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.
• Headless CLI Mode (tested on Linux): Automated recording without GUI, ideal for scheduled scans via cron or containers.

Installation

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

• Linux: Provided as AppImages and Flatpak single-file bundles (install with flatpak install Valeronoi-flatpak-*.flatpak)
• macOS: Built for macOS 15 (Sequoia) on both Intel and Apple Silicon (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)

Flatpak

A Flatpak manifest (de.ccoors.valeronoi.yaml) is included for local builds.

flatpak install flathub org.kde.Sdk//6.11 org.kde.Platform//6.11
flatpak-builder --user --install --force-clean build-dir de.ccoors.valeronoi.yaml
flatpak run de.ccoors.valeronoi

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 ..
cmake --build .
./valeronoi-tests

Headless CLI Mode

Valeronoi can run without a GUI for automated WiFi scans, e.g. triggered by a cron job on a headless home server.

Usage

# Start cleaning in vacuum-only mode and record for 30 minutes
valeronoi --headless \
  --url http://192.168.1.100 \
  --mode vacuum \
  --command start \
  --output scan.vwm \
  --duration 1800

# Send a command without recording (e.g. send robot home)
valeronoi --headless --url http://192.168.1.100 --command home

Pressing Ctrl+C (or sending SIGTERM) saves collected data before exiting.

Options

Non-start commands (stop, home, pause, locate) execute immediately and exit — no recording is performed even if --output is specified.

Container usage

# Build
podman build -f Containerfile.build -t valeronoi-build .
podman run --rm -v "$PWD:/host:Z" -w /host valeronoi-build \
  bash -c "mkdir -p build && cd build && cmake .. && cmake --build . -j$(nproc)"
podman build -f Containerfile.run -t valeronoi .

# Run
podman run --rm --network host -v ./output:/output:Z valeronoi \
  --headless --url http://192.168.1.100 \
  --mode vacuum --command start \
  --output /output/wifi_$(date +%F_%H%M).vwm --duration 1800

Cron example

# Daily 30-minute WiFi scan at 10:00
0 10 * * * podman run --rm --network host -v /data/wifi:/output:Z valeronoi --headless --url http://192.168.1.100 --mode vacuum --command start --output /output/scan_$(date +\%F).vwm --duration 1800

The resulting .vwm files can be opened in the GUI for Voronoi visualization and image export.

Contributing

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

License

GPLv3