pymammotion 0.2.51__py3-none-any.whl → 0.2.52__py3-none-any.whl

pymammotion/aliyun/cloud_gateway.py

@@ -62,6 +62,10 @@ class LoginException(Exception):
     """Raise exception when library cannot log in."""
 
 
+class CheckSessionException(Exception):
+    """Raise exception when checking session results in a failure."""
+
+
 class CloudIOTGateway:
     """Class for interacting with Aliyun Cloud IoT Gateway."""
 
@@ -528,7 +532,7 @@ class CloudIOTGateway:
 
         if int(response_body_dict.get("code")) != 200:
             logger.error(response_body_dict)
-            raise Exception("Error check or refresh token: " + response_body_dict.__str__())
+            raise CheckSessionException("Error check or refresh token: " + response_body_dict.__str__())
 
         session = SessionByAuthCodeResponse.from_dict(response_body_dict)
         session_data = session.data
@@ -725,3 +729,7 @@ class CloudIOTGateway:
     @property
     def login_by_oauth_response(self):
         return self._login_by_oauth_response
+
+    @property
+    def connect_response(self):
+        return self._connect_response

pymammotion/bluetooth/ble_message.py

@@ -56,25 +56,6 @@ class BleMessage:
         self.mAck = queue.Queue()
         self.notification = BlufiNotifyData()
 
-    async def get_device_version_main(self) -> None:
-        commEsp = dev_net_pb2.DevNet(todev_devinfo_req=dev_net_pb2.DrvDevInfoReq())
-
-        for i in range(1, 8):
-            if i == 1:
-                commEsp.todev_devinfo_req.req_ids.add(id=i, type=6)
-            commEsp.todev_devinfo_req.req_ids.add(id=i, type=3)
-
-        lubaMsg = luba_msg_pb2.LubaMsg()
-        lubaMsg.msgtype = luba_msg_pb2.MSG_CMD_TYPE_ESP
-        lubaMsg.sender = luba_msg_pb2.DEV_MOBILEAPP
-        lubaMsg.msgattr = luba_msg_pb2.MSG_ATTR_REQ
-        lubaMsg.seqs = 1
-        lubaMsg.version = 1
-        lubaMsg.subtype = 1
-        lubaMsg.net.CopyFrom(commEsp)
-        byte_arr = lubaMsg.SerializeToString()
-        await self.post_custom_data_bytes(byte_arr)
-
     async def get_task(self) -> None:
         hash_map = {"pver": 1, "subCmd": 2, "result": 0}
         await self.post_custom_data(self.get_json_string(bleOrderCmd.task, hash_map))

pymammotion/data/model/device.py

@@ -10,6 +10,7 @@ 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
+from pymammotion.data.mqtt.properties import ThingPropertiesMessage
 from pymammotion.proto.dev_net import DevNet
 from pymammotion.proto.luba_msg import LubaMsg
 from pymammotion.proto.luba_mul import SocMul
@@ -33,6 +34,7 @@ from pymammotion.utility.map import CoordinateConverter
 class MowingDevice(DataClassORJSONMixin):
     """Wraps the betterproto dataclasses, so we can bypass the groups for keeping all data."""
 
+    mqtt_properties: ThingPropertiesMessage | None = None
     map: HashList = field(default_factory=HashList)
     location: Location = field(default_factory=Location)
     mowing_state: RapidState = field(default_factory=RapidState)

pymammotion/data/model/hash_list.py

@@ -12,6 +12,7 @@ class PathType(IntEnum):
     AREA = 0
     OBSTACLE = 1
     PATH = 2
+    DUMP = 12
 
 
 @dataclass
@@ -20,10 +21,15 @@ class FrameList(DataClassORJSONMixin):
     data: list[NavGetCommDataAck]
 
 
+@dataclass
+class NavGetHashListData(DataClassORJSONMixin, NavGetHashListAck):
+    """Dataclass for NavGetHashListData."""
+
+
 @dataclass
 class RootHashList(DataClassORJSONMixin):
     total_frame: int = 0
-    data: list[NavGetHashListAck] = list
+    data: list[NavGetHashListAck] = field(default_factory=list)
 
 
 @dataclass
@@ -45,15 +51,19 @@ class HashList(DataClassORJSONMixin):
     area: dict = field(default_factory=dict)  # type 0
     path: dict = field(default_factory=dict)  # type 2
     obstacle: dict = field(default_factory=dict)  # type 1
+    dump: dict = field(default_factory=dict)  # type 12?
     area_name: list[AreaHashNameList] = field(default_factory=list)
 
     def update_hash_lists(self, hashlist: list[int]) -> None:
         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}
+        self.dump = {hash_id: frames for hash_id, frames in self.dump.items() if hash_id in hashlist}
 
     @property
     def hashlist(self) -> list[int]:
+        if len(self.root_hash_list.data) == 0:
+            return []
         return [i for obj in self.root_hash_list.data for i in obj.data_couple]
 
     @property
@@ -62,7 +72,7 @@ class HashList(DataClassORJSONMixin):
             i
             for obj in self.root_hash_list.data
             for i in obj.data_couple
-            if i not in set(self.area.keys()).union(self.path.keys(), self.obstacle.keys())
+            if i not in set(self.area.keys()).union(self.path.keys(), self.obstacle.keys(), self.dump.keys())
         ]
 
     def update_root_hash_list(self, hash_list: NavGetHashListAck) -> None:
@@ -92,6 +102,9 @@ class HashList(DataClassORJSONMixin):
         if hash_data.type == PathType.PATH:
             return self._find_missing_frames(self.path.get(hash_data.hash))
 
+        if hash_data.type == PathType.DUMP:
+            return self._find_missing_frames(self.dump.get(hash_data.hash))
+
     def update(self, hash_data: NavGetCommDataAck) -> bool:
         """Update the map data."""
         if hash_data.type == PathType.AREA:
@@ -106,6 +119,9 @@ class HashList(DataClassORJSONMixin):
         if hash_data.type == PathType.PATH:
             return self._add_hash_data(self.path, hash_data)
 
+        if hash_data.type == PathType.DUMP:
+            return self._add_hash_data(self.dump, hash_data)
+
     @staticmethod
     def _find_missing_frames(frame_list: FrameList | RootHashList) -> list[int]:
         if frame_list.total_frame == len(frame_list.data):

pymammotion/data/mqtt/properties.py

@@ -1,5 +1,5 @@
 from dataclasses import dataclass
-from typing import Generic, Literal, TypeVar, Union
+from typing import Any, Generic, Literal, TypeVar, Union
 
 from mashumaro import DataClassDictMixin
 from mashumaro.mixins.orjson import DataClassORJSONMixin
@@ -113,18 +113,62 @@ Items = Union[
 ]
 
 
+@dataclass
+class Item:
+    time: int
+    value: Union[int, float, str, dict[str, Any]]  # Depending on the type of value
+
+
+@dataclass
+class Items:
+    iotState: Item
+    extMod: Item
+    deviceVersionInfo: Item
+    leftMotorBootVersion: Item
+    knifeHeight: Item
+    rtMrMod: Item
+    iotMsgHz: Item
+    iotMsgTotal: Item
+    loraRawConfig: Item
+    loraGeneralConfig: Item
+    leftMotorVersion: Item
+    intMod: Item
+    coordinate: Item
+    bmsVersion: Item
+    rightMotorVersion: Item
+    stm32H7Version: Item
+    rightMotorBootVersion: Item
+    deviceVersion: Item
+    rtkVersion: Item
+    ltMrMod: Item
+    networkInfo: Item
+    bmsHardwareVersion: Item
+    batteryPercentage: Item
+    deviceState: Item
+    deviceOtherInfo: Item
+    mcBootVersion: Item
+
+
 @dataclass
 class Params(DataClassORJSONMixin):
+    deviceType: Literal["LawnMower"]
     checkFailedData: dict
     groupIdList: list[str]
+    _tenantId: str
     groupId: str
     categoryKey: Literal["LawnMower"]
     batchId: str
     gmtCreate: int
     productKey: str
+    generateTime: int
     deviceName: str
+    _traceId: str
     iotId: str
+    JMSXDeliveryCount: int
     checkLevel: int
+    qos: int
+    requestId: str
+    _categoryKey: str
     namespace: str
     tenantId: str
     thingType: Literal["DEVICE"]

pymammotion/data/state_manager.py

@@ -7,6 +7,7 @@ import betterproto
 
 from pymammotion.data.model.device import MowingDevice
 from pymammotion.data.model.hash_list import AreaHashNameList
+from pymammotion.data.mqtt.properties import ThingPropertiesMessage
 from pymammotion.proto.luba_msg import LubaMsg
 from pymammotion.proto.mctrl_nav import AppGetAllAreaHashName, NavGetCommDataAck, NavGetHashListAck
 from pymammotion.utility.constant import WorkMode
@@ -34,6 +35,10 @@ class StateManager:
         """Set device."""
         self._device = device
 
+    async def properties(self, properties: ThingPropertiesMessage) -> None:
+        params = properties.params
+        self._device.mqtt_properties = params
+
     async def notification(self, message: LubaMsg) -> None:
         """Handle protobuf notifications."""
         res = betterproto.which_one_of(message, "LubaSubMsg")

pymammotion/mammotion/commands/abstract_message.py

@@ -1,5 +1,8 @@
 from abc import abstractmethod
 
+from pymammotion.proto.luba_msg import MsgCmdType, MsgDevice
+from pymammotion.utility.device_type import DeviceType
+
 
 class AbstractMessage:
     @abstractmethod
@@ -8,3 +11,12 @@ class AbstractMessage:
 
     def get_device_product_key(self) -> str:
         """Get device name."""
+
+    def get_msg_device(self, msg_type: MsgCmdType, msg_device: MsgDevice) -> MsgDevice:
+        """Changes the rcver name if it's not a luba1."""
+        if (
+            not DeviceType.is_luba1(self.get_device_name(), self.get_device_product_key())
+            and msg_type == MsgCmdType.MSG_CMD_TYPE_NAV
+        ):
+            return MsgDevice.DEV_NAVIGATION
+        return msg_device

pymammotion/mammotion/commands/mammotion_command.py

@@ -1,4 +1,5 @@
 from pymammotion.mammotion.commands.messages.driver import MessageDriver
+from pymammotion.mammotion.commands.messages.media import MessageMedia
 from pymammotion.mammotion.commands.messages.navigation import MessageNavigation
 from pymammotion.mammotion.commands.messages.network import MessageNetwork
 from pymammotion.mammotion.commands.messages.ota import MessageOta
@@ -7,7 +8,9 @@ from pymammotion.mammotion.commands.messages.video import MessageVideo
 from pymammotion.utility.movement import get_percent, transform_both_speeds
 
 
-class MammotionCommand(MessageSystem, MessageNavigation, MessageNetwork, MessageOta, MessageVideo, MessageDriver):
+class MammotionCommand(
+    MessageSystem, MessageNavigation, MessageNetwork, MessageOta, MessageVideo, MessageMedia, MessageDriver
+):
     """MQTT commands for Luba."""
 
     def __init__(self, device_name: str) -> None:

pymammotion/mammotion/commands/messages/driver.py

@@ -11,12 +11,11 @@ logger = getLogger(__name__)
 
 
 class MessageDriver(AbstractMessage, ABC):
-    @staticmethod
-    def send_order_msg_driver(driver):
+    def send_order_msg_driver(self, driver) -> bytes:
         return LubaMsg(
             msgtype=MsgCmdType.MSG_CMD_TYPE_EMBED_DRIVER,
             sender=MsgDevice.DEV_MOBILEAPP,
-            rcver=MsgDevice.DEV_MAINCTL,
+            rcver=self.get_msg_device(MsgCmdType.MSG_CMD_TYPE_EMBED_DRIVER, MsgDevice.DEV_MAINCTL),
             msgattr=MsgAttr.MSG_ATTR_REQ,
             timestamp=round(time.time() * 1000),
             seqs=1,

pymammotion/mammotion/commands/messages/media.py

@@ -1,15 +1,18 @@
 # === sendOrderMsg_Media ===
+from abc import ABC
+
+from pymammotion.mammotion.commands.abstract_message import AbstractMessage
 from pymammotion.proto import luba_msg_pb2, luba_mul_pb2
+from pymammotion.proto.luba_msg import MsgCmdType, MsgDevice
 from pymammotion.proto.luba_mul import MUL_LANGUAGE
 
 
-class MessageMedia:
-    @staticmethod
+class MessageMedia(AbstractMessage, ABC):
     def send_order_msg_media(self, mul):
         luba_msg = luba_msg_pb2.LubaMsg(
             msgtype=luba_msg_pb2.MSG_CMD_TYPE_MUL,
             sender=luba_msg_pb2.DEV_MOBILEAPP,
-            rcver=luba_msg_pb2.SOC_MODULE_MULTIMEDIA,
+            rcver=self.get_msg_device(MsgCmdType.MSG_CMD_TYPE_MUL, MsgDevice.SOC_MODULE_MULTIMEDIA),
             msgattr=luba_msg_pb2.MSG_ATTR_REQ,
             seqs=1,
             version=1,

pymammotion/mammotion/commands/messages/navigation.py

@@ -25,21 +25,11 @@ from pymammotion.proto.mctrl_nav import (
     WorkReportCmdData,
     WorkReportUpdateCmd,
 )
-from pymammotion.utility.device_type import DeviceType
 
 logger = logging.getLogger(__name__)
 
 
 class MessageNavigation(AbstractMessage, ABC):
-    def get_msg_device(self, msg_type: MsgCmdType, msg_device: MsgDevice) -> MsgDevice:
-        """Changes the rcver name if it's not a luba1."""
-        if (
-            not DeviceType.is_luba1(self.get_device_name(), self.get_device_product_key())
-            and msg_type == MsgCmdType.MSG_CMD_TYPE_NAV
-        ):
-            return MsgDevice.DEV_NAVIGATION
-        return msg_device
-
     def send_order_msg_nav(self, build) -> bytes:
         luba_msg = LubaMsg(
             msgtype=MsgCmdType.MSG_CMD_TYPE_NAV,

pymammotion/mammotion/commands/messages/network.py

@@ -26,12 +26,22 @@ class MessageNetwork:
         comm_esp = dev_net_pb2.DevNet(todev_ble_sync=sync_type)
         return self.send_order_msg_net(comm_esp)
 
-    def get_device_base_info(self):
+    def get_device_base_info(self) -> bytes:
         net = dev_net_pb2.DevNet(todev_devinfo_req=dev_net_pb2.DrvDevInfoReq())
         net.todev_devinfo_req.req_ids.add(id=1, type=6)
 
         return self.send_order_msg_net(net)
 
+    def get_device_version_main(self) -> bytes:
+        net = dev_net_pb2.DevNet(todev_devinfo_req=dev_net_pb2.DrvDevInfoReq())
+
+        for i in range(1, 8):
+            if i == 1:
+                net.todev_devinfo_req.req_ids.add(id=i, type=6)
+            net.todev_devinfo_req.req_ids.add(id=i, type=3)
+
+        return self.send_order_msg_net(net)
+
     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)
         logger.debug("Send command -- Get device 4G network module information")

pymammotion/mammotion/commands/messages/ota.py

@@ -1,13 +1,17 @@
 # === sendOrderMsg_Ota ===
+from abc import ABC
+
+from pymammotion.mammotion.commands.abstract_message import AbstractMessage
 from pymammotion.proto import luba_msg_pb2, mctrl_ota_pb2
+from pymammotion.proto.luba_msg import MsgCmdType, MsgDevice
 
 
-class MessageOta:
+class MessageOta(AbstractMessage, ABC):
     def send_order_msg_ota(self, ota):
         luba_msg = luba_msg_pb2.LubaMsg(
             msgtype=luba_msg_pb2.MSG_CMD_TYPE_EMBED_OTA,
             sender=luba_msg_pb2.DEV_MOBILEAPP,
-            rcver=luba_msg_pb2.DEV_MAINCTL,
+            rcver=self.get_msg_device(MsgCmdType.MSG_CMD_TYPE_EMBED_OTA, MsgDevice.DEV_MAINCTL),
             msgattr=luba_msg_pb2.MSG_ATTR_REQ,
             seqs=1,
             version=1,

pymammotion/mammotion/commands/messages/system.py

@@ -26,6 +26,16 @@ class MessageSystem(AbstractMessage, ABC):
     messageNavigation: MessageNavigation = MessageNavigation()
 
     def send_order_msg_sys(self, sys):
+        luba_msg = LubaMsg(
+            msgtype=MsgCmdType.MSG_CMD_TYPE_EMBED_SYS,
+            sender=MsgDevice.DEV_MOBILEAPP,
+            rcver=self.get_msg_device(MsgCmdType.MSG_CMD_TYPE_EMBED_SYS, MsgDevice.DEV_MAINCTL),
+            sys=sys,
+        )
+
+        return luba_msg.SerializeToString()
+
+    def send_order_msg_sys_legacy(self, sys):
         luba_msg = LubaMsg(
             msgtype=MsgCmdType.MSG_CMD_TYPE_EMBED_SYS,
             sender=MsgDevice.DEV_MOBILEAPP,
@@ -225,9 +235,10 @@ class MessageSystem(AbstractMessage, ABC):
         )
         logger.debug(f"Send command==== IOT slim data Act {
             build.todev_report_cfg.act} {build}")
-        return self.send_order_msg_sys(build)
+        return self.send_order_msg_sys_legacy(build)
 
     def get_report_cfg_stop(self, timeout: int = 10000, period: int = 1000, no_change_period: int = 1000):
+        # TODO use send_order_msg_sys_legacy
         mctlsys = MctlSys(
             todev_report_cfg=ReportInfoCfg(
                 act=RptAct.RPT_STOP,
@@ -260,6 +271,7 @@ class MessageSystem(AbstractMessage, ABC):
         return lubaMsg.SerializeToString()
 
     def get_report_cfg(self, timeout: int = 10000, period: int = 1000, no_change_period: int = 2000):
+        # TODO use send_order_msg_sys_legacy
         mctlsys = MctlSys(
             todev_report_cfg=ReportInfoCfg(
                 act=RptAct.RPT_START,

pymammotion/mammotion/commands/messages/video.py

@@ -1,15 +1,18 @@
 # === sendOrderMsg_Video ===
+from abc import ABC
+
 from pymammotion.mammotion.commands.abstract_message import AbstractMessage
 from pymammotion.proto import luba_msg_pb2, luba_mul_pb2
+from pymammotion.proto.luba_msg import MsgCmdType, MsgDevice
 from pymammotion.utility.device_type import DeviceType
 
 
-class MessageVideo(AbstractMessage):
+class MessageVideo(AbstractMessage, ABC):
     async def send_order_msg_video(self, mul):
         luba_msg = luba_msg_pb2.LubaMsg(
             msgtype=luba_msg_pb2.MSG_CMD_TYPE_MUL,
             sender=luba_msg_pb2.DEV_MOBILEAPP,
-            rcver=luba_msg_pb2.SOC_MODULE_MULTIMEDIA,
+            rcver=self.get_msg_device(MsgCmdType.MSG_CMD_TYPE_MUL, MsgDevice.SOC_MODULE_MULTIMEDIA),
             mul=mul,
         )
 

pymammotion/mammotion/devices/base.py

@@ -74,7 +74,7 @@ class MammotionBaseDevice:
         if len(missing_frames) == 0:
             # get next in hash ack list
 
-            data_hash = self.mower.map.missing_hashlist.pop()
+            data_hash = self.mower.map.missing_hashlist.pop() if len(self.mower.map.missing_hashlist) > 0 else None
             if data_hash is None:
                 return
 

pymammotion/mammotion/devices/mammotion.py

@@ -299,7 +299,7 @@ class Mammotion:
                 _LOGGER.debug(_stream_response)
                 return _stream_response
 
-    def mower(self, name: str):
+    def mower(self, name: str) -> MowingDevice | None:
         device = self.get_device_by_name(name)
         if device:
             return device.mower_state

pymammotion/mammotion/devices/mammotion_cloud.py

@@ -13,6 +13,7 @@ from pymammotion.aliyun.cloud_gateway import DeviceOfflineException, SetupExcept
 from pymammotion.aliyun.model.dev_by_account_response import Device
 from pymammotion.data.model.device import MowingDevice
 from pymammotion.data.mqtt.event import ThingEventMessage
+from pymammotion.data.mqtt.properties import ThingPropertiesMessage
 from pymammotion.event.event import DataEvent
 from pymammotion.mammotion.commands.mammotion_command import MammotionCommand
 from pymammotion.mammotion.devices.base import MammotionBaseDevice
@@ -33,6 +34,7 @@ class MammotionCloud:
         self.command_queue = asyncio.Queue()
         self._waiting_queue = deque()
         self.mqtt_message_event = DataEvent()
+        self.mqtt_properties_event = DataEvent()
         self.on_ready_event = DataEvent()
         self.on_disconnected_event = DataEvent()
         self._operation_lock = asyncio.Lock()
@@ -127,6 +129,7 @@ class MammotionCloud:
                 # Call the callbacks for each cloudDevice
                 await self.mqtt_message_event.data_event(event)
             if event.method == "thing.properties":
+                await self.mqtt_properties_event.data_event(event)
                 _LOGGER.debug(event)
 
     async def _handle_mqtt_message(self, topic: str, payload: dict) -> None:
@@ -159,6 +162,7 @@ class MammotionBaseCloudDevice(MammotionBaseDevice):
         self._commands: MammotionCommand = MammotionCommand(cloud_device.deviceName)
         self.currentID = ""
         self._mqtt.mqtt_message_event.add_subscribers(self._parse_message_for_device)
+        self._mqtt.mqtt_properties_event.add_subscribers(self._parse_message_properties_for_device)
         self._mqtt.on_ready_event.add_subscribers(self.on_ready)
         self._mqtt.on_disconnected_event.add_subscribers(self.on_disconnect)
         self.set_queue_callback(self.queue_command)
@@ -247,6 +251,11 @@ class MammotionBaseCloudDevice(MammotionBaseDevice):
                 return item
         return None
 
+    async def _parse_message_properties_for_device(self, event: ThingPropertiesMessage) -> None:
+        if event.params.iotId != self.iot_id:
+            return
+        self.state_manager.properties(event)
+
     async def _parse_message_for_device(self, event: ThingEventMessage) -> None:
         params = event.params
         if event.params.iotId != self.iot_id:

pymammotion/proto/mctrl_nav.proto

@@ -141,7 +141,7 @@ message NavGetCommData {
   int32 subCmd = 2;
   int32 action = 3;
   int32 type = 4;
-  fixed64 Hash = 5;
+  int64 hash = 5;
   int64 paternalHashA = 6;
   int64 paternalHashB = 7;
   int32 totalFrame = 8;
@@ -434,7 +434,7 @@ message NavTaskCtrlAck {
 
 message NavMapNameMsg {
     int32 rw = 1;  // Represents RW field
-    fixed64 hash = 2;  // Represents HASH field
+    int64 hash = 2;  // Represents HASH field
     string name = 3;  // Represents NAME field
     int32 result = 4;  // Represents RESULT field
     string device_id = 5;  // Represents DEVICEID field
@@ -470,7 +470,7 @@ message SvgMessageAckT {
 
 message AreaHashName {
     string name = 2;
-    fixed64 hash = 1;
+    int64 hash = 1;
 }
 
 message AppGetAllAreaHashName {

pymammotion/proto/mctrl_sys.proto

@@ -131,7 +131,7 @@ message vision_point_msg {
 }
 
 message vision_point_info_msg {
-  int32 lable = 1;
+  int32 label = 1;
   int32 num = 2;
   repeated vision_point_msg vision_point = 3;
 }
@@ -258,6 +258,12 @@ message rpt_lora {
   int32 lora_connection_status = 5;
 }
 
+message mqtt_rtk_connect {
+    int32 rtk_switch = 1;
+    int32 rtk_channel = 2;
+    string rtk_base_num = 3;
+}
+
 message rpt_rtk {
   int32 status = 1;
   int32 pos_level = 2;
@@ -271,6 +277,7 @@ message rpt_rtk {
   int32 co_view_stars = 10;
   int32 reset = 11;
   rpt_lora lora_info = 12;
+  mqtt_rtk_connect mqtt_rtk_info = 13;
 }
 
 message rpt_dev_location {
@@ -316,6 +323,12 @@ message rpt_connect_status {
   int32 mnet_rssi = 5;
   int32 mnet_inet = 6;
   net_used_type used_net = 7;
+  MnetCfg mnet_cfg = 8;
+}
+
+
+message nav_heading_state_t {
+    int32 heading_state = 1;
 }
 
 message rpt_work {
@@ -339,6 +352,7 @@ message rpt_work {
   int32 man_run_speed = 18;
   int32 nav_edit_status = 19;
   int32 knife_height = 20;
+  nav_heading_state_t nav_heading_state = 21;
 }
 
 message rpt_maintain {

{pymammotion-0.2.51.dist-info → pymammotion-0.2.52.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymammotion
-Version: 0.2.51
+Version: 0.2.52
 Summary: 
 License: GNU-3.0
 Author: Michael Arthur

{pymammotion-0.2.51.dist-info → pymammotion-0.2.52.dist-info}/RECORD

@@ -1,6 +1,6 @@
 pymammotion/__init__.py,sha256=jHCQrpJaG1jAoID9T4RT3g4JsZc0JpJqIcqjnA7cXd0,1605
 pymammotion/aliyun/__init__.py,sha256=T1lkX7TRYiL4nqYanG4l4MImV-SlavSbuooC-W-uUGw,29
-pymammotion/aliyun/cloud_gateway.py,sha256=96xbl_QefMcN0x8Dhz0OJQr_IaAcgrrrqfxCQAUGxTc,25668
+pymammotion/aliyun/cloud_gateway.py,sha256=bUZHA-u1O2KphQOWNTxoNXwTvVZ1JptQ-9D5mHm-Xnw,25877
 pymammotion/aliyun/cloud_service.py,sha256=px7dUKow5Z7VyebjYzuKkzkm77XbUXYiFiYO_2e-UQ0,2207
 pymammotion/aliyun/model/aep_response.py,sha256=8f6GIP58ve8gd6AL3HBoXxsy0n2q4ygWvjELGnoOnVc,452
 pymammotion/aliyun/model/connect_response.py,sha256=Yz-fEbDzgGPTo5Of2oAjmFkSv08T7ze80pQU4k-gKIU,824
@@ -12,7 +12,7 @@ pymammotion/aliyun/model/stream_subscription_response.py,sha256=po765WASQDboVCos
 pymammotion/aliyun/tmp_constant.py,sha256=M4Hq_lrGB3LZdX6R2XohRPFoK1NDnNV-pTJwJcJ9838,6650
 pymammotion/bluetooth/__init__.py,sha256=LAl8jqZ1fPh-3mLmViNQsP3s814C1vsocYUa6oSaXt0,36
 pymammotion/bluetooth/ble.py,sha256=YfkfEK3TLJ8BaidjAXfUVFv8reLCu6U_lYa3Bo0pddw,2449
-pymammotion/bluetooth/ble_message.py,sha256=jQ_vece7a5WH_SW3pC_sdk6_Ch84bgWrRw3BatEje0c,16188
+pymammotion/bluetooth/ble_message.py,sha256=cnUJHfMj9Sf5LOSIgQ5XP4A-Jbc-BjorSS48YfOUCpM,15444
 pymammotion/bluetooth/const.py,sha256=CCqyHsYbB0BAYjwdhXt_n6eWWxmhlUrAFjvVv57mbvE,1749
 pymammotion/bluetooth/data/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 pymammotion/bluetooth/data/convert.py,sha256=6DMwvzVr9FWCoQFIKSI2poFXjISc_m6X59g8FlVO0-o,800
@@ -22,13 +22,13 @@ pymammotion/const.py,sha256=lWRxvTVdXnNHuxqvRkjO5ziK0Ic-fZMM6J2dbe5M6Nc,385
 pymammotion/data/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 pymammotion/data/model/__init__.py,sha256=aSyroxYQQS-WMRi6WmWm2js4wLa9nmsi160gx9tts4o,323
 pymammotion/data/model/account.py,sha256=vJM-KTf2q6eBfVC-UlNHBSmJvqHiCawZ40vnuhXhaz8,140
-pymammotion/data/model/device.py,sha256=s8k43ZZBTnLtvh93pcbCVRirzt8xo08Wx0xht46e-7Q,12070
+pymammotion/data/model/device.py,sha256=hsN_NrrM_Kg1gbxcmSL3sVubGmeMxWHwnPiUN1-d8Eo,12196
 pymammotion/data/model/device_config.py,sha256=RkEbnkubJQ8nXPfZpuGPe_h9mGZGtxCxDSc8mY7UCT8,2824
 pymammotion/data/model/enums.py,sha256=EpKmO8yVUZyEnTY4yH0DMMVKYNQM42zpW1maUu0i3IE,1582
 pymammotion/data/model/excute_boarder_params.py,sha256=9CpUqrygcle1C_1hDW-riLmm4map4ZbE842NXjcomEI,1394
 pymammotion/data/model/execute_boarder.py,sha256=9rd_h4fbcsXxgnLOd2rO2hWyD1abnTGc47QTEpp8DD0,1103
 pymammotion/data/model/generate_route_information.py,sha256=MkUBoqGtCAKmiVQ4Q1pEoDVHZs5uLIo7vhfWT4nGbtY,801
-pymammotion/data/model/hash_list.py,sha256=dc15-HrvzQ6JLehNFIXnKzSWDCgb6_MAB6omXTphZXQ,4649
+pymammotion/data/model/hash_list.py,sha256=UOefAP9NHUX9cYDai1n0eogXVQXPqQO7B4S9Oo42X7Q,5283
 pymammotion/data/model/location.py,sha256=PwmITejfI4pm7PI4rzqSuuHetwle6IJr_CV95435s2M,871
 pymammotion/data/model/mowing_modes.py,sha256=5TrHSijUyPtIDWpNtgzx_vFQukRJWRz4gIrUaXggKPw,827
 pymammotion/data/model/plan.py,sha256=mcadkSL7fQXy0iJ0q786I3GEQY4i6kmQXfW6Ri69lcQ,2906
@@ -37,9 +37,9 @@ pymammotion/data/model/region_data.py,sha256=OTV15vRyn9JORXsQPjWMNF1ZujuNhsOKl25
 pymammotion/data/model/report_info.py,sha256=AE2u64uKgcJtVooldJcxXBsEHfDyCvH5DnQFUQ5qWmk,2226
 pymammotion/data/mqtt/__init__.py,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
 pymammotion/data/mqtt/event.py,sha256=plt53w3kHulB_MfbkxK9j7AfdQ5ahVU2s4kiQMoLio4,4612
-pymammotion/data/mqtt/properties.py,sha256=HkBPghr26L9_b4QaOi1DtPgb0UoPIOGSe9wb3kgnM6Y,2815
+pymammotion/data/mqtt/properties.py,sha256=kvphcjrDuJHuX8Az98-wKeFv_rSmu2Fz9YKLGodGSj0,3759
 pymammotion/data/mqtt/status.py,sha256=zqnlo-MzejEQZszl0i0Wucoc3E76x6UtI9JLxoBnu54,1067
-pymammotion/data/state_manager.py,sha256=bGZXaiIosNTrN0L8DmddLqL2MRKbixKmyd2XFiZMCTE,4101
+pymammotion/data/state_manager.py,sha256=tH1dI5uH8qiIeJjHXR8FhGiWPEcOz-f3D4TyAhCiz-I,4327
 pymammotion/event/__init__.py,sha256=mgATR6vPHACNQ-0zH5fi7NdzeTCDV1CZyaWPmtUusi8,115
 pymammotion/event/event.py,sha256=UzYnxV5DfvMDK3E06UvSzvzuBbaXOOUwO6xYt_zn9To,2034
 pymammotion/http/_init_.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -47,23 +47,23 @@ pymammotion/http/http.py,sha256=gJU8w3j8NL_m5YnxfbRxxm4y9SW0UfKr1iAaMvLsfuM,3562
 pymammotion/http/model/http.py,sha256=1NJP4hkBulcnpbD7Rcwltd8Ry9lnZzQVFJN8Oo7MKeM,1706
 pymammotion/mammotion/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 pymammotion/mammotion/commands/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-pymammotion/mammotion/commands/abstract_message.py,sha256=nw6r7694yzl7iJKqRqhLmAPRjd_TL_Xo_-JXq2_a_ug,222
-pymammotion/mammotion/commands/mammotion_command.py,sha256=Cdv8sAt-W-Sihmhir1eN56OMA2e5b8y47NP2QKYqb-o,2419
+pymammotion/mammotion/commands/abstract_message.py,sha256=l2Wcyg7tIEjRGyQAk9T2rQVOLwilxG1hXTNf7811jGA,727
+pymammotion/mammotion/commands/mammotion_command.py,sha256=cjbetadbNWBBfhzxuT34jfmzfpYYa1CnsCeQZkANVG4,2510
 pymammotion/mammotion/commands/messages/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-pymammotion/mammotion/commands/messages/driver.py,sha256=spkNa-sag_7xDuHy7mjsR_Fc8z9ztNKHCjtojWayJms,3710
-pymammotion/mammotion/commands/messages/media.py,sha256=ps0l06CXy5Ej--gTNCsyKttwo7yHLVrJUpn-wNJYecs,1150
-pymammotion/mammotion/commands/messages/navigation.py,sha256=4rXBL-mViWc38K6x1w5O-GjwV8UWS5xZXkf4aHYjs8A,23684
-pymammotion/mammotion/commands/messages/network.py,sha256=61msRJWyXdrO8FbI_rhrO2K8R1qkGVUj5BFzNwm7lwg,8155
-pymammotion/mammotion/commands/messages/ota.py,sha256=XkeuWBZtpYMMBze6r8UN7dJXbe2FxUNGNnjwBpXJKM0,1240
-pymammotion/mammotion/commands/messages/system.py,sha256=XoDvnERAMXIj6oK6l-P7kVBmloaIOAf9flCq0Q6vryg,12399
-pymammotion/mammotion/commands/messages/video.py,sha256=_8lJsU4sLm2CGnc7RDkueA0A51Ysui6x7SqFnhX8O2g,1007
+pymammotion/mammotion/commands/messages/driver.py,sha256=DlOAC_yi1ycO5hKr5rfCpLmrqao6Mb6Fv1JWwMISnKE,3766
+pymammotion/mammotion/commands/messages/media.py,sha256=l-m4l2Vp1ZOHPHyJTceuLaLvdgHOEfmykkbDncCDUI4,1359
+pymammotion/mammotion/commands/messages/navigation.py,sha256=Z6RQK-pMh8o7_K_1yTENx3lkNBFQTU_ojunolSre0oM,23241
+pymammotion/mammotion/commands/messages/network.py,sha256=ooBiXgJC71lrkMeS_DLc3_pp7S8VGgyq7ZAmna-jKXw,8516
+pymammotion/mammotion/commands/messages/ota.py,sha256=g937HT_-OQXV6A3zUiZ53b45cOX6y-rzs5m-4b0IcTk,1473
+pymammotion/mammotion/commands/messages/system.py,sha256=pUdV8z-pnoXvDM29DQbfAi2mG6uK7EHQzJL2sWZLHrc,12843
+pymammotion/mammotion/commands/messages/video.py,sha256=ne1YSuQChaDFfmHgMO5Jc9_O_7vkt5yV1EXVEh3LTbg,1141
 pymammotion/mammotion/control/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 pymammotion/mammotion/control/joystick.py,sha256=QfBVxM_gxpWsZAGO90whtgxCI2tIZ3TTad9wHIPsU9s,5640
 pymammotion/mammotion/devices/__init__.py,sha256=f2qQFPgLGmV85W2hSlMUh5BYuht9o_Ar_JEAAMD4fsE,102
-pymammotion/mammotion/devices/base.py,sha256=iqvGglud4GYKgivBjzge7WU9-pLY8Z6l4QjShxLT7Go,9746
-pymammotion/mammotion/devices/mammotion.py,sha256=ForzwnQu1IRxtwsFMHAudFCtOAUJC01BcX5RK7dYYcs,12295
+pymammotion/mammotion/devices/base.py,sha256=MXAuJ9sGnf9QqBeNxGbOkdtqwVpPocVdxw0uT0DgSks,9800
+pymammotion/mammotion/devices/mammotion.py,sha256=QKSQmF0HojVND-quF4gxngZoMiKwubxKSn_1tS83ubk,12318
 pymammotion/mammotion/devices/mammotion_bluetooth.py,sha256=nyO7pkKgAoRPs-28ESf6ee-y3G5JTYRO-MCp4wKPMlE,17476
-pymammotion/mammotion/devices/mammotion_cloud.py,sha256=Q1Il0nCxH-8utg_9AKAY3HxuuhB78uHZV4yVpZ4k1TI,11282
+pymammotion/mammotion/devices/mammotion_cloud.py,sha256=VuXuYlvi-HRbfRlgIV3KraVtbu2EM3QxP-JWWAYj_E0,11774
 pymammotion/mqtt/__init__.py,sha256=Ocs5e-HLJvTuDpVXyECEsWIvwsUaxzj7lZ9mSYutNDY,105
 pymammotion/mqtt/mammotion_future.py,sha256=_OWqKOlUGl2yT1xOsXFQYpGd-1zQ63OxqXgy7KRQgYc,710
 pymammotion/mqtt/mammotion_mqtt.py,sha256=LaySave_hf0gU3crUTLqzpdQtxIwK8vu5DM8F8fbU2Y,8748
@@ -92,7 +92,7 @@ pymammotion/proto/mctrl_driver.proto,sha256=I0BncdAa3laeqT17Sn95r_1HuBD3dSc9IVu9
 pymammotion/proto/mctrl_driver.py,sha256=sseY2MxUtaQZvg7fvbA_gNvtqx9MVDW_rvUcfA2CWVs,2971
 pymammotion/proto/mctrl_driver_pb2.py,sha256=bfLwZb5Hehb6OIkgFrZMkQ0oTBXoOBxpruszKz-UM1U,3785
 pymammotion/proto/mctrl_driver_pb2.pyi,sha256=9_rcQELsSeOfeIQMTEFIpeXICpDe3arQeA4kAYWNSWw,5860
-pymammotion/proto/mctrl_nav.proto,sha256=TAJHfzgMRmT2IW0ciVJYAQDkfinRXoFEJGkk0VobSjU,12380
+pymammotion/proto/mctrl_nav.proto,sha256=rti69pG6rKMhhX6dWGv0UwtUQkHwKc0r9tOQ78M-N7k,12374
 pymammotion/proto/mctrl_nav.py,sha256=xTsPmwhV_AwfoFWTGqpz2W4rVR7tHTHwNU4rS8QBLdc,24884
 pymammotion/proto/mctrl_nav_pb2.py,sha256=LAHfEmGfNVZCN6vuLSZF6s2wd1Qk-siaWe4mdPWPdxc,24213
 pymammotion/proto/mctrl_nav_pb2.pyi,sha256=qmGYfKh2o63e5ppl9QIWnwDbmGVUVOf7EqhC9ApE5fg,51336
@@ -104,7 +104,7 @@ pymammotion/proto/mctrl_pept.proto,sha256=HBTRiP1XJB5w9hT1V38aePPREpePBk5jkjupu_
 pymammotion/proto/mctrl_pept.py,sha256=utMtbXsCwGS14YggTqUdVIbTZsR0w49B6gKU8jHzbJg,1332
 pymammotion/proto/mctrl_pept_pb2.py,sha256=QqQ1BXo_EBs7cLmQGtRbnNy0rRxvaqtrGfKxXS8R5A8,2134
 pymammotion/proto/mctrl_pept_pb2.pyi,sha256=gr0lxUPqhyEnDdni9vpIQnAIhqAGtHlv1rFeb5EJnMY,2840
-pymammotion/proto/mctrl_sys.proto,sha256=_E9XeZyW1vhY8S0HxPcEjMKmuhULTonm8Q3Y0X3Qxaw,10222
+pymammotion/proto/mctrl_sys.proto,sha256=FawssbrJkz2ZuwBGCCbFm-EO2qCYsXpeiFNHahCc9ug,10506
 pymammotion/proto/mctrl_sys.py,sha256=UJMQVXMjXVksp4O_eD_bUNPFM4ijvdSuma-sOIUsNUw,19138
 pymammotion/proto/mctrl_sys_pb2.py,sha256=DYemb514mlC7c27t-k1YqqBif0xxhLmnIWk8rXtSj1c,21497
 pymammotion/proto/mctrl_sys_pb2.pyi,sha256=Dj_1UM86kZ5MfcVyNC76Z0gKrfl5YFsVWP2b-bKoZvk,38912
@@ -118,7 +118,7 @@ pymammotion/utility/map.py,sha256=GYscVMg2cX3IPlNpCBNHDW0S55yS1WGRf1iHnNZ7TfQ,22
 pymammotion/utility/movement.py,sha256=N75oAoAgFydqoaOedYIxGUHmuTCtPzAOtb-d_29tpfI,615
 pymammotion/utility/periodic.py,sha256=MbeSb9cfhxzYmdT_RiE0dZe3H9IfbQW_zSqhmSX2RUc,3321
 pymammotion/utility/rocker_util.py,sha256=6tX7sS87qoQC_tsxbx3NLL-HgS08wtzXiZkhDiz7uo0,7179
-pymammotion-0.2.51.dist-info/LICENSE,sha256=OXLcl0T2SZ8Pmy2_dmlvKuetivmyPd5m1q-Gyd-zaYY,35149
-pymammotion-0.2.51.dist-info/METADATA,sha256=iG3-bUgO8rYjPQBM_YcRPHOOPX7x7PdwmC8-aToZp6Y,4052
-pymammotion-0.2.51.dist-info/WHEEL,sha256=sP946D7jFCHeNz5Iq4fL4Lu-PrWrFsgfLXbbkciIZwg,88
-pymammotion-0.2.51.dist-info/RECORD,,
+pymammotion-0.2.52.dist-info/LICENSE,sha256=OXLcl0T2SZ8Pmy2_dmlvKuetivmyPd5m1q-Gyd-zaYY,35149
+pymammotion-0.2.52.dist-info/METADATA,sha256=KHNWfLO2GVaCyxEVS7pI-xhYewSWfy2CDFwrOtiAMQM,4052
+pymammotion-0.2.52.dist-info/WHEEL,sha256=sP946D7jFCHeNz5Iq4fL4Lu-PrWrFsgfLXbbkciIZwg,88
+pymammotion-0.2.52.dist-info/RECORD,,