pymammotion 0.2.23__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."""
@@ -31,6 +30,7 @@ class MowingDevice:
     device: LubaMsg
     map: HashList
     location: Location
+    mowing_state: RapidState
 
     def __init__(self):
         self.device = LubaMsg()
@@ -40,6 +40,7 @@ class MowingDevice:
         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/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

@@ -72,6 +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/devices/mammotion.py

@@ -537,7 +537,7 @@ class MammotionBaseDevice:
     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(90.0, 0.0, linear_percent, 0.0)
+        (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):

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-0.2.23.dist-info → pymammotion-0.2.24.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymammotion
-Version: 0.2.23
+Version: 0.2.24
 Summary: 
 License: GNU-3.0
 Author: Michael Arthur

{pymammotion-0.2.23.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=XHw4q32TL6R60GmLkQiiJmlOv5Y3iHLNytR5ArtsySg,10403
+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=wHdM46r42_EF2OnXqBHNAyf-muDOibEB7NWVjc0gXYA,2683
-pymammotion/data/model/location.py,sha256=qO3G0U_eWP9alswbZXTpmYImIcXJeteBVHX1cGZGbHg,729
+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=Il9jJKXE_ga_wfnRS0bhSkQytcRXOzxb_wZAmL0VnQQ,2992
+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
@@ -58,7 +58,7 @@ pymammotion/mammotion/commands/messages/video.py,sha256=_8lJsU4sLm2CGnc7RDkueA0A
 pymammotion/mammotion/control/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 pymammotion/mammotion/control/joystick.py,sha256=mresPubTlWCuLQBOFD9KTyYJz5BjZgqt52BaRodemhM,5557
 pymammotion/mammotion/devices/__init__.py,sha256=T72jt0ejtMjo1rPmn_FeMF3pmp0LLeRRpc9WcDKEYYY,126
-pymammotion/mammotion/devices/mammotion.py,sha256=4cqUHjxjUbfZNeYIwtm1HmS6X7x4gDMUxi5I4uEZjag,49403
+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=X012f5RvmZI52FlgchLSWbngvPnkv9M_gTYvJHakYaM,8127
@@ -105,14 +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-0.2.23.dist-info/LICENSE,sha256=OXLcl0T2SZ8Pmy2_dmlvKuetivmyPd5m1q-Gyd-zaYY,35149
-pymammotion-0.2.23.dist-info/METADATA,sha256=gKOZy5S7Pu2ee9TUEE8mISFQUQSljhSixqC5LSSyQdQ,3969
-pymammotion-0.2.23.dist-info/WHEEL,sha256=sP946D7jFCHeNz5Iq4fL4Lu-PrWrFsgfLXbbkciIZwg,88
-pymammotion-0.2.23.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,,