pymammotion 0.2.29__py3-none-any.whl → 0.2.31__py3-none-any.whl

pymammotion/mammotion/commands/messages/navigation.py

@@ -2,7 +2,6 @@
 import logging
 import time
 from abc import ABC
-from typing import List
 
 from pymammotion.data.model import GenerateRouteInformation
 from pymammotion.data.model.plan import Plan
@@ -61,82 +60,82 @@ class MessageNavigation(AbstractMessage, ABC):
         logger.debug(f"Send command--9 general read and write command id={id}, context={context}, rw={rw}")
         return self.send_order_msg_nav(build)
 
-    def along_border(self):
+    def along_border(self) -> bytes:
         build = MctlNav(todev_edgecmd=1)
         logger.debug("Send command--along the edge command")
         return self.send_order_msg_nav(build)
 
-    def start_draw_border(self):
+    def start_draw_border(self) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=0, type=0))
         logger.debug("Send command--Start drawing boundary command")
         return self.send_order_msg_nav(build)
 
-    def enter_dumping_status(self):
+    def enter_dumping_status(self) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=14, type=12))
         logger.debug("Send command--Enter grass collection status")
         return self.send_order_msg_nav(build)
 
-    def add_dump_point(self):
+    def add_dump_point(self) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=0, type=12))
         logger.debug("Send command--Add grass collection point")
         return self.send_order_msg_nav(build)
 
-    def revoke_dump_point(self):
+    def revoke_dump_point(self) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=6, type=12))
         logger.debug("Send command--Revoke grass collection point")
         return self.send_order_msg_nav(build)
 
-    def exit_dumping_status(self):
+    def exit_dumping_status(self) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=1, type=12))
         logger.debug("Send command--Exit grass collection setting status")
         return self.send_order_msg_nav(build)
 
-    def out_drop_dumping_add(self):
+    def out_drop_dumping_add(self) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=15, type=12))
         logger.debug("Send command--Complete external grass collection point marking operation")
         return self.send_order_msg_nav(build)
 
-    def recover_dumping(self):
+    def recover_dumping(self) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=12, type=12))
         logger.debug("Send command--Recover grass collection operation")
         return self.send_order_msg_nav(build)
 
-    def start_draw_barrier(self):
+    def start_draw_barrier(self) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=0, type=1))
         logger.debug("Sending command - Draw obstacle command")
         return self.send_order_msg_nav(build)
 
-    def start_erase(self):
+    def start_erase(self) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=4, type=0))
         logger.debug("Sending command - Start erase command - Bluetooth")
         return self.send_order_msg_nav(build)
 
-    def end_erase(self):
+    def end_erase(self) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=5, type=0))
         logger.debug("Sending command - End erase command")
         return self.send_order_msg_nav(build)
 
-    def cancel_erase(self):
+    def cancel_erase(self) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=7, type=0))
         logger.debug("Sending command - Cancel erase command")
         return self.send_order_msg_nav(build)
 
-    def start_channel_line(self):
+    def start_channel_line(self) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=0, type=2))
         logger.debug("Sending command - Start drawing channel line command")
         return self.send_order_msg_nav(build)
 
-    def save_task(self):
+    def save_task(self) -> bytes:
         build = MctlNav(todev_save_task=1)
         logger.debug("Sending command - Save task command")
         return self.send_order_msg_nav(build)
 
-    def set_edit_boundary(self, action: int):
+    def set_edit_boundary(self, action: int) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=action, type=0))
         logger.debug(f"Sending secondary editing command action={action}")
         return self.send_order_msg_nav(build)
 
-    def set_data_synchronization(self, type: int):
+    def set_data_synchronization(self, type: int) -> bytes:
         logger.debug(f"Sync data ==================== Sending ============ Restore command: {type}")
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=12, type=type))
         logger.debug("Sync data ==================== Sending ============ Restore command")
@@ -259,7 +258,7 @@ class MessageNavigation(AbstractMessage, ABC):
     def request_job_history(self, num: int) -> bytes:
         return self.send_order_msg_nav(MctlNav(todev_work_report_cmd=WorkReportCmdData(sub_cmd=1, get_info_num=num)))
 
-    def leave_dock(self):
+    def leave_dock(self) -> bytes:
         build = MctlNav(todev_one_touch_leave_pile=1)
         logger.debug("Send command--One-click automatic undocking")
         return self.send_order_msg_nav(build)
@@ -289,12 +288,12 @@ class MessageNavigation(AbstractMessage, ABC):
         logger.debug("Send command--Get area name list")
         return self.send_order_msg_nav(mctl_nav)
 
-    def get_all_boundary_hash_list(self, sub_cmd: int):
+    def get_all_boundary_hash_list(self, sub_cmd: int) -> bytes:
         build = MctlNav(todev_gethash=NavGetHashList(pver=1, sub_cmd=sub_cmd))
         logger.debug(f"Area loading=====================:Get area hash list++Bluetooth:{sub_cmd}")
         return self.send_order_msg_nav(build)
 
-    def get_hash_response(self, total_frame: int, current_frame: int):
+    def get_hash_response(self, total_frame: int, current_frame: int) -> bytes:
         build = MctlNav(
             todev_gethash=NavGetHashList(pver=1, sub_cmd=2, current_frame=current_frame, total_frame=total_frame)
         )
@@ -303,17 +302,17 @@ class MessageNavigation(AbstractMessage, ABC):
         )
         return self.send_order_msg_nav(build)
 
-    def synchronize_hash_data(self, hash_num: int):
+    def synchronize_hash_data(self, hash_num: int) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=8, hash=hash_num, sub_cmd=1))
         logger.debug(f"Send command--209,hash synchronize area data hash:{hash}")
         return self.send_order_msg_nav(build)
 
-    def get_area_to_be_transferred(self):
+    def get_area_to_be_transferred(self) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=8, sub_cmd=1, type=3))
         logger.debug("Send command--Get transfer area before charging pile")
         return self.send_order_msg_nav(build)
 
-    def get_regional_data(self, regional_data: RegionData):
+    def get_regional_data(self, regional_data: RegionData) -> bytes:
         build = MctlNav(
             todev_get_commondata=NavGetCommData(
                 pver=1,
@@ -328,53 +327,53 @@ class MessageNavigation(AbstractMessage, ABC):
         logger.debug("Area loading=====================:Response area data")
         return self.send_order_msg_nav(build)
 
-    def indoor_simulation(self, flag: int):
+    def indoor_simulation(self, flag: int) -> bytes:
         build = MctlNav(simulation_cmd=SimulationCmdData(sub_cmd=flag))
         logger.debug(f"Send command--Send indoor simulation command flag={flag}")
         return self.send_order_msg_nav(build)
 
-    def send_tools_order(self, param_id: int, values: List[int]):
+    def send_tools_order(self, param_id: int, values: list[int]) -> bytes:
         build = MctlNav(simulation_cmd=SimulationCmdData(sub_cmd=2, param_id=param_id, param_value=values))
         logger.debug(f"Send command--Send tool command id={param_id},values={values}")
         return self.send_order_msg_nav(build)
 
-    def end_draw_border(self, type: int):
+    def end_draw_border(self, type: int) -> bytes:
         if type == -1:
             return
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=1, type=type))
         logger.debug(f"Send command--End drawing boundary, obstacle, channel command type={type}")
         return self.send_order_msg_nav(build)
 
-    def cancel_current_record(self):
+    def cancel_current_record(self) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=7, sub_cmd=0))
         logger.debug("Send command--Cancel current recording (boundary, obstacle)")
         return self.send_order_msg_nav(build)
 
-    def delete_map_elements(self, type: int, hash_num: int):
+    def delete_map_elements(self, type: int, hash_num: int) -> bytes:
         if type == -1:
             return
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=6, type=type, hash=hash_num))
         logger.debug(f"Send command--Delete boundary or obstacle or channel command type={type},hash={hash}")
         return self.send_order_msg_nav(build)
 
-    def delete_charge_point(self):
+    def delete_charge_point(self) -> bytes:
         logger.debug("Delete charging pile")
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=6, type=5))
         logger.debug("Send command--Delete charging pile location and reset")
         return self.send_order_msg_nav(build)
 
-    def confirm_base_station(self):
+    def confirm_base_station(self) -> bytes:
         logger.debug("Reset base station")
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=2, type=7))
         logger.debug("Send command--Confirm no modification to base station")
         return self.send_order_msg_nav(build)
 
-    def delete_all(self):
+    def delete_all(self) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=6, type=6))
         logger.debug("Send command--Clear job data")
         return self.send_order_msg_nav(build)
 
-    def generate_route_information(self, generate_route_information: GenerateRouteInformation):
+    def generate_route_information(self, generate_route_information: GenerateRouteInformation) -> bytes:
         logger.debug(f"Generate route data source:{generate_route_information}")
         build = NavReqCoverPath(
             pver=1,
@@ -382,7 +381,7 @@ class MessageNavigation(AbstractMessage, ABC):
             zone_hashs=generate_route_information.one_hashs,
             job_mode=generate_route_information.job_mode,
             edge_mode=generate_route_information.edge_mode,
-            knife_height=generate_route_information.knife_height,
+            knife_height=generate_route_information.blade_height,
             speed=generate_route_information.speed,
             ultra_wave=generate_route_information.ultra_wave,
             channel_width=generate_route_information.channel_width,
@@ -397,7 +396,7 @@ class MessageNavigation(AbstractMessage, ABC):
         generate_route_information}")
         return self.send_order_msg_nav(MctlNav(bidire_reqconver_path=build))
 
-    def modify_generate_route_information(self, generate_route_information: GenerateRouteInformation):
+    def modify_generate_route_information(self, generate_route_information: GenerateRouteInformation) -> bytes:
         logger.debug(f"Generate route data source: {generate_route_information}")
         build = NavReqCoverPath(
             pver=1,
@@ -405,7 +404,7 @@ class MessageNavigation(AbstractMessage, ABC):
             zone_hashs=generate_route_information.one_hashs,
             job_mode=generate_route_information.job_mode,
             edge_mode=generate_route_information.edge_mode,
-            knife_height=generate_route_information.knife_height,
+            knife_height=generate_route_information.blade_height,
             speed=generate_route_information.speed,
             ultra_wave=generate_route_information.ultra_wave,
             channel_width=generate_route_information.channel_width,
@@ -418,14 +417,14 @@ class MessageNavigation(AbstractMessage, ABC):
         generate_route_information}")
         return self.send_order_msg_nav(MctlNav(bidire_reqconver_path=build))
 
-    def end_generate_route_information(self):
+    def end_generate_route_information(self) -> bytes:
         build = NavReqCoverPath(pver=1, sub_cmd=9)
         logger.debug(f"{self.get_device_name()} Generate route ===== {build}")
         build2 = MctlNav(bidire_reqconver_path=build)
         logger.debug("Send command -- End generating route information generate_route_information=")
         return self.send_order_msg_nav(build2)
 
-    def query_generate_route_information(self):
+    def query_generate_route_information(self) -> bytes:
         build = NavReqCoverPath(pver=1, sub_cmd=2)
         logger.debug(f"{self.get_device_name(
         )} Send command -- Get route configuration information generate_route_information={build}")
@@ -438,7 +437,7 @@ class MessageNavigation(AbstractMessage, ABC):
         logger.debug(f"Sending command--Get route data corresponding to hash={current_hash}")
         return self.send_order_msg_nav(build)
 
-    def get_line_info_list(self, hash_list: List[int], transaction_id: int) -> bytes:
+    def get_line_info_list(self, hash_list: list[int], transaction_id: int) -> bytes:
         logger.debug(f"Sending==========Get route command: {hash_list}")
         build = MctlNav(
             app_request_cover_paths=AppRequestCoverPathsT(
@@ -454,52 +453,52 @@ class MessageNavigation(AbstractMessage, ABC):
         logger.debug("Sending command--Start job")
         return self.send_order_msg_nav(build)
 
-    def cancel_return_to_dock(self):
+    def cancel_return_to_dock(self) -> bytes:
         build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=12, result=0))
         logger.debug("Send command - Cancel return to charge")
         return self.send_order_msg_nav(build)
 
-    def cancel_job(self):
+    def cancel_job(self) -> bytes:
         build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=4, result=0))
         logger.debug("Send command - End job")
         return self.send_order_msg_nav(build)
 
-    def return_to_dock(self):
+    def return_to_dock(self) -> bytes:
         build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=5, result=0))
         logger.debug("Send command - Return to charge command")
         return self.send_order_msg_nav(build)
 
-    def pause_execute_task(self):
+    def pause_execute_task(self) -> bytes:
         build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=2, result=0))
         logger.debug("Send command - Pause command")
         return self.send_order_msg_nav(build)
 
-    def re_charge_test(self):
+    def re_charge_test(self) -> bytes:
         build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=10, result=0))
         logger.debug("Send command - Return to charge test command")
         return self.send_order_msg_nav(build)
 
-    def fast_aotu_test(self, action: int):
+    def fast_aotu_test(self, action: int) -> bytes:
         build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=action, result=0))
         logger.debug("Send command - One-click automation test")
         return self.send_order_msg_nav(build)
 
-    def resume_execute_task(self):
+    def resume_execute_task(self) -> bytes:
         build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=3, result=0))
         logger.debug("Send command - Cancel pause command")
         return self.send_order_msg_nav(build)
 
-    def break_point_continue(self):
+    def break_point_continue(self) -> bytes:
         build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=7, result=0))
         logger.debug("Send command - Continue from breakpoint")
         return self.send_order_msg_nav(build)
 
-    def break_point_anywhere_continue(self):
+    def break_point_anywhere_continue(self) -> bytes:
         build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=9, result=0))
         logger.debug("Send command - Continue from current vehicle position")
         return self.send_order_msg_nav(build)
 
-    def reset_base_station(self):
+    def reset_base_station(self) -> bytes:
         build = MctlNav(todev_taskctrl=NavTaskCtrl(type=3, action=1, result=0))
         logger.debug("Send command - Reset charging pile, base station position")
         return self.send_order_msg_nav(build)

pymammotion/mammotion/commands/messages/network.py

@@ -1,9 +1,5 @@
 # === sendOrderMsg_Net  ===
-import json
-import time
-from typing import Dict
 
-from pymammotion.aliyun.tmp_constant import tmp_constant
 from pymammotion.mammotion.commands.messages.navigation import MessageNavigation
 from pymammotion.proto import dev_net_pb2, luba_msg_pb2
 
@@ -12,7 +8,7 @@ class MessageNetwork:
     messageNavigation: MessageNavigation = MessageNavigation()
 
     @staticmethod
-    def send_order_msg_net(build):
+    def send_order_msg_net(build) -> bytes:
         luba_msg = luba_msg_pb2.LubaMsg(
             msgtype=luba_msg_pb2.MSG_CMD_TYPE_ESP,
             sender=luba_msg_pb2.DEV_MOBILEAPP,
@@ -36,17 +32,17 @@ class MessageNetwork:
 
         return self.send_order_msg_net(net)
 
-    def get_4g_module_info(self):
+    def get_4g_module_info(self) -> bytes:
         build = dev_net_pb2.DevNet(todev_get_mnet_cfg_req=dev_net_pb2.DevNet().todev_get_mnet_cfg_req)
         print("Send command -- Get device 4G network module information")
         return self.send_order_msg_net(build)
 
-    def get_4g_info(self):
+    def get_4g_info(self) -> bytes:
         build = dev_net_pb2.DevNet(todev_mnet_info_req=dev_net_pb2.DevNet().todev_mnet_info_req)
         print("Send command -- Get device 4G network information")
         return self.send_order_msg_net(build)
 
-    def set_zmq_enable(self):
+    def set_zmq_enable(self) -> bytes:
         build = dev_net_pb2.DevNet(
             todev_set_dds2zmq=dev_net_pb2.DrvDebugDdsZmq(
                 is_enable=True,
@@ -57,7 +53,7 @@ class MessageNetwork:
         print("Send command -- Set vision ZMQ to enable")
         return self.send_order_msg_net(build)
 
-    def set_iot_setting(self, iot_control_type: dev_net_pb2.iot_conctrl_type):
+    def set_iot_setting(self, iot_control_type: dev_net_pb2.iot_conctrl_type) -> bytes:
         build = dev_net_pb2.DevNet(todev_set_iot_offline_req=iot_control_type)
         print("Send command -- Device re-online")
         return self.send_order_msg_net(build)
@@ -70,7 +66,7 @@ class MessageNetwork:
         server_port: int,
         number: int,
         type: int,
-    ):
+    ) -> bytes:
         build = dev_net_pb2.DrvUploadFileToAppReq(
             bizId=request_id,
             operation=operation,
@@ -122,18 +118,18 @@ class MessageNetwork:
             )
         )
 
-    def cancel_log_update(self, biz_id: str):
+    def cancel_log_update(self, biz_id: str) -> bytes:
         """Cancel log update (bluetooth only)."""
         return self.send_order_msg_net(
             dev_net_pb2.DevNet(todev_log_data_cancel=dev_net_pb2.DrvUploadFileCancel(bizId=biz_id))
         )
 
-    def get_device_network_info(self):
+    def get_device_network_info(self) -> bytes:
         build = dev_net_pb2.DevNet(todev_networkinfo_req=dev_net_pb2.GetNetworkInfoReq(req_ids=1))
         print("Send command - get device network information")
         return self.send_order_msg_net(build)
 
-    def set_device_4g_enable_status(self, new_4g_status: bool):
+    def set_device_4g_enable_status(self, new_4g_status: bool) -> bytes:
         build = dev_net_pb2.DevNet(
             todev_ble_sync=1,
             todev_set_mnet_cfg_req=dev_net_pb2.SetMnetCfgReq(
@@ -148,7 +144,7 @@ class MessageNetwork:
         print(f"Send command - set 4G (on/off status). newWifiStatus={new_4g_status}")
         return self.send_order_msg_net(build)
 
-    def set_device_wifi_enable_status(self, new_wifi_status: bool):
+    def set_device_wifi_enable_status(self, new_wifi_status: bool) -> bytes:
         build = dev_net_pb2.DevNet(
             todev_ble_sync=1,
             todev_Wifi_Configuration=dev_net_pb2.DrvWifiSet(configParam=4, wifi_enable=new_wifi_status),
@@ -156,25 +152,25 @@ class MessageNetwork:
         print(f"szNetwork: Send command - set network (on/off status). newWifiStatus={new_wifi_status}")
         return self.send_order_msg_net(build)
 
-    def wifi_connectinfo_update(self, device_name: str, is_binary: bool):
+    def wifi_connectinfo_update(self, device_name: str, is_binary: bool) -> bytes:
         print(
             f"Send command - get Wifi connection information.wifiConnectinfoUpdate().deviceName={device_name}.isBinary={is_binary}"
         )
         if is_binary:
             build = dev_net_pb2.DevNet(
                 todev_ble_sync=1,
-                todev_WifiMsgUpload=dev_net_pb2.DrvWifiUpload(Wifi_Msg_Upload=1),
+                todev_WifiMsgUpload=dev_net_pb2.DrvWifiUpload(wifi_msg_upload=1),
             )
             print("Send command - get Wifi connection information")
             return self.send_order_msg_net(build)
         self.wifi_connectinfo_update2()
 
-    def wifi_connectinfo_update2(self):
+    def wifi_connectinfo_update2(self) -> None:
         hash_map = {"getMsgCmd": 1}
         # self.post_custom_data(self.get_json_string(
         #     68, hash_map))  # ToDo: Fix this
 
-    def get_record_wifi_list(self, is_binary: bool):
+    def get_record_wifi_list(self, is_binary: bool) -> bytes:
         print(f"getRecordWifiList().isBinary={is_binary}")
         if is_binary:
             build = dev_net_pb2.DevNet(todev_ble_sync=1, todev_WifiListUpload=dev_net_pb2.DrvWifiList())
@@ -182,12 +178,12 @@ class MessageNetwork:
             return self.send_order_msg_net(build)
         self.get_record_wifi_list2()
 
-    def get_record_wifi_list2(self):
+    def get_record_wifi_list2(self) -> None:
         pass
         # self.messageNavigation.post_custom_data(
         #     self.get_json_string(69))  # ToDo: Fix this
 
-    def close_clear_connect_current_wifi(self, ssid: str, status: int, is_binary: bool):
+    def close_clear_connect_current_wifi(self, ssid: str, status: int, is_binary: bool) -> bytes:
         if is_binary:
             build = dev_net_pb2.DevNet(
                 todev_ble_sync=1,
@@ -199,22 +195,8 @@ class MessageNetwork:
             return self.send_order_msg_net(build)
         self.close_clear_connect_current_wifi2(ssid, status)
 
-    def close_clear_connect_current_wifi2(self, ssid: str, get_msg_cmd: int):
+    def close_clear_connect_current_wifi2(self, ssid: str, get_msg_cmd: int) -> None:
         data = {"ssid": ssid, "getMsgCmd": get_msg_cmd}
         # self.messageNavigation.post_custom_data(
         # ToDo: Fix this
         # self.get_json_string(bleOrderCmd.close_clear_connect_current_wifi, data).encode())
-
-    def get_json_string(self, cmd: int, hash_map: Dict[str, object]) -> str:
-        jSONObject = {}
-        try:
-            jSONObject["cmd"] = cmd
-            jSONObject[tmp_constant.REQUEST_ID] = int(time.time())
-            jSONObject2 = {}
-            for key, value in hash_map.items():
-                jSONObject2[key] = value
-            jSONObject["params"] = jSONObject2
-            return json.dumps(jSONObject)
-        except Exception as e:
-            print(e)
-            return ""

pymammotion/mammotion/commands/messages/system.py

@@ -1,11 +1,10 @@
 # === sendOrderMsg_Sys ===
 import datetime
 from abc import ABC
-from typing import List
 
 from pymammotion.mammotion.commands.abstract_message import AbstractMessage
 from pymammotion.mammotion.commands.messages.navigation import MessageNavigation
-from pymammotion.proto import luba_msg_pb2, mctrl_sys_pb2
+from pymammotion.proto import luba_msg_pb2, mctrl_sys, mctrl_sys_pb2
 from pymammotion.proto.mctrl_sys import RptInfoType
 from pymammotion.utility.device_type import DeviceType
 
@@ -70,7 +69,7 @@ class MessageSystem(AbstractMessage, ABC):
             is_sidelight}, operate:{operate}, timeCtrlLight:{build}")
         return self.send_order_msg_sys(build2)
 
-    def test_tool_order_to_sys(self, sub_cmd: int, param_id: int, param_value: List[int]):
+    def test_tool_order_to_sys(self, sub_cmd: int, param_id: int, param_value: list[int]):
         build = mctrl_sys_pb2.mCtrlSimulationCmdData(sub_cmd=sub_cmd, param_id=param_id, param_value=param_value)
         print(f"Send tool test command: subCmd={sub_cmd}, param_id:{
             param_id}, param_value={param_value}")
@@ -158,7 +157,7 @@ class MessageSystem(AbstractMessage, ABC):
     #     return self.send_order_msg_sys(build2)
 
     def send_sys_set_date_time(self):
-        calendar = datetime.now()
+        calendar = datetime.datetime.now()
         i = calendar.year
         i2 = calendar.month
         i3 = calendar.day
@@ -170,8 +169,8 @@ class MessageSystem(AbstractMessage, ABC):
         i9 = 1 if calendar.dst() else 0
         print(f"Print time zone, time zone={
             i8}, daylight saving time={i9} week={i4}")
-        build = mctrl_sys_pb2.MctlSys(
-            todev_data_time=mctrl_sys_pb2.SysSetDateTime(
+        build = mctrl_sys.MctlSys(
+            todev_data_time=mctrl_sys.SysSetDateTime(
                 year=i,
                 month=i2,
                 date=i3,
@@ -199,7 +198,7 @@ class MessageSystem(AbstractMessage, ABC):
     def request_iot_sys(
         self,
         rpt_act: mctrl_sys_pb2.rpt_act,
-        rpt_info_type: List[RptInfoType | str] | None,
+        rpt_info_type: list[RptInfoType | str] | None,
         timeout: int,
         period: int,
         no_change_period: int,

pymammotion/mammotion/control/joystick.py

@@ -6,9 +6,9 @@ import pyjoystick
 from pyjoystick.sdl2 import Key, run_event_loop
 from pyjoystick.utils import PeriodicThread
 
-from pymammotion import MammotionBaseBLEDevice
 from pymammotion.event import BleNotificationEvent
-from pymammotion.utility.movement import transform_both_speeds, get_percent
+from pymammotion.mammotion.devices import MammotionBaseBLEDevice
+from pymammotion.utility.movement import get_percent, transform_both_speeds
 
 bleNotificationEvt = BleNotificationEvent()
 
@@ -26,7 +26,7 @@ class JoystickControl:
     _blade_height = 25
     worker = None
 
-    def __init__(self, luba_ble: MammotionBaseBLEDevice):
+    def __init__(self, luba_ble: MammotionBaseBLEDevice) -> None:
         self._client = luba_ble
         self._curr_time = timer()
         self.stopped = False
@@ -45,10 +45,10 @@ class JoystickControl:
         self.worker.alive = self.mngr.alive  # stop when this event stops
         self.worker.daemon = True
 
-    def _movement_finished(self):
+    def _movement_finished(self) -> None:
         self.ignore_events = False
 
-    def run_movement(self):
+    def run_movement(self) -> None:
         if self.linear_percent == 0.0 and self.angular_percent == 0.0:
             if self.stopped:
                 return
@@ -62,20 +62,20 @@ class JoystickControl:
         )
         asyncio.run(self._client.command("send_movement", linear_speed=linear_speed, angular_speed=angular_speed))
 
-    def print_add(self, joy):
+    def print_add(self, joy) -> None:
         print("Added", joy)
 
-    def print_remove(self, joy):
+    def print_remove(self, joy) -> None:
         print("Removed", joy)
 
-    def key_received(self, key):
+    def key_received(self, key) -> None:
         self.handle_key_received(key)
 
-    def run_controller(self):
+    def run_controller(self) -> None:
         self.mngr.start()
         self.worker.start()
 
-    def handle_key_received(self, key):
+    def handle_key_received(self, key) -> None:
         # print(key, "-", key.keytype, "-", key.number, "-", key.value)
 
         if key.keytype is Key.BUTTON and key.value == 1:

pymammotion/mammotion/devices/__init__.py

@@ -1,5 +1,5 @@
 """mqtt init."""
 
-from .mammotion import MammotionBaseBLEDevice, has_field
+from .mammotion import MammotionBaseBLEDevice
 
-__all__ = ["MammotionBaseBLEDevice", "has_field"]
+__all__ = ["MammotionBaseBLEDevice"]