pymammotion 0.1.1__py3-none-any.whl → 0.1.3__py3-none-any.whl

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Files changed (27) hide show
  1. pymammotion/data/model/device.py +18 -1
  2. pymammotion/data/model/location.py +5 -3
  3. pymammotion/data/model/report_info.py +121 -0
  4. pymammotion/data/state_manager.py +1 -1
  5. pymammotion/mammotion/devices/mammotion.py +1 -1
  6. pymammotion/proto/basestation.proto +43 -0
  7. pymammotion/proto/basestation.py +59 -0
  8. pymammotion/proto/basestation_pb2.py +33 -0
  9. pymammotion/proto/basestation_pb2.pyi +75 -0
  10. pymammotion/proto/dev_net.proto +4 -4
  11. pymammotion/proto/dev_net.py +2 -2
  12. pymammotion/proto/dev_net_pb2.py +1 -1
  13. pymammotion/proto/dev_net_pb2.pyi +10 -10
  14. pymammotion/proto/luba_msg.proto +2 -0
  15. pymammotion/proto/luba_msg.py +2 -1
  16. pymammotion/proto/luba_msg_pb2.py +12 -11
  17. pymammotion/proto/luba_msg_pb2.pyi +5 -2
  18. pymammotion/proto/mctrl_nav.py +2 -2
  19. pymammotion/proto/mctrl_sys.proto +2 -2
  20. pymammotion/proto/mctrl_sys.py +18 -19
  21. pymammotion/proto/mctrl_sys_pb2.py +98 -98
  22. pymammotion/proto/mctrl_sys_pb2.pyi +6 -6
  23. pymammotion/utility/map.py +70 -0
  24. {pymammotion-0.1.1.dist-info → pymammotion-0.1.3.dist-info}/METADATA +2 -1
  25. {pymammotion-0.1.1.dist-info → pymammotion-0.1.3.dist-info}/RECORD +27 -21
  26. {pymammotion-0.1.1.dist-info → pymammotion-0.1.3.dist-info}/LICENSE +0 -0
  27. {pymammotion-0.1.1.dist-info → pymammotion-0.1.3.dist-info}/WHEEL +0 -0
pymammotion/proto/luba_msg_pb2.py CHANGED
@@ -11,6 +11,7 @@ from google.protobuf import symbol_database as _symbol_database
11
11
  _sym_db = _symbol_database.Default()
12
12
 
13
13
 
14
+ from pymammotion.proto import basestation_pb2 as pymammotion_dot_proto_dot_basestation__pb2
14
15
  from pymammotion.proto import mctrl_driver_pb2 as pymammotion_dot_proto_dot_mctrl__driver__pb2
15
16
  from pymammotion.proto import mctrl_nav_pb2 as pymammotion_dot_proto_dot_mctrl__nav__pb2
16
17
  from pymammotion.proto import mctrl_sys_pb2 as pymammotion_dot_proto_dot_mctrl__sys__pb2
@@ -20,21 +21,21 @@ from pymammotion.proto import luba_mul_pb2 as pymammotion_dot_proto_dot_luba__mu
20
21
  from pymammotion.proto import mctrl_pept_pb2 as pymammotion_dot_proto_dot_mctrl__pept__pb2
21
22
 
22
23
 
23
- DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n pymammotion/proto/luba_msg.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\"\x99\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\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')
24
+ 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')
24
25
 
25
26
  _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
26
27
  _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'pymammotion.proto.luba_msg_pb2', globals())
27
28
  if _descriptor._USE_C_DESCRIPTORS == False:
28
29
 
29
30
  DESCRIPTOR._options = None
30
- _MSGCMDTYPE._serialized_start=706
31
- _MSGCMDTYPE._serialized_end=1049
32
- _MSGATTR._serialized_start=1051
33
- _MSGATTR._serialized_end=1137
34
- _MSGDEVICE._serialized_start=1140
35
- _MSGDEVICE._serialized_end=1436
36
- _MSGNULL._serialized_start=282
37
- _MSGNULL._serialized_end=291
38
- _LUBAMSG._serialized_start=294
39
- _LUBAMSG._serialized_end=703
31
+ _MSGCMDTYPE._serialized_start=773
32
+ _MSGCMDTYPE._serialized_end=1116
33
+ _MSGATTR._serialized_start=1118
34
+ _MSGATTR._serialized_end=1204
35
+ _MSGDEVICE._serialized_start=1207
36
+ _MSGDEVICE._serialized_end=1503
37
+ _MSGNULL._serialized_start=319
38
+ _MSGNULL._serialized_end=328
39
+ _LUBAMSG._serialized_start=331
40
+ _LUBAMSG._serialized_end=770
40
41
  # @@protoc_insertion_point(module_scope)
pymammotion/proto/luba_msg_pb2.pyi CHANGED
@@ -1,3 +1,4 @@
1
+ from pymammotion.proto import basestation_pb2 as _basestation_pb2
1
2
  from pymammotion.proto import mctrl_driver_pb2 as _mctrl_driver_pb2
2
3
  from pymammotion.proto import mctrl_nav_pb2 as _mctrl_nav_pb2
3
4
  from pymammotion.proto import mctrl_sys_pb2 as _mctrl_sys_pb2
@@ -44,7 +45,8 @@ MSG_CMD_TYPE_START: MsgCmdType
44
45
  SOC_MODULE_MULTIMEDIA: MsgDevice
45
46
 
46
47
  class LubaMsg(_message.Message):
47
- __slots__ = ["driver", "msgattr", "msgtype", "mul", "nav", "net", "null", "ota", "pept", "rcver", "sender", "seqs", "subtype", "sys", "timestamp", "version"]
48
+ __slots__ = ["base", "driver", "msgattr", "msgtype", "mul", "nav", "net", "null", "ota", "pept", "rcver", "sender", "seqs", "subtype", "sys", "timestamp", "version"]
49
+ BASE_FIELD_NUMBER: _ClassVar[int]
48
50
  DRIVER_FIELD_NUMBER: _ClassVar[int]
49
51
  MSGATTR_FIELD_NUMBER: _ClassVar[int]
50
52
  MSGTYPE_FIELD_NUMBER: _ClassVar[int]
@@ -61,6 +63,7 @@ class LubaMsg(_message.Message):
61
63
  SYS_FIELD_NUMBER: _ClassVar[int]
62
64
  TIMESTAMP_FIELD_NUMBER: _ClassVar[int]
63
65
  VERSION_FIELD_NUMBER: _ClassVar[int]
66
+ base: _basestation_pb2.BaseStation
64
67
  driver: _mctrl_driver_pb2.MctlDriver
65
68
  msgattr: MsgAttr
66
69
  msgtype: MsgCmdType
@@ -77,7 +80,7 @@ class LubaMsg(_message.Message):
77
80
  sys: _mctrl_sys_pb2.MctlSys
78
81
  timestamp: int
79
82
  version: int
80
- 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: ...
83
+ 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: ...
81
84
 
82
85
  class MsgNull(_message.Message):
83
86
  __slots__ = []
pymammotion/proto/mctrl_nav.py CHANGED
@@ -2,10 +2,10 @@
2
2
  # sources: pymammotion/proto/mctrl_nav.proto
3
3
  # plugin: python-betterproto
4
4
  from dataclasses import dataclass
5
- import betterproto
6
-
7
5
  from .common import *
8
6
 
7
+ import betterproto
8
+
9
9
 
10
10
  @dataclass
11
11
  class NavLatLonUp(betterproto.Message):
pymammotion/proto/mctrl_sys.proto CHANGED
@@ -72,8 +72,8 @@ message SysMowInfo {
72
72
  int32 deviceState = 1;
73
73
  int32 batVal = 2;
74
74
  int32 knifeHeight = 3;
75
- int32 RTKstatus = 4;
76
- int32 RTKstars = 5;
75
+ int32 rtk_status = 4;
76
+ int32 rtk_stars = 5;
77
77
  }
78
78
 
79
79
  message SysOptiLineAck {
pymammotion/proto/mctrl_sys.py CHANGED
@@ -3,11 +3,10 @@
3
3
  # plugin: python-betterproto
4
4
  from dataclasses import dataclass
5
5
 
6
+ from .dev_net import *
6
7
 
7
8
  import betterproto
8
9
 
9
- from .dev_net import *
10
-
11
10
 
12
11
  class Operation(betterproto.Enum):
13
12
  WRITE = 0
@@ -287,8 +286,8 @@ class SystemUpdateBufMsg(betterproto.Message):
287
286
 
288
287
  @dataclass
289
288
  class SysOffChipFlash(betterproto.Message):
290
- op: Operation = betterproto.enum_field(1)
291
- id: OffPartId = betterproto.enum_field(2)
289
+ op: "Operation" = betterproto.enum_field(1)
290
+ id: "OffPartId" = betterproto.enum_field(2)
292
291
  start_addr: int = betterproto.uint32_field(3)
293
292
  offset: int = betterproto.uint32_field(4)
294
293
  length: int = betterproto.int32_field(5)
@@ -434,10 +433,10 @@ class RptDevStatus(betterproto.Message):
434
433
  last_status: int = betterproto.int32_field(5)
435
434
  sys_time_stamp: int = betterproto.int64_field(6)
436
435
  vslam_status: int = betterproto.int32_field(7)
437
- mnet_info: MnetInfo = betterproto.message_field(8)
438
- vio_survival_info: VioSurvivalInfoT = betterproto.message_field(9)
439
- collector_status: CollectorStatusT = betterproto.message_field(10)
440
- lock_state: LockStateT = betterproto.message_field(11)
436
+ mnet_info: "MnetInfo" = betterproto.message_field(8)
437
+ vio_survival_info: "VioSurvivalInfoT" = betterproto.message_field(9)
438
+ collector_status: "CollectorStatusT" = betterproto.message_field(10)
439
+ lock_state: "LockStateT" = betterproto.message_field(11)
441
440
 
442
441
 
443
442
  @dataclass
@@ -494,16 +493,16 @@ class ReportInfoCfg(betterproto.Message):
494
493
 
495
494
  @dataclass
496
495
  class ReportInfoData(betterproto.Message):
497
- connect: RptConnectStatus = betterproto.message_field(1)
498
- dev: RptDevStatus = betterproto.message_field(2)
499
- rtk: RptRtk = betterproto.message_field(3)
500
- locations: list[RptDevLocation] = betterproto.message_field(4)
501
- work: RptWork = betterproto.message_field(5)
502
- fw_info: DeviceFwInfo = betterproto.message_field(6)
503
- maintain: RptMaintain = betterproto.message_field(7)
504
- vision_point_info: list[VisionPointInfoMsg] = betterproto.message_field(8)
505
- vio_to_app_info: VioToAppInfoMsg = betterproto.message_field(9)
506
- vision_statistic_info: VisionStatisticInfoMsg = betterproto.message_field(10)
496
+ connect: "RptConnectStatus" = betterproto.message_field(1)
497
+ dev: "RptDevStatus" = betterproto.message_field(2)
498
+ rtk: "RptRtk" = betterproto.message_field(3)
499
+ locations: list["RptDevLocation"] = betterproto.message_field(4)
500
+ work: "RptWork" = betterproto.message_field(5)
501
+ fw_info: "DeviceFwInfo" = betterproto.message_field(6)
502
+ maintain: "RptMaintain" = betterproto.message_field(7)
503
+ vision_point_info: list["VisionPointInfoMsg"] = betterproto.message_field(8)
504
+ vio_to_app_info: "VioToAppInfoMsg" = betterproto.message_field(9)
505
+ vision_statistic_info: "VisionStatisticInfoMsg" = betterproto.message_field(10)
507
506
 
508
507
 
509
508
  @dataclass
@@ -566,7 +565,7 @@ class MctlSys(betterproto.Message):
566
565
  37, group="SubSysMsg"
567
566
  )
568
567
  todev_report_cfg: "ReportInfoCfg" = betterproto.message_field(38, group="SubSysMsg")
569
- toapp_report_data: ReportInfoData = betterproto.message_field(
568
+ toapp_report_data: "ReportInfoData" = betterproto.message_field(
570
569
  39, group="SubSysMsg"
571
570
  )
572
571
  simulation_cmd: "MCtrlSimulationCmdData" = betterproto.message_field(
pymammotion/proto/mctrl_sys_pb2.py CHANGED
@@ -14,25 +14,25 @@ _sym_db = _symbol_database.Default()
14
14
  from pymammotion.proto import dev_net_pb2 as pymammotion_dot_proto_dot_dev__net__pb2
15
15
 
16
16
 
17
- DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n!pymammotion/proto/mctrl_sys.proto\x1a\x1fpymammotion/proto/dev_net.proto\"\x1a\n\x08SysBatUp\x12\x0e\n\x06\x62\x61tVal\x18\x01 \x01(\x05\"Z\n\x0cSysWorkState\x12\x13\n\x0b\x64\x65viceState\x18\x01 \x01(\x05\x12\x13\n\x0b\x63hargeState\x18\x02 \x01(\x05\x12\x0e\n\x06\x63mHash\x18\x03 \x01(\x03\x12\x10\n\x08pathHash\x18\x04 \x01(\x03\"5\n\x0eSysSetTimeZone\x12\x11\n\ttimeStamp\x18\x01 \x01(\x05\x12\x10\n\x08timeArea\x18\x02 \x01(\x05\"\x9e\x01\n\x0eSysSetDateTime\x12\x0c\n\x04Year\x18\x01 \x01(\x05\x12\r\n\x05Month\x18\x02 \x01(\x05\x12\x0c\n\x04\x44\x61te\x18\x03 \x01(\x05\x12\x0c\n\x04Week\x18\x04 \x01(\x05\x12\r\n\x05Hours\x18\x05 \x01(\x05\x12\x0f\n\x07Minutes\x18\x06 \x01(\x05\x12\x0f\n\x07Seconds\x18\x07 \x01(\x05\x12\x10\n\x08timeZone\x18\x08 \x01(\x05\x12\x10\n\x08\x64\x61ylight\x18\t \x01(\x05\"V\n\nSysJobPlan\x12\r\n\x05jobId\x18\x01 \x01(\x03\x12\x0f\n\x07jobMode\x18\x02 \x01(\x05\x12\x13\n\x0brainTactics\x18\x03 \x01(\x05\x12\x13\n\x0bknifeHeight\x18\x04 \x01(\x05\"\"\n\rSysDevErrCode\x12\x11\n\terrorCode\x18\x01 \x01(\x05\"!\n\x0cSysBoardType\x12\x11\n\tboardType\x18\x01 \x01(\x05\"5\n\x0cSysSwVersion\x12\x11\n\tboardType\x18\x01 \x01(\x05\x12\x12\n\nversionLen\x18\x02 \x01(\x05\"1\n\rSysDelJobPlan\x12\x10\n\x08\x64\x65viceId\x18\x01 \x01(\t\x12\x0e\n\x06planId\x18\x02 \x01(\t\"\xec\x01\n\x0eSysJobPlanTime\x12\x0e\n\x06planId\x18\x01 \x01(\x03\x12\x16\n\x0estart_job_time\x18\x02 \x01(\x05\x12\x14\n\x0c\x65nd_job_time\x18\x03 \x01(\x05\x12\x13\n\x0btime_in_day\x18\x04 \x01(\x05\x12\x15\n\rjob_plan_mode\x18\x05 \x01(\x05\x12\x17\n\x0fjob_plan_enable\x18\x06 \x01(\x05\x12\x0f\n\x07weekDay\x18\x07 \x03(\x05\x12\x15\n\rtimeInWeekDay\x18\x08 \x03(\x05\x12\x10\n\x08\x65veryDay\x18\t \x01(\x05\x12\x1d\n\x08job_plan\x18\n \x01(\x0b\x32\x0b.SysJobPlan\"k\n\nSysMowInfo\x12\x13\n\x0b\x64\x65viceState\x18\x01 \x01(\x05\x12\x0e\n\x06\x62\x61tVal\x18\x02 \x01(\x05\x12\x13\n\x0bknifeHeight\x18\x03 \x01(\x05\x12\x11\n\tRTKstatus\x18\x04 \x01(\x05\x12\x10\n\x08RTKstars\x18\x05 \x01(\x05\";\n\x0eSysOptiLineAck\x12\x13\n\x0bresponesCmd\x18\x01 \x01(\x05\x12\x14\n\x0c\x63urrentFrame\x18\x02 \x01(\x05\"5\n\nSysCommCmd\x12\n\n\x02rw\x18\x01 \x01(\x05\x12\n\n\x02id\x18\x02 \x01(\x05\x12\x0f\n\x07\x63ontext\x18\x03 \x01(\x05\"H\n\x15SysUploadFileProgress\x12\r\n\x05\x62izId\x18\x01 \x01(\t\x12\x0e\n\x06result\x18\x02 \x01(\x05\x12\x10\n\x08progress\x18\x03 \x01(\x05\"\x1f\n\x0cSysErrorCode\x12\x0f\n\x07\x63ode_no\x18\x01 \x01(\x05\"\x1e\n\tSysBorder\x12\x11\n\tborderval\x18\x01 \x01(\x05\"*\n\x10SysPlanJobStatus\x12\x16\n\x0eplanjob_status\x18\x01 \x01(\x05\"=\n\x0fSysKnifeControl\x12\x14\n\x0cknife_status\x18\x01 \x01(\x05\x12\x14\n\x0cknife_height\x18\x02 \x01(\x05\"+\n\x14SysResetSystemStatus\x12\x13\n\x0breset_staus\x18\x01 \x01(\x05\"\x8a\x01\n\rTimeCtrlLight\x12\x0f\n\x07operate\x18\x01 \x01(\x05\x12\x0e\n\x06\x65nable\x18\x02 \x01(\x05\x12\x12\n\nstart_hour\x18\x03 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\x01(\x05\x12\x30\n\x11vision_statistics\x18\x03 \x03(\x0b\x32\x15.vision_statistic_msg\"\xd3\x01\n\x1asystemRapidStateTunnel_msg\x12\x18\n\x10rapid_state_data\x18\x01 \x03(\x03\x12\x31\n\x11vision_point_info\x18\x02 \x03(\x0b\x32\x16.vision_point_info_msg\x12-\n\x0fvio_to_app_info\x18\x03 \x01(\x0b\x32\x14.vio_to_app_info_msg\x12\x39\n\x15vision_statistic_info\x18\x04 \x01(\x0b\x32\x1a.vision_statistic_info_msg\"4\n\x19systemTardStateTunnel_msg\x12\x17\n\x0ftard_state_data\x18\x01 \x03(\x03\".\n\x13systemUpdateBuf_msg\x12\x17\n\x0fupdate_buf_data\x18\x01 \x03(\x03\"\x9e\x01\n\x0fSysOffChipFlash\x12\x16\n\x02op\x18\x01 \x01(\x0e\x32\n.Operation\x12\x16\n\x02id\x18\x02 \x01(\x0e\x32\n.OffPartId\x12\x12\n\nstart_addr\x18\x03 \x01(\r\x12\x0e\n\x06offset\x18\x04 \x01(\r\x12\x0e\n\x06length\x18\x05 \x01(\x05\x12\x0c\n\x04\x64\x61ta\x18\x06 \x01(\x0c\x12\x0c\n\x04\x63ode\x18\x07 \x01(\x05\x12\x0b\n\x03msg\x18\x08 \x01(\t\"-\n\x14systemTmpCycleTx_msg\x12\x15\n\rcycle_tx_data\x18\x01 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18
18
 
19
19
  _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
20
20
  _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'pymammotion.proto.mctrl_sys_pb2', globals())
21
21
  if _descriptor._USE_C_DESCRIPTORS == False:
22
22
 
23
23
  DESCRIPTOR._options = None
24
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- _OPERATION._serialized_end=7242
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- _OFFPARTID._serialized_start=7245
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- _NET_USED_TYPE._serialized_start=8436
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32
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33
- _RPT_INFO_TYPE._serialized_end=8717
34
- _RPT_ACT._serialized_start=8719
35
- _RPT_ACT._serialized_end=8771
24
+ _OPERATION._serialized_start=7201
25
+ _OPERATION._serialized_end=7244
26
+ _OFFPARTID._serialized_start=7247
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+ _OFFPARTID._serialized_end=7516
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+ _QCAPPTESTID._serialized_start=7519
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+ _QCAPPTESTID._serialized_end=8436
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+ _NET_USED_TYPE._serialized_start=8438
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+ _NET_USED_TYPE._serialized_end=8525
32
+ _RPT_INFO_TYPE._serialized_start=8528
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+ _RPT_INFO_TYPE._serialized_end=8719
34
+ _RPT_ACT._serialized_start=8721
35
+ _RPT_ACT._serialized_end=8773
36
36
  _SYSBATUP._serialized_start=70
37
37
  _SYSBATUP._serialized_end=96
38
38
  _SYSWORKSTATE._serialized_start=98
@@ -54,89 +54,89 @@ if _descriptor._USE_C_DESCRIPTORS == False:
54
54
  _SYSJOBPLANTIME._serialized_start=672
55
55
  _SYSJOBPLANTIME._serialized_end=908
56
56
  _SYSMOWINFO._serialized_start=910
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- _SYSMOWINFO._serialized_end=1017
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- _SYSOPTILINEACK._serialized_start=1019
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- _SYSOPTILINEACK._serialized_end=1078
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- _SYSERRORCODE._serialized_end=1240
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- _SYSBORDER._serialized_end=1272
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- _SYSPLANJOBSTATUS._serialized_start=1274
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- _SYSPLANJOBSTATUS._serialized_end=1316
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- _SYSKNIFECONTROL._serialized_start=1318
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- _SYSKNIFECONTROL._serialized_end=1379
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- _SYSRESETSYSTEMSTATUS._serialized_start=1381
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- _SYSRESETSYSTEMSTATUS._serialized_end=1424
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- _TIMECTRLLIGHT._serialized_start=1427
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- _VISION_POINT_INFO_MSG._serialized_end=1712
80
- _VIO_TO_APP_INFO_MSG._serialized_start=1715
81
- _VIO_TO_APP_INFO_MSG._serialized_end=1869
82
- _VISION_STATISTIC_MSG._serialized_start=1871
83
- _VISION_STATISTIC_MSG._serialized_end=1920
84
- _VISION_STATISTIC_INFO_MSG._serialized_start=1922
85
- _VISION_STATISTIC_INFO_MSG._serialized_end=2031
86
- _SYSTEMRAPIDSTATETUNNEL_MSG._serialized_start=2034
87
- _SYSTEMRAPIDSTATETUNNEL_MSG._serialized_end=2245
88
- _SYSTEMTARDSTATETUNNEL_MSG._serialized_start=2247
89
- _SYSTEMTARDSTATETUNNEL_MSG._serialized_end=2299
90
- _SYSTEMUPDATEBUF_MSG._serialized_start=2301
91
- _SYSTEMUPDATEBUF_MSG._serialized_end=2347
92
- _SYSOFFCHIPFLASH._serialized_start=2350
93
- _SYSOFFCHIPFLASH._serialized_end=2508
94
- _SYSTEMTMPCYCLETX_MSG._serialized_start=2510
95
- _SYSTEMTMPCYCLETX_MSG._serialized_end=2555
96
- _LORACFGREQ._serialized_start=2557
97
- _LORACFGREQ._serialized_end=2594
98
- _LORACFGRSP._serialized_start=2596
99
- _LORACFGRSP._serialized_end=2666
100
- _MOD_FW_INFO._serialized_start=2668
101
- _MOD_FW_INFO._serialized_end=2730
102
- _DEVICE_FW_INFO._serialized_start=2732
103
- _DEVICE_FW_INFO._serialized_end=2808
104
- _MOW_TO_APP_INFO_T._serialized_start=2810
105
- _MOW_TO_APP_INFO_T._serialized_end=2874
106
- _DEVICE_PRODUCT_TYPE_INFO_T._serialized_start=2876
107
- _DEVICE_PRODUCT_TYPE_INFO_T._serialized_end=2973
108
- _QCAPPTESTEXCEPT._serialized_start=2975
109
- _QCAPPTESTEXCEPT._serialized_end=3055
110
- _QCAPPTESTCONDITIONS._serialized_start=3057
111
- _QCAPPTESTCONDITIONS._serialized_end=3173
112
- _MOW_TO_APP_QCTOOLS_INFO_T._serialized_start=3176
113
- _MOW_TO_APP_QCTOOLS_INFO_T._serialized_end=3329
114
- _MCTRLSIMULATIONCMDDATA._serialized_start=3331
115
- _MCTRLSIMULATIONCMDDATA._serialized_end=3410
116
- _RPT_LORA._serialized_start=3413
117
- _RPT_LORA._serialized_end=3556
118
- _RPT_RTK._serialized_start=3559
119
- _RPT_RTK._serialized_end=3800
120
- _RPT_DEV_LOCATION._serialized_start=3803
121
- _RPT_DEV_LOCATION._serialized_end=3937
122
- _VIO_SURVIVAL_INFO_T._serialized_start=3939
123
- _VIO_SURVIVAL_INFO_T._serialized_end=3991
124
- _COLLECTOR_STATUS_T._serialized_start=3993
125
- _COLLECTOR_STATUS_T._serialized_end=4052
126
- _LOCK_STATE_T._serialized_start=4054
127
- _LOCK_STATE_T._serialized_end=4088
128
- _RPT_DEV_STATUS._serialized_start=4091
129
- _RPT_DEV_STATUS._serialized_end=4421
130
- _RPT_CONNECT_STATUS._serialized_start=4424
131
- _RPT_CONNECT_STATUS._serialized_end=4594
132
- _RPT_WORK._serialized_start=4597
133
- _RPT_WORK._serialized_end=5013
134
- _RPT_MAINTAIN._serialized_start=5015
135
- _RPT_MAINTAIN._serialized_end=5085
136
- _REPORT_INFO_CFG._serialized_start=5088
137
- _REPORT_INFO_CFG._serialized_end=5231
138
- _REPORT_INFO_DATA._serialized_start=5234
139
- _REPORT_INFO_DATA._serialized_end=5630
140
- _MCTLSYS._serialized_start=5633
141
- _MCTLSYS._serialized_end=7197
57
+ _SYSMOWINFO._serialized_end=1019
58
+ _SYSOPTILINEACK._serialized_start=1021
59
+ _SYSOPTILINEACK._serialized_end=1080
60
+ _SYSCOMMCMD._serialized_start=1082
61
+ _SYSCOMMCMD._serialized_end=1135
62
+ _SYSUPLOADFILEPROGRESS._serialized_start=1137
63
+ _SYSUPLOADFILEPROGRESS._serialized_end=1209
64
+ _SYSERRORCODE._serialized_start=1211
65
+ _SYSERRORCODE._serialized_end=1242
66
+ _SYSBORDER._serialized_start=1244
67
+ _SYSBORDER._serialized_end=1274
68
+ _SYSPLANJOBSTATUS._serialized_start=1276
69
+ _SYSPLANJOBSTATUS._serialized_end=1318
70
+ _SYSKNIFECONTROL._serialized_start=1320
71
+ _SYSKNIFECONTROL._serialized_end=1381
72
+ _SYSRESETSYSTEMSTATUS._serialized_start=1383
73
+ _SYSRESETSYSTEMSTATUS._serialized_end=1426
74
+ _TIMECTRLLIGHT._serialized_start=1429
75
+ _TIMECTRLLIGHT._serialized_end=1567
76
+ _VISION_POINT_MSG._serialized_start=1569
77
+ _VISION_POINT_MSG._serialized_end=1620
78
+ _VISION_POINT_INFO_MSG._serialized_start=1622
79
+ _VISION_POINT_INFO_MSG._serialized_end=1714
80
+ _VIO_TO_APP_INFO_MSG._serialized_start=1717
81
+ _VIO_TO_APP_INFO_MSG._serialized_end=1871
82
+ _VISION_STATISTIC_MSG._serialized_start=1873
83
+ _VISION_STATISTIC_MSG._serialized_end=1922
84
+ _VISION_STATISTIC_INFO_MSG._serialized_start=1924
85
+ _VISION_STATISTIC_INFO_MSG._serialized_end=2033
86
+ _SYSTEMRAPIDSTATETUNNEL_MSG._serialized_start=2036
87
+ _SYSTEMRAPIDSTATETUNNEL_MSG._serialized_end=2247
88
+ _SYSTEMTARDSTATETUNNEL_MSG._serialized_start=2249
89
+ _SYSTEMTARDSTATETUNNEL_MSG._serialized_end=2301
90
+ _SYSTEMUPDATEBUF_MSG._serialized_start=2303
91
+ _SYSTEMUPDATEBUF_MSG._serialized_end=2349
92
+ _SYSOFFCHIPFLASH._serialized_start=2352
93
+ _SYSOFFCHIPFLASH._serialized_end=2510
94
+ _SYSTEMTMPCYCLETX_MSG._serialized_start=2512
95
+ _SYSTEMTMPCYCLETX_MSG._serialized_end=2557
96
+ _LORACFGREQ._serialized_start=2559
97
+ _LORACFGREQ._serialized_end=2596
98
+ _LORACFGRSP._serialized_start=2598
99
+ _LORACFGRSP._serialized_end=2668
100
+ _MOD_FW_INFO._serialized_start=2670
101
+ _MOD_FW_INFO._serialized_end=2732
102
+ _DEVICE_FW_INFO._serialized_start=2734
103
+ _DEVICE_FW_INFO._serialized_end=2810
104
+ _MOW_TO_APP_INFO_T._serialized_start=2812
105
+ _MOW_TO_APP_INFO_T._serialized_end=2876
106
+ _DEVICE_PRODUCT_TYPE_INFO_T._serialized_start=2878
107
+ _DEVICE_PRODUCT_TYPE_INFO_T._serialized_end=2975
108
+ _QCAPPTESTEXCEPT._serialized_start=2977
109
+ _QCAPPTESTEXCEPT._serialized_end=3057
110
+ _QCAPPTESTCONDITIONS._serialized_start=3059
111
+ _QCAPPTESTCONDITIONS._serialized_end=3175
112
+ _MOW_TO_APP_QCTOOLS_INFO_T._serialized_start=3178
113
+ _MOW_TO_APP_QCTOOLS_INFO_T._serialized_end=3331
114
+ _MCTRLSIMULATIONCMDDATA._serialized_start=3333
115
+ _MCTRLSIMULATIONCMDDATA._serialized_end=3412
116
+ _RPT_LORA._serialized_start=3415
117
+ _RPT_LORA._serialized_end=3558
118
+ _RPT_RTK._serialized_start=3561
119
+ _RPT_RTK._serialized_end=3802
120
+ _RPT_DEV_LOCATION._serialized_start=3805
121
+ _RPT_DEV_LOCATION._serialized_end=3939
122
+ _VIO_SURVIVAL_INFO_T._serialized_start=3941
123
+ _VIO_SURVIVAL_INFO_T._serialized_end=3993
124
+ _COLLECTOR_STATUS_T._serialized_start=3995
125
+ _COLLECTOR_STATUS_T._serialized_end=4054
126
+ _LOCK_STATE_T._serialized_start=4056
127
+ _LOCK_STATE_T._serialized_end=4090
128
+ _RPT_DEV_STATUS._serialized_start=4093
129
+ _RPT_DEV_STATUS._serialized_end=4423
130
+ _RPT_CONNECT_STATUS._serialized_start=4426
131
+ _RPT_CONNECT_STATUS._serialized_end=4596
132
+ _RPT_WORK._serialized_start=4599
133
+ _RPT_WORK._serialized_end=5015
134
+ _RPT_MAINTAIN._serialized_start=5017
135
+ _RPT_MAINTAIN._serialized_end=5087
136
+ _REPORT_INFO_CFG._serialized_start=5090
137
+ _REPORT_INFO_CFG._serialized_end=5233
138
+ _REPORT_INFO_DATA._serialized_start=5236
139
+ _REPORT_INFO_DATA._serialized_end=5632
140
+ _MCTLSYS._serialized_start=5635
141
+ _MCTLSYS._serialized_end=7199
142
142
  # @@protoc_insertion_point(module_scope)
pymammotion/proto/mctrl_sys_pb2.pyi CHANGED
@@ -274,18 +274,18 @@ class SysKnifeControl(_message.Message):
274
274
  def __init__(self, knife_status: _Optional[int] = ..., knife_height: _Optional[int] = ...) -> None: ...
275
275
 
276
276
  class SysMowInfo(_message.Message):
277
- __slots__ = ["RTKstars", "RTKstatus", "batVal", "deviceState", "knifeHeight"]
277
+ __slots__ = ["batVal", "deviceState", "knifeHeight", "rtk_stars", "rtk_status"]
278
278
  BATVAL_FIELD_NUMBER: _ClassVar[int]
279
279
  DEVICESTATE_FIELD_NUMBER: _ClassVar[int]
280
280
  KNIFEHEIGHT_FIELD_NUMBER: _ClassVar[int]
281
- RTKSTARS_FIELD_NUMBER: _ClassVar[int]
282
- RTKSTATUS_FIELD_NUMBER: _ClassVar[int]
283
- RTKstars: int
284
- RTKstatus: int
281
+ RTK_STARS_FIELD_NUMBER: _ClassVar[int]
282
+ RTK_STATUS_FIELD_NUMBER: _ClassVar[int]
285
283
  batVal: int
286
284
  deviceState: int
287
285
  knifeHeight: int
288
- def __init__(self, deviceState: _Optional[int] = ..., batVal: _Optional[int] = ..., knifeHeight: _Optional[int] = ..., RTKstatus: _Optional[int] = ..., RTKstars: _Optional[int] = ...) -> None: ...
286
+ rtk_stars: int
287
+ rtk_status: int
288
+ def __init__(self, deviceState: _Optional[int] = ..., batVal: _Optional[int] = ..., knifeHeight: _Optional[int] = ..., rtk_status: _Optional[int] = ..., rtk_stars: _Optional[int] = ...) -> None: ...
289
289
 
290
290
  class SysOffChipFlash(_message.Message):
291
291
  __slots__ = ["code", "data", "id", "length", "msg", "offset", "op", "start_addr"]
pymammotion/utility/map.py ADDED
@@ -0,0 +1,70 @@
1
+ import math
2
+ import numpy as np
3
+
4
+ from pymammotion.data.model.location import Point
5
+
6
+
7
+ class CoordinateConverter:
8
+ def __init__(self, lat_degrees: float, lon_degrees: float):
9
+ # Initialize constants
10
+ self.WGS84A = 6378137.0
11
+ self.f_ = 3.3528106647474805E-21
12
+ self.b_ = (1.0 - self.f_) * self.WGS84A
13
+ self.e2_ = (2.0 - self.f_) * self.f_
14
+ self.e2m_ = (1.0 - self.f_) * (1.0 - self.f_)
15
+ self.ep2_ = ((self.WGS84A ** 2) - (self.b_ ** 2)) / (self.b_ ** 2)
16
+
17
+ # Initialize rotation matrix
18
+ self.R_ = np.zeros((3, 3))
19
+
20
+ # Variables to store initial LLA
21
+ self.x0_ = 0.0
22
+ self.y0_ = 0.0
23
+ self.z0_ = 0.0
24
+
25
+ # Call set_init_lla with provided lat/lon
26
+ latitude_rad = math.radians(lat_degrees)
27
+ longitude_rad = math.radians(lon_degrees)
28
+ self.set_init_lla(latitude_rad, longitude_rad)
29
+
30
+ def set_init_lla(self, lat_rad, lon_rad):
31
+ sin_lat = math.sin(lat_rad)
32
+ cos_lat = math.cos(lat_rad)
33
+ sin_lon = math.sin(lon_rad)
34
+ cos_lon = math.cos(lon_rad)
35
+
36
+ sqrt = self.WGS84A / math.sqrt(1.0 - (self.e2_ * (sin_lat ** 2)))
37
+ d3 = sqrt * cos_lat
38
+
39
+ self.x0_ = d3 * cos_lon
40
+ self.y0_ = d3 * sin_lon
41
+ self.z0_ = self.e2m_ * sqrt * sin_lat
42
+
43
+ self.R_[0][0] = -sin_lon
44
+ self.R_[0][1] = cos_lon
45
+ self.R_[0][2] = 0.0
46
+
47
+ self.R_[1][0] = -cos_lon * sin_lat
48
+ self.R_[1][1] = -sin_lon * sin_lat
49
+ self.R_[1][2] = cos_lat
50
+
51
+ self.R_[2][0] = cos_lon * cos_lat
52
+ self.R_[2][1] = sin_lon * cos_lat
53
+ self.R_[2][2] = sin_lat
54
+
55
+ def enu_to_lla(self, e, n) -> Point:
56
+ d3 = self.R_[0][0] * n + self.R_[1][0] * e + self.x0_
57
+ d4 = self.R_[0][1] * n + self.R_[1][1] * e + self.y0_
58
+ d5 = self.R_[0][2] * n + self.R_[1][2] * e + self.z0_
59
+
60
+ hypot = math.hypot(d3, d4)
61
+ atan2_lat = math.atan2(self.WGS84A * d5, self.b_ * hypot)
62
+
63
+ sin_lat = math.sin(atan2_lat)
64
+ cos_lat = math.cos(atan2_lat)
65
+
66
+ lon = math.atan2(d4, d3) * 180.0 / math.pi
67
+ lat = math.atan2(d5 + self.ep2_ * self.b_ * (sin_lat ** 3), hypot - self.e2_ * self.WGS84A * (cos_lat ** 3)) * 180.0 / math.pi
68
+
69
+ return Point(latitude=lat, longitude=lon)
70
+
{pymammotion-0.1.1.dist-info → pymammotion-0.1.3.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.1
2
2
  Name: pymammotion
3
- Version: 0.1.1
3
+ Version: 0.1.3
4
4
  Summary:
5
5
  License: GNU-3.0
6
6
  Author: Michael Arthur
@@ -23,6 +23,7 @@ Requires-Dist: bleak-retry-connector (>=3.5.0,<4.0.0)
23
23
  Requires-Dist: jsonic (>=1.0.0,<2.0.0)
24
24
  Requires-Dist: mashumaro (>=3.13,<4.0)
25
25
  Requires-Dist: nest-asyncio (>=1.6.0,<2.0.0)
26
+ Requires-Dist: numpy (>=2.0.1,<3.0.0)
26
27
  Requires-Dist: orjson (>=3.9.15,<4.0.0)
27
28
  Requires-Dist: paho-mqtt (>=1.6.1,<2.0.0)
28
29
  Requires-Dist: protobuf (>=4.23.1)