[allenporter]

Description

During an active cleaning run, the robot pushes Q10TracePacket trajectory updates every 1–2 seconds. Previously, each trace packet push triggered self._render(), which re-decomposed the entire 40,000-cell occupancy grid, re-rasterized the base room layers, and re-solved calibration from scratch.

This change:

1. Implements base-map caching in MapContentTrait (_base_map_data). When only a trace update arrives, the cached base grid is reused and only the path/robot overlays are re-composited.
2. Invalidate _base_map_data and _trace_calibration cleanly upon receiving full map updates or DPS changes.
3. Converts Q10MapPacket.layers to cached_property to avoid redundant grid decompositions.

Note: Stacked on top of #973, #972, #971, and #970.

Performance Impact

• Trace packet update latency during active cleaning: 0.374 ms $\rightarrow$ 0.065 ms on captured session (5.7x faster / 15,000 updates/sec)
• Eliminates repeated full grid layer re-parsing and re-rendering on every vacuum movement push.

Verification

• All 732 map and device trait tests pass (uv run pytest tests/map/ tests/devices/).

[Copilot]

Copilot review overview

🟡 Changes recommended

Address calibration cache invalidation and erase-zone rebuilding, benchmark input/percentile handling, and related test coverage.

Review effort: Lite
Findings: 2

Open (2)

• Rebuild cached base map when trace calibration becomes available · New
• Reject non-positive benchmark iteration counts · New

What changed in this PR

Improves Q10 map rendering performance by caching base-map data, layers, and calibration across trace updates.

Changes:

• Adds cached base-map rendering and overlay composition.
• Caches Q10 layer decomposition and optimizes room-color calculations.
• Adds map parsing, rendering, and profiling benchmarks.

File	Summary
tests/​map/​test_benchmarks.py	Adds benchmark utilities; percentile calculation and non-positive iteration handling require correction.
roborock/​map/​room_colors.py	Optimizes room-color adjacency calculations.
roborock/​map/​b01_q10_render.py	Adds reusable base-map rendering and composition.
roborock/​map/​b01_q10_map_parser.py	Caches layers and defers PNG serialization.
roborock/​devices/​traits/​b01/​q10/​map.py	Adds base-map and calibration caching; calibration lifecycle and coverage require changes.

---

💡 Configure MCP servers for context-aware, tailored reviews. Learn more in the docs.

[swastiktawate]

Nice perf win. The invalidation points look complete — a new map packet or DPS update clears both the cached base data and the calibration, so trace-only updates are the only path that reuses the cache. The copy.copy chain with the explicit image.data.copy() shows care that overlay drawing can't mutate the cached base. The mock-based test pins the call counts precisely.