dji_mqtt_connect 0.1.12 → 0.1.13

checksums.yaml

@@ -1,7 +1,7 @@
 ---
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+  data.tar.gz: 9377ad974ca8a62082e28e72b1f2b00fe598ddeaa1ad5f16ebbf6371d5546412
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+  data.tar.gz: 0a6cd2977635c78779d9be386f82d9fb68e26e9fc30a230a314129589bfeb9342ecb59328a6291c5765ce4ea71a63bc1e68119ed3c0db2257afa54b21c85f480

data/Gemfile.lock

@@ -1,7 +1,7 @@
 PATH
   remote: .
   specs:
-    dji_mqtt_connect (0.1.12)
+    dji_mqtt_connect (0.1.13)
       activesupport (>= 6.0, <= 8)
       dry-struct (~> 1.6)
       dry-transformer (~> 1.0)

data/lib/dji_mqtt_connect/client.rb

@@ -71,6 +71,11 @@ module DjiMqttConnect
       Thing::Product::ServicesTopicRepository.new(self)
     end
 
+    # Handles topic thing/product/#{pid}/services_reply
+    def thing_product_services_reply_topic
+      Thing::Product::ServicesReplyTopicRepository.new(self)
+    end
+
     attr_reader :mqtt_client
   end
 end

data/lib/dji_mqtt_connect/factories.rb

@@ -6,6 +6,24 @@ module DjiMqttConnect
   module Factories
     # Events
 
+    def build_device_exit_homing_notify_events_message
+      message_data = {
+        action: 1,
+        sn: "DOCK01",
+        reason: "0"
+      }
+      Thing::Product::DeviceExitHomingNotifyEventsMessage.new(
+        _method: "device_exit_homing_notify",
+        bid: Message.generate_bid,
+        tid: Message.generate_tid,
+        need_reply: 1,
+        gateway: "GATEWAY01",
+        timestamp: Message.current_timestamp,
+        data: message_data,
+        _data: message_data
+      )
+    end
+
     def build_file_upload_callback_events_message
       message_data = {
         file: {
@@ -57,7 +75,7 @@ module DjiMqttConnect
                 fingerprint: "4f65b891f3bc09bdb6d4c36a996b532d",
                 progress: {
                   current_step: 19,
-                  prgress: 100,
+                  progress: 100,
                   finish_time: 1655781395926,
                   upload_rate: 0,
                   result: 0,
@@ -73,7 +91,7 @@ module DjiMqttConnect
                 progress: {
                   current_step: 19,
                   total_step: 30,
-                  prgress: 100,
+                  progress: 100,
                   finish_time: 1655781395926,
                   upload_rate: 0,
                   result: 0,
@@ -98,6 +116,63 @@ module DjiMqttConnect
       )
     end
 
+    def build_flighttask_progress_events_message
+      message_data = {
+        output: {
+          ext: {
+            current_waypoint_index: 3,
+            media_count: 6,
+            track_id: "track_id",
+            flight_id: "flight_id",
+            break_point: {
+              index: 1,
+              state: 0,
+              progress: 0.34,
+              wayline_id: 0,
+              break_reason: 1,
+              latitude: 23.4,
+              longitude: 113.99,
+              height: 100.23,
+              attitude_head: 30
+            }
+          },
+          progress: {
+            current_step: 19,
+            percent: 100
+          },
+          status: "ok"
+        },
+        result: 0
+      }
+
+      Thing::Product::FlighttaskProgressEventsMessage.new(
+        bid: Message.generate_bid,
+        tid: Message.generate_tid,
+        data: message_data,
+        _data: message_data,
+        _method: "flighttask_progress",
+        timestamp: Message.current_timestamp
+      )
+    end
+
+    def build_flighttask_ready_events_message
+      message_data = {
+        flight_ids: [
+          SecureRandom.uuid,
+          SecureRandom.uuid
+        ]
+      }
+
+      Thing::Product::FlighttaskReadyEventsMessage.new(
+        bid: Message.generate_bid,
+        tid: Message.generate_tid,
+        data: message_data,
+        _data: message_data,
+        _method: "flighttask_ready",
+        timestamp: Message.current_timestamp
+      )
+    end
+
     def build_highest_priority_upload_flighttask_media_events_message
       message_data = {
         flight_id: SecureRandom.uuid
@@ -302,6 +377,33 @@ module DjiMqttConnect
       )
     end
 
+    def build_thing_product_flighttask_resource_get_requests_message
+      message_data = {
+        flight_id: SecureRandom.uuid
+      }
+
+      Thing::Product::FlighttaskResourceGetRequestsMessage.new(
+        tid: Message.generate_tid,
+        bid: Message.generate_bid,
+        timestamp: Message.current_timestamp,
+        _method: "flighttask_resource_get",
+        data: message_data,
+        _data: message_data
+      )
+    end
+
+    def build_thing_product_flighttask_resource_get_requests_reply_message
+      flighttask_resource_get_request = build_thing_product_flighttask_resource_get_requests_message
+      Thing::Product::FlighttaskResourceGetRequestsReplyMessage.build_for(
+        flighttask_resource_get_request,
+        result: 0,
+        file: {
+          fingerprint: "signxxxx",
+          url: "https://xx.oss-cn-hangzhou.aliyuncs.com/xx.kmz?Expires=xx&OSSAccessKeyId=xxx&Signature=xxx"
+        }
+      )
+    end
+
     def build_thing_product_storage_config_get_requests_message
       message_data = {
         module: 0
@@ -341,6 +443,10 @@ module DjiMqttConnect
 
     # Services
 
+    def build_thing_product_alarm_state_switch_services_message
+      Thing::Product::AlarmStateSwitchServicesMessage.build(action: Thing::Product::AlarmStateSwitchServicesMessage::ACTION_OPEN)
+    end
+
     def build_thing_product_cover_close_services_message
       Thing::Product::CoverCloseServicesMessage.build
     end
@@ -349,6 +455,14 @@ module DjiMqttConnect
       Thing::Product::CoverOpenServicesMessage.build
     end
 
+    def build_thing_product_debug_mode_close_services_message
+      Thing::Product::DebugModeCloseServicesMessage.build
+    end
+
+    def build_thing_product_debug_mode_open_services_message
+      Thing::Product::DebugModeOpenServicesMessage.build
+    end
+
     def build_thing_product_fileupload_list_services_message
       Thing::Product::FileuploadListServicesMessage.build(
         module_list: [0, 3]
@@ -394,5 +508,247 @@ module DjiMqttConnect
         }
       )
     end
+
+    def build_thing_product_flighttask_execute_services_message
+      Thing::Product::FlighttaskExecuteServicesMessage.build(flight_id: SecureRandom.uuid)
+    end
+
+    def build_thing_product_flighttask_pause_services_message
+      Thing::Product::FlighttaskPauseServicesMessage.build
+    end
+
+    def build_thing_product_flighttask_prepare_services_message
+      Thing::Product::FlighttaskPrepareServicesMessage.build(
+        data: {
+          execute_time: 1234567890123,
+          flight_id: "xxxxxxx",
+          task_type: 2,
+          wayline_type: 0,
+          file: {
+            url: "https://xxx.com/xxxx",
+            fingerprint: "xxxx"
+          },
+          ready_conditions: {
+            battery_capacity: 90,
+            begin_time: 1234567890123,
+            end_time: 1234567890123
+          },
+          executable_conditions: {
+            storage_capacity: 1000
+          },
+          break_point: {
+            index: 1,
+            state: 0,
+            progress: 0.34,
+            wayline_id: 0
+          },
+          rth_altitude: 100,
+          out_of_control_action: 0,
+          exit_wayline_when_rc_lost: 0
+        }
+      )
+    end
+
+    def build_thing_product_flighttask_recovery_services_message
+      Thing::Product::FlighttaskRecoveryServicesMessage.build
+    end
+
+    def build_thing_product_flighttask_undo_services_message
+      Thing::Product::FlighttaskUndoServicesMessage.build(
+        flight_ids: [SecureRandom.uuid, SecureRandom.uuid]
+      )
+    end
+
+    def build_thing_product_return_home_services_message
+      Thing::Product::ReturnHomeServicesMessage.build
+    end
+
+    def build_thing_product_return_home_cancel_services_message
+      Thing::Product::ReturnHomeCancelServicesMessage.build
+    end
+
+    def build_thing_product_alarm_state_switch_services_reply_message
+      message_data = {
+        result: 0,
+        output: {
+          status: "in_progress"
+        }
+      }
+
+      Thing::Product::AlarmStateSwitchServicesReplyMessage.new(
+        bid: Message.generate_bid,
+        tid: Message.generate_tid,
+        timestamp: Message.current_timestamp,
+        _method: "alarm_state_switch",
+        data: message_data,
+        _data: message_data
+      )
+    end
+
+    def build_thing_product_cover_close_services_reply_message
+      message_data = {
+        result: 0,
+        output: {
+          status: "in_progress"
+        }
+      }
+
+      Thing::Product::CoverCloseServicesReplyMessage.new(
+        bid: Message.generate_bid,
+        tid: Message.generate_tid,
+        timestamp: Message.current_timestamp,
+        _method: "cover_close",
+        data: message_data,
+        _data: message_data
+      )
+    end
+
+    def build_thing_product_cover_open_services_reply_message
+      message_data = {
+        result: 0,
+        output: {
+          status: "ok"
+        }
+      }
+
+      Thing::Product::CoverOpenServicesReplyMessage.new(
+        bid: Message.generate_bid,
+        tid: Message.generate_tid,
+        timestamp: Message.current_timestamp,
+        _method: "cover_open",
+        data: message_data,
+        _data: message_data
+      )
+    end
+
+    def build_thing_product_debug_mode_close_services_reply_message
+      message_data = {
+        result: 0,
+        output: {
+          status: "ok"
+        }
+      }
+
+      Thing::Product::DebugModeCloseServicesReplyMessage.new(
+        bid: Message.generate_bid,
+        tid: Message.generate_tid,
+        timestamp: Message.current_timestamp,
+        _method: "debug_mode_close",
+        data: message_data,
+        _data: message_data
+      )
+    end
+
+    def build_thing_product_debug_mode_open_services_reply_message
+      message_data = {
+        result: 0,
+        output: {
+          status: "in_progress"
+        }
+      }
+
+      Thing::Product::DebugModeOpenServicesReplyMessage.new(
+        bid: Message.generate_bid,
+        tid: Message.generate_tid,
+        timestamp: Message.current_timestamp,
+        _method: "debug_mode_open",
+        data: message_data,
+        _data: message_data
+      )
+    end
+
+    def build_thing_product_flighttask_prepare_services_reply_message
+      message_data = {result: 0}
+
+      Thing::Product::FlighttaskPrepareServicesReplyMessage.new(
+        bid: Message.generate_bid,
+        tid: Message.generate_tid,
+        timestamp: Message.current_timestamp,
+        _method: "flighttask_prepare",
+        _data: message_data,
+        data: message_data
+      )
+    end
+
+    def build_thing_product_flighttask_execute_services_reply_message
+      message_data = {result: 0}
+
+      Thing::Product::FlighttaskExecuteServicesReplyMessage.new(
+        bid: Message.generate_bid,
+        tid: Message.generate_tid,
+        timestamp: Message.current_timestamp,
+        _method: "flighttask_execute",
+        _data: message_data,
+        data: message_data
+      )
+    end
+
+    def build_thing_product_flighttask_undo_services_reply_message
+      message_data = {result: 0}
+
+      Thing::Product::FlighttaskUndoServicesReplyMessage.new(
+        bid: Message.generate_bid,
+        tid: Message.generate_tid,
+        timestamp: Message.current_timestamp,
+        _method: "flighttask_undo",
+        _data: message_data,
+        data: message_data
+      )
+    end
+
+    def build_thing_product_flighttask_pause_services_reply_message
+      message_data = {result: 0}
+
+      Thing::Product::FlighttaskPauseServicesReplyMessage.new(
+        bid: Message.generate_bid,
+        tid: Message.generate_tid,
+        timestamp: Message.current_timestamp,
+        _method: "flighttask_pause",
+        _data: message_data,
+        data: message_data
+      )
+    end
+
+    def build_thing_product_flighttask_recovery_services_reply_message
+      message_data = {result: 0}
+
+      Thing::Product::FlighttaskRecoveryServicesReplyMessage.new(
+        bid: Message.generate_bid,
+        tid: Message.generate_tid,
+        timestamp: Message.current_timestamp,
+        _method: "flighttask_recovery",
+        _data: message_data,
+        data: message_data
+      )
+    end
+
+    def build_thing_product_return_home_services_reply_message
+      message_data = {
+        result: 0,
+        output: {status: "ok"}
+      }
+
+      Thing::Product::ReturnHomeServicesReplyMessage.new(
+        bid: Message.generate_bid,
+        tid: Message.generate_tid,
+        timestamp: Message.current_timestamp,
+        _method: "return_home",
+        _data: message_data,
+        data: message_data
+      )
+    end
+
+    def build_thing_product_return_home_cancel_services_reply_message
+      message_data = {result: 0}
+
+      Thing::Product::ReturnHomeCancelServicesReplyMessage.new(
+        bid: Message.generate_bid,
+        tid: Message.generate_tid,
+        timestamp: Message.current_timestamp,
+        _method: "return_home_cancel",
+        _data: message_data,
+        data: message_data
+      )
+    end
   end
 end

data/lib/dji_mqtt_connect/marshals/thing/product/services_reply_marshal.rb

@@ -0,0 +1,47 @@
+# frozen_string_literal: true
+
+require "dry-struct"
+require "dry-transformer"
+require "json"
+
+module DjiMqttConnect
+  module Thing::Product
+    class ServicesReplyMarshal < MessageMarshal
+      include Utils::MessageParsing
+
+      # Rename pesky `method` argument to `_method` and makes a copy of the raw data
+      class AttributeTransformer < Dry::Transformer::Pipe
+        import Dry::Transformer::HashTransformations
+
+        define! do
+          copy_keys "data" => "_data"
+          rename_keys "method" => "_method"
+        end
+      end
+
+      # Attempts to look a the method attribute, and builds a specific Message class for the message
+      def load(raw_message)
+        # Parse the message from JSON
+        parsed_message = JSON.parse(raw_message)
+
+        # Transform the message
+        transformed_message = attribute_transformer.call(parsed_message)
+        message_method = transformed_message["_method"]
+
+        # Build an instance of the class, or a generic message from the current class
+        message_class = message_class_from_message_method(message_method, ServicesReplyMessage)
+        message_class.new transformed_message
+      rescue JSON::ParserError => e
+        raise ParseError.new(e, "Unable to parse message as JSON")
+      rescue Dry::Struct::Error => e
+        raise ParseError.new(e, "Unexpected #{message_class} payload")
+      end
+
+      private
+
+      def attribute_transformer
+        @attribute_transformer ||= AttributeTransformer.new
+      end
+    end
+  end
+end

data/lib/dji_mqtt_connect/messages/thing/product/events/cover_close.rb

@@ -0,0 +1,65 @@
+# frozen_string_literal: true
+
+module DjiMqttConnect
+  module Thing::Product
+    class CoverCloseEventsMessage < EventsMessage
+      attribute :_method, Types::String.enum("cover_close")
+
+      attribute :data do
+        attribute :result, Types::Integer
+
+        attribute :output do
+          # {"sent":"sent","in_progress":"in progress","ok":"success","paused":"paused","rejected":"rejected","failed":"failed","canceled":"canceled or stopped","timeout":"timeout"}
+          attribute :status, Types::String.enum(
+            "sent",
+            "in_progress",
+            "ok",
+            "paused",
+            "rejected",
+            "failed",
+            "canceled",
+            "timeout"
+          )
+
+          attribute :progress do
+            # {"min":"0","max":"100","step":"1"}
+            attribute :percent, Types::Integer.constrained(gteq: 0, lteq: 100)
+
+            attribute? :current_step, Types::Integer
+
+            attribute? :total_steps, Types::Integer
+
+            # {"get_bid":"Get bid","check_work_mode":"Check whether to enter remote debugging mode","check_task_state":"Check if the DJI Dock is free","land_mcu_reboot":"Land MCU reboot","rain_mcu_reboot":"Weather station MCU reboot","core_mcu_reboot":"Central control MCU reboot","sdr_reboot":"SDR reboot","write_reboot_param_file":"Write reboot flag","get_drone_power_state":"Get battery charge state","close_putter":"Close the putter","check_wired_connect_state":"Get aircraft state","open_drone":"Open the plane","open_alarm":"Open sound and light alarm","check_scram_state":"Check if the emergency stop switch is pressed","open_cover":"Open the hatch","check_drone_sdr_connect_state":"Establish SDR wireless connection","turn_on_drone":"Turn the plane on","drone_paddle_forward":"Turn on forward paddle","close_cover":"Close the hatch","drone_paddle_reverse":"Turn on reverse paddle","drone_paddle_stop":"Stop Paddle Rotation","free_putter":"Free Putter","stop_charge":"Stop charging"}
+            attribute? :step_key, Types::String.enum(
+              "get_bid",
+              "check_work_mode",
+              "check_task_state",
+              "land_mcu_reboot",
+              "rain_mcu_reboot",
+              "core_mcu_reboot",
+              "sdr_reboot",
+              "write_reboot_param_file",
+              "get_drone_power_state",
+              "close_putter",
+              "check_wired_connect_state",
+              "open_drone",
+              "open_alarm",
+              "check_scram_state",
+              "open_cover",
+              "check_drone_sdr_connect_state",
+              "turn_on_drone",
+              "drone_paddle_forward",
+              "close_cover",
+              "drone_paddle_reverse",
+              "drone_paddle_stop",
+              "free_putter",
+              "stop_charge"
+            )
+
+            attribute? :step_result, Types::Integer
+          end
+        end
+      end
+    end
+  end
+end

data/lib/dji_mqtt_connect/messages/thing/product/events/cover_open.rb

@@ -0,0 +1,65 @@
+# frozen_string_literal: true
+
+module DjiMqttConnect
+  module Thing::Product
+    class CoverOpenEventsMessage < EventsMessage
+      attribute :_method, Types::String.enum("cover_open")
+
+      attribute :data do
+        attribute :result, Types::Integer
+
+        attribute :output do
+          # {"sent":"sent","in_progress":"in progress","ok":"success","paused":"paused","rejected":"rejected","failed":"failed","canceled":"canceled or stopped","timeout":"timeout"}
+          attribute :status, Types::String.enum(
+            "sent",
+            "in_progress",
+            "ok",
+            "paused",
+            "rejected",
+            "failed",
+            "canceled",
+            "timeout"
+          )
+
+          attribute :progress do
+            # {"min":"0","max":"100","step":"1"}
+            attribute :percent, Types::Integer.constrained(gteq: 0, lteq: 100)
+
+            attribute? :current_step, Types::Integer
+
+            attribute? :total_steps, Types::Integer
+
+            # {"get_bid":"Get bid","check_work_mode":"Check whether to enter remote debugging mode","check_task_state":"Check if the DJI Dock is free","land_mcu_reboot":"Land MCU reboot","rain_mcu_reboot":"Weather station MCU reboot","core_mcu_reboot":"Central control MCU reboot","sdr_reboot":"SDR reboot","write_reboot_param_file":"Write reboot flag","get_drone_power_state":"Get battery charge state","close_putter":"Close the putter","check_wired_connect_state":"Get aircraft state","open_drone":"Open the plane","open_alarm":"Open sound and light alarm","check_scram_state":"Check if the emergency stop switch is pressed","open_cover":"Open the hatch","check_drone_sdr_connect_state":"Establish SDR wireless connection","turn_on_drone":"Turn the plane on","drone_paddle_forward":"Turn on forward paddle","close_cover":"Close the hatch","drone_paddle_reverse":"Turn on reverse paddle","drone_paddle_stop":"Stop Paddle Rotation","free_putter":"Free Putter","stop_charge":"Stop charging"}
+            attribute? :step_key, Types::String.enum(
+              "get_bid",
+              "check_work_mode",
+              "check_task_state",
+              "land_mcu_reboot",
+              "rain_mcu_reboot",
+              "core_mcu_reboot",
+              "sdr_reboot",
+              "write_reboot_param_file",
+              "get_drone_power_state",
+              "close_putter",
+              "check_wired_connect_state",
+              "open_drone",
+              "open_alarm",
+              "check_scram_state",
+              "open_cover",
+              "check_drone_sdr_connect_state",
+              "turn_on_drone",
+              "drone_paddle_forward",
+              "close_cover",
+              "drone_paddle_reverse",
+              "drone_paddle_stop",
+              "free_putter",
+              "stop_charge"
+            )
+
+            attribute? :step_result, Types::Integer
+          end
+        end
+      end
+    end
+  end
+end

data/lib/dji_mqtt_connect/messages/thing/product/events/device_exit_homing_notify.rb

@@ -0,0 +1,36 @@
+# frozen_string_literal: true
+
+module DjiMqttConnect
+  module Thing::Product
+    # Notification of device exits the Return to Home (RTH) state
+    # https://developer.dji.com/doc/cloud-api-tutorial/en/server-api-reference/mqtt/thing-model/gateway/dock/wayline.html#notification-of-device-exits-the-return-to-home-rth-state
+    class DeviceExitHomingNotifyEventsMessage < EventsMessage
+      ENTERING_EXIT_RTH_STATE_ACTION = 1
+      EXIT_EXITING_RTH_STATE_ACTION = 0
+
+      attribute :_method, Types::String.enum("device_exit_homing_notify")
+
+      attribute :data do
+        # {"1":"Enter exiting RTH state"},{"0":"Exit exiting RTH state"}
+        attribute :action, Types::Coercible::Integer.enum(EXIT_EXITING_RTH_STATE_ACTION, ENTERING_EXIT_RTH_STATE_ACTION)
+
+        attribute :sn, Types::SerialNumber
+
+        # {"0":"Add joystick throttle","1":"Add joystick pitch","2":"The initialization of behavior tree is failed","3":"Surrounded by obstacles","4":"Flight restriction is triggered","5":"Obstacle is too closed","6":"No GPS signal","7":"The output flag of GPS and VIO location is false","8":"The error of GPS and VIO fusion position is too large","9":"Backtrack in a short distance","10":"Trigger the RTH in a short distance"}
+        attribute :reason, Types::Coercible::Integer.enum(
+          ADD_JOYSTICK_THROTTLE_REASON = 0,
+          ADD_JOYSTICK_PITCH_REASON = 1,
+          THE_INITIALIZATION_OF_BEHAVIOR_TREE_IS_FAILED_REASON = 2,
+          SURROUNDED_BY_OBSTACLES_REASON = 3,
+          FLIGHT_RESTRICTION_IS_TRIGGERED_REASON = 4,
+          OBSTACLE_IS_TOO_CLOSE_REASON = 5,
+          NO_GPS_SIGNAL_REASON = 6,
+          THE_OUTPUT_FLAG_OF_GPS_AND_VIO_LOCATION_IS_FALSE_REASON = 7,
+          THE_ERROR_OF_GPS_AND_VIO_FUSION_POSITION_IS_TOO_LARGE_REASON = 8,
+          BACKTRACK_IN_A_SHORT_DISTANCE_REASON = 9,
+          TRIGGER_THE_RTH_IN_A_SHORT_DISTANCE_REASON = 10
+        )
+      end
+    end
+  end
+end

data/lib/dji_mqtt_connect/messages/thing/product/events/device_log.rb

@@ -0,0 +1,20 @@
+# frozen_string_literal: true
+
+module DjiMqttConnect
+  module Thing::Product
+    class DeviceLogEventsMessage < ServicesReplyMessage
+      # BID is not always included in message
+      attribute? :bid, Types::UUID
+
+      attribute :_method, Types::String.enum("device_log")
+
+      attribute :data do
+        attribute :level, Types::Integer
+        attribute :key, Types::Integer
+        attribute :module, Types::Integer
+        attribute :create_time, Types::Timestamp
+        attribute :args, Types::Hash
+      end
+    end
+  end
+end