pymammotion 0.2.28__py3-none-any.whl → 0.2.30__py3-none-any.whl

pymammotion/mqtt/mammotion_future.py

@@ -1,12 +1,13 @@
 from asyncio import Future
-from typing import Any
 
 import async_timeout
 
 
 class MammotionFuture:
     """Create futures for each MQTT Message."""
-    def __init__(self):
+
+    def __init__(self, iot_id) -> None:
+        self.iot_id = iot_id
         self.fut: Future = Future()
         self.loop = self.fut.get_loop()
 

pymammotion/mqtt/mammotion_mqtt.py

@@ -1,12 +1,15 @@
 """MammotionMQTT."""
+
 import asyncio
+import base64
 import hashlib
 import hmac
 import json
 import logging
 from logging import getLogger
-from typing import Callable, Optional, cast, Awaitable
+from typing import Awaitable, Callable, Optional
 
+import betterproto
 from linkkit.linkkit import LinkKit
 from paho.mqtt.client import MQTTMessage
 
@@ -14,7 +17,7 @@ from pymammotion.aliyun.cloud_gateway import CloudIOTGateway
 from pymammotion.data.mqtt.event import ThingEventMessage
 from pymammotion.data.mqtt.properties import ThingPropertiesMessage
 from pymammotion.data.mqtt.status import ThingStatusMessage
-from pymammotion.proto import luba_msg_pb2
+from pymammotion.proto.luba_msg import LubaMsg
 
 logger = getLogger(__name__)
 
@@ -29,18 +32,19 @@ class MammotionMQTT:
         device_name: str,
         device_secret: str,
         iot_token: str,
+        cloud_client: CloudIOTGateway,
         client_id: Optional[str] = None,
-    ):
+    ) -> None:
         """Create instance of MammotionMQTT."""
         super().__init__()
-        self._cloud_client = None
+        self._cloud_client = cloud_client
         self.is_connected = False
         self.is_ready = False
-        self.on_connected: Optional[Callable[[],Awaitable[None]]] = None
-        self.on_ready: Optional[Callable[[],Awaitable[None]]] = None
-        self.on_error: Optional[Callable[[str],Awaitable[None]]] = None
-        self.on_disconnected: Optional[Callable[[],Awaitable[None]]] = None
-        self.on_message: Optional[Callable[[str, str, str],Awaitable[None]]] = None
+        self.on_connected: Optional[Callable[[], Awaitable[None]]] = None
+        self.on_ready: Optional[Callable[[], Awaitable[None]]] = None
+        self.on_error: Optional[Callable[[str], Awaitable[None]]] = None
+        self.on_disconnected: Optional[Callable[[], Awaitable[None]]] = None
+        self.on_message: Optional[Callable[[str, str, str], Awaitable[None]]] = None
 
         self._product_key = product_key
         self._device_name = device_name
@@ -77,20 +81,19 @@ class MammotionMQTT:
         self._linkkit_client.on_topic_message = self._thing_on_topic_message
         self._mqtt_host = f"{self._product_key}.iot-as-mqtt.{region_id}.aliyuncs.com"
 
-    def connect_async(self):
+    def connect_async(self) -> None:
         """Connect async to MQTT Server."""
         logger.info("Connecting...")
         if self._linkkit_client.check_state() is LinkKit.LinkKitState.INITIALIZED:
             self._linkkit_client.thing_setup()
         self._linkkit_client.connect_async()
 
-
-    def disconnect(self):
+    def disconnect(self) -> None:
         """Disconnect from MQTT Server."""
         logger.info("Disconnecting...")
         self._linkkit_client.disconnect()
 
-    def _thing_on_thing_enable(self, user_data):
+    def _thing_on_thing_enable(self, user_data) -> None:
         """Is called when Thing is enabled."""
         logger.debug("on_thing_enable")
         self.is_connected = True
@@ -129,7 +132,7 @@ class MammotionMQTT:
         # command = MammotionCommand(device_name="Luba")
         # self._cloud_client.send_cloud_command(command.get_report_cfg())
 
-    def _thing_on_topic_message(self, topic, payload, qos, user_data):
+    def _thing_on_topic_message(self, topic, payload, qos, user_data) -> None:
         """Is called when thing topic comes in."""
         logger.debug(
             "on_topic_message, receive message, topic:%s, payload:%s, qos:%d",
@@ -143,8 +146,7 @@ class MammotionMQTT:
             future = asyncio.run_coroutine_threadsafe(self.on_message(topic, payload, iot_id), self.loop)
             asyncio.wrap_future(future, loop=self.loop)
 
-
-    def _thing_on_connect(self, session_flag, rc, user_data):
+    def _thing_on_connect(self, session_flag, rc, user_data) -> None:
         """Is called on thing connect."""
         self.is_connected = True
         if self.on_connected is not None:
@@ -155,7 +157,7 @@ class MammotionMQTT:
 
         # self._linkkit_client.subscribe_topic(f"/sys/{self._product_key}/{self._device_name}/#")
 
-    def _on_disconnect(self, _client, _userdata):
+    def _on_disconnect(self, _client, _userdata) -> None:
         """Is called on disconnect."""
         logger.info("Disconnected")
         self.is_connected = False
@@ -164,8 +166,7 @@ class MammotionMQTT:
             future = asyncio.run_coroutine_threadsafe(self.on_disconnected(), self.loop)
             asyncio.wrap_future(future, loop=self.loop)
 
-
-    def _on_message(self, _client, _userdata, message: MQTTMessage):
+    def _on_message(self, _client, _userdata, message: MQTTMessage) -> None:
         """Is called when message is received."""
         logger.info("Message on topic %s", message.topic)
 
@@ -174,9 +175,9 @@ class MammotionMQTT:
             event = ThingEventMessage(**payload)
             params = event.params
             if params.identifier == "device_protobuf_msg_event":
-                content = cast(luba_msg_pb2, params.value.content)
+                content = LubaMsg().parse(base64.b64decode(params.value.content.proto))
 
-                logger.info("Unhandled protobuf event: %s", content.WhichOneof("subMsg"))
+                logger.info("Unhandled protobuf event: %s", betterproto.which_one_of(content, "LubaSubMsg"))
             elif params.identifier == "device_warning_event":
                 logger.debug("identifier event: %s", params.identifier)
             else:
@@ -191,7 +192,6 @@ class MammotionMQTT:
             logger.debug("Unhandled topic: %s", message.topic)
             logger.debug(payload)
 
-    def get_cloud_client(self) -> Optional[CloudIOTGateway]:
+    def get_cloud_client(self) -> CloudIOTGateway:
         """Return internal cloud client."""
         return self._cloud_client
-

pymammotion/proto/__init__.py

@@ -0,0 +1,6 @@
+import betterproto
+
+
+def has_field(message: betterproto.Message) -> bool:
+    """Check if the message has any fields serialized on wire."""
+    return betterproto.serialized_on_wire(message)

pymammotion/utility/constant/__init__.py

@@ -1 +1,3 @@
-from .device_constant import WorkMode
+from .device_constant import PosType, WorkMode, device_mode
+
+__all__ = ["WorkMode", "device_mode", "PosType"]

pymammotion/utility/conversions.py

@@ -2,4 +2,4 @@ import math
 
 
 def parse_double(val: float, d: float):
-    return val / math.pow(10.0, d)
+    return val / math.pow(10.0, d)

pymammotion/utility/datatype_converter.py

@@ -20,13 +20,13 @@ class DatatypeConverter:
         """
 
         if DatatypeConverter.encode_map is None:
-            cArr = [0] * 64
-            for i in range(26):
-                cArr[i] = chr(i + 65)
-            for i in range(26, 52):
-                cArr[i] = chr(i - 26 + 97)
-            for i in range(52, 62):
-                cArr[i] = chr(i - 52 + 48)
+            cArr: list[str | int] = [0] * 64
+            for num in range(26):
+                cArr[num] = chr(num + 65)
+            for num_2 in range(26, 52):
+                cArr[num_2] = chr(num_2 - 26 + 97)
+            for num_3 in range(52, 62):
+                cArr[num_3] = chr(num_3 - 52 + 48)
             cArr[62] = "+"
             cArr[63] = "/"
             DatatypeConverter.encode_map = cArr
@@ -45,7 +45,7 @@ class DatatypeConverter:
         return DatatypeConverter.encode_map[i & 63]
 
     @staticmethod
-    def _printBase64Binary(bArr, i=0, i2=None):
+    def _printBase64Binary(bArr: bytes, i: int = 0, i2=None):
         """Print the Base64 binary representation of a byte array.
 
         This function takes a byte array and optional start and end indices to
@@ -68,7 +68,7 @@ class DatatypeConverter:
         return "".join(cArr)
 
     @staticmethod
-    def _printBase64Binary_core(bArr, i, i2, cArr, i3):
+    def _printBase64Binary_core(bArr: bytes, i, i2, cArr, i3):
         """Encode binary data into Base64 format.
 
         This function encodes binary data into Base64 format following the

pymammotion/utility/device_type.py

@@ -11,12 +11,12 @@ class DeviceType(Enum):
     YUKA_MINI2 = (5, "Yuka-YM", "Yuka Mini 2")
     LUBA_VP = (6, "Luba-VP", "Luba VP")
 
-    def __init__(self, value: int, name: str, model: str):
+    def __init__(self, value: int, name: str, model: str) -> None:
         self._value = value
         self._name = name
         self._model = model
 
-    def get_name(self):
+    def get_name(self) -> str:
         return self._name
 
     def get_model(self):
@@ -28,7 +28,7 @@ class DeviceType(Enum):
     def get_value_str(self):
         return str(self._value)
 
-    def set_value(self, value):
+    def set_value(self, value) -> None:
         self._value = value
 
     @staticmethod
@@ -54,11 +54,15 @@ class DeviceType(Enum):
             return DeviceType.LUBA_2
         elif value == 3:
             return DeviceType.LUBA_YUKA
+        elif value == 4:
+            return DeviceType.YUKA_MINI
+        elif value == 5:
+            return DeviceType.YUKA_MINI2
         else:
             return DeviceType.UNKNOWN
 
     @staticmethod
-    def value_of_str(device_name, product_key=""):
+    def value_of_str(device_name: str, product_key: str = ""):
         """Determine the type of device based on the provided device name and
         product key.
 
@@ -78,21 +82,26 @@ class DeviceType(Enum):
             substring = device_name[:3]
             substring2 = device_name[:7]
 
-            if DeviceType.RTK.name in substring or DeviceType.contain_rtk_product_key(product_key):
+            if DeviceType.RTK.get_name() in substring or DeviceType.contain_rtk_product_key(product_key):
                 return DeviceType.RTK
-            elif DeviceType.LUBA_2.name in substring2 or DeviceType.contain_luba_2_product_key(product_key):
+            elif DeviceType.LUBA_2.get_name() in substring2 or DeviceType.contain_luba_2_product_key(product_key):
                 return DeviceType.LUBA_2
-            elif DeviceType.LUBA_YUKA.name in substring2:
+            elif DeviceType.LUBA_YUKA.get_name() in substring2:
                 return DeviceType.LUBA_YUKA
-            elif DeviceType.LUBA.name in substring2 or DeviceType.contain_luba_product_key(product_key):
+            elif DeviceType.YUKA_MINI.get_name() in substring2:
+                return DeviceType.YUKA_MINI
+            elif DeviceType.YUKA_MINI2.get_name() in substring2:
+                return DeviceType.YUKA_MINI2
+            elif DeviceType.LUBA.get_name() in substring2 or DeviceType.contain_luba_product_key(product_key):
                 return DeviceType.LUBA
             else:
+                print("unknown device type")
                 return DeviceType.UNKNOWN
         except Exception:
             return DeviceType.UNKNOWN
 
     @staticmethod
-    def has_4g(device_name, product_key=""):
+    def has_4g(device_name: str, product_key: str = ""):
         """Check if the device has 4G capability based on the device name and
         optional product key.
 
@@ -117,7 +126,7 @@ class DeviceType(Enum):
         return device_type.get_value() >= DeviceType.LUBA_2.get_value()
 
     @staticmethod
-    def is_luba1(device_name, product_key=""):
+    def is_luba1(device_name: str, product_key: str = ""):
         """Check if the given device is of type LUBA.
 
         This function determines if the device specified by 'device_name' is of
@@ -141,7 +150,7 @@ class DeviceType(Enum):
         return device_type.get_value() == DeviceType.LUBA.get_value()
 
     @staticmethod
-    def is_luba_2(device_name, product_key=""):
+    def is_luba_2(device_name: str, product_key: str = ""):
         """Check if the device type is LUBA 2 or higher based on the device name
         and optional product key.
 
@@ -162,7 +171,7 @@ class DeviceType(Enum):
         return device_type.get_value() >= DeviceType.LUBA_2.get_value()
 
     @staticmethod
-    def is_yuka(device_name):
+    def is_yuka(device_name: str):
         """Check if the given device name corresponds to a LUBA_YUKA device type.
 
         Args:
@@ -173,10 +182,14 @@ class DeviceType(Enum):
 
         """
 
-        return DeviceType.value_of_str(device_name).get_value() == DeviceType.LUBA_YUKA.get_value()
+        return (
+            DeviceType.value_of_str(device_name).get_value() == DeviceType.LUBA_YUKA.get_value()
+            or DeviceType.value_of_str(device_name).get_value() == DeviceType.YUKA_MINI.get_value()
+            or DeviceType.value_of_str(device_name).get_value() == DeviceType.YUKA_MINI2.get_value()
+        )
 
     @staticmethod
-    def is_rtk(device_name, product_key=""):
+    def is_rtk(device_name: str, product_key: str = ""):
         """Check if the device type is within the range of RTK devices.
 
         This function determines if the device type corresponding to the given
@@ -200,7 +213,7 @@ class DeviceType(Enum):
         return DeviceType.RTK.get_value() <= device_type.get_value() < DeviceType.LUBA.get_value()
 
     @staticmethod
-    def contain_rtk_product_key(product_key):
+    def contain_rtk_product_key(product_key) -> bool:
         """Check if the given product key is in a predefined list of RTK product
         keys.
 
@@ -217,7 +230,7 @@ class DeviceType(Enum):
         return product_key in ["a1qXkZ5P39W", "a1Nc68bGZzX"]
 
     @staticmethod
-    def contain_luba_product_key(product_key):
+    def contain_luba_product_key(product_key) -> bool:
         """Check if the given product key is in the list of valid product keys.
 
         Args:
@@ -245,7 +258,7 @@ class DeviceType(Enum):
         ]
 
     @staticmethod
-    def contain_luba_2_product_key(product_key):
+    def contain_luba_2_product_key(product_key) -> bool:
         """Check if the given product key is present in a predefined list.
 
         Args:
@@ -260,5 +273,21 @@ class DeviceType(Enum):
             return False
         return product_key in ["a1iMygIwxFC", "a1LLmy1zc0j", "a1LLmy1zc0j"]
 
+    @staticmethod
+    def contain_yuka_product_key(product_key) -> bool:
+        """Check if the given product key is present in a predefined list.
+
+        Args:
+            product_key (str): The product key to be checked.
+
+        Returns:
+            bool: True if the product key is in the predefined list, False otherwise.
+
+        """
+
+        if not product_key:
+            return False
+        return product_key in ["a1IQV0BrnXb"]
+
     def is_support_video(self):
-        return self == DeviceType.LUBA_YUKA
+        return self != DeviceType.LUBA

pymammotion/utility/map.py

@@ -6,7 +6,7 @@ from pymammotion.data.model.location import Point
 
 
 class CoordinateConverter:
-    def __init__(self, latitude_rad: float, longitude_rad: float):
+    def __init__(self, latitude_rad: float, longitude_rad: float) -> None:
         # Initialize constants
         self.WGS84A = 6378137.0
         self.f_ = 3.3528106647474805e-21
@@ -26,7 +26,7 @@ class CoordinateConverter:
         # Call set_init_lla with provided lat/lon
         self.set_init_lla(latitude_rad, longitude_rad)
 
-    def set_init_lla(self, lat_rad, lon_rad):
+    def set_init_lla(self, lat_rad, lon_rad) -> None:
         sin_lat = math.sin(lat_rad)
         cos_lat = math.cos(lat_rad)
         sin_lon = math.sin(lon_rad)

pymammotion/utility/movement.py

@@ -10,8 +10,9 @@ def transform_both_speeds(linear: float, angular: float, linear_percent: float,
         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
+    return percent - 15.0

pymammotion/utility/periodic.py

@@ -3,13 +3,13 @@ from contextlib import suppress
 
 
 class Periodic:
-    def __init__(self, func, time):
+    def __init__(self, func, time) -> None:
         self.func = func
         self.time = time
         self.is_started = False
         self._task = None
 
-    def start(self):
+    def start(self) -> None:
         """Start the task if it is not already started.
 
         If the task is not already started, it sets the 'is_started' flag to
@@ -21,7 +21,7 @@ class Periodic:
             # Start task to call func periodically:
             self._task = asyncio.ensure_future(self._run())
 
-    async def stop(self):
+    async def stop(self) -> None:
         """Stop the task if it is currently running.
 
         If the task is currently running, it will be cancelled and awaited until
@@ -35,7 +35,7 @@ class Periodic:
             with suppress(asyncio.CancelledError):
                 await self._task
 
-    async def _run(self):
+    async def _run(self) -> None:
         """Run the specified function at regular intervals using asyncio.
 
         This method runs the specified function at regular intervals based on
@@ -84,7 +84,7 @@ def periodic(period):
 
         """
 
-        async def wrapper(*args, **kwargs):
+        async def wrapper(*args, **kwargs) -> None:
             """Execute the given function periodically using asyncio tasks.
 
             This function continuously creates an asyncio task to execute the

pymammotion/utility/rocker_util.py

@@ -11,7 +11,7 @@ class RockerControlUtil:
     thresholdValue_2 = 7
     thresholdValue_3 = 15
 
-    def __init__(self):
+    def __init__(self) -> None:
         """Generated source for method __init__"""
 
     @classmethod

{pymammotion-0.2.28.dist-info → pymammotion-0.2.30.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymammotion
-Version: 0.2.28
+Version: 0.2.30
 Summary: 
 License: GNU-3.0
 Author: Michael Arthur
@@ -18,11 +18,13 @@ Requires-Dist: alicloud-gateway-iot (>=1.0.0,<2.0.0)
 Requires-Dist: aliyun-iot-linkkit (>=1.2.12,<2.0.0)
 Requires-Dist: aliyun-python-sdk-iot (>=8.57.0,<9.0.0)
 Requires-Dist: async-timeout (>=4.0.3,<5.0.0)
+Requires-Dist: autotyping (>=24.3.0,<25.0.0)
 Requires-Dist: betterproto (>=1.2.5,<2.0.0)
 Requires-Dist: bleak (>=0.21.0)
 Requires-Dist: bleak-retry-connector (>=3.5.0,<4.0.0)
 Requires-Dist: jsonic (>=1.0.0,<2.0.0)
 Requires-Dist: mashumaro (>=3.13,<4.0)
+Requires-Dist: mypy (>=1.11.2,<2.0.0)
 Requires-Dist: nest-asyncio (>=1.6.0,<2.0.0)
 Requires-Dist: numpy (>=1.26.0,<2.0.0)
 Requires-Dist: orjson (>=3.9.15,<4.0.0)

{pymammotion-0.2.28.dist-info → pymammotion-0.2.30.dist-info}/RECORD

@@ -1,68 +1,72 @@
-pymammotion/__init__.py,sha256=kmnjdt3AEMejIz5JK7h1tTJj5ZriAgKwZBa3ScA4-Ao,1516
+pymammotion/__init__.py,sha256=jHCQrpJaG1jAoID9T4RT3g4JsZc0JpJqIcqjnA7cXd0,1605
 pymammotion/aliyun/__init__.py,sha256=T1lkX7TRYiL4nqYanG4l4MImV-SlavSbuooC-W-uUGw,29
-pymammotion/aliyun/cloud_gateway.py,sha256=L3efICH21kHNz2eXpReGoTBoTQU-PERX5RTyS7J6eDA,22576
-pymammotion/aliyun/cloud_service.py,sha256=YWcKuKK6iRWy5mTnBYgHxcCusiRGGzQt3spSf7dGDss,2183
+pymammotion/aliyun/cloud_gateway.py,sha256=d2A4F-bCZD4Oz4wdBdyFBKBvFf1GZxCKvFRcDDpczRs,22686
+pymammotion/aliyun/cloud_service.py,sha256=px7dUKow5Z7VyebjYzuKkzkm77XbUXYiFiYO_2e-UQ0,2207
 pymammotion/aliyun/dataclass/aep_response.py,sha256=8f6GIP58ve8gd6AL3HBoXxsy0n2q4ygWvjELGnoOnVc,452
 pymammotion/aliyun/dataclass/connect_response.py,sha256=Yz-fEbDzgGPTo5Of2oAjmFkSv08T7ze80pQU4k-gKIU,824
-pymammotion/aliyun/dataclass/dev_by_account_response.py,sha256=YV7I1Gd3RyHXi369AzEKa604VOV5bmtjD1mVElg9wOw,1033
+pymammotion/aliyun/dataclass/dev_by_account_response.py,sha256=gskum11h9HPf4lKjLJKVrsxRl5BHaHJP2TPrI09SUYs,1032
 pymammotion/aliyun/dataclass/login_by_oauth_response.py,sha256=IXSLZ6XnOliOnyXo5Bh0ErqFjA11puACh_9NH0sSJGQ,1262
 pymammotion/aliyun/dataclass/regions_response.py,sha256=CVPpdFhDD6_emWHyLRzOdp2j3HLPtP8tlNyzGnr8AcI,690
-pymammotion/aliyun/dataclass/session_by_authcode_response.py,sha256=_5vsyIxocoecEqygPTmhOQnzjwaK845ssIqbTeaLcmk,406
+pymammotion/aliyun/dataclass/session_by_authcode_response.py,sha256=1K8Uu_V6flSBU8kLCh1Qj59tD9aZQSn7X3hLKeouE_g,407
 pymammotion/aliyun/tmp_constant.py,sha256=M4Hq_lrGB3LZdX6R2XohRPFoK1NDnNV-pTJwJcJ9838,6650
 pymammotion/bluetooth/__init__.py,sha256=LAl8jqZ1fPh-3mLmViNQsP3s814C1vsocYUa6oSaXt0,36
-pymammotion/bluetooth/ble.py,sha256=9fA8yw5xXNJRSbC68SdOMf2QJnHoD7RhhCjLFoF0c0I,2404
-pymammotion/bluetooth/ble_message.py,sha256=byibcxZ5b_hE3UzHAImyTcxdBOcya9rdswdtuLV8_hY,15663
+pymammotion/bluetooth/ble.py,sha256=YfkfEK3TLJ8BaidjAXfUVFv8reLCu6U_lYa3Bo0pddw,2449
+pymammotion/bluetooth/ble_message.py,sha256=m-RyxHncCWrYFoeNg_G9Co5afNADZuCm32jQaqaIFc8,16211
 pymammotion/bluetooth/const.py,sha256=CCqyHsYbB0BAYjwdhXt_n6eWWxmhlUrAFjvVv57mbvE,1749
 pymammotion/bluetooth/data/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-pymammotion/bluetooth/data/convert.py,sha256=tlctvRODoYypy4FpMD_UBwB1bIn5hG0QdQQdNI0e1R8,792
-pymammotion/bluetooth/data/framectrldata.py,sha256=-qRmbHBXDLDEPOp-N9e44C9l3SUcJX7vyEvACx5DpDA,987
-pymammotion/bluetooth/data/notifydata.py,sha256=N1bphpueWUWbsWUcpZmMGt2CyCgLcKAFAIHG4RCnqBU,1947
-pymammotion/const.py,sha256=EEmZ1v4MqN2nPiNpS_mJQqaCkSNEa1EXUmtwZBUhXIg,329
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@@ -104,16 +108,16 @@ pymammotion/proto/mctrl_sys.py,sha256=GVciaKPcp4h1qrIILHX_Pd76tKSBFlaEvFPF7FZsj8
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