will be restarted and will not be reachable for some seconds. Sometimes Valetudo might show an empty map after restarting and it takes some time to load the actual map. This process can be sped up by starting the cleaning (and stopping it directly).

I am using this with Homeassistant, where I trigger the map change as part of an automation and move the robot to the other zone. It can then be operated on the new map after the reboot.

MQTT Topics

Current map topic: valetudo/maploader/map
Command topic: valetudo/maploader/map/set
Maploader state topic: valetudo/maploader/status

The payload in the map topics simply is the string determining the map name.

The maploader status can change to the following value:

Status	Description
idle	Maploader is started and awaiting commands
changing_map	The map is currently being changed
error	An error occured, logs need to be checked
offline	The maploader process exited / lost the MQTT connection

Homeassistant Config

This project does not support Home Assistant auto discovery as I am using the sensor to define the list of possible maps. To allow Home Assistant to work with maploader add the section below to your configuration.yaml. To create a new map, just add a new value to the field and set the entity to that new value.

mqtt:
  sensor:
    - state_topic: valetudo/maploader/status
  select:
    - command_topic: valetudo/maploader/map/set
      state_topic: valetudo/maploader/map
      name: "vacuum_maploader_map"
      options:
        - "main"
        - "second_floor"

Supported robots

The following models are known to work with the maploader:

Model	binary
Dreame L10 Pro	maploader-arm64
Dreame F9	maploader-arm
Dreame D9 Pro	maploader-arm

If your Dreame robot is not listed here, you need to find out the arch of your robot (e.g. with uname -m, where aarch64 -> ...-arm64 binary).

Please open an issue, if your Dreame robot is not listed here but works or you need assistance.

Installation

The binary must be placed in the /data folder and it needs to be started with the system.

Make sure that Valetudo is working and MQTT is also setup in Valetudo.

Steps

Open a SSH terminal

Download the binary: (check the supported robots section for the correct filename in the URL)

wget -O /data/maploader-binary https://github.com/pkoehlers/maploader/releases/latest/download/maploader-arm64

Add execution permissions:

chmod +x /data/maploader-binary

Open the postboot script:

vi /data/_root_postboot.sh

Search for the valetudo start block and add the maploader statup after the start of Valetudo so that it looks like this:

if [[ -f /data/valetudo ]]; then
        VALETUDO_CONFIG_PATH=/data/valetudo_config.json /data/valetudo > /dev/null 2>&1 &
        VALETUDO_CONFIG_PATH=/data/valetudo_config.json /data/maploader-binary > /dev/null 2>&1 &
fi

Reboot

Configuration

The following things can be customized with environment variables:

Variable	Default value	Description
VALETUDO_CONFIG_PATH	/data/valetudo_config.json	path to the valetudo config file
MAPLOADER_DIR	/data/maploader	directory to store the maps and logs
DEFAULT_MAP_NAME	main	name of the main map (for first use)
ROTATION_KEEP_MAPS	5	number of map backups to keep per map

Technical Details

As mentioned this is only tested with the Dreame L10 Pro but other Dreame robots should work just fine. Currently these files/direcotries are considered "map files":

/data/ri
/data/map
/data/DivideMap
/data/config/ava/mult_map.json

Basically these are all the files that will be cleared by resetting the map via Valetudo.

Development

Build the project with env GOOS=linux GOARCH=arm64 go build -o maploader-binary

mo5h/maploader