pymammotion 0.2.22__py3-none-any.whl → 0.2.24__py3-none-any.whl

pymammotion/data/model/device.py

@@ -5,7 +5,7 @@ from dataclasses import dataclass
 
 import betterproto
 
-from pymammotion.data.model import HashList
+from pymammotion.data.model import HashList, RapidState
 from pymammotion.data.model.device_config import DeviceLimits
 from pymammotion.data.model.location import Location
 from pymammotion.data.model.report_info import ReportData
@@ -16,14 +16,13 @@ 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, ReportInfoData, SystemUpdateBufMsg
+from pymammotion.proto.mctrl_sys import MctlSys, MowToAppInfoT, ReportInfoData, SystemUpdateBufMsg, \
+    SystemRapidStateTunnelMsg
+from pymammotion.utility.constant import WorkMode
+from pymammotion.utility.conversions import parse_double
 from pymammotion.utility.map import CoordinateConverter
 
 
-def parse_double(val: float, d: float):
-    return val / math.pow(10.0, d)
-
-
 @dataclass
 class MowingDevice:
     """Wraps the betterproto dataclasses, so we can bypass the groups for keeping all data."""
@@ -31,15 +30,17 @@ class MowingDevice:
     device: LubaMsg
     map: HashList
     location: Location
+    mowing_state: RapidState
 
     def __init__(self):
         self.device = LubaMsg()
-        self.map = HashList(area={}, path={}, obstacle={})
+        self.map = HashList(area={}, path={}, obstacle={}, hashlist=[])
         self.location = Location()
         self.report_data = ReportData()
         self.err_code_list = []
         self.err_code_list_time = []
         self.limits = DeviceLimits(30, 70, 0.2, 0.6)
+        self.mowing_state = RapidState()
 
     @classmethod
     def from_raw(cls, raw: dict) -> "MowingDevice":
@@ -97,15 +98,22 @@ class MowingDevice:
     def update_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:
+            if index == 0 and location.real_pos_y != 0:
                 self.location.position_type = location.pos_type
                 self.location.orientation = location.real_toward / 10000
                 self.location.device = coordinate_converter.enu_to_lla(
                     parse_double(location.real_pos_y, 4.0), parse_double(location.real_pos_x, 4.0)
                 )
+                if location.zone_hash:
+                    self.location.work_zone = location.zone_hash if self.report_data.dev.sys_status == WorkMode.MODE_WORKING else 0
+
+
 
         self.report_data = self.report_data.from_dict(toapp_report_data.to_dict(casing=betterproto.Casing.SNAKE))
 
+    def run_state_update(self, rapid_state: SystemRapidStateTunnelMsg):
+        self.mowing_state = RapidState().from_raw(rapid_state.rapid_state_data)
+
     def mow_info(self, toapp_mow_info: MowToAppInfoT):
         pass
 

pymammotion/data/model/hash_list.py

@@ -1,8 +1,15 @@
 from dataclasses import dataclass
+from enum import IntEnum
 
 from pymammotion.proto.mctrl_nav import NavGetCommDataAck
 
 
+class PathType(IntEnum):
+    """Path types for common data."""
+    AREA = 0
+    OBSTACLE = 1
+    PATH = 2
+
 @dataclass
 class FrameList:
     total_frame: int
@@ -13,23 +20,56 @@ class FrameList:
 class HashList:
     """stores our map data.
     [hashID, FrameList].
+    hashlist for all our hashIDs for verification
     """
 
     area: dict  # type 0
     path: dict  # type 2
     obstacle: dict  # type 1
+    hashlist: list[int]
+
+    def set_hashlist(self, hashlist: list[int]):
+        self.hashlist = hashlist
+        self.area = {hash_id: frames for hash_id, frames in self.area.items() if hash_id in hashlist}
+        self.path = {hash_id: frames for hash_id, frames in self.path.items() if hash_id in hashlist}
+        self.obstacle = {hash_id: frames for hash_id, frames in self.obstacle.items() if hash_id in hashlist}
+
+
+    def missing_frame(self, hash_data: NavGetCommDataAck) -> list[int]:
+        if hash_data.type == PathType.AREA:
+            return self._find_missing_frames(self.area.get(hash_data.hash))
+
+        if hash_data.type == PathType.OBSTACLE:
+            return self._find_missing_frames(self.obstacle.get(hash_data.hash))
+
+        if hash_data.type == PathType.PATH:
+            return self._find_missing_frames(self.path.get(hash_data.hash))
+
+
 
     def update(self, hash_data: NavGetCommDataAck) -> bool:
         """Update the map data."""
-        if hash_data.type == 0:
+        if hash_data.type == PathType.AREA:
             return self._add_hash_data(self.area, hash_data)
 
-        if hash_data.type == 1:
+        if hash_data.type == PathType.OBSTACLE:
             return self._add_hash_data(self.obstacle, hash_data)
 
-        if hash_data.type == 2:
+        if hash_data.type == PathType.PATH:
             return self._add_hash_data(self.path, hash_data)
 
+
+    @staticmethod
+    def _find_missing_frames(frame_list: FrameList) -> list[int]:
+        if frame_list.total_frame == len(frame_list.data):
+            return []
+        number_list = list(range(1, frame_list.total_frame+1))
+
+        current_frames = {frame.current_frame for frame in frame_list.data}
+        missing_numbers = [num for num in number_list if num not in current_frames]
+        return missing_numbers
+
+
     @staticmethod
     def _add_hash_data(hash_dict: dict, hash_data: NavGetCommDataAck) -> bool:
         if hash_dict.get(hash_data.hash) is None:

pymammotion/data/model/location.py

@@ -31,6 +31,7 @@ class Location:
     dock: Dock
     position_type: int = 0
     orientation: int = 0 # 360 degree rotation +-
+    work_zone: int = 0
 
     def __init__(self):
         self.device = Point()

pymammotion/data/model/rapid_state.py

@@ -1,6 +1,8 @@
 from dataclasses import dataclass
 from enum import Enum
 
+from pymammotion.utility.conversions import parse_double
+
 
 class RTKStatus(Enum):
     NONE = 0
@@ -10,18 +12,18 @@ class RTKStatus(Enum):
 
 @dataclass
 class RapidState:
-    pos_x: float
-    pos_y: float
-    rtk_status: RTKStatus
-    toward: float
-    satellites_total: int
-    satellites_l2: int
-    rtk_age: float
-    lat_std: float
-    lon_std: float
-    pos_type: int
-    zone_hash: int
-    pos_level: int
+    pos_x: float = 0
+    pos_y: float = 0
+    rtk_status: RTKStatus = RTKStatus.NONE
+    toward: float = 0
+    satellites_total: int = 0
+    satellites_l2: int = 0
+    rtk_age: float = 0
+    lat_std: float = 0
+    lon_std: float = 0
+    pos_type: int = 0
+    zone_hash: int = 0
+    pos_level: int = 0
 
     @classmethod
     def from_raw(cls, raw: list[int]) -> "RapidState":
@@ -29,13 +31,13 @@ class RapidState:
             rtk_status=RTKStatus.FINE if raw[0] == 4 else RTKStatus.BAD if raw[0] in (1, 5) else RTKStatus.NONE,
             pos_level=raw[1],
             satellites_total=raw[2],
-            rtk_age=raw[3] / 10000,
-            lat_std=raw[4] / 10000,
-            lon_std=raw[5] / 10000,
+            rtk_age=parse_double(raw[3], 4.0),
+            lat_std=parse_double(raw[4], 4.0),
+            lon_std=parse_double(raw[5], 4.0),
             satellites_l2=raw[6],
-            pos_x=raw[7] / 10000,
-            pos_y=raw[8] / 10000,
-            toward=raw[9] / 10000,
+            pos_x=parse_double(raw[7], 4.0),
+            pos_y=parse_double(raw[8], 4.0),
+            toward=parse_double(raw[9], 4.0),
             pos_type=raw[10],
             zone_hash=raw[11],
         )

pymammotion/data/mqtt/event.py

@@ -51,6 +51,16 @@ class DeviceConfigurationRequestValue(DataClassORJSONMixin):
     bizId: str
     params: str
 
+@dataclass
+class DeviceNotificationEventCode(DataClassORJSONMixin):
+    localTime: int
+    code: str
+
+@dataclass
+class DeviceNotificationEventValue(DataClassORJSONMixin):
+    data: DeviceNotificationEventCode
+
+
 
 @dataclass
 class GeneralParams(DataClassORJSONMixin):
@@ -90,6 +100,16 @@ class DeviceProtobufMsgEventParams(GeneralParams):
     type: Literal["info"]
     value: DeviceProtobufMsgEventValue
 
+@dataclass
+class DeviceNotificationEventParams(GeneralParams):
+    """Device notification event.
+
+    {'data': '{"localTime":1725159492000,"code":"1002"}'},
+    """
+
+    identifier: Literal["device_notification_event"]
+    type: Literal["info"]
+    value: DeviceNotificationEventValue
 
 @dataclass
 class DeviceWarningEventParams(GeneralParams):
@@ -129,6 +149,8 @@ class ThingEventMessage(DataClassORJSONMixin):
             params_obj = DeviceWarningEventParams(**params_dict)
         elif identifier == "device_config_req_event":
             params_obj = payload.get("params", '')
+        elif identifier == "device_notification_event":
+            params_obj = DeviceNotificationEventParams(**params_dict)
         else:
             raise ValueError(f"Unknown identifier: {identifier} {params_dict}")
 

pymammotion/data/state_manager.py

@@ -53,9 +53,8 @@ class StateManager:
         nav_msg = betterproto.which_one_of(message.nav, "SubNavMsg")
         match nav_msg[0]:
             case "toapp_gethash_ack":
-                self._device.map.obstacle = dict()
-                self._device.map.area = dict()
-                self._device.map.path = dict()
+                hashlist_ack: NavGetHashListAck = nav_msg[1]
+                self._device.map.set_hashlist(hashlist_ack.data_couple)
                 await self.gethash_ack_callback(nav_msg[1])
             case "toapp_get_commondata_ack":
                 common_data: NavGetCommDataAck = nav_msg[1]
@@ -73,6 +72,8 @@ class StateManager:
                 self._device.update_report_data(sys_msg[1])
             case "mow_to_app_info":
                 self._device.mow_info(sys_msg[1])
+            case "system_tard_state_tunnel":
+                self._device.run_state_update(sys_msg[1])
 
     def _update_driver_data(self, message):
         pass

pymammotion/mammotion/commands/messages/system.py

@@ -30,20 +30,19 @@ class MessageSystem(AbstractMessage, ABC):
 
     def set_blade_control(self, on_off: int):
         mctlsys = mctrl_sys_pb2.MctlSys()
-        sysKnifeControl = mctrl_sys_pb2.SysKnifeControl()
-        sysKnifeControl.knife_status = on_off
-        mctlsys.todev_knife_ctrl.CopyFrom(sysKnifeControl)
+        sys_knife_control = mctrl_sys_pb2.SysKnifeControl()
+        sys_knife_control.knife_status = on_off
+        mctlsys.todev_knife_ctrl.CopyFrom(sys_knife_control)
 
         return self.send_order_msg_sys(mctlsys)
 
     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()),
-            12,
-            True,
+            mctrl_sys_pb2.MctlSys(device_product_type_info=mctrl_sys_pb2.device_product_type_info_t())
         )
 
     def read_and_set_sidelight(self, is_sidelight: bool, operate: int):
+        """Read state of sidelight as well as set it."""
         if is_sidelight:
             build = mctrl_sys_pb2.TimeCtrlLight(
                 operate=operate,
@@ -80,7 +79,7 @@ class MessageSystem(AbstractMessage, ABC):
             param_id}, param_value={param_value}")
         return self.send_order_msg_sys(build2)
 
-    def read_and_set_rt_k_paring_code(self, op: int, cgf: str):
+    def read_and_set_rtk_paring_code(self, op: int, cgf: str):
         print(f"Send read and write base station configuration quality op:{
             op}, cgf:{cgf}")
         return self.send_order_msg_sys(

pymammotion/mammotion/control/joystick.py

@@ -8,13 +8,12 @@ from pyjoystick.utils import PeriodicThread
 
 from pymammotion import MammotionBaseBLEDevice
 from pymammotion.event import BleNotificationEvent
-from pymammotion.utility.rocker_util import RockerControlUtil
+from pymammotion.utility.movement import transform_both_speeds, get_percent
 
 bleNotificationEvt = BleNotificationEvent()
 
 nest_asyncio.apply()
 
-
 class JoystickControl:
     """Joystick class for controlling Luba with a joystick"""
 
@@ -54,7 +53,7 @@ class JoystickControl:
                 return
             self.stopped = True
         self.stopped = False
-        (linear_speed, angular_speed) = self.transform_both_speeds(
+        (linear_speed, angular_speed) = transform_both_speeds(
             self.linear_speed,
             self.angular_speed,
             self.linear_percent,
@@ -75,23 +74,6 @@ class JoystickControl:
         self.mngr.start()
         self.worker.start()
 
-    def get_percent(self, percent: float):
-        if percent <= 15.0:
-            return 0.0
-
-        return percent - 15.0
-
-    @staticmethod
-    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)
-
-        if transfrom3 is not None and len(transfrom3) > 0:
-            linear_speed = transfrom3[0] * 10
-            angular_speed = int(transform4[1] * 4.5)
-            print(linear_speed, angular_speed)
-            return linear_speed, angular_speed
-
     def handle_key_received(self, key):
         # print(key, "-", key.keytype, "-", key.number, "-", key.value)
 
@@ -129,11 +111,13 @@ class JoystickControl:
                         # linear_speed==-1000
                         print("case 1")
                         if key.value > 0:
+                            """Backwards."""
                             self.linear_speed = 270.0
-                            self.linear_percent = self.get_percent(abs(key.value * 100))
+                            self.linear_percent = get_percent(abs(key.value * 100))
                         else:
+                            """Forwards."""
                             self.linear_speed = 90.0
-                            self.linear_percent = self.get_percent(abs(key.value * 100))
+                            self.linear_percent = get_percent(abs(key.value * 100))
 
                     case 2:  # right  (left right)
                         # take left right values and convert to angular movement
@@ -143,12 +127,12 @@ 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 = 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 = get_percent(abs(key.value * 100))
 
             else:
                 match key.number:

pymammotion/mammotion/devices/mammotion.py

@@ -18,7 +18,6 @@ from uuid import UUID
 
 import betterproto
 from aiohttp import ClientSession
-from bleak import BleakClient
 from bleak.backends.device import BLEDevice
 from bleak.backends.service import BleakGATTCharacteristic, BleakGATTServiceCollection
 from bleak.exc import BleakDBusError
@@ -44,7 +43,7 @@ from pymammotion.mqtt import MammotionMQTT
 from pymammotion.mqtt.mammotion_future import MammotionFuture
 from pymammotion.proto.luba_msg import LubaMsg
 from pymammotion.proto.mctrl_nav import NavGetCommDataAck, NavGetHashListAck
-from pymammotion.utility.rocker_util import RockerControlUtil
+from pymammotion.utility.movement import get_percent, transform_both_speeds
 
 
 class CharacteristicMissingError(Exception):
@@ -346,37 +345,31 @@ class MammotionBaseDevice:
         self._notify_future: asyncio.Future[bytes] | None = None
         self._cloud_device = cloud_device
 
-    def set_notifiction_callback(self, func: Callable[[],Awaitable[None]]):
+    def set_notification_callback(self, func: Callable[[],Awaitable[None]]):
         self._state_manager.on_notification_callback = func
 
     async def datahash_response(self, hash_ack: NavGetHashListAck):
         """Handle datahash responses."""
-        result_hash = 0
-        while hash_ack.data_couple[0] != result_hash:
-            data = await self.queue_command("synchronize_hash_data", hash_num=hash_ack.data_couple[0])
-            msg = LubaMsg().parse(data)
-            if betterproto.serialized_on_wire(msg.nav.toapp_get_commondata_ack):
-                result_hash = msg.nav.toapp_get_commondata_ack.hash
+        await self.queue_command("synchronize_hash_data", hash_num=hash_ack.data_couple[0])
 
     async def commdata_response(self, common_data: NavGetCommDataAck):
         """Handle common data responses."""
         total_frame = common_data.total_frame
         current_frame = common_data.current_frame
 
-        if total_frame == current_frame:
+        missing_frames = self._mower.map.missing_frame(common_data)
+        if len(missing_frames) == 0:
             # get next in hash ack list
 
             data_hash = find_next_integer(self._mower.nav.toapp_gethash_ack.data_couple, common_data.hash)
             if data_hash is None:
                 return
-            result_hash = 0
-            while data_hash != result_hash:
-                data = await self.queue_command("synchronize_hash_data", hash_num=data_hash)
-                msg = LubaMsg().parse(data)
-                if betterproto.serialized_on_wire(msg.nav.toapp_get_commondata_ack):
-                    result_hash = msg.nav.toapp_get_commondata_ack.hash
+
+            await self.queue_command("synchronize_hash_data", hash_num=data_hash)
         else:
-            # check if we have the data already first
+            if current_frame != missing_frames[0]-1:
+                current_frame = missing_frames[0]-1
+
             region_data = RegionData()
             region_data.hash = common_data.hash
             region_data.action = common_data.action
@@ -499,28 +492,28 @@ class MammotionBaseDevice:
 
     async def start_sync(self, retry: int):
         """Start synchronization with the device."""
-        await self._send_command("get_device_base_info", retry)
-        await self._send_command("get_report_cfg", retry)
+        await self.queue_command("get_device_base_info")
+        await self.queue_command("get_device_product_model")
+        await self.queue_command("get_report_cfg")
         """RTK and dock location."""
-        await self._send_command_with_args("allpowerfull_rw", id=5, rw=1, context=1)
-        """Error codes."""
-        await self._send_command_with_args("allpowerfull_rw", id=5, rw=1, context=2)
-        await self._send_command_with_args("allpowerfull_rw", id=5, rw=1, context=3)
+        await self.queue_command("allpowerfull_rw", id=5, rw=1, context=1)
 
     async def start_map_sync(self):
         """Start sync of map data."""
-        await self._send_command_with_args("read_plan", sub_cmd=2, plan_index=0)
+        await self.queue_command("read_plan", sub_cmd=2, plan_index=0)
 
-        await self._send_command_with_args("get_all_boundary_hash_list", sub_cmd=0)
+        await self.queue_command("get_all_boundary_hash_list", sub_cmd=0)
 
-        await self._send_command_with_args("get_hash_response", total_frame=1, current_frame=1)
+        await self.queue_command("get_hash_response", total_frame=1, current_frame=1)
 
+
+        # work out why this crashes sometimes for better proto
         if self._cloud_device:
-            await self._send_command_with_args(
+            await self.queue_command(
                 "get_area_name_list", device_id=self._cloud_device.deviceName
             )
         if has_field(self._mower.net.toapp_wifi_iot_status):
-            await self._send_command_with_args(
+            await self.queue_command(
                 "get_area_name_list", device_id=self._mower.net.toapp_wifi_iot_status.devicename
             )
 
@@ -529,32 +522,40 @@ class MammotionBaseDevice:
         # sub_cmd 4 is dump location (yuka)
         # jobs list
         # hash_list_result = await self._send_command_with_args("get_all_boundary_hash_list", sub_cmd=3)
+    async def async_get_errors(self):
+        """Error codes."""
+        await self.queue_command("allpowerfull_rw", id=5, rw=1, context=2)
+        await self.queue_command("allpowerfull_rw", id=5, rw=1, context=3)
 
-    async def move_forward(self):
-        linear_speed = 1.0
-        angular_speed = 0.0
-        transfrom3 = RockerControlUtil.getInstance().transfrom3(90, 1000)
-        transform4 = RockerControlUtil.getInstance().transfrom3(0, 0)
 
-        if transfrom3 is not None and len(transfrom3) > 0:
-            linear_speed = transfrom3[0] * 10
-            angular_speed = int(transform4[1] * 4.5)
-        await self._send_command_with_args("send_movement", linear_speed=linear_speed, angular_speed=angular_speed)
+    async def move_forward(self, linear: float):
+        """Move forward. values 0.0 1.0."""
+        linear_percent = get_percent(abs(linear * 100))
+        (linear_speed, angular_speed) = transform_both_speeds(90.0, 0.0, linear_percent, 0.0)
+        await self.queue_command("send_movement", linear_speed=linear_speed, angular_speed=angular_speed)
 
-    async def move_stop(self):
-        linear_speed = 0.0
-        angular_speed = 0.0
-        transfrom3 = RockerControlUtil.getInstance().transfrom3(0, 0)
-        transform4 = RockerControlUtil.getInstance().transfrom3(0, 0)
+    async def move_back(self, linear: float):
+        """Move back. values 0.0 1.0."""
+        linear_percent = get_percent(abs(linear * 100))
+        (linear_speed, angular_speed) = transform_both_speeds(270.0, 0.0, linear_percent, 0.0)
+        await self.queue_command("send_movement", linear_speed=linear_speed, angular_speed=angular_speed)
+
+    async def move_left(self, angulur: float):
+        """Move forward. values 0.0 1.0."""
+        angular_percent = get_percent(abs(angulur * 100))
+        (linear_speed, angular_speed) = transform_both_speeds(0.0, 0.0, 0.0, angular_percent)
+        await self.queue_command("send_movement", linear_speed=linear_speed, angular_speed=angular_speed)
+
+    async def move_right(self, angulur: float):
+        """Move back. values 0.0 1.0."""
+        angular_percent = get_percent(abs(angulur * 100))
+        (linear_speed, angular_speed) = transform_both_speeds(0.0, 180.0, 0.0, angular_percent)
+        await self.queue_command("send_movement", linear_speed=linear_speed, angular_speed=angular_speed)
 
-        if transfrom3 is not None and len(transfrom3) > 0:
-            linear_speed = transfrom3[0] * 10
-            angular_speed = int(transform4[1] * 4.5)
-        await self._send_command_with_args("send_movement", linear_speed=linear_speed, angular_speed=angular_speed)
 
     async def command(self, key: str, **kwargs):
         """Send a command to the device."""
-        return await self._send_command_with_args(key, **kwargs)
+        return await self.queue_command(key, **kwargs)
 
 
 class MammotionBaseBLEDevice(MammotionBaseDevice):
@@ -806,6 +807,33 @@ class MammotionBaseBLEDevice(MammotionBaseDevice):
         _LOGGER.debug("%s: Sending command: %s", self.name, key)
         await self._message.post_custom_data_bytes(command)
 
+        timeout = 2
+        timeout_handle = self.loop.call_at(self.loop.time() + timeout, _handle_timeout, self._notify_future)
+        timeout_expired = False
+        try:
+            notify_msg = await self._notify_future
+        except asyncio.TimeoutError:
+            timeout_expired = True
+            notify_msg = b''
+            self._notify_future.set_result(notify_msg)
+        finally:
+            if not timeout_expired:
+                timeout_handle.cancel()
+            self._notify_future = None
+
+        _LOGGER.debug("%s: Notification received: %s", self.name, notify_msg.hex())
+        return notify_msg
+
+    async def _execute_command_locked_old(self, key: str, command: bytes) -> bytes:
+        """Execute command and read response."""
+        assert self._client is not None
+        assert self._read_char is not None
+        assert self._write_char is not None
+        self._notify_future = self.loop.create_future()
+        self._key = key
+        _LOGGER.debug("%s: Sending command: %s", self.name, key)
+        await self._message.post_custom_data_bytes(command)
+
         retry_handle = self.loop.call_at(
             self.loop.time() + 2,
             lambda: asyncio.ensure_future(
@@ -961,7 +989,6 @@ class MammotionBaseCloudDevice(MammotionBaseDevice):
         self._ble_sync_task = None
         self.is_ready = False
         self.command_queue = asyncio.Queue()
-        self.processing_task = asyncio.create_task(self._process_queue())
         self._mqtt_client = mqtt_client
         self.iot_id = cloud_device.iotId
         self.device = cloud_device
@@ -971,7 +998,7 @@ class MammotionBaseCloudDevice(MammotionBaseDevice):
         self.currentID = ""
         self.on_ready_callback: Optional[Callable[[], Awaitable[None]]] = None
         self._waiting_queue = deque()
-        self._operation_lock = threading.Lock()
+        self._operation_lock = asyncio.Lock()
 
         self._mqtt_client.on_connected = self.on_connected
         self._mqtt_client.on_disconnected = self.on_disconnected
@@ -986,11 +1013,13 @@ class MammotionBaseCloudDevice(MammotionBaseDevice):
 
     async def on_ready(self):
         """Callback for when MQTT is subscribed to events."""
-        if self.on_ready_callback:
-            await self.on_ready_callback()
+        loop = asyncio.get_event_loop()
 
+        if self.on_ready_callback:
+            self.loop.create_task(self.on_ready_callback)
         await self._ble_sync()
         await self.run_periodic_sync_task()
+        loop.create_task(self._process_queue())
 
     async def on_connected(self):
         """Callback for when MQTT connects."""
@@ -1008,7 +1037,8 @@ class MammotionBaseCloudDevice(MammotionBaseDevice):
     async def run_periodic_sync_task(self) -> None:
         """Send ble sync to robot."""
         try:
-            await self._ble_sync()
+            if not self._operation_lock.locked():
+                await self._ble_sync()
         finally:
             self.schedule_ble_sync()
 
@@ -1116,7 +1146,7 @@ class MammotionBaseCloudDevice(MammotionBaseDevice):
         try:
             notify_msg = await future.async_get(timeout)
         except asyncio.TimeoutError:
-            raise
+            notify_msg = b''
 
         _LOGGER.debug("%s: Message received", self.device.nickName)
 
@@ -1189,6 +1219,3 @@ class MammotionBaseCloudDevice(MammotionBaseDevice):
     def _disconnect(self):
         """Disconnect the MQTT client."""
         self._mqtt_client.disconnect()
-
-
-

pymammotion/mqtt/mammotion_mqtt.py

@@ -123,7 +123,8 @@ class MammotionMQTT:
 
         if self.on_ready:
             self.is_ready = True
-            asyncio.run_coroutine_threadsafe(self.on_ready(), self.loop).result()
+            future = asyncio.run_coroutine_threadsafe(self.on_ready(), self.loop)
+            asyncio.wrap_future(future, loop=self.loop)
         # self._linkkit_client.query_ota_firmware()
         # command = MammotionCommand(device_name="Luba")
         # self._cloud_client.send_cloud_command(command.get_report_cfg())

pymammotion/utility/constant/device_constant.py

@@ -123,7 +123,7 @@ class SystemUpdateBuf:
     ZONE_STATE_LEN_INDEX = 1
 
 
-class SystemRapidStateTunnel:
+class SystemRapidStateTunnelIndex(IntEnum):
     DIS_CAR_RTK_STARS_INDEX = 15
     DIS_RTK_STATUS_INDEX = 13
     L1_SATS_INDEX = 2

pymammotion/utility/conversions.py

@@ -0,0 +1,5 @@
+import math
+
+
+def parse_double(val: float, d: float):
+    return val / math.pow(10.0, d)

pymammotion/utility/movement.py

@@ -0,0 +1,17 @@
+from .rocker_util import RockerControlUtil
+
+
+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)
+
+    if transfrom3 is not None and len(transfrom3) > 0:
+        linear_speed = transfrom3[0] * 10
+        angular_speed = int(transform4[1] * 4.5)
+        return linear_speed, angular_speed
+
+def get_percent(percent: float):
+    if percent <= 15.0:
+        return 0.0
+
+    return percent - 15.0

{pymammotion-0.2.22.dist-info → pymammotion-0.2.24.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymammotion
-Version: 0.2.22
+Version: 0.2.24
 Summary: 
 License: GNU-3.0
 Author: Michael Arthur

{pymammotion-0.2.22.dist-info → pymammotion-0.2.24.dist-info}/RECORD

@@ -21,24 +21,24 @@ pymammotion/const.py,sha256=EEmZ1v4MqN2nPiNpS_mJQqaCkSNEa1EXUmtwZBUhXIg,329
 pymammotion/data/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 pymammotion/data/model/__init__.py,sha256=d8FlIgCcWqoH3jJSpnm-IY-25RM-l2nbRwLtWjSHo74,222
 pymammotion/data/model/account.py,sha256=stWLDtWPw1vOPp3xNdX-jWziMmdCvww4IYl00UUGKuI,139
-pymammotion/data/model/device.py,sha256=jIroL0wEAbxnVQWzd4vKYTUvWwqmUDF4VPss6T7J1bs,10390
+pymammotion/data/model/device.py,sha256=wDmmuCkWvuyoFhZxULCGeigMErmN5GX08NqYJrZbVhQ,10903
 pymammotion/data/model/device_config.py,sha256=E3rhLvUH4BuWEpBfylBYBEwn4G8u7c0QbKxWRElw3Sg,177
 pymammotion/data/model/enums.py,sha256=tD_vYsxstOV_lUkYF9uWkrjVOgAJPNnGevy_xmiu3WE,1558
 pymammotion/data/model/excute_boarder_params.py,sha256=kadSth4y-VXlXIZ6R-Ng-kDvBbM-3YRr8bmR86qR0U0,1355
 pymammotion/data/model/execute_boarder.py,sha256=oDb2h5tFtOQIa8OCNYaDugqCgCZBLjQRzQTNVcJVAGQ,1072
 pymammotion/data/model/generate_route_information.py,sha256=5w1MM1-gXGXb_AoEap_I5xTxAFbNSzXuqQFEkw4NmDs,4301
-pymammotion/data/model/hash_list.py,sha256=z4y0mzbW8LQ5nsaHbMlt1y6uS4suB4D_VljAyIEjFR0,1171
-pymammotion/data/model/location.py,sha256=qO3G0U_eWP9alswbZXTpmYImIcXJeteBVHX1cGZGbHg,729
+pymammotion/data/model/hash_list.py,sha256=wHdM46r42_EF2OnXqBHNAyf-muDOibEB7NWVjc0gXYA,2683
+pymammotion/data/model/location.py,sha256=mafcOPFcb6niTiiZdDWIh_TbnS76jA3Cqd5paKbnhgc,752
 pymammotion/data/model/mowing_modes.py,sha256=2GAF-xaHpv6CSGobYoNtfSi2if8_jW0nonCqN50SNx0,665
 pymammotion/data/model/plan.py,sha256=7JvqAo0a9Yg1Vtifd4J3Dx3StEppxrMOfmq2-877kYg,2891
-pymammotion/data/model/rapid_state.py,sha256=_e9M-65AbkvIqXyMYzLKBxbNvpso42qD8R-JSt66THY,986
+pymammotion/data/model/rapid_state.py,sha256=BdJFD_DlhrVneg-PqEruqCoMty-CR7q_9Qna-hk1yd8,1171
 pymammotion/data/model/region_data.py,sha256=75xOTM1qeRbSROp53eIczw3yCmYM9DgMjMh8qE9xkKo,2880
 pymammotion/data/model/report_info.py,sha256=1Rj_yRZ9apWX296QHae5prdObDbs32bsQf9rzMz2KEQ,4458
 pymammotion/data/mqtt/__init__.py,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
-pymammotion/data/mqtt/event.py,sha256=QkuFQtSUfg8eHisJ-llu-b6cpAlTePaP0JbqL6xZcvk,3900
+pymammotion/data/mqtt/event.py,sha256=0bxP7mt3unvoaPIJn5VDUXMuwTcakgw6bfuv64aaYAk,4522
 pymammotion/data/mqtt/properties.py,sha256=HkBPghr26L9_b4QaOi1DtPgb0UoPIOGSe9wb3kgnM6Y,2815
 pymammotion/data/mqtt/status.py,sha256=zqnlo-MzejEQZszl0i0Wucoc3E76x6UtI9JLxoBnu54,1067
-pymammotion/data/state_manager.py,sha256=jkedK5qAVDTGqIzlPNCmPpE-Pc1V4e-ZHW6Ds1ihJ50,3004
+pymammotion/data/state_manager.py,sha256=T6slACOpbnhWVKmJD_XrBY9vrcCFc6q2l6jEf-g89NQ,3095
 pymammotion/event/__init__.py,sha256=mgATR6vPHACNQ-0zH5fi7NdzeTCDV1CZyaWPmtUusi8,115
 pymammotion/event/event.py,sha256=Fy5-I1p92AO_D67VW4eHQqA4pOt7MZsrP--tVfIVUz8,1820
 pymammotion/http/_init_.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -53,15 +53,15 @@ pymammotion/mammotion/commands/messages/media.py,sha256=ps0l06CXy5Ej--gTNCsyKttw
 pymammotion/mammotion/commands/messages/navigation.py,sha256=-qit4SrtMpnPr0qsub_HD0pzKMlYsyzspW5uf1Ym008,23217
 pymammotion/mammotion/commands/messages/network.py,sha256=1a0BIhaBhBuhqYaK5EUqLbDgfzjzsIGrXS32wMKtxOU,8316
 pymammotion/mammotion/commands/messages/ota.py,sha256=XkeuWBZtpYMMBze6r8UN7dJXbe2FxUNGNnjwBpXJKM0,1240
-pymammotion/mammotion/commands/messages/system.py,sha256=nQ-g-0ESDQ2YBB6JW7IF4Q1bmTbX_baA4dOw2P3GixI,10957
+pymammotion/mammotion/commands/messages/system.py,sha256=m4Cc1zUcLgMFCu6zp5rMupwjDnMD-1PM6hqXpXuXRtw,10984
 pymammotion/mammotion/commands/messages/video.py,sha256=_8lJsU4sLm2CGnc7RDkueA0A51Ysui6x7SqFnhX8O2g,1007
 pymammotion/mammotion/control/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-pymammotion/mammotion/control/joystick.py,sha256=EWV20MMzQuhbLlNlXbsyZKSEpeM7x1CQL7saU4Pn0-g,6165
+pymammotion/mammotion/control/joystick.py,sha256=mresPubTlWCuLQBOFD9KTyYJz5BjZgqt52BaRodemhM,5557
 pymammotion/mammotion/devices/__init__.py,sha256=T72jt0ejtMjo1rPmn_FeMF3pmp0LLeRRpc9WcDKEYYY,126
-pymammotion/mammotion/devices/mammotion.py,sha256=eZxYo4GWomEaSQNAm_kapE64nyjADj72vwsXmIkdidI,48239
+pymammotion/mammotion/devices/mammotion.py,sha256=a-5dbrc-qBc8NHFbwVzrj3eLxFnmlfr8Hyf36Pv1JG0,49404
 pymammotion/mqtt/__init__.py,sha256=Ocs5e-HLJvTuDpVXyECEsWIvwsUaxzj7lZ9mSYutNDY,105
 pymammotion/mqtt/mammotion_future.py,sha256=WKnHqeHiS2Ut-SaDBNOxqh1jDLeTiyLTsJ7PNUexrjk,687
-pymammotion/mqtt/mammotion_mqtt.py,sha256=7V0JW2N9dshUJAGlg6d6Y5LKWYoXvlQd0o-9l6idPNg,8071
+pymammotion/mqtt/mammotion_mqtt.py,sha256=X012f5RvmZI52FlgchLSWbngvPnkv9M_gTYvJHakYaM,8127
 pymammotion/proto/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 pymammotion/proto/basestation.proto,sha256=_x5gAz3FkZXS1jtq4GgZgaDCuRU-UV-7HTFdsfQ3zbo,1034
 pymammotion/proto/basestation.py,sha256=js64_N2xQYRxWPRdVNEapO0qe7vBlfYnjW5sE8hi7hw,2026
@@ -105,13 +105,15 @@ pymammotion/proto/mctrl_sys_pb2.py,sha256=DYemb514mlC7c27t-k1YqqBif0xxhLmnIWk8rX
 pymammotion/proto/mctrl_sys_pb2.pyi,sha256=Dj_1UM86kZ5MfcVyNC76Z0gKrfl5YFsVWP2b-bKoZvk,38912
 pymammotion/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 pymammotion/utility/constant/__init__.py,sha256=tZz7szqIhrzNjfcLU3ysfINfg5VEBUAisd9AhP4mvT0,38
-pymammotion/utility/constant/device_constant.py,sha256=aM69DJJy-h-btLP9RJezld1zm1rGz4gZRdRSpArVtmc,7109
+pymammotion/utility/constant/device_constant.py,sha256=rAEK60F52VyJL31uLnq0Y60D-0VK5gVm59yi9kBfndM,7123
+pymammotion/utility/conversions.py,sha256=ioVTEGTmq2-H9GSQbHlm2D9mNAhOTbabuiTaKPElyXQ,88
 pymammotion/utility/datatype_converter.py,sha256=v6zym2Zu0upxQjR-xDqXwi3516zpntSlg7LP8tQF5K8,4216
 pymammotion/utility/device_type.py,sha256=KYawu2glZMVlPmxRbA4kVFujXz3miHp3rJiOWRVj-GI,8285
 pymammotion/utility/map.py,sha256=aoi-Luzuph02hKynTofMoq3mnPstanx75MDAVv49CuY,2211
+pymammotion/utility/movement.py,sha256=JISPBWCOe4MqHbhmkewhV5aWykr1p6f01DzJfvOF-J8,613
 pymammotion/utility/periodic.py,sha256=9wJMfwXPlx6Mbp3Fws7LLTI34ZDKphH1bva_Ggyk32g,3281
 pymammotion/utility/rocker_util.py,sha256=syPL0QN4zMzHiTIkUKS7RXBBptjdbkfNlPddwUD5V3A,7171
-pymammotion-0.2.22.dist-info/LICENSE,sha256=OXLcl0T2SZ8Pmy2_dmlvKuetivmyPd5m1q-Gyd-zaYY,35149
-pymammotion-0.2.22.dist-info/METADATA,sha256=7DY-GFnBPlE_Pr97Z4J25KjKSw6vIyVQ33lBdeY2Df0,3969
-pymammotion-0.2.22.dist-info/WHEEL,sha256=sP946D7jFCHeNz5Iq4fL4Lu-PrWrFsgfLXbbkciIZwg,88
-pymammotion-0.2.22.dist-info/RECORD,,
+pymammotion-0.2.24.dist-info/LICENSE,sha256=OXLcl0T2SZ8Pmy2_dmlvKuetivmyPd5m1q-Gyd-zaYY,35149
+pymammotion-0.2.24.dist-info/METADATA,sha256=QvfMAbQeG90qBI9NAeUmgaIBG4DmCYUV4qWCrVeriMY,3969
+pymammotion-0.2.24.dist-info/WHEEL,sha256=sP946D7jFCHeNz5Iq4fL4Lu-PrWrFsgfLXbbkciIZwg,88
+pymammotion-0.2.24.dist-info/RECORD,,