pymammotion 0.2.23__tar.gz → 0.2.24__tar.gz

{pymammotion-0.2.23 → pymammotion-0.2.24}/PKG-INFO

@@ -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 → pymammotion-0.2.24}/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-0.2.23 → pymammotion-0.2.24}/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-0.2.24/pymammotion/data/model/rapid_state.py

@@ -0,0 +1,43 @@
+from dataclasses import dataclass
+from enum import Enum
+
+from pymammotion.utility.conversions import parse_double
+
+
+class RTKStatus(Enum):
+    NONE = 0
+    BAD = 1
+    FINE = 4
+
+
+@dataclass
+class RapidState:
+    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":
+        return 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=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=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-0.2.23 → pymammotion-0.2.24}/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-0.2.23 → pymammotion-0.2.24}/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-0.2.23 → pymammotion-0.2.24}/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-0.2.23 → pymammotion-0.2.24}/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-0.2.24/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 → pymammotion-0.2.24}/pyproject.toml

@@ -1,10 +1,10 @@
 [project]
 name        = "pymammotion"
-version     = "0.2.23"
+version     = "0.2.24"
 
 [tool.poetry]
 name        = "pymammotion"
-version     = "0.2.23"
+version     = "0.2.24"
 license     = "GNU-3.0"
 description = ""
 readme      = "README.md"
@@ -53,7 +53,7 @@ mypy = "^1.10.0"
 pre-commit = "^3.8.0"
 
 [tool.bumpver]
-current_version = "0.2.23"
+current_version = "0.2.24"
 version_pattern = "MAJOR.MINOR.PATCH"
 commit_message  = "Bump version {old_version} -> {new_version}"
 commit          = true

pymammotion-0.2.23/pymammotion/data/model/rapid_state.py

@@ -1,41 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-
-class RTKStatus(Enum):
-    NONE = 0
-    BAD = 1
-    FINE = 4
-
-
-@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
-
-    @classmethod
-    def from_raw(cls, raw: list[int]) -> "RapidState":
-        return 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,
-            satellites_l2=raw[6],
-            pos_x=raw[7] / 10000,
-            pos_y=raw[8] / 10000,
-            toward=raw[9] / 10000,
-            pos_type=raw[10],
-            zone_hash=raw[11],
-        )