pymammotion 0.0.37__py3-none-any.whl

pymammotion/mammotion/commands/messages/driver.py

@@ -0,0 +1,108 @@
+# === sendOrderMsg_Driver ===
+import time
+from abc import ABC
+from logging import getLogger
+
+from pyluba.mammotion.commands.abstract_message import AbstractMessage
+from pyluba.proto import luba_msg_pb2, mctrl_driver_pb2
+
+logger = getLogger(__name__)
+
+
+class MessageDriver(AbstractMessage, ABC):
+    @staticmethod
+    def send_order_msg_driver(driver):
+        luba_msg = luba_msg_pb2.LubaMsg(
+            msgtype=luba_msg_pb2.MSG_CMD_TYPE_EMBED_DRIVER,
+            sender=luba_msg_pb2.DEV_MOBILEAPP,
+            rcver=luba_msg_pb2.DEV_MAINCTL,
+            msgattr=luba_msg_pb2.MSG_ATTR_REQ,
+            timestamp=round(time.time() * 1000),
+            seqs=1,
+            version=1,
+            subtype=1,
+            driver=driver,
+        )
+
+        return luba_msg.SerializeToString()
+
+    def set_blade_height(self, height: int):
+        logger.debug(f"Send knife height height={height}")
+        build = mctrl_driver_pb2.MctlDriver(
+            todev_knife_height_set=mctrl_driver_pb2.DrvKnifeHeight(knifeHeight=height)
+        )
+        logger.debug(f"Send command--Knife motor height setting height={height}")
+        return self.send_order_msg_driver(build)
+
+    def set_speed(self, speed: float):
+        logger.debug(f"{self.get_device_name()} set speed, {speed}")
+        build = mctrl_driver_pb2.MctlDriver(
+            bidire_speed_read_set=mctrl_driver_pb2.DrvSrSpeed(speed=speed, rw=1)
+        )
+        logger.debug(f"Send command--Speed setting speed={speed}")
+        return self.send_order_msg_driver(build)
+
+    def syn_nav_star_point_data(self, sat_system: int):
+        build = mctrl_driver_pb2.MctlDriver(
+            rtk_sys_mask_query=mctrl_driver_pb2.rtk_sys_mask_query_t(
+                sat_system=sat_system
+            )
+        )
+        logger.debug(
+            f"Send command--Navigation satellite frequency point synchronization={sat_system}"
+        )
+        return self.send_order_msg_driver(build)
+
+    def set_nav_star_point(self, cmd_req: str):
+        build = mctrl_driver_pb2.MctlDriver(
+            rtk_cfg_req=mctrl_driver_pb2.rtk_cfg_req_t(
+                cmd_req=cmd_req, cmd_length=len(cmd_req) - 1
+            )
+        )
+        logger.debug(
+            f"Send command--Navigation satellite frequency point setting={cmd_req}"
+        )
+        logger.debug(
+            f"Navigation satellite setting, Send command--Navigation satellite frequency point setting={cmd_req}"
+        )
+        return self.send_order_msg_driver(build)
+
+    def get_speed(self):
+        build = mctrl_driver_pb2.MctlDriver(
+            bidire_speed_read_set=mctrl_driver_pb2.DrvSrSpeed(rw=0)
+        )
+        logger.debug("Send command--Get speed value")
+        return self.send_order_msg_driver(build)
+
+    def operate_on_device(
+        self,
+        main_ctrl: int,
+        cut_knife_ctrl: int,
+        cut_knife_height: int,
+        max_run_speed: float,
+    ):
+        build = mctrl_driver_pb2.MctlDriver(
+            mow_ctrl_by_hand=mctrl_driver_pb2.DrvMowCtrlByHand(
+                main_ctrl=main_ctrl,
+                cut_knife_ctrl=cut_knife_ctrl,
+                cut_knife_height=cut_knife_height,
+                max_run_Speed=max_run_speed,
+            )
+        )
+        logger.debug(
+            f"Send command--Manual mowing command, main_ctrl:{main_ctrl}, cut_knife_ctrl:{cut_knife_ctrl}, "
+            f"cut_knife_height:{cut_knife_height}, max_run_speed:{max_run_speed}"
+        )
+
+        return self.send_order_msg_driver(build)
+
+    def send_movement(self, linear_speed: int, angular_speed: int):
+        logger.debug(f"Control command print, linearSpeed={
+        linear_speed} // angularSpeed={angular_speed}")
+        return self.send_order_msg_driver(
+            mctrl_driver_pb2.MctlDriver(
+                todev_devmotion_ctrl=mctrl_driver_pb2.DrvMotionCtrl(
+                    setLinearSpeed=linear_speed, setAngularSpeed=angular_speed
+                )
+            )
+        )

pymammotion/mammotion/commands/messages/media.py

@@ -0,0 +1,36 @@
+# === sendOrderMsg_Media ===
+from pyluba.proto import luba_msg_pb2, luba_mul_pb2
+from pyluba.proto.luba_mul import MUL_LANGUAGE
+
+
+class MessageMedia:
+    def send_order_msg_media(self, mul):
+        luba_msg = luba_msg_pb2.LubaMsg(
+            msgtype=luba_msg_pb2.MSG_CMD_TYPE_MUL,
+            sender=luba_msg_pb2.DEV_MOBILEAPP,
+            rcver=luba_msg_pb2.SOC_MODULE_MULTIMEDIA,
+            msgattr=luba_msg_pb2.MSG_ATTR_REQ,
+            seqs=1,
+            version=1,
+            subtype=1,
+            mul=mul,
+        )
+
+        return luba_msg.SerializeToString()
+
+    def set_car_volume(self, volume: int):
+        return self.send_order_msg_media(
+            luba_mul_pb2.SocMul(set_audio=luba_mul_pb2.MulSetAudio(at_switch=volume))
+        )
+
+    def set_car_voice_language(self, language_type: MUL_LANGUAGE | str | None):
+        return self.send_order_msg_media(
+            luba_mul_pb2.SocMul(
+                set_audio=luba_mul_pb2.MulSetAudio(au_language=language_type)
+            )
+        )
+
+    def set_car_wiper(self, round_num: int):
+        return self.send_order_msg_media(
+            luba_mul_pb2.SocMul(set_wiper=luba_mul_pb2.MulSetWiper(round=round_num))
+        )

pymammotion/mammotion/commands/messages/navigation.py

@@ -0,0 +1,535 @@
+# === sendOrderMsg_Nav ===
+import logging
+from abc import ABC
+from typing import List
+
+from pyluba.data.model import GenerateRouteInformation
+from pyluba.data.model.plan import Plan
+from pyluba.data.model.region_data import RegionData
+from pyluba.mammotion.commands.abstract_message import AbstractMessage
+from pyluba.proto.luba_msg import LubaMsg, MsgCmdType, MsgDevice, MsgAttr
+from pyluba.proto.mctrl_nav import (
+    AppRequestCoverPathsT,
+    MctlNav,
+    NavGetCommData,
+    NavGetHashList,
+    NavPlanJobSet,
+    NavPlanTaskExecute,
+    NavReqCoverPath,
+    NavSysParamMsg,
+    NavTaskCtrl,
+    NavUnableTimeSet,
+    NavUploadZigZagResultAck,
+    SimulationCmdData,
+    WorkReportCmdData,
+    WorkReportUpdateCmd,
+)
+
+logger = logging.getLogger(__name__)
+
+
+class MessageNavigation(AbstractMessage, ABC):
+    @staticmethod
+    def send_order_msg_nav(build) -> bytes:
+        luba_msg = LubaMsg(
+            msgtype=MsgCmdType.MSG_CMD_TYPE_NAV,
+            sender=MsgDevice.DEV_MOBILEAPP,
+            rcver=MsgDevice.DEV_MAINCTL,
+            msgattr=MsgAttr.MSG_ATTR_REQ,
+            seqs=1,
+            version=1,
+            subtype=1,
+            nav=build,
+        )
+
+        return luba_msg.SerializeToString()
+
+    def allpowerfull_rw_adapter_x3(self, id: int, context: int, rw: int) -> bytes:
+        build = MctlNav(nav_sys_param_cmd=NavSysParamMsg(id=id, context=context, rw=rw))
+        logger.debug(
+            f"Send command--9 general read and write command id={id}, context={context}, rw={rw}"
+        )
+        return self.send_order_msg_nav(build)
+
+    def along_border(self):
+        build = MctlNav(todev_edgecmd=1)
+        logger.debug("Send command--along the edge command")
+        return self.send_order_msg_nav(build)
+
+    def start_draw_border(self):
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=0, type=0))
+        logger.debug("Send command--Start drawing boundary command")
+        return self.send_order_msg_nav(build)
+
+    def enter_dumping_status(self):
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=14, type=12))
+        logger.debug("Send command--Enter grass collection status")
+        return self.send_order_msg_nav(build)
+
+    def add_dump_point(self):
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=0, type=12))
+        logger.debug("Send command--Add grass collection point")
+        return self.send_order_msg_nav(build)
+
+    def revoke_dump_point(self):
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=6, type=12))
+        logger.debug("Send command--Revoke grass collection point")
+        return self.send_order_msg_nav(build)
+
+    def exit_dumping_status(self):
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=1, type=12))
+        logger.debug("Send command--Exit grass collection setting status")
+        return self.send_order_msg_nav(build)
+
+    def out_drop_dumping_add(self):
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=15, type=12))
+        logger.debug(
+            "Send command--Complete external grass collection point marking operation"
+        )
+        return self.send_order_msg_nav(build)
+
+    def recover_dumping(self):
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=12, type=12))
+        logger.debug("Send command--Recover grass collection operation")
+        return self.send_order_msg_nav(build)
+
+    def start_draw_barrier(self):
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=0, type=1))
+        logger.debug("Sending command - Draw obstacle command")
+        return self.send_order_msg_nav(build)
+
+    def start_erase(self):
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=4, type=0))
+        logger.debug("Sending command - Start erase command - Bluetooth")
+        return self.send_order_msg_nav(build)
+
+    def end_erase(self):
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=5, type=0))
+        logger.debug("Sending command - End erase command")
+        return self.send_order_msg_nav(build)
+
+    def cancel_erase(self):
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=7, type=0))
+        logger.debug("Sending command - Cancel erase command")
+        return self.send_order_msg_nav(build)
+
+    def start_channel_line(self):
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=0, type=2))
+        logger.debug("Sending command - Start drawing channel line command")
+        return self.send_order_msg_nav(build)
+
+    def save_task(self):
+        build = MctlNav(todev_save_task=1)
+        logger.debug("Sending command - Save task command")
+        return self.send_order_msg_nav(build)
+
+    def set_edit_boundary(self, action: int):
+        build = MctlNav(
+            todev_get_commondata=NavGetCommData(pver=1, action=action, type=0)
+        )
+        logger.debug(f"Sending secondary editing command action={action}")
+        return self.send_order_msg_nav(build)
+
+    def set_data_synchronization(self, type: int):
+        logger.debug(
+            f"Sync data ==================== Sending ============ Restore command: {type}"
+        )
+        build = MctlNav(
+            todev_get_commondata=NavGetCommData(pver=1, action=12, type=type)
+        )
+        logger.debug(
+            "Sync data ==================== Sending ============ Restore command"
+        )
+        return self.send_order_msg_nav(build)
+
+    def send_plan(self, plan_bean: Plan) -> bytes:
+        build = MctlNav(
+            todev_planjob_set=NavPlanJobSet(
+                pver=plan_bean.pver,
+                sub_cmd=plan_bean.sub_cmd,
+                area=plan_bean.area,
+                work_time=plan_bean.work_time,
+                version=plan_bean.version,
+                id=plan_bean.id,
+                user_id=plan_bean.user_id,
+                device_id=plan_bean.device_id,
+                plan_id=plan_bean.plan_id,
+                task_id=plan_bean.task_id,
+                job_id=plan_bean.job_id,
+                start_time=plan_bean.start_time,
+                end_time=plan_bean.end_time,
+                week=plan_bean.week,
+                knife_height=plan_bean.knife_height,
+                model=plan_bean.model,
+                edge_mode=plan_bean.edge_mode,
+                required_time=plan_bean.required_time,
+                route_angle=plan_bean.route_angle,
+                route_model=plan_bean.route_model,
+                route_spacing=plan_bean.route_spacing,
+                ultrasonic_barrier=plan_bean.ultrasonic_barrier,
+                total_plan_num=plan_bean.total_plan_num,
+                plan_index=plan_bean.plan_index,
+                result=plan_bean.result,
+                speed=plan_bean.speed,
+                task_name=plan_bean.task_name,
+                job_name=plan_bean.job_name,
+                zone_hashs=plan_bean.zone_hashs,
+                reserved=plan_bean.reserved,
+            )
+        )
+        logger.debug(f"Send read job plan command planBean={plan_bean}")
+        return self.send_order_msg_nav(build)
+
+    def send_schedule(self, plan_bean: Plan) -> bytes:
+        build = NavPlanJobSet(
+            pver=plan_bean.pver,
+            sub_cmd=plan_bean.sub_cmd,
+            area=plan_bean.area,
+            device_id=plan_bean.device_id,
+            work_time=plan_bean.work_time,
+            version=plan_bean.version,
+            id=plan_bean.id,
+            user_id=plan_bean.user_id,
+            plan_id=plan_bean.plan_id,
+            task_id=plan_bean.task_id,
+            job_id=plan_bean.job_id,
+            start_time=plan_bean.start_time,
+            end_time=plan_bean.end_time,
+            week=plan_bean.week,
+            knife_height=plan_bean.knife_height,
+            model=plan_bean.model,
+            edge_mode=plan_bean.edge_mode,
+            required_time=plan_bean.required_time,
+            route_angle=plan_bean.route_angle,
+            route_model=plan_bean.route_model,
+            route_spacing=plan_bean.route_spacing,
+            ultrasonic_barrier=plan_bean.ultrasonic_barrier,
+            total_plan_num=plan_bean.total_plan_num,
+            plan_index=plan_bean.plan_index,
+            result=plan_bean.result,
+            speed=plan_bean.speed,
+            task_name=plan_bean.task_name,
+            job_name=plan_bean.job_name,
+            zone_hashs=plan_bean.zone_hashs,
+            reserved=plan_bean.reserved,
+            weeks=plan_bean.weeks,
+            start_date=plan_bean.start_date,
+            trigger_type=plan_bean.job_type,
+            day=plan_bean.interval_days,
+            toward_included_angle=plan_bean.demond_angle,
+            toward_mode=0,
+        )
+        logger.debug(f"Send read job plan command planBean={plan_bean}")
+        return self.send_order_msg_nav(MctlNav(todev_planjob_set=build))
+
+    def single_schedule(self, plan_id: str) -> bytes:
+        return self.send_order_msg_nav(
+            MctlNav(plan_task_execute=NavPlanTaskExecute(sub_cmd=1, id=plan_id))
+        )
+
+    def read_plan(self, sub_cmd: int, plan_index: int) -> bytes:
+        build = MctlNav(
+            todev_planjob_set=NavPlanJobSet(sub_cmd=sub_cmd, plan_index=plan_index)
+        )
+        logger.debug(f"Send read job plan command cmd={
+        sub_cmd} PlanIndex = {plan_index}")
+        return self.send_order_msg_nav(build)
+
+    def delete_plan(self, sub_cmd: int, plan_id: str) -> bytes:
+        build = MctlNav(
+            todev_planjob_set=NavPlanJobSet(sub_cmd=sub_cmd, plan_id=plan_id)
+        )
+        logger.debug(
+            f"Send command--Send delete job plan command cmd={sub_cmd} planId = {plan_id}"
+        )
+        return self.send_order_msg_nav(build)
+
+    def set_plan_unable_time(
+        self, sub_cmd: int, device_id: str, unable_end_time: str, unable_start_time: str
+    ) -> bytes:
+        build = NavUnableTimeSet(
+            sub_cmd=sub_cmd,
+            device_id=device_id,
+            unable_end_time=unable_end_time,
+            result=0,
+            reserved="0",
+            unable_start_time=unable_start_time,
+        )
+        logger.debug(f"{self.get_device_name()} Set forbidden time===={build}")
+        return self.send_order_msg_nav(MctlNav(todev_unable_time_set=build))
+
+    def read_plan_unable_time(self, sub_cmd: int) -> bytes:
+        build = NavUnableTimeSet(sub_cmd=sub_cmd)
+        build2 = MctlNav(todev_unable_time_set=build)
+        logger.debug(f"Send command--Read plan time {sub_cmd}")
+        return self.send_order_msg_nav(build2)
+
+    def query_job_history(self) -> bytes:
+        return self.send_order_msg_nav(
+            MctlNav(todev_work_report_update_cmd=WorkReportUpdateCmd(sub_cmd=1))
+        )
+
+    def request_job_history(self, num: int) -> bytes:
+        return self.send_order_msg_nav(
+            MctlNav(
+                todev_work_report_cmd=WorkReportCmdData(sub_cmd=1, get_info_num=num)
+            )
+        )
+
+    def leave_dock(self):
+        build = MctlNav(todev_one_touch_leave_pile=1)
+        logger.debug("Send command--One-click automatic undocking")
+        return self.send_order_msg_nav(build)
+
+    def get_all_boundary_hash_list(self, sub_cmd: int):
+        build = MctlNav(todev_gethash=NavGetHashList(pver=1, sub_cmd=sub_cmd))
+        logger.debug(f"Area loading=====================:Get area hash list++Bluetooth:{
+        sub_cmd}")
+        return self.send_order_msg_nav(build)
+
+    def get_hash_response(self, total_frame: int, current_frame: int):
+        build = MctlNav(
+            todev_gethash=NavGetHashList(
+                pver=1, sub_cmd=2, current_frame=current_frame, total_frame=total_frame
+            )
+        )
+        logger.debug(f"Send command--208 Response hash list command totalFrame={
+        total_frame},currentFrame={current_frame}")
+        return self.send_order_msg_nav(build)
+
+    def synchronize_hash_data(self, hash_num: int):
+        build = MctlNav(
+            todev_get_commondata=NavGetCommData(
+                pver=1, action=8, data_hash=hash_num, sub_cmd=1
+            )
+        )
+        logger.debug(f"Send command--209,hash synchronize area data hash:{hash}")
+        return self.send_order_msg_nav(build)
+
+    def get_area_to_be_transferred(self):
+        build = MctlNav(
+            todev_get_commondata=NavGetCommData(pver=1, action=8, sub_cmd=1, type=3)
+        )
+        logger.debug("Send command--Get transfer area before charging pile")
+        return self.send_order_msg_nav(build)
+
+    def get_regional_data(self, regional_data_bean: RegionData):
+        build = MctlNav(
+            todev_get_commondata=NavGetCommData(
+                pver=1,
+                action=regional_data_bean.action,
+                type=regional_data_bean.type,
+                data_hash=regional_data_bean.hash,
+                total_frame=regional_data_bean.total_frame,
+                current_frame=regional_data_bean.current_frame,
+                sub_cmd=2,
+            )
+        )
+        logger.debug("Area loading=====================:Response area data")
+        return self.send_order_msg_nav(build)
+
+    def indoor_simulation(self, flag: int):
+        build = MctlNav(simulation_cmd=SimulationCmdData(sub_cmd=flag))
+        logger.debug(f"Send command--Send indoor simulation command flag={flag}")
+        return self.send_order_msg_nav(build)
+
+    def send_tools_order(self, param_id: int, values: List[int]):
+        build = MctlNav(
+            simulation_cmd=SimulationCmdData(
+                sub_cmd=2, param_id=param_id, param_value=values
+            )
+        )
+        logger.debug(f"Send command--Send tool command id={param_id},values={values}")
+        return self.send_order_msg_nav(build)
+
+    def end_draw_border(self, type: int):
+        if type == -1:
+            return
+        build = MctlNav(
+            todev_get_commondata=NavGetCommData(pver=1, action=1, type=type)
+        )
+        logger.debug(
+            f"Send command--End drawing boundary, obstacle, channel command type={type}"
+        )
+        return self.send_order_msg_nav(build)
+
+    def cancel_current_record(self):
+        build = MctlNav(
+            todev_get_commondata=NavGetCommData(pver=1, action=7, sub_cmd=0)
+        )
+        logger.debug("Send command--Cancel current recording (boundary, obstacle)")
+        return self.send_order_msg_nav(build)
+
+    def delete_map_elements(self, type: int, hash_num: int):
+        if type == -1:
+            return
+        build = MctlNav(
+            todev_get_commondata=NavGetCommData(
+                pver=1, action=6, type=type, hash=hash_num
+            )
+        )
+        logger.debug(
+            f"Send command--Delete boundary or obstacle or channel command type={type},hash={hash}"
+        )
+        return self.send_order_msg_nav(build)
+
+    def delete_charge_point(self):
+        logger.debug("Delete charging pile")
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=6, type=5))
+        logger.debug("Send command--Delete charging pile location and reset")
+        return self.send_order_msg_nav(build)
+
+    def confirm_base_station(self):
+        logger.debug("Reset base station")
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=2, type=7))
+        logger.debug("Send command--Confirm no modification to base station")
+        return self.send_order_msg_nav(build)
+
+    def delete_all(self):
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=6, type=6))
+        logger.debug("Send command--Clear job data")
+        return self.send_order_msg_nav(build)
+
+    def generate_route_information(
+        self, generate_route_information: GenerateRouteInformation
+    ):
+        logger.debug(f"Generate route data source:{generate_route_information}")
+        build = NavReqCoverPath(
+            pver=1,
+            sub_cmd=0,
+            zone_hashs=generate_route_information.one_hashs,
+            job_mode=generate_route_information.job_mode,
+            edge_mode=generate_route_information.edge_mode,
+            knife_height=generate_route_information.knife_height,
+            speed=generate_route_information.speed,
+            ultra_wave=generate_route_information.ultra_wave,
+            channel_width=generate_route_information.channel_width,
+            channel_mode=generate_route_information.channel_mode,
+            toward=generate_route_information.toward,
+            toward_included_angle=generate_route_information.toward_included_angle,
+            toward_mode=generate_route_information.toward_mode,
+            reserved=generate_route_information.path_order,
+        )
+        logger.debug(f"{self.get_device_name()}Generate route====={build}")
+        logger.debug(f"Send command--Generate route information generateRouteInformation={
+        generate_route_information}")
+        return self.send_order_msg_nav(MctlNav(bidire_reqconver_path=build))
+
+    def modify_generate_route_information(
+        self, generate_route_information: GenerateRouteInformation
+    ):
+        logger.debug(f"Generate route data source: {generate_route_information}")
+        build = NavReqCoverPath(
+            pver=1,
+            sub_cmd=3,
+            zone_hashs=generate_route_information.one_hashs,
+            job_mode=generate_route_information.job_mode,
+            edge_mode=generate_route_information.edge_mode,
+            knife_height=generate_route_information.knife_height,
+            speed=generate_route_information.speed,
+            ultra_wave=generate_route_information.ultra_wave,
+            channel_width=generate_route_information.channel_width,
+            channel_mode=generate_route_information.channel_mode,
+            toward=generate_route_information.toward,
+            reserved=generate_route_information.path_order,
+        )
+        logger.debug(f"{self.get_device_name()} Generate route ===== {build}")
+        logger.debug(f"Send command -- Modify route parameters generate_route_information={
+        generate_route_information}")
+        return self.send_order_msg_nav(MctlNav(bidire_reqconver_path=build))
+
+    def end_generate_route_information(self):
+        build = NavReqCoverPath(pver=1, sub_cmd=9)
+        logger.debug(f"{self.get_device_name()} Generate route ===== {build}")
+        build2 = MctlNav(bidire_reqconver_path=build)
+        logger.debug(
+            "Send command -- End generating route information generate_route_information="
+        )
+        return self.send_order_msg_nav(build2)
+
+    def query_generate_route_information(self):
+        build = NavReqCoverPath(pver=1, sub_cmd=2)
+        logger.debug(f"{self.get_device_name(
+        )} Send command -- Get route configuration information generate_route_information={build}")
+        build2 = MctlNav(bidire_reqconver_path=build)
+        return self.send_order_msg_nav(build2)
+
+    def get_line_info(self, current_hash: int) -> bytes:
+        logger.debug(f"Sending==========Get route command: {current_hash}")
+        build = MctlNav(
+            todev_zigzag_ack=NavUploadZigZagResultAck(
+                pver=1, current_hash=current_hash, sub_cmd=0
+            )
+        )
+        logger.debug(
+            f"Sending command--Get route data corresponding to hash={current_hash}"
+        )
+        return self.send_order_msg_nav(build)
+
+    def get_line_info_list(self, hash_list: List[int], transaction_id: int) -> bytes:
+        logger.debug(f"Sending==========Get route command: {hash_list}")
+        build = MctlNav(
+            app_request_cover_paths=AppRequestCoverPathsT(
+                pver=1, hash_list=hash_list, transaction_id=transaction_id, sub_cmd=0
+            )
+        )
+        logger.debug(
+            f"Sending command--Get route data corresponding to hash={hash_list}"
+        )
+        return self.send_order_msg_nav(build)
+
+    def start_job(self) -> bytes:
+        logger.debug("Sending==========Start job command")
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=1, result=0))
+        logger.debug("Sending command--Start job")
+        return self.send_order_msg_nav(build)
+
+    def cancel_return_to_dock(self):
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=12, result=0))
+        logger.debug("Send command - Cancel return to charge")
+        return self.send_order_msg_nav(build)
+
+    def cancel_job(self):
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=4, result=0))
+        logger.debug("Send command - End job")
+        return self.send_order_msg_nav(build)
+
+    def return_to_dock(self):
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=5, result=0))
+        logger.debug("Send command - Return to charge command")
+        return self.send_order_msg_nav(build)
+
+    def pause_execute_task(self):
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=2, result=0))
+        logger.debug("Send command - Pause command")
+        return self.send_order_msg_nav(build)
+
+    def re_charge_test(self):
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=10, result=0))
+        logger.debug("Send command - Return to charge test command")
+        return self.send_order_msg_nav(build)
+
+    def fast_aotu_test(self, action: int):
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=action, result=0))
+        logger.debug("Send command - One-click automation test")
+        return self.send_order_msg_nav(build)
+
+    def resume_execute_task(self):
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=3, result=0))
+        logger.debug("Send command - Cancel pause command")
+        return self.send_order_msg_nav(build)
+
+    def break_point_continue(self):
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=7, result=0))
+        logger.debug("Send command - Continue from breakpoint")
+        return self.send_order_msg_nav(build)
+
+    def break_point_anywhere_continue(self):
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=9, result=0))
+        logger.debug("Send command - Continue from current vehicle position")
+        return self.send_order_msg_nav(build)
+
+    def reset_base_station(self):
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=3, action=1, result=0))
+        logger.debug("Send command - Reset charging pile, base station position")
+        return self.send_order_msg_nav(build)