Valeronoi

Valeronoi (Valetudo + Voronoi) is a companion for Valetudo for generating WiFi signal strength maps. It visualizes them using a Voronoi diagram.

Features

• Real-time WiFi Mapping: Record WiFi signal strength while your robot cleans.
• Valetudo Integration: Connects directly to robots running Valetudo (API v2).
• Voronoi Visualization: Beautifully renders signal strength across your floor plan.
• Export: Save your generated maps as images for sharing or documentation.
• Persistent Storage: Save and load your measurements in the Valeronoi WiFi Map (.vwm) format.
• Robot Control: Basic controls for starting/stopping cleanups directly from the app.
• Cross-platform: Available for Linux, macOS, and Windows.

Installation

Binary distributions are available for Linux, macOS and Windows (x86_64). They can be found in the releases.

• Linux: Provided as AppImages. Built on Ubuntu 24.04 LTS with Qt 6.
• macOS: Built for macOS 15 (Sequoia) on both Intel and Apple Silicon (Universal/Separate binaries).
• Windows: Available as an installer and a portable zip. Requires MSVC redistributable DLLs (included in the installer).

Basic Usage

1. Prerequisites: Ensure your robot is running a recent Valetudo version (API v2). Persistent maps are highly recommended.
2. Setup: Configure the robot connection in Robot → Setup.
3. Connect: Click the Connect button to establish a connection with the robot.
4. Verify: Ensure the correct map is displayed.
5. Record: Click Begin recording to start collecting WiFi data.
6. Clean: Start a cleanup (either via Valeronoi's Control tab or Valetudo).
7. Monitor: Watch the map update in real-time as the robot moves.
8. Finish: Once the robot returns to the dock, stop the recording and save your work as a .vwm file.

Important: Map Stability

If your robot does not support persistent maps (e.g., older Roborock V1) or the feature is disabled, only record during partial cleanups. A full cleanup may regenerate the map, changing internal coordinates and corrupting the recording.

Display & Performance

If the visualization is slow, adjust settings in the Display tab:

• Disable "Draw floor"
• Uncheck "Restrict to ..." options
• Increase the Simplify slider
• Toggle OpenGL (Note: Performance may vary; can cause issues in some VMs or Remote Desktop sessions).

Building from source

Prerequisites

• C++ Compiler: Support for C++17 (e.g., GCC 7+, Clang 5+, MSVC 2017+).
• Qt 6: Core, Widgets, Network.
• CGAL: Computational Geometry Algorithms Library (v5.x or v6.x recommended).
• CMake: Version 3.16 or later.

Build Instructions

mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
cmake --build . -j$(nproc)

Arch Linux

A PKGBUILD is available in tools/pkgbuild/valeronoi-git. You can build and install it using:

makepkg -si

Development & Testing

Valeronoi includes a test suite to ensure core logic (Voronoi generation, data handling) remains stable.

To build and run tests:

mkdir build && cd build
cmake .. -DVALERONOI_BUILD_TESTS=ON
cmake --build .
./valeronoi-tests

Contributing

Contributions are welcome! Please see CONTRIBUTING.md for guidelines.

License

GPLv3