pymammotion 0.0.40__py3-none-any.whl → 0.0.41__py3-none-any.whl

pymammotion/mammotion/commands/messages/navigation.py

@@ -1,5 +1,6 @@
 # === sendOrderMsg_Nav ===
 import logging
+import time
 from abc import ABC
 from typing import List
 
@@ -40,15 +41,14 @@ class MessageNavigation(AbstractMessage, ABC):
             version=1,
             subtype=1,
             nav=build,
+            timestamp=round(time.time() * 1000),
         )
 
         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}"
-        )
+        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):
@@ -83,9 +83,7 @@ class MessageNavigation(AbstractMessage, ABC):
 
     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"
-        )
+        logger.debug("Send command--Complete external grass collection point marking operation")
         return self.send_order_msg_nav(build)
 
     def recover_dumping(self):
@@ -124,22 +122,14 @@ class MessageNavigation(AbstractMessage, ABC):
         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)
-        )
+        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"
-        )
+        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:
@@ -223,30 +213,19 @@ class MessageNavigation(AbstractMessage, ABC):
         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))
-        )
+        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}")
+    def read_plan(self, sub_cmd: int, plan_index: int = 0) -> 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}"
-        )
+        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:
+    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,
@@ -265,16 +244,10 @@ class MessageNavigation(AbstractMessage, ABC):
         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))
-        )
+        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)
-            )
-        )
+        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)
@@ -283,45 +256,37 @@ class MessageNavigation(AbstractMessage, ABC):
 
     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}")
+        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
-            )
+            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}"
         )
-        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
-            )
-        )
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=8, 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)
-        )
+        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):
+    def get_regional_data(self, regional_data: 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,
+                action=regional_data.action,
+                type=regional_data.type,
+                hash=regional_data.hash,
+                total_frame=regional_data.total_frame,
+                current_frame=regional_data.current_frame,
                 sub_cmd=2,
             )
         )
@@ -334,43 +299,27 @@ class MessageNavigation(AbstractMessage, ABC):
         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
-            )
-        )
+        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}"
-        )
+        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)
-        )
+        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}"
-        )
+        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):
@@ -390,9 +339,7 @@ class MessageNavigation(AbstractMessage, ABC):
         logger.debug("Send command--Clear job data")
         return self.send_order_msg_nav(build)
 
-    def generate_route_information(
-        self, generate_route_information: GenerateRouteInformation
-    ):
+    def generate_route_information(self, generate_route_information: GenerateRouteInformation):
         logger.debug(f"Generate route data source:{generate_route_information}")
         build = NavReqCoverPath(
             pver=1,
@@ -415,9 +362,7 @@ class MessageNavigation(AbstractMessage, ABC):
         generate_route_information}")
         return self.send_order_msg_nav(MctlNav(bidire_reqconver_path=build))
 
-    def modify_generate_route_information(
-        self, generate_route_information: GenerateRouteInformation
-    ):
+    def modify_generate_route_information(self, generate_route_information: GenerateRouteInformation):
         logger.debug(f"Generate route data source: {generate_route_information}")
         build = NavReqCoverPath(
             pver=1,
@@ -442,9 +387,7 @@ class MessageNavigation(AbstractMessage, ABC):
         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="
-        )
+        logger.debug("Send command -- End generating route information generate_route_information=")
         return self.send_order_msg_nav(build2)
 
     def query_generate_route_information(self):
@@ -456,14 +399,8 @@ class MessageNavigation(AbstractMessage, ABC):
 
     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}"
-        )
+        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:
@@ -473,9 +410,7 @@ class MessageNavigation(AbstractMessage, ABC):
                 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}"
-        )
+        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:

pymammotion/mammotion/commands/messages/network.py

@@ -33,16 +33,12 @@ class MessageNetwork:
         return self.send_order_msg_net(net)
 
     def get_4g_module_info(self):
-        build = dev_net_pb2.DevNet(
-            todev_get_mnet_cfg_req=dev_net_pb2.DevNet().todev_get_mnet_cfg_req
-        )
+        build = dev_net_pb2.DevNet(todev_get_mnet_cfg_req=dev_net_pb2.DevNet().todev_get_mnet_cfg_req)
         print("Send command -- Get device 4G network module information")
         return self.send_order_msg_net(build)
 
     def get_4g_info(self):
-        build = dev_net_pb2.DevNet(
-            todev_mnet_info_req=dev_net_pb2.DevNet().todev_mnet_info_req
-        )
+        build = dev_net_pb2.DevNet(todev_mnet_info_req=dev_net_pb2.DevNet().todev_mnet_info_req)
         print("Send command -- Get device 4G network information")
         return self.send_order_msg_net(build)
 
@@ -82,9 +78,7 @@ class MessageNetwork:
         print(
             f"Send log====Feedback====Command======requestID:{request_id} operation:{operation} serverIp:{server_ip} type:{type}"
         )
-        return self.send_order_msg_net(
-            dev_net_pb2.DevNet(todev_ble_sync=1, todev_uploadfile_req=build)
-        )
+        return self.send_order_msg_net(dev_net_pb2.DevNet(todev_ble_sync=1, todev_uploadfile_req=build))
 
     def set_device_socket_request(
         self,
@@ -107,9 +101,7 @@ class MessageNetwork:
         print(
             f"Send log====Feedback====Command======requestID:{request_id}  operation:{operation} serverIp:{server_ip}  type:{type}"
         )
-        return self.send_order_msg_net(
-            dev_net_pb2.DevNet(todev_ble_sync=1, todev_uploadfile_req=build)
-        )
+        return self.send_order_msg_net(dev_net_pb2.DevNet(todev_ble_sync=1, todev_uploadfile_req=build))
 
     def get_device_log_info(self, biz_id: str, type: int, log_url: str) -> bytes:
         """Get device log info (bluetooth only)."""
@@ -129,15 +121,11 @@ class MessageNetwork:
     def cancel_log_update(self, biz_id: str):
         """Cancel log update (bluetooth only)."""
         return self.send_order_msg_net(
-            dev_net_pb2.DevNet(
-                todev_log_data_cancel=dev_net_pb2.DrvUploadFileCancel(bizId=biz_id)
-            )
+            dev_net_pb2.DevNet(todev_log_data_cancel=dev_net_pb2.DrvUploadFileCancel(bizId=biz_id))
         )
 
     def get_device_network_info(self):
-        build = dev_net_pb2.DevNet(
-            todev_networkinfo_req=dev_net_pb2.GetNetworkInfoReq(req_ids=1)
-        )
+        build = dev_net_pb2.DevNet(todev_networkinfo_req=dev_net_pb2.GetNetworkInfoReq(req_ids=1))
         print("Send command - get device network information")
         return self.send_order_msg_net(build)
 
@@ -159,13 +147,9 @@ class MessageNetwork:
     def set_device_wifi_enable_status(self, new_wifi_status: bool):
         build = dev_net_pb2.DevNet(
             todev_ble_sync=1,
-            todev_Wifi_Configuration=dev_net_pb2.DrvWifiSet(
-                configParam=4, wifi_enable=new_wifi_status
-            ),
-        )
-        print(
-            f"szNetwork: Send command - set network (on/off status). newWifiStatus={new_wifi_status}"
+            todev_Wifi_Configuration=dev_net_pb2.DrvWifiSet(configParam=4, wifi_enable=new_wifi_status),
         )
+        print(f"szNetwork: Send command - set network (on/off status). newWifiStatus={new_wifi_status}")
         return self.send_order_msg_net(build)
 
     def wifi_connectinfo_update(self, device_name: str, is_binary: bool):
@@ -189,9 +173,7 @@ class MessageNetwork:
     def get_record_wifi_list(self, is_binary: bool):
         print(f"getRecordWifiList().isBinary={is_binary}")
         if is_binary:
-            build = dev_net_pb2.DevNet(
-                todev_ble_sync=1, todev_WifiListUpload=dev_net_pb2.DrvWifiList()
-            )
+            build = dev_net_pb2.DevNet(todev_ble_sync=1, todev_WifiListUpload=dev_net_pb2.DrvWifiList())
             print("Send command - get memorized WiFi list upload command")
             return self.send_order_msg_net(build)
         self.get_record_wifi_list2()
@@ -205,9 +187,7 @@ class MessageNetwork:
         if is_binary:
             build = dev_net_pb2.DevNet(
                 todev_ble_sync=1,
-                todev_Wifi_Configuration=dev_net_pb2.DrvWifiSet(
-                    configParam=status, Confssid=ssid
-                ),
+                todev_Wifi_Configuration=dev_net_pb2.DrvWifiSet(configParam=status, Confssid=ssid),
             )
             print(
                 f"Send command - set network (disconnect, direct connect, forget, no operation reconnect) operation command (downlink ssid={ssid}, status={status})"

pymammotion/mammotion/commands/messages/system.py

@@ -1,5 +1,6 @@
 # === sendOrderMsg_Sys ===
 import datetime
+from abc import ABC
 from typing import List
 
 from pymammotion.mammotion.commands.abstract_message import AbstractMessage
@@ -9,7 +10,7 @@ from pymammotion.proto.mctrl_sys import RptInfoType
 from pymammotion.utility.device_type import DeviceType
 
 
-class MessageSystem(AbstractMessage):
+class MessageSystem(AbstractMessage, ABC):
     messageNavigation: MessageNavigation = MessageNavigation()
 
     def send_order_msg_sys(self, sys):
@@ -37,9 +38,7 @@ class MessageSystem(AbstractMessage):
 
     def get_device_product_model(self):
         return self.send_order_msg_sys(
-            mctrl_sys_pb2.MctlSys(
-                device_product_type_info=mctrl_sys_pb2.device_product_type_info_t()
-            ),
+            mctrl_sys_pb2.MctlSys(device_product_type_info=mctrl_sys_pb2.device_product_type_info_t()),
             12,
             True,
         )
@@ -72,12 +71,8 @@ class MessageSystem(AbstractMessage):
             is_sidelight}, operate:{operate}, timeCtrlLight:{build}")
         return self.send_order_msg_sys(build2)
 
-    def test_tool_order_to_sys(
-        self, sub_cmd: int, param_id: int, param_value: List[int]
-    ):
-        build = mctrl_sys_pb2.mCtrlSimulationCmdData(
-            sub_cmd=sub_cmd, param_id=param_id, param_value=param_value
-        )
+    def test_tool_order_to_sys(self, sub_cmd: int, param_id: int, param_value: List[int]):
+        build = mctrl_sys_pb2.mCtrlSimulationCmdData(sub_cmd=sub_cmd, param_id=param_id, param_value=param_value)
         print(f"Send tool test command: subCmd={sub_cmd}, param_id:{
             param_id}, param_value={param_value}")
         build2 = mctrl_sys_pb2.MctlSys(simulation_cmd=build)
@@ -89,23 +84,15 @@ class MessageSystem(AbstractMessage):
         print(f"Send read and write base station configuration quality op:{
             op}, cgf:{cgf}")
         return self.send_order_msg_sys(
-            mctrl_sys_pb2.MctlSys(
-                todev_lora_cfg_req=mctrl_sys_pb2.LoraCfgReq(op=op, cfg=cgf)
-            )
+            mctrl_sys_pb2.MctlSys(todev_lora_cfg_req=mctrl_sys_pb2.LoraCfgReq(op=op, cfg=cgf))
         )
 
     def allpowerfull_rw(self, id: int, context: int, rw: int):
-        if (id == 6 or id == 3 or id == 7) and DeviceType.is_luba_2(
-            self.get_device_name()
-        ):
+        if (id == 6 or id == 3 or id == 7) and DeviceType.is_luba_2(self.get_device_name()):
             self.messageNavigation.allpowerfull_rw_adapter_x3(id, context, rw)
             return
-        build = mctrl_sys_pb2.MctlSys(
-            bidire_comm_cmd=mctrl_sys_pb2.SysCommCmd(id=id, context=context, rw=rw)
-        )
-        print(
-            f"Send command - 9 general read and write command id={id}, context={context}, rw={rw}"
-        )
+        build = mctrl_sys_pb2.MctlSys(bidire_comm_cmd=mctrl_sys_pb2.SysCommCmd(id=id, context=context, rw=rw))
+        print(f"Send command - 9 general read and write command id={id}, context={context}, rw={rw}")
         if id == 5:
             # This logic doesnt make snese, but its what they had so..
             return self.send_order_msg_sys(build)
@@ -218,7 +205,7 @@ class MessageSystem(AbstractMessage):
         period: int,
         no_change_period: int,
         count: int,
-    ) -> None:
+    ) -> bytes:
         build = mctrl_sys_pb2.MctlSys(
             todev_report_cfg=mctrl_sys_pb2.report_info_cfg(
                 act=rpt_act,
@@ -233,9 +220,7 @@ class MessageSystem(AbstractMessage):
             build.todev_report_cfg.act} {build}")
         return self.send_order_msg_sys(build)
 
-    def get_report_cfg(
-        self, timeout: int = 10000, period: int = 1000, no_change_period: int = 2000
-    ):
+    def get_report_cfg(self, timeout: int = 10000, period: int = 1000, no_change_period: int = 2000):
         mctlsys = mctrl_sys_pb2.MctlSys(
             todev_report_cfg=mctrl_sys_pb2.report_info_cfg(
                 timeout=timeout,

pymammotion/mammotion/commands/messages/video.py

@@ -21,7 +21,5 @@ class MessageVideo(AbstractMessage):
             if DeviceType.is_yuka(self.get_device_name())
             else luba_mul_pb2.MUL_CAMERA_POSITION.LEFT
         )
-        mctl_sys = luba_mul_pb2.SocMul(
-            set_video=luba_mul_pb2.MulSetVideo(position=position, vi_switch=enter_state)
-        )
+        mctl_sys = luba_mul_pb2.SocMul(set_video=luba_mul_pb2.MulSetVideo(position=position, vi_switch=enter_state))
         return self.send_order_msg_video(mctl_sys)

pymammotion/mammotion/control/joystick.py

@@ -31,9 +31,7 @@ class JoystickControl:
         self._curr_time = timer()
         self.stopped = False
 
-        repeater = pyjoystick.HatRepeater(
-            first_repeat_timeout=0.2, repeat_timeout=0.03, check_timeout=0.01
-        )
+        repeater = pyjoystick.HatRepeater(first_repeat_timeout=0.2, repeat_timeout=0.03, check_timeout=0.01)
 
         self.mngr = pyjoystick.ThreadEventManager(
             event_loop=run_event_loop,
@@ -43,9 +41,7 @@ class JoystickControl:
             button_repeater=repeater,
         )
 
-        self.worker = PeriodicThread(
-            0.2, self.run_movement, name="luba-process_movements"
-        )
+        self.worker = PeriodicThread(0.2, self.run_movement, name="luba-process_movements")
         self.worker.alive = self.mngr.alive  # stop when this event stops
         self.worker.daemon = True
 
@@ -64,11 +60,7 @@ class JoystickControl:
             self.linear_percent,
             self.angular_percent,
         )
-        asyncio.run(
-            self._client.command(
-                "send_movement", linear_speed=linear_speed, angular_speed=angular_speed
-            )
-        )
+        asyncio.run(self._client.command("send_movement", linear_speed=linear_speed, angular_speed=angular_speed))
 
     def print_add(self, joy):
         print("Added", joy)
@@ -90,13 +82,9 @@ class JoystickControl:
         return percent - 15.0
 
     @staticmethod
-    def transform_both_speeds(
-        linear: float, angular: float, linear_percent: float, angular_percent: float
-    ):
+    def transform_both_speeds(linear: float, angular: float, linear_percent: float, angular_percent: float):
         transfrom3 = RockerControlUtil.getInstance().transfrom3(linear, linear_percent)
-        transform4 = RockerControlUtil.getInstance().transfrom3(
-            angular, angular_percent
-        )
+        transform4 = RockerControlUtil.getInstance().transfrom3(angular, angular_percent)
 
         if transfrom3 is not None and len(transfrom3) > 0:
             linear_speed = transfrom3[0] * 10
@@ -121,20 +109,12 @@ class JoystickControl:
                 # lower knife height
                 if self._blade_height > 25:
                     self._blade_height -= 5
-                    asyncio.run(
-                        self._client.command(
-                            "set_blade_height", height=self._blade_height
-                        )
-                    )
+                    asyncio.run(self._client.command("set_blade_height", height=self._blade_height))
             if key.number == 10:
                 # raise knife height
                 if self._blade_height < 60:
                     self._blade_height += 5
-                    asyncio.run(
-                        self._client.command(
-                            "set_blade_height", height=self._blade_height
-                        )
-                    )
+                    asyncio.run(self._client.command("set_blade_height", height=self._blade_height))
 
         if key.keytype is Key.AXIS:
             # print(key, "-", key.keytype, "-", key.number, "-", key.value)
@@ -163,16 +143,12 @@ class JoystickControl:
                         # angular_speed==450
                         if key.value > 0:
                             self.angular_speed = 0.0
-                            self.angular_percent = self.get_percent(
-                                abs(key.value * 100)
-                            )
+                            self.angular_percent = self.get_percent(abs(key.value * 100))
                         else:
                             # angle=180.0
                             # linear_speed=0//angular_speed=-450
                             self.angular_speed = 180.0
-                            self.angular_percent = self.get_percent(
-                                abs(key.value * 100)
-                            )
+                            self.angular_percent = self.get_percent(abs(key.value * 100))
 
             else:
                 match key.number:

pymammotion/mammotion/devices/__init__.py

@@ -1 +1,5 @@
-from .luba import MammotionBaseBLEDevice, has_field
+"""mqtt init."""
+
+from .mammotion import MammotionBaseBLEDevice, has_field
+
+__all__ = ["MammotionBaseBLEDevice", "has_field"]