pymammotion 0.2.5__tar.gz → 0.2.6__tar.gz

{pymammotion-0.2.5 → pymammotion-0.2.6}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymammotion
-Version: 0.2.5
+Version: 0.2.6
 Summary: 
 License: GNU-3.0
 Author: Michael Arthur

{pymammotion-0.2.5 → pymammotion-0.2.6}/pymammotion/aliyun/cloud_gateway.py

@@ -9,7 +9,7 @@ import random
 import string
 import time
 import uuid
-from logging import getLogger
+from logging import getLogger, exception
 
 from aiohttp import ClientSession
 from alibabacloud_iot_api_gateway.client import Client
@@ -45,6 +45,10 @@ MOVE_HEADERS = (
 )
 
 
+class SetupException(Exception):
+    pass
+
+
 class CloudIOTGateway:
     """Class for interacting with Aliyun Cloud IoT Gateway."""
 
@@ -524,7 +528,8 @@ class CloudIOTGateway:
                 str(response_body_dict.get("code")),
                 str(response_body_dict.get("msg")),
             )
-            return ""
+            if response_body_dict.get("code") == 29003:
+                raise SetupException(response_body_dict.get("code"))
 
         return message_id
 

{pymammotion-0.2.5 → pymammotion-0.2.6}/pymammotion/mammotion/devices/mammotion.py

@@ -40,6 +40,7 @@ from pymammotion.mammotion.commands.mammotion_command import MammotionCommand
 from pymammotion.mqtt import MammotionMQTT
 from pymammotion.proto.luba_msg import LubaMsg
 from pymammotion.proto.mctrl_nav import NavGetCommDataAck, NavGetHashListAck
+from pymammotion.utility.rocker_util import RockerControlUtil
 
 
 class CharacteristicMissingError(Exception):
@@ -116,8 +117,10 @@ async def _handle_retry(fut: asyncio.Future[None], func, command: bytes) -> None
 
 async def _handle_retry_cloud(fut: asyncio.Future[None], func, iotId: str, command: bytes) -> None:
     """Handle a retry."""
+
     if not fut.done():
-        func(iotId, command)
+        loop = asyncio.get_running_loop()
+        await loop.run_in_executor(None, func, iotId, command)
 
 
 class ConnectionPreference(Enum):
@@ -223,10 +226,8 @@ class Mammotion(object):
 
     async def initiate_cloud_connection(self, cloud_client: CloudIOTGateway) -> None:
         if self._mammotion_mqtt is not None:
-            if not self._mammotion_mqtt.is_connected:
-                loop = asyncio.get_running_loop()
-                await loop.run_in_executor(None, self._mammotion_mqtt.connect_async)
-            return
+            if self._mammotion_mqtt.is_connected:
+                return
 
 
         self._mammotion_mqtt = MammotionMQTT(region_id=cloud_client._region.data.regionId,
@@ -244,6 +245,11 @@ class Mammotion(object):
             if device.deviceName.startswith(("Luba-", "Yuka-")):
                 self.devices.add_device(MammotionMixedDeviceManager(name=device.deviceName, cloud_device=device, mqtt=self._mammotion_mqtt))
 
+    def set_disconnect_strategy(self, disconnect: bool):
+        for device_name, device in self.devices.devices:
+            if device.ble() is not None:
+                ble_device: MammotionBaseBLEDevice = device.ble()
+                ble_device.set_disconnect_strategy(disconnect)
 
     @staticmethod
     async def login(account: str, password: str) -> CloudIOTGateway:
@@ -504,6 +510,28 @@ class MammotionBaseDevice:
         # jobs list
         # hash_list_result = await self._send_command_with_args("get_all_boundary_hash_list", sub_cmd=3)
 
+    async def move_forward(self):
+        linear_speed = 1.0
+        angular_speed = 0.0
+        transfrom3 = RockerControlUtil.getInstance().transfrom3(90, 1000)
+        transform4 = RockerControlUtil.getInstance().transfrom3(0, 0)
+
+        if transfrom3 is not None and len(transfrom3) > 0:
+            linear_speed = transfrom3[0] * 10
+            angular_speed = int(transform4[1] * 4.5)
+        await self._send_command_with_args("send_movement", linear_speed=linear_speed, angular_speed=angular_speed)
+
+    async def move_stop(self):
+        linear_speed = 0.0
+        angular_speed = 0.0
+        transfrom3 = RockerControlUtil.getInstance().transfrom3(0, 0)
+        transform4 = RockerControlUtil.getInstance().transfrom3(0, 0)
+
+        if transfrom3 is not None and len(transfrom3) > 0:
+            linear_speed = transfrom3[0] * 10
+            angular_speed = int(transform4[1] * 4.5)
+        await self._send_command_with_args("send_movement", linear_speed=linear_speed, angular_speed=angular_speed)
+
     async def command(self, key: str, **kwargs):
         """Send a command to the device."""
         return await self._send_command_with_args(key, **kwargs)
@@ -515,6 +543,7 @@ class MammotionBaseBLEDevice(MammotionBaseDevice):
     def __init__(self, mowing_state: MowingDevice, device: BLEDevice, interface: int = 0, **kwargs: Any) -> None:
         """Initialize MammotionBaseBLEDevice."""
         super().__init__(mowing_state)
+        self._disconnect_strategy = True
         self._ble_sync_task = None
         self._prev_notification = None
         self._interface = f"hci{interface}"
@@ -621,7 +650,10 @@ class MammotionBaseBLEDevice(MammotionBaseDevice):
     @property
     def rssi(self) -> int:
         """Return RSSI of device."""
-        return 0
+        try:
+            return self._mower.device.sys.toapp_report_data.connect.ble_rssi
+        finally:
+            return 0
 
     async def _ensure_connected(self):
         """Ensure connection to device is established."""
@@ -651,12 +683,11 @@ class MammotionBaseBLEDevice(MammotionBaseDevice):
                 return
             _LOGGER.debug("%s: Connecting; RSSI: %s", self.name, self.rssi)
             client: BleakClientWithServiceCache = await establish_connection(
-                BleakClient,
+                BleakClientWithServiceCache,
                 self._device,
                 self.name,
                 self._disconnected,
                 max_attempts=10,
-                use_services_cache=True,
                 ble_device_callback=lambda: self._device,
             )
             _LOGGER.debug("%s: Connected; RSSI: %s", self.name, self.rssi)
@@ -838,6 +869,8 @@ class MammotionBaseBLEDevice(MammotionBaseDevice):
 
     async def _execute_timed_disconnect(self) -> None:
         """Execute timed disconnection."""
+        if not self._disconnect_strategy:
+            return
         _LOGGER.debug(
             "%s: Executing timed disconnect after timeout of %s",
             self.name,
@@ -887,6 +920,9 @@ class MammotionBaseBLEDevice(MammotionBaseDevice):
         if self._client is not None:
             return await self._client.disconnect()
 
+    def set_disconnect_strategy(self, disconnect):
+        self._disconnect_strategy = disconnect
+
 
 class MammotionBaseCloudDevice(MammotionBaseDevice):
     """Base class for Mammotion Cloud devices."""
@@ -1003,7 +1039,7 @@ class MammotionBaseCloudDevice(MammotionBaseDevice):
         await loop.run_in_executor(None, self._mqtt_client.get_cloud_client().send_cloud_command, self.iot_id, command)
 
         retry_handle = self.loop.call_at(
-            self.loop.time() + 20,
+            self.loop.time() + 10,
             lambda: asyncio.ensure_future(
                 _handle_retry_cloud(
                     self._notify_future, self._mqtt_client.get_cloud_client().send_cloud_command, self.iot_id, command

{pymammotion-0.2.5 → pymammotion-0.2.6}/pymammotion/mqtt/mammotion_mqtt.py

@@ -1,5 +1,5 @@
 """MammotionMQTT."""
-
+import asyncio
 import hashlib
 import hmac
 import json
@@ -81,7 +81,7 @@ class MammotionMQTT:
         logger.info("Connecting...")
         self._linkkit_client.thing_setup()
         self._linkkit_client.connect_async()
-        self._linkkit_client.start_worker_loop()
+
 
     def disconnect(self):
         """Disconnect from MQTT Server."""
@@ -91,6 +91,7 @@ class MammotionMQTT:
     def _thing_on_thing_enable(self, user_data):
         """Is called when Thing is enabled."""
         logger.debug("on_thing_enable")
+        self.is_connected = True
         # logger.debug('subscribe_topic, topic:%s' % echo_topic)
         # self._linkkit_client.subscribe_topic(echo_topic, 0)
         self._linkkit_client.subscribe_topic(

{pymammotion-0.2.5 → pymammotion-0.2.6}/pyproject.toml

@@ -1,10 +1,10 @@
 [project]
 name        = "pymammotion"
-version     = "0.2.5"
+version     = "0.2.6"
 
 [tool.poetry]
 name        = "pymammotion"
-version     = "0.2.5"
+version     = "0.2.6"
 license     = "GNU-3.0"
 description = ""
 readme      = "README.md"
@@ -52,7 +52,7 @@ mypy = "^1.10.0"
 pre-commit = "^3.7.1"
 
 [tool.bumpver]
-current_version = "0.2.5"
+current_version = "0.2.6"
 version_pattern = "MAJOR.MINOR.PATCH"
 commit_message  = "Bump version {old_version} -> {new_version}"
 commit          = true