pymammotion 0.1.0__tar.gz → 0.1.2__tar.gz

{pymammotion-0.1.0 → pymammotion-0.1.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymammotion
-Version: 0.1.0
+Version: 0.1.2
 Summary: 
 License: GNU-3.0
 Author: Michael Arthur
@@ -23,6 +23,7 @@ Requires-Dist: bleak-retry-connector (>=3.5.0,<4.0.0)
 Requires-Dist: jsonic (>=1.0.0,<2.0.0)
 Requires-Dist: mashumaro (>=3.13,<4.0)
 Requires-Dist: nest-asyncio (>=1.6.0,<2.0.0)
+Requires-Dist: numpy (>=2.0.1,<3.0.0)
 Requires-Dist: orjson (>=3.9.15,<4.0.0)
 Requires-Dist: paho-mqtt (>=1.6.1,<2.0.0)
 Requires-Dist: protobuf (>=4.23.1)

{pymammotion-0.1.0 → pymammotion-0.1.2}/pymammotion/data/model/device.py

@@ -12,7 +12,8 @@ from pymammotion.proto.mctrl_driver import MctlDriver
 from pymammotion.proto.mctrl_nav import MctlNav
 from pymammotion.proto.mctrl_ota import MctlOta
 from pymammotion.proto.mctrl_pept import MctlPept
-from pymammotion.proto.mctrl_sys import MctlSys, MowToAppInfoT, SystemUpdateBufMsg
+from pymammotion.proto.mctrl_sys import MctlSys, MowToAppInfoT, SystemUpdateBufMsg, ReportInfoData
+from pymammotion.utility.map import CoordinateConverter
 
 
 @dataclass
@@ -84,6 +85,16 @@ class MowingDevice:
                     ]
                 )
 
+    def report_data(self, toapp_report_data: ReportInfoData):
+        coordinate_converter = CoordinateConverter(self.location.RTK.latitude, self.location.RTK.longitude)
+        for index, location in enumerate(toapp_report_data.locations):
+            if index == 0:
+                self.location.position_type = location.pos_type
+                self.location.orientation = location.real_toward / 10000
+                self.location.device = coordinate_converter.enu_to_lla(location.real_pos_y, location.real_pos_x)
+
+
+
     def mow_info(self, toapp_mow_info: MowToAppInfoT):
         pass
 

{pymammotion-0.1.0 → pymammotion-0.1.2}/pymammotion/data/model/location.py

@@ -10,9 +10,9 @@ class Point:
     latitude: float
     longitude: float
 
-    def __init__(self):
-        self.latitude = 0
-        self.longitude = 0
+    def __init__(self, latitude=0.0, longitude=0.0):
+        self.latitude = latitude
+        self.longitude = longitude
 
 
 @dataclass
@@ -33,6 +33,8 @@ class Location:
     device: Point
     RTK: Point
     dock: Dock
+    position_type: int
+    orientation: int # 360 degree rotation +-
 
     def __init__(self):
         self.device = Point()

{pymammotion-0.1.0 → pymammotion-0.1.2}/pymammotion/data/state_manager.py

@@ -68,7 +68,7 @@ class StateManager:
             case "system_update_buf":
                 self._device.buffer(sys_msg[1])
             case "toapp_report_data":
-                pass
+                self._device.report_data(sys_msg[1])
             case "mow_to_app_info":
                 self._device.mow_info(sys_msg[1])
 

{pymammotion-0.1.0 → pymammotion-0.1.2}/pymammotion/mammotion/commands/messages/system.py

@@ -28,7 +28,7 @@ class MessageSystem(AbstractMessage, ABC):
         print("Send command - send factory reset")
         return self.send_order_msg_sys(build)
 
-    async def set_blade_control(self, on_off: int):
+    def set_blade_control(self, on_off: int):
         mctlsys = mctrl_sys_pb2.MctlSys()
         sysKnifeControl = mctrl_sys_pb2.SysKnifeControl()
         sysKnifeControl.knife_status = on_off

{pymammotion-0.1.0 → pymammotion-0.1.2}/pymammotion/mammotion/devices/mammotion.py

@@ -534,12 +534,12 @@ class MammotionBaseBLEDevice(MammotionBaseDevice):
 
     async def _notification_handler(self, _sender: BleakGATTCharacteristic, data: bytearray) -> None:
         """Handle notification responses."""
-        _LOGGER.debug("%s: Received notification: %s", self.name, data)
         result = self._message.parseNotification(data)
         if result == 0:
             data = await self._message.parseBlufiNotifyData(True)
             self._update_raw_data(data)
             self._message.clearNotification()
+            _LOGGER.debug("%s: Received notification: %s", self.name, data)
         else:
             return
         new_msg = LubaMsg().parse(data)

pymammotion-0.1.2/pymammotion/proto/basestation.proto

@@ -0,0 +1,43 @@
+syntax = "proto3";
+
+message request_basestation_info_t {
+    uint32 request_type = 1;
+}
+
+message response_basestation_info_t {
+    uint64 system_status = 1;
+    uint32 app_connect_type = 2;
+    int32 ble_rssi = 3;
+    int32 wifi_rssi = 4;
+    uint64 sats_num = 5;
+    int64 lora_scan = 6;
+    int64 lora_channel = 7;
+    int64 lora_locid = 8;
+    int64 lora_netid = 9;
+    uint64 rtk_status = 10;
+    int32 lowpower_status = 11;
+    int32 mqtt_rtk_status = 12;
+    int32 rtk_channel = 13;
+    int32 rtk_switch = 14;
+}
+
+message app_to_base_mqtt_rtk_t {
+    int32 rtk_switch = 1;
+    string rtk_url = 2;
+    int32 rtk_port = 3;
+    string rtk_username = 4;
+    string rtk_password = 5;
+}
+
+message base_to_app_mqtt_rtk_t {
+    int32 rtk_switch_status = 1;
+}
+
+message BaseStation {
+    oneof BaseStationSubType {
+        request_basestation_info_t to_dev = 1;
+        response_basestation_info_t to_app = 2;
+        app_to_base_mqtt_rtk_t app_to_base_mqtt_rtk_msg = 3;
+        base_to_app_mqtt_rtk_t base_to_app_mqtt_rtk_msg = 4;
+    }
+}

pymammotion-0.1.2/pymammotion/proto/basestation.py

@@ -0,0 +1,59 @@
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# sources: pymammotion/proto/basestation.proto
+# plugin: python-betterproto
+from dataclasses import dataclass
+
+import betterproto
+
+
+@dataclass
+class RequestBasestationInfoT(betterproto.Message):
+    request_type: int = betterproto.uint32_field(1)
+
+
+@dataclass
+class ResponseBasestationInfoT(betterproto.Message):
+    system_status: int = betterproto.uint64_field(1)
+    app_connect_type: int = betterproto.uint32_field(2)
+    ble_rssi: int = betterproto.int32_field(3)
+    wifi_rssi: int = betterproto.int32_field(4)
+    sats_num: int = betterproto.uint64_field(5)
+    lora_scan: int = betterproto.int64_field(6)
+    lora_channel: int = betterproto.int64_field(7)
+    lora_locid: int = betterproto.int64_field(8)
+    lora_netid: int = betterproto.int64_field(9)
+    rtk_status: int = betterproto.uint64_field(10)
+    lowpower_status: int = betterproto.int32_field(11)
+    mqtt_rtk_status: int = betterproto.int32_field(12)
+    rtk_channel: int = betterproto.int32_field(13)
+    rtk_switch: int = betterproto.int32_field(14)
+
+
+@dataclass
+class AppToBaseMqttRtkT(betterproto.Message):
+    rtk_switch: int = betterproto.int32_field(1)
+    rtk_url: str = betterproto.string_field(2)
+    rtk_port: int = betterproto.int32_field(3)
+    rtk_username: str = betterproto.string_field(4)
+    rtk_password: str = betterproto.string_field(5)
+
+
+@dataclass
+class BaseToAppMqttRtkT(betterproto.Message):
+    rtk_switch_status: int = betterproto.int32_field(1)
+
+
+@dataclass
+class BaseStation(betterproto.Message):
+    to_dev: "RequestBasestationInfoT" = betterproto.message_field(
+        1, group="BaseStationSubType"
+    )
+    to_app: "ResponseBasestationInfoT" = betterproto.message_field(
+        2, group="BaseStationSubType"
+    )
+    app_to_base_mqtt_rtk_msg: "AppToBaseMqttRtkT" = betterproto.message_field(
+        3, group="BaseStationSubType"
+    )
+    base_to_app_mqtt_rtk_msg: "BaseToAppMqttRtkT" = betterproto.message_field(
+        4, group="BaseStationSubType"
+    )

pymammotion-0.1.2/pymammotion/proto/basestation_pb2.py

@@ -0,0 +1,33 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: pymammotion/proto/basestation.proto
+"""Generated protocol buffer code."""
+from google.protobuf.internal import builder as _builder
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n#pymammotion/proto/basestation.proto\"2\n\x1arequest_basestation_info_t\x12\x14\n\x0crequest_type\x18\x01 \x01(\r\"\xc5\x02\n\x1bresponse_basestation_info_t\x12\x15\n\rsystem_status\x18\x01 \x01(\x04\x12\x18\n\x10\x61pp_connect_type\x18\x02 \x01(\r\x12\x10\n\x08\x62le_rssi\x18\x03 \x01(\x05\x12\x11\n\twifi_rssi\x18\x04 \x01(\x05\x12\x10\n\x08sats_num\x18\x05 \x01(\x04\x12\x11\n\tlora_scan\x18\x06 \x01(\x03\x12\x14\n\x0clora_channel\x18\x07 \x01(\x03\x12\x12\n\nlora_locid\x18\x08 \x01(\x03\x12\x12\n\nlora_netid\x18\t \x01(\x03\x12\x12\n\nrtk_status\x18\n \x01(\x04\x12\x17\n\x0flowpower_status\x18\x0b \x01(\x05\x12\x17\n\x0fmqtt_rtk_status\x18\x0c \x01(\x05\x12\x13\n\x0brtk_channel\x18\r \x01(\x05\x12\x12\n\nrtk_switch\x18\x0e \x01(\x05\"{\n\x16\x61pp_to_base_mqtt_rtk_t\x12\x12\n\nrtk_switch\x18\x01 \x01(\x05\x12\x0f\n\x07rtk_url\x18\x02 \x01(\t\x12\x10\n\x08rtk_port\x18\x03 \x01(\x05\x12\x14\n\x0crtk_username\x18\x04 \x01(\t\x12\x14\n\x0crtk_password\x18\x05 \x01(\t\"3\n\x16\x62\x61se_to_app_mqtt_rtk_t\x12\x19\n\x11rtk_switch_status\x18\x01 \x01(\x05\"\xfc\x01\n\x0b\x42\x61seStation\x12-\n\x06to_dev\x18\x01 \x01(\x0b\x32\x1b.request_basestation_info_tH\x00\x12.\n\x06to_app\x18\x02 \x01(\x0b\x32\x1c.response_basestation_info_tH\x00\x12;\n\x18\x61pp_to_base_mqtt_rtk_msg\x18\x03 \x01(\x0b\x32\x17.app_to_base_mqtt_rtk_tH\x00\x12;\n\x18\x62\x61se_to_app_mqtt_rtk_msg\x18\x04 \x01(\x0b\x32\x17.base_to_app_mqtt_rtk_tH\x00\x42\x14\n\x12\x42\x61seStationSubTypeb\x06proto3')
+
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'pymammotion.proto.basestation_pb2', globals())
+if _descriptor._USE_C_DESCRIPTORS == False:
+
+  DESCRIPTOR._options = None
+  _REQUEST_BASESTATION_INFO_T._serialized_start=39
+  _REQUEST_BASESTATION_INFO_T._serialized_end=89
+  _RESPONSE_BASESTATION_INFO_T._serialized_start=92
+  _RESPONSE_BASESTATION_INFO_T._serialized_end=417
+  _APP_TO_BASE_MQTT_RTK_T._serialized_start=419
+  _APP_TO_BASE_MQTT_RTK_T._serialized_end=542
+  _BASE_TO_APP_MQTT_RTK_T._serialized_start=544
+  _BASE_TO_APP_MQTT_RTK_T._serialized_end=595
+  _BASESTATION._serialized_start=598
+  _BASESTATION._serialized_end=850
+# @@protoc_insertion_point(module_scope)

pymammotion-0.1.2/pymammotion/proto/basestation_pb2.pyi

@@ -0,0 +1,75 @@
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from typing import ClassVar as _ClassVar, Mapping as _Mapping, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class BaseStation(_message.Message):
+    __slots__ = ["app_to_base_mqtt_rtk_msg", "base_to_app_mqtt_rtk_msg", "to_app", "to_dev"]
+    APP_TO_BASE_MQTT_RTK_MSG_FIELD_NUMBER: _ClassVar[int]
+    BASE_TO_APP_MQTT_RTK_MSG_FIELD_NUMBER: _ClassVar[int]
+    TO_APP_FIELD_NUMBER: _ClassVar[int]
+    TO_DEV_FIELD_NUMBER: _ClassVar[int]
+    app_to_base_mqtt_rtk_msg: app_to_base_mqtt_rtk_t
+    base_to_app_mqtt_rtk_msg: base_to_app_mqtt_rtk_t
+    to_app: response_basestation_info_t
+    to_dev: request_basestation_info_t
+    def __init__(self, to_dev: _Optional[_Union[request_basestation_info_t, _Mapping]] = ..., to_app: _Optional[_Union[response_basestation_info_t, _Mapping]] = ..., app_to_base_mqtt_rtk_msg: _Optional[_Union[app_to_base_mqtt_rtk_t, _Mapping]] = ..., base_to_app_mqtt_rtk_msg: _Optional[_Union[base_to_app_mqtt_rtk_t, _Mapping]] = ...) -> None: ...
+
+class app_to_base_mqtt_rtk_t(_message.Message):
+    __slots__ = ["rtk_password", "rtk_port", "rtk_switch", "rtk_url", "rtk_username"]
+    RTK_PASSWORD_FIELD_NUMBER: _ClassVar[int]
+    RTK_PORT_FIELD_NUMBER: _ClassVar[int]
+    RTK_SWITCH_FIELD_NUMBER: _ClassVar[int]
+    RTK_URL_FIELD_NUMBER: _ClassVar[int]
+    RTK_USERNAME_FIELD_NUMBER: _ClassVar[int]
+    rtk_password: str
+    rtk_port: int
+    rtk_switch: int
+    rtk_url: str
+    rtk_username: str
+    def __init__(self, rtk_switch: _Optional[int] = ..., rtk_url: _Optional[str] = ..., rtk_port: _Optional[int] = ..., rtk_username: _Optional[str] = ..., rtk_password: _Optional[str] = ...) -> None: ...
+
+class base_to_app_mqtt_rtk_t(_message.Message):
+    __slots__ = ["rtk_switch_status"]
+    RTK_SWITCH_STATUS_FIELD_NUMBER: _ClassVar[int]
+    rtk_switch_status: int
+    def __init__(self, rtk_switch_status: _Optional[int] = ...) -> None: ...
+
+class request_basestation_info_t(_message.Message):
+    __slots__ = ["request_type"]
+    REQUEST_TYPE_FIELD_NUMBER: _ClassVar[int]
+    request_type: int
+    def __init__(self, request_type: _Optional[int] = ...) -> None: ...
+
+class response_basestation_info_t(_message.Message):
+    __slots__ = ["app_connect_type", "ble_rssi", "lora_channel", "lora_locid", "lora_netid", "lora_scan", "lowpower_status", "mqtt_rtk_status", "rtk_channel", "rtk_status", "rtk_switch", "sats_num", "system_status", "wifi_rssi"]
+    APP_CONNECT_TYPE_FIELD_NUMBER: _ClassVar[int]
+    BLE_RSSI_FIELD_NUMBER: _ClassVar[int]
+    LORA_CHANNEL_FIELD_NUMBER: _ClassVar[int]
+    LORA_LOCID_FIELD_NUMBER: _ClassVar[int]
+    LORA_NETID_FIELD_NUMBER: _ClassVar[int]
+    LORA_SCAN_FIELD_NUMBER: _ClassVar[int]
+    LOWPOWER_STATUS_FIELD_NUMBER: _ClassVar[int]
+    MQTT_RTK_STATUS_FIELD_NUMBER: _ClassVar[int]
+    RTK_CHANNEL_FIELD_NUMBER: _ClassVar[int]
+    RTK_STATUS_FIELD_NUMBER: _ClassVar[int]
+    RTK_SWITCH_FIELD_NUMBER: _ClassVar[int]
+    SATS_NUM_FIELD_NUMBER: _ClassVar[int]
+    SYSTEM_STATUS_FIELD_NUMBER: _ClassVar[int]
+    WIFI_RSSI_FIELD_NUMBER: _ClassVar[int]
+    app_connect_type: int
+    ble_rssi: int
+    lora_channel: int
+    lora_locid: int
+    lora_netid: int
+    lora_scan: int
+    lowpower_status: int
+    mqtt_rtk_status: int
+    rtk_channel: int
+    rtk_status: int
+    rtk_switch: int
+    sats_num: int
+    system_status: int
+    wifi_rssi: int
+    def __init__(self, system_status: _Optional[int] = ..., app_connect_type: _Optional[int] = ..., ble_rssi: _Optional[int] = ..., wifi_rssi: _Optional[int] = ..., sats_num: _Optional[int] = ..., lora_scan: _Optional[int] = ..., lora_channel: _Optional[int] = ..., lora_locid: _Optional[int] = ..., lora_netid: _Optional[int] = ..., rtk_status: _Optional[int] = ..., lowpower_status: _Optional[int] = ..., mqtt_rtk_status: _Optional[int] = ..., rtk_channel: _Optional[int] = ..., rtk_switch: _Optional[int] = ...) -> None: ...

{pymammotion-0.1.0 → pymammotion-0.1.2}/pymammotion/proto/dev_net.proto

@@ -1,11 +1,11 @@
 syntax = "proto3";
 
 message DrvWifiUpload {
-  int32 Wifi_Msg_Upload = 1;
+  int32 wifi_msg_upload = 1;
 }
 
 message DrvWifiList {
-  int32 NVS_Wifi_Upload = 1;
+  int32 nvs_wifi_upload = 1;
 }
 
 message DrvWifiSet {
@@ -17,8 +17,8 @@ message DrvWifiSet {
 message DrvWifiMsg {
   bool status1 = 1;
   bool status2 = 2;
-  string IP = 3;
-  string Msgssid = 4;
+  string ip = 3;
+  string msgssid = 4;
   string password = 5;
   int32 rssi = 6;
   string productkey = 7;

{pymammotion-0.1.0 → pymammotion-0.1.2}/pymammotion/proto/dev_net.py

@@ -149,7 +149,7 @@ class DrvDevInfoReqId(betterproto.Message):
 class DrvDevInfoRespId(betterproto.Message):
     id: int = betterproto.int32_field(1)
     type: int = betterproto.int32_field(2)
-    res: DrvDevInfoResult = betterproto.enum_field(3)
+    res: "DrvDevInfoResult" = betterproto.enum_field(3)
     info: str = betterproto.string_field(4)
 
 
@@ -233,7 +233,7 @@ class GetMnetInfoReq(betterproto.Message):
 class GetMnetInfoRsp(betterproto.Message):
     req_ids: int = betterproto.int32_field(1)
     result: int = betterproto.int32_field(2)
-    mnet: MnetInfo = betterproto.message_field(3)
+    mnet: "MnetInfo" = betterproto.message_field(3)
 
 
 @dataclass

{pymammotion-0.1.0 → pymammotion-0.1.2}/pymammotion/proto/dev_net_pb2.py

@@ -13,7 +13,7 @@ _sym_db = _symbol_database.Default()
 
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1fpymammotion/proto/dev_net.proto\"(\n\rDrvWifiUpload\x12\x17\n\x0fWifi_Msg_Upload\x18\x01 \x01(\x05\"&\n\x0b\x44rvWifiList\x12\x17\n\x0fNVS_Wifi_Upload\x18\x01 \x01(\x05\"H\n\nDrvWifiSet\x12\x13\n\x0b\x63onfigParam\x18\x01 \x01(\x05\x12\x10\n\x08\x43onfssid\x18\x02 \x01(\t\x12\x13\n\x0bwifi_enable\x18\x03 \x01(\x08\"\xa8\x01\n\nDrvWifiMsg\x12\x0f\n\x07status1\x18\x01 \x01(\x08\x12\x0f\n\x07status2\x18\x02 \x01(\x08\x12\n\n\x02IP\x18\x03 \x01(\t\x12\x0f\n\x07Msgssid\x18\x04 \x01(\t\x12\x10\n\x08password\x18\x05 \x01(\t\x12\x0c\n\x04rssi\x18\x06 \x01(\x05\x12\x12\n\nproductkey\x18\x07 \x01(\t\x12\x12\n\ndevicename\x18\x08 \x01(\t\x12\x13\n\x0bwifi_enable\x18\t \x01(\x08\"?\n\x0b\x44rvWifiConf\x12\x10\n\x08succFlag\x18\x01 \x01(\x08\x12\x0c\n\x04\x63ode\x18\x02 \x01(\x05\x12\x10\n\x08\x43onfssid\x18\x03 \x01(\t\"\\\n\rDrvListUpload\x12\x0b\n\x03sum\x18\x01 \x01(\x05\x12\x0f\n\x07\x63urrent\x18\x02 \x01(\x05\x12\x0e\n\x06status\x18\x03 \x01(\x05\x12\x0f\n\x07Memssid\x18\x04 \x01(\t\x12\x0c\n\x04rssi\x18\x05 \x01(\x05\"Y\n\x10\x44rvUploadFileReq\x12\r\n\x05\x62izId\x18\x01 \x01(\t\x12\x0b\n\x03url\x18\x02 \x01(\t\x12\x0e\n\x06userId\x18\x03 \x01(\t\x12\x0b\n\x03num\x18\x04 \x01(\x05\x12\x0c\n\x04type\x18\x05 \x01(\x05\"$\n\x13\x44rvUploadFileCancel\x12\r\n\x05\x62izId\x18\x01 \x01(\t\"z\n\x15\x44rvUploadFileToAppReq\x12\r\n\x05\x62izId\x18\x01 \x01(\t\x12\x11\n\toperation\x18\x02 \x01(\x05\x12\x10\n\x08serverIp\x18\x03 \x01(\x07\x12\x12\n\nserverPort\x18\x04 \x01(\x05\x12\x0b\n\x03num\x18\x05 \x01(\x05\x12\x0c\n\x04type\x18\x06 \x01(\x05\"I\n\x15\x44rvUploadFileToAppRsp\x12\r\n\x05\x62izId\x18\x01 \x01(\t\x12\x11\n\toperation\x18\x02 \x01(\x05\x12\x0e\n\x06result\x18\x03 \x01(\x05\"+\n\x0f\x44rvDevInfoReqId\x12\n\n\x02id\x18\x01 \x01(\x05\x12\x0c\n\x04type\x18\x02 \x01(\x05\"Z\n\x10\x44rvDevInfoRespId\x12\n\n\x02id\x18\x01 \x01(\x05\x12\x0c\n\x04type\x18\x02 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
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'pymammotion.proto.dev_net_pb2', globals())

{pymammotion-0.1.0 → pymammotion-0.1.2}/pymammotion/proto/dev_net_pb2.pyi

@@ -236,18 +236,16 @@ class DrvWifiConf(_message.Message):
     def __init__(self, succFlag: bool = ..., code: _Optional[int] = ..., Confssid: _Optional[str] = ...) -> None: ...
 
 class DrvWifiList(_message.Message):
-    __slots__ = ["NVS_Wifi_Upload"]
+    __slots__ = ["nvs_wifi_upload"]
     NVS_WIFI_UPLOAD_FIELD_NUMBER: _ClassVar[int]
-    NVS_Wifi_Upload: int
-    def __init__(self, NVS_Wifi_Upload: _Optional[int] = ...) -> None: ...
+    nvs_wifi_upload: int
+    def __init__(self, nvs_wifi_upload: _Optional[int] = ...) -> None: ...
 
 class DrvWifiMsg(_message.Message):
-    __slots__ = ["IP", "Msgssid", "devicename", "password", "productkey", "rssi", "status1", "status2", "wifi_enable"]
+    __slots__ = ["devicename", "ip", "msgssid", "password", "productkey", "rssi", "status1", "status2", "wifi_enable"]
     DEVICENAME_FIELD_NUMBER: _ClassVar[int]
-    IP: str
     IP_FIELD_NUMBER: _ClassVar[int]
     MSGSSID_FIELD_NUMBER: _ClassVar[int]
-    Msgssid: str
     PASSWORD_FIELD_NUMBER: _ClassVar[int]
     PRODUCTKEY_FIELD_NUMBER: _ClassVar[int]
     RSSI_FIELD_NUMBER: _ClassVar[int]
@@ -255,13 +253,15 @@ class DrvWifiMsg(_message.Message):
     STATUS2_FIELD_NUMBER: _ClassVar[int]
     WIFI_ENABLE_FIELD_NUMBER: _ClassVar[int]
     devicename: str
+    ip: str
+    msgssid: str
     password: str
     productkey: str
     rssi: int
     status1: bool
     status2: bool
     wifi_enable: bool
-    def __init__(self, status1: bool = ..., status2: bool = ..., IP: _Optional[str] = ..., Msgssid: _Optional[str] = ..., password: _Optional[str] = ..., rssi: _Optional[int] = ..., productkey: _Optional[str] = ..., devicename: _Optional[str] = ..., wifi_enable: bool = ...) -> None: ...
+    def __init__(self, status1: bool = ..., status2: bool = ..., ip: _Optional[str] = ..., msgssid: _Optional[str] = ..., password: _Optional[str] = ..., rssi: _Optional[int] = ..., productkey: _Optional[str] = ..., devicename: _Optional[str] = ..., wifi_enable: bool = ...) -> None: ...
 
 class DrvWifiSet(_message.Message):
     __slots__ = ["Confssid", "configParam", "wifi_enable"]
@@ -274,10 +274,10 @@ class DrvWifiSet(_message.Message):
     def __init__(self, configParam: _Optional[int] = ..., Confssid: _Optional[str] = ..., wifi_enable: bool = ...) -> None: ...
 
 class DrvWifiUpload(_message.Message):
-    __slots__ = ["Wifi_Msg_Upload"]
+    __slots__ = ["wifi_msg_upload"]
     WIFI_MSG_UPLOAD_FIELD_NUMBER: _ClassVar[int]
-    Wifi_Msg_Upload: int
-    def __init__(self, Wifi_Msg_Upload: _Optional[int] = ...) -> None: ...
+    wifi_msg_upload: int
+    def __init__(self, wifi_msg_upload: _Optional[int] = ...) -> None: ...
 
 class GetMnetCfgReq(_message.Message):
     __slots__ = ["req_ids"]

{pymammotion-0.1.0 → pymammotion-0.1.2}/pymammotion/proto/luba_msg.proto

@@ -1,5 +1,6 @@
 syntax = "proto3";
 
+import "pymammotion/proto/basestation.proto";
 import "pymammotion/proto/mctrl_driver.proto";
 import "pymammotion/proto/mctrl_nav.proto";
 import "pymammotion/proto/mctrl_sys.proto";
@@ -28,6 +29,7 @@ message LubaMsg {
     SocMul mul = 14;
     MsgNull null = 16;
     MctlPept pept = 17;
+    BaseStation base = 18;
   }
   uint64 timestamp = 15;
 }

{pymammotion-0.1.0 → pymammotion-0.1.2}/pymammotion/proto/luba_msg.py

@@ -4,8 +4,8 @@
 from dataclasses import dataclass
 
 import betterproto
-
 from .common import *
+from .basestation import *
 from .dev_net import *
 from .luba_mul import *
 from .mctrl_driver import *
@@ -77,4 +77,5 @@ class LubaMsg(betterproto.Message):
     mul: "SocMul" = betterproto.message_field(14, group="LubaSubMsg")
     null: "MsgNull" = betterproto.message_field(16, group="LubaSubMsg")
     pept: "MctlPept" = betterproto.message_field(17, group="LubaSubMsg")
+    base: "BaseStation" = betterproto.message_field(18, group="LubaSubMsg")
     timestamp: int = betterproto.uint64_field(15)

pymammotion-0.1.2/pymammotion/proto/luba_msg_pb2.py

@@ -0,0 +1,41 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: pymammotion/proto/luba_msg.proto
+"""Generated protocol buffer code."""
+from google.protobuf.internal import builder as _builder
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from pymammotion.proto import basestation_pb2 as pymammotion_dot_proto_dot_basestation__pb2
+from pymammotion.proto import mctrl_driver_pb2 as pymammotion_dot_proto_dot_mctrl__driver__pb2
+from pymammotion.proto import mctrl_nav_pb2 as pymammotion_dot_proto_dot_mctrl__nav__pb2
+from pymammotion.proto import mctrl_sys_pb2 as pymammotion_dot_proto_dot_mctrl__sys__pb2
+from pymammotion.proto import dev_net_pb2 as pymammotion_dot_proto_dot_dev__net__pb2
+from pymammotion.proto import mctrl_ota_pb2 as pymammotion_dot_proto_dot_mctrl__ota__pb2
+from pymammotion.proto import luba_mul_pb2 as pymammotion_dot_proto_dot_luba__mul__pb2
+from pymammotion.proto import mctrl_pept_pb2 as pymammotion_dot_proto_dot_mctrl__pept__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n pymammotion/proto/luba_msg.proto\x1a#pymammotion/proto/basestation.proto\x1a$pymammotion/proto/mctrl_driver.proto\x1a!pymammotion/proto/mctrl_nav.proto\x1a!pymammotion/proto/mctrl_sys.proto\x1a\x1fpymammotion/proto/dev_net.proto\x1a!pymammotion/proto/mctrl_ota.proto\x1a pymammotion/proto/luba_mul.proto\x1a\"pymammotion/proto/mctrl_pept.proto\"\t\n\x07MsgNull\"\xb7\x03\n\x07LubaMsg\x12\x1c\n\x07msgtype\x18\x01 \x01(\x0e\x32\x0b.MsgCmdType\x12\x1a\n\x06sender\x18\x02 \x01(\x0e\x32\n.MsgDevice\x12\x19\n\x05rcver\x18\x03 \x01(\x0e\x32\n.MsgDevice\x12\x19\n\x07msgattr\x18\x04 \x01(\x0e\x32\x08.MsgAttr\x12\x0c\n\x04seqs\x18\x05 \x01(\x05\x12\x0f\n\x07version\x18\x06 \x01(\x05\x12\x0f\n\x07subtype\x18\x07 \x01(\x05\x12\x16\n\x03net\x18\x08 \x01(\x0b\x32\x07.DevNetH\x00\x12\x17\n\x03sys\x18\n \x01(\x0b\x32\x08.MctlSysH\x00\x12\x17\n\x03nav\x18\x0b \x01(\x0b\x32\x08.MctlNavH\x00\x12\x1d\n\x06\x64river\x18\x0c \x01(\x0b\x32\x0b.MctlDriverH\x00\x12\x17\n\x03ota\x18\r \x01(\x0b\x32\x08.MctlOtaH\x00\x12\x16\n\x03mul\x18\x0e \x01(\x0b\x32\x07.SocMulH\x00\x12\x18\n\x04null\x18\x10 \x01(\x0b\x32\x08.MsgNullH\x00\x12\x19\n\x04pept\x18\x11 \x01(\x0b\x32\t.MctlPeptH\x00\x12\x1c\n\x04\x62\x61se\x18\x12 \x01(\x0b\x32\x0c.BaseStationH\x00\x12\x11\n\ttimestamp\x18\x0f \x01(\x04\x42\x0c\n\nLubaSubMsg*\xd7\x02\n\nMsgCmdType\x12\x16\n\x12MSG_CMD_TYPE_START\x10\x00\x12\x15\n\x10MSG_CMD_TYPE_NAV\x10\xf0\x01\x12\x1e\n\x19MSG_CMD_TYPE_LOCALIZATION\x10\xf1\x01\x12\x1a\n\x15MSG_CMD_TYPE_PLANNING\x10\xf2\x01\x12\x1e\n\x19MSG_CMD_TYPE_EMBED_DRIVER\x10\xf3\x01\x12\x1b\n\x16MSG_CMD_TYPE_EMBED_SYS\x10\xf4\x01\x12\x1f\n\x1aMSG_CMD_TYPE_EMBED_MIDWARE\x10\xf5\x01\x12\x1b\n\x16MSG_CMD_TYPE_EMBED_OTA\x10\xf6\x01\x12\x1d\n\x18MSG_CMD_TYPE_APPLICATION\x10\xf7\x01\x12\x15\n\x10MSG_CMD_TYPE_ESP\x10\xf8\x01\x12\x15\n\x10MSG_CMD_TYPE_MUL\x10\xf9\x01\x12\x16\n\x11MSG_CMD_TYPE_PEPT\x10\xfa\x01*V\n\x07MsgAttr\x12\x11\n\rMSG_ATTR_NONE\x10\x00\x12\x10\n\x0cMSG_ATTR_REQ\x10\x01\x12\x11\n\rMSG_ATTR_RESP\x10\x02\x12\x13\n\x0fMSG_ATTR_REPORT\x10\x03*\xa8\x02\n\tMsgDevice\x12\x10\n\x0c\x44\x45V_COMM_ESP\x10\x00\x12\x0f\n\x0b\x44\x45V_MAINCTL\x10\x01\x12\x11\n\rDEV_LEFTMOTOR\x10\x02\x12\x12\n\x0e\x44\x45V_RIGHTMOTOR\x10\x03\x12\x13\n\x0f\x44\x45V_BASESTATION\x10\x04\x12\x0e\n\nDEV_RTKCLI\x10\x05\x12\x0f\n\x0b\x44\x45V_USBHOST\x10\x06\x12\x11\n\rDEV_MOBILEAPP\x10\x07\x12\x11\n\rDEV_IOTSERVER\x10\x08\x12\x0b\n\x07\x44\x45V_BMS\x10\t\x12\x12\n\x0e\x44\x45V_NAVIGATION\x10\x11\x12\x14\n\x10\x44\x45V_LOCALIZATION\x10\x12\x12\x12\n\x0e\x44\x45V_PERCEPTION\x10\x13\x12\x19\n\x15SOC_MODULE_MULTIMEDIA\x10\x15\x12\x0f\n\x0b\x44\x45V_IOTCTRL\x10\x19\x62\x06proto3')
+
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'pymammotion.proto.luba_msg_pb2', globals())
+if _descriptor._USE_C_DESCRIPTORS == False:
+
+  DESCRIPTOR._options = None
+  _MSGCMDTYPE._serialized_start=773
+  _MSGCMDTYPE._serialized_end=1116
+  _MSGATTR._serialized_start=1118
+  _MSGATTR._serialized_end=1204
+  _MSGDEVICE._serialized_start=1207
+  _MSGDEVICE._serialized_end=1503
+  _MSGNULL._serialized_start=319
+  _MSGNULL._serialized_end=328
+  _LUBAMSG._serialized_start=331
+  _LUBAMSG._serialized_end=770
+# @@protoc_insertion_point(module_scope)

{pymammotion-0.1.0 → pymammotion-0.1.2}/pymammotion/proto/luba_msg_pb2.pyi

@@ -1,3 +1,4 @@
+from pymammotion.proto import basestation_pb2 as _basestation_pb2
 from pymammotion.proto import mctrl_driver_pb2 as _mctrl_driver_pb2
 from pymammotion.proto import mctrl_nav_pb2 as _mctrl_nav_pb2
 from pymammotion.proto import mctrl_sys_pb2 as _mctrl_sys_pb2
@@ -44,7 +45,8 @@ MSG_CMD_TYPE_START: MsgCmdType
 SOC_MODULE_MULTIMEDIA: MsgDevice
 
 class LubaMsg(_message.Message):
-    __slots__ = ["driver", "msgattr", "msgtype", "mul", "nav", "net", "null", "ota", "pept", "rcver", "sender", "seqs", "subtype", "sys", "timestamp", "version"]
+    __slots__ = ["base", "driver", "msgattr", "msgtype", "mul", "nav", "net", "null", "ota", "pept", "rcver", "sender", "seqs", "subtype", "sys", "timestamp", "version"]
+    BASE_FIELD_NUMBER: _ClassVar[int]
     DRIVER_FIELD_NUMBER: _ClassVar[int]
     MSGATTR_FIELD_NUMBER: _ClassVar[int]
     MSGTYPE_FIELD_NUMBER: _ClassVar[int]
@@ -61,6 +63,7 @@ class LubaMsg(_message.Message):
     SYS_FIELD_NUMBER: _ClassVar[int]
     TIMESTAMP_FIELD_NUMBER: _ClassVar[int]
     VERSION_FIELD_NUMBER: _ClassVar[int]
+    base: _basestation_pb2.BaseStation
     driver: _mctrl_driver_pb2.MctlDriver
     msgattr: MsgAttr
     msgtype: MsgCmdType
@@ -77,7 +80,7 @@ class LubaMsg(_message.Message):
     sys: _mctrl_sys_pb2.MctlSys
     timestamp: int
     version: int
-    def __init__(self, msgtype: _Optional[_Union[MsgCmdType, str]] = ..., sender: _Optional[_Union[MsgDevice, str]] = ..., rcver: _Optional[_Union[MsgDevice, str]] = ..., msgattr: _Optional[_Union[MsgAttr, str]] = ..., seqs: _Optional[int] = ..., version: _Optional[int] = ..., subtype: _Optional[int] = ..., net: _Optional[_Union[_dev_net_pb2.DevNet, _Mapping]] = ..., sys: _Optional[_Union[_mctrl_sys_pb2.MctlSys, _Mapping]] = ..., nav: _Optional[_Union[_mctrl_nav_pb2.MctlNav, _Mapping]] = ..., driver: _Optional[_Union[_mctrl_driver_pb2.MctlDriver, _Mapping]] = ..., ota: _Optional[_Union[_mctrl_ota_pb2.MctlOta, _Mapping]] = ..., mul: _Optional[_Union[_luba_mul_pb2.SocMul, _Mapping]] = ..., null: _Optional[_Union[MsgNull, _Mapping]] = ..., pept: _Optional[_Union[_mctrl_pept_pb2.MctlPept, _Mapping]] = ..., timestamp: _Optional[int] = ...) -> None: ...
+    def __init__(self, msgtype: _Optional[_Union[MsgCmdType, str]] = ..., sender: _Optional[_Union[MsgDevice, str]] = ..., rcver: _Optional[_Union[MsgDevice, str]] = ..., msgattr: _Optional[_Union[MsgAttr, str]] = ..., seqs: _Optional[int] = ..., version: _Optional[int] = ..., subtype: _Optional[int] = ..., net: _Optional[_Union[_dev_net_pb2.DevNet, _Mapping]] = ..., sys: _Optional[_Union[_mctrl_sys_pb2.MctlSys, _Mapping]] = ..., nav: _Optional[_Union[_mctrl_nav_pb2.MctlNav, _Mapping]] = ..., driver: _Optional[_Union[_mctrl_driver_pb2.MctlDriver, _Mapping]] = ..., ota: _Optional[_Union[_mctrl_ota_pb2.MctlOta, _Mapping]] = ..., mul: _Optional[_Union[_luba_mul_pb2.SocMul, _Mapping]] = ..., null: _Optional[_Union[MsgNull, _Mapping]] = ..., pept: _Optional[_Union[_mctrl_pept_pb2.MctlPept, _Mapping]] = ..., base: _Optional[_Union[_basestation_pb2.BaseStation, _Mapping]] = ..., timestamp: _Optional[int] = ...) -> None: ...
 
 class MsgNull(_message.Message):
     __slots__ = []

{pymammotion-0.1.0 → pymammotion-0.1.2}/pymammotion/proto/mctrl_sys.proto

@@ -72,8 +72,8 @@ message SysMowInfo {
   int32 deviceState = 1;
   int32 batVal = 2;
   int32 knifeHeight = 3;
-  int32 RTKstatus = 4;
-  int32 RTKstars = 5;
+  int32 rtk_status = 4;
+  int32 rtk_stars = 5;
 }
 
 message SysOptiLineAck {