pymammotion 0.2.62__py3-none-any.whl → 0.5.51__py3-none-any.whl

pymammotion/proto/mctrl_ota_pb2.pyi

@@ -1,19 +1,54 @@
+from google.protobuf.internal import containers as _containers
 from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
 from google.protobuf import descriptor as _descriptor
 from google.protobuf import message as _message
-from typing import ClassVar as _ClassVar, Mapping as _Mapping, Optional as _Optional, Union as _Union
+from typing import ClassVar as _ClassVar, Iterable as _Iterable, Mapping as _Mapping, Optional as _Optional, Union as _Union
 
 DESCRIPTOR: _descriptor.FileDescriptor
 IT_BASE: infoType
 IT_OTA: infoType
 
+class FotaInfo_t(_message.Message):
+    __slots__ = ["need_ota_img_size", "need_ota_num", "ota_oid", "ota_otype", "ota_version"]
+    NEED_OTA_IMG_SIZE_FIELD_NUMBER: _ClassVar[int]
+    NEED_OTA_NUM_FIELD_NUMBER: _ClassVar[int]
+    OTA_OID_FIELD_NUMBER: _ClassVar[int]
+    OTA_OTYPE_FIELD_NUMBER: _ClassVar[int]
+    OTA_VERSION_FIELD_NUMBER: _ClassVar[int]
+    need_ota_img_size: int
+    need_ota_num: int
+    ota_oid: str
+    ota_otype: int
+    ota_version: str
+    def __init__(self, need_ota_num: _Optional[int] = ..., need_ota_img_size: _Optional[int] = ..., ota_otype: _Optional[int] = ..., ota_oid: _Optional[str] = ..., ota_version: _Optional[str] = ...) -> None: ...
+
+class FotaSubInfo_t(_message.Message):
+    __slots__ = ["sub_img_size", "sub_img_url", "sub_mod_id", "sub_mod_ota_flag", "sub_mod_version"]
+    SUB_IMG_SIZE_FIELD_NUMBER: _ClassVar[int]
+    SUB_IMG_URL_FIELD_NUMBER: _ClassVar[int]
+    SUB_MOD_ID_FIELD_NUMBER: _ClassVar[int]
+    SUB_MOD_OTA_FLAG_FIELD_NUMBER: _ClassVar[int]
+    SUB_MOD_VERSION_FIELD_NUMBER: _ClassVar[int]
+    sub_img_size: int
+    sub_img_url: str
+    sub_mod_id: int
+    sub_mod_ota_flag: int
+    sub_mod_version: str
+    def __init__(self, sub_mod_ota_flag: _Optional[int] = ..., sub_mod_id: _Optional[int] = ..., sub_img_size: _Optional[int] = ..., sub_mod_version: _Optional[str] = ..., sub_img_url: _Optional[str] = ...) -> None: ...
+
 class MctlOta(_message.Message):
-    __slots__ = ["toapp_get_info_rsp", "todev_get_info_req"]
+    __slots__ = ["fota_info", "fota_sub_info", "fw_download_ctrl", "toapp_get_info_rsp", "todev_get_info_req"]
+    FOTA_INFO_FIELD_NUMBER: _ClassVar[int]
+    FOTA_SUB_INFO_FIELD_NUMBER: _ClassVar[int]
+    FW_DOWNLOAD_CTRL_FIELD_NUMBER: _ClassVar[int]
     TOAPP_GET_INFO_RSP_FIELD_NUMBER: _ClassVar[int]
     TODEV_GET_INFO_REQ_FIELD_NUMBER: _ClassVar[int]
+    fota_info: FotaInfo_t
+    fota_sub_info: FotaSubInfo_t
+    fw_download_ctrl: fwDownloadCtrl
     toapp_get_info_rsp: getInfoRsp
     todev_get_info_req: getInfoReq
-    def __init__(self, todev_get_info_req: _Optional[_Union[getInfoReq, _Mapping]] = ..., toapp_get_info_rsp: _Optional[_Union[getInfoRsp, _Mapping]] = ...) -> None: ...
+    def __init__(self, todev_get_info_req: _Optional[_Union[getInfoReq, _Mapping]] = ..., toapp_get_info_rsp: _Optional[_Union[getInfoRsp, _Mapping]] = ..., fw_download_ctrl: _Optional[_Union[fwDownloadCtrl, _Mapping]] = ..., fota_info: _Optional[_Union[FotaInfo_t, _Mapping]] = ..., fota_sub_info: _Optional[_Union[FotaSubInfo_t, _Mapping]] = ...) -> None: ...
 
 class baseInfo(_message.Message):
     __slots__ = ["batt_val", "dev_status", "dev_version", "init_status", "is_tilt"]
@@ -29,6 +64,26 @@ class baseInfo(_message.Message):
     is_tilt: int
     def __init__(self, dev_version: _Optional[str] = ..., dev_status: _Optional[int] = ..., batt_val: _Optional[int] = ..., init_status: _Optional[int] = ..., is_tilt: _Optional[int] = ...) -> None: ...
 
+class downlink_t(_message.Message):
+    __slots__ = ["data", "fw_id", "pkg_seq"]
+    DATA_FIELD_NUMBER: _ClassVar[int]
+    FW_ID_FIELD_NUMBER: _ClassVar[int]
+    PKG_SEQ_FIELD_NUMBER: _ClassVar[int]
+    data: _containers.RepeatedScalarFieldContainer[int]
+    fw_id: int
+    pkg_seq: int
+    def __init__(self, fw_id: _Optional[int] = ..., pkg_seq: _Optional[int] = ..., data: _Optional[_Iterable[int]] = ...) -> None: ...
+
+class fwDownloadCtrl(_message.Message):
+    __slots__ = ["cmd", "downlink", "uplink"]
+    CMD_FIELD_NUMBER: _ClassVar[int]
+    DOWNLINK_FIELD_NUMBER: _ClassVar[int]
+    UPLINK_FIELD_NUMBER: _ClassVar[int]
+    cmd: int
+    downlink: downlink_t
+    uplink: uplink_t
+    def __init__(self, uplink: _Optional[_Union[uplink_t, _Mapping]] = ..., downlink: _Optional[_Union[downlink_t, _Mapping]] = ..., cmd: _Optional[int] = ...) -> None: ...
+
 class getInfoReq(_message.Message):
     __slots__ = ["type"]
     TYPE_FIELD_NUMBER: _ClassVar[int]
@@ -45,7 +100,7 @@ class getInfoRsp(_message.Message):
     ota: otaInfo
     result: int
     type: infoType
-    def __init__(self, result: _Optional[int] = ..., type: _Optional[_Union[infoType, str]] = ..., base: _Optional[_Union[baseInfo, _Mapping]] = ..., ota: _Optional[_Union[otaInfo, _Mapping]] = ...) -> None: ...
+    def __init__(self, base: _Optional[_Union[baseInfo, _Mapping]] = ..., ota: _Optional[_Union[otaInfo, _Mapping]] = ..., result: _Optional[int] = ..., type: _Optional[_Union[infoType, str]] = ...) -> None: ...
 
 class otaInfo(_message.Message):
     __slots__ = ["message", "otaid", "progress", "result", "version"]
@@ -61,5 +116,13 @@ class otaInfo(_message.Message):
     version: str
     def __init__(self, otaid: _Optional[str] = ..., version: _Optional[str] = ..., progress: _Optional[int] = ..., result: _Optional[int] = ..., message: _Optional[str] = ...) -> None: ...
 
+class uplink_t(_message.Message):
+    __slots__ = ["pkg_seq", "status"]
+    PKG_SEQ_FIELD_NUMBER: _ClassVar[int]
+    STATUS_FIELD_NUMBER: _ClassVar[int]
+    pkg_seq: int
+    status: int
+    def __init__(self, pkg_seq: _Optional[int] = ..., status: _Optional[int] = ...) -> None: ...
+
 class infoType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
     __slots__ = []

pymammotion/proto/mctrl_pept.proto

@@ -3,12 +3,12 @@ syntax = "proto3";
 message perception_obstacles_t {
   int32 label = 1;
   int32 num = 2;
-  repeated int32 points_x = 3;
-  repeated int32 points_y = 4;
+  repeated sint32 points_x = 3;
+  repeated sint32 points_y = 4;
 }
 
 message perception_obstacles_visualization_t {
-  int32 is_heart_beat = 1;
+  int32 status = 1;
   int32 num = 2;
   repeated perception_obstacles_t obstacles = 3;
   double timestamp = 4;
@@ -21,9 +21,14 @@ message perception_universal_buff_t {
   repeated int64 universal_buff = 3;
 }
 
+message perception_local_map_visualization_t {
+  bytes map = 1;
+}
+
 message MctlPept {
   oneof SubPeptMsg {
     perception_obstacles_visualization_t perception_obstacles_visualization = 1;
     perception_universal_buff_t perception_universal_buff = 2;
+    perception_local_map_visualization_t perception_local_map_visualization = 3;
   }
 }

pymammotion/proto/mctrl_pept_pb2.py

@@ -13,7 +13,7 @@ _sym_db = _symbol_database.Default()
 
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\"pymammotion/proto/mctrl_pept.proto\"X\n\x16perception_obstacles_t\x12\r\n\x05label\x18\x01 \x01(\x05\x12\x0b\n\x03num\x18\x02 \x01(\x05\x12\x10\n\x08points_x\x18\x03 \x03(\x05\x12\x10\n\x08points_y\x18\x04 \x03(\x05\"\x98\x01\n$perception_obstacles_visualization_t\x12\x15\n\ris_heart_beat\x18\x01 \x01(\x05\x12\x0b\n\x03num\x18\x02 \x01(\x05\x12*\n\tobstacles\x18\x03 \x03(\x0b\x32\x17.perception_obstacles_t\x12\x11\n\ttimestamp\x18\x04 \x01(\x01\x12\r\n\x05scale\x18\x05 \x01(\x02\"f\n\x1bperception_universal_buff_t\x12\x17\n\x0fperception_type\x18\x01 \x01(\x05\x12\x16\n\x0eperception_len\x18\x02 \x01(\x05\x12\x16\n\x0euniversal_buff\x18\x03 \x03(\x03\"\xb0\x01\n\x08MctlPept\x12S\n\"perception_obstacles_visualization\x18\x01 \x01(\x0b\x32%.perception_obstacles_visualization_tH\x00\x12\x41\n\x19perception_universal_buff\x18\x02 \x01(\x0b\x32\x1c.perception_universal_buff_tH\x00\x42\x0c\n\nSubPeptMsgb\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\"pymammotion/proto/mctrl_pept.proto\"X\n\x16perception_obstacles_t\x12\r\n\x05label\x18\x01 \x01(\x05\x12\x0b\n\x03num\x18\x02 \x01(\x05\x12\x10\n\x08points_x\x18\x03 \x03(\x11\x12\x10\n\x08points_y\x18\x04 \x03(\x11\"\x91\x01\n$perception_obstacles_visualization_t\x12\x0e\n\x06status\x18\x01 \x01(\x05\x12\x0b\n\x03num\x18\x02 \x01(\x05\x12*\n\tobstacles\x18\x03 \x03(\x0b\x32\x17.perception_obstacles_t\x12\x11\n\ttimestamp\x18\x04 \x01(\x01\x12\r\n\x05scale\x18\x05 \x01(\x02\"f\n\x1bperception_universal_buff_t\x12\x17\n\x0fperception_type\x18\x01 \x01(\x05\x12\x16\n\x0eperception_len\x18\x02 \x01(\x05\x12\x16\n\x0euniversal_buff\x18\x03 \x03(\x03\"3\n$perception_local_map_visualization_t\x12\x0b\n\x03map\x18\x01 \x01(\x0c\"\x85\x02\n\x08MctlPept\x12S\n\"perception_obstacles_visualization\x18\x01 \x01(\x0b\x32%.perception_obstacles_visualization_tH\x00\x12\x41\n\x19perception_universal_buff\x18\x02 \x01(\x0b\x32\x1c.perception_universal_buff_tH\x00\x12S\n\"perception_local_map_visualization\x18\x03 \x01(\x0b\x32%.perception_local_map_visualization_tH\x00\x42\x0c\n\nSubPeptMsgb\x06proto3')
 
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'pymammotion.proto.mctrl_pept_pb2', globals())
@@ -23,9 +23,11 @@ if _descriptor._USE_C_DESCRIPTORS == False:
   _PERCEPTION_OBSTACLES_T._serialized_start=38
   _PERCEPTION_OBSTACLES_T._serialized_end=126
   _PERCEPTION_OBSTACLES_VISUALIZATION_T._serialized_start=129
-  _PERCEPTION_OBSTACLES_VISUALIZATION_T._serialized_end=281
-  _PERCEPTION_UNIVERSAL_BUFF_T._serialized_start=283
-  _PERCEPTION_UNIVERSAL_BUFF_T._serialized_end=385
-  _MCTLPEPT._serialized_start=388
-  _MCTLPEPT._serialized_end=564
+  _PERCEPTION_OBSTACLES_VISUALIZATION_T._serialized_end=274
+  _PERCEPTION_UNIVERSAL_BUFF_T._serialized_start=276
+  _PERCEPTION_UNIVERSAL_BUFF_T._serialized_end=378
+  _PERCEPTION_LOCAL_MAP_VISUALIZATION_T._serialized_start=380
+  _PERCEPTION_LOCAL_MAP_VISUALIZATION_T._serialized_end=431
+  _MCTLPEPT._serialized_start=434
+  _MCTLPEPT._serialized_end=695
 # @@protoc_insertion_point(module_scope)

pymammotion/proto/mctrl_pept_pb2.pyi

@@ -6,12 +6,20 @@ from typing import ClassVar as _ClassVar, Iterable as _Iterable, Mapping as _Map
 DESCRIPTOR: _descriptor.FileDescriptor
 
 class MctlPept(_message.Message):
-    __slots__ = ["perception_obstacles_visualization", "perception_universal_buff"]
+    __slots__ = ["perception_local_map_visualization", "perception_obstacles_visualization", "perception_universal_buff"]
+    PERCEPTION_LOCAL_MAP_VISUALIZATION_FIELD_NUMBER: _ClassVar[int]
     PERCEPTION_OBSTACLES_VISUALIZATION_FIELD_NUMBER: _ClassVar[int]
     PERCEPTION_UNIVERSAL_BUFF_FIELD_NUMBER: _ClassVar[int]
+    perception_local_map_visualization: perception_local_map_visualization_t
     perception_obstacles_visualization: perception_obstacles_visualization_t
     perception_universal_buff: perception_universal_buff_t
-    def __init__(self, perception_obstacles_visualization: _Optional[_Union[perception_obstacles_visualization_t, _Mapping]] = ..., perception_universal_buff: _Optional[_Union[perception_universal_buff_t, _Mapping]] = ...) -> None: ...
+    def __init__(self, perception_obstacles_visualization: _Optional[_Union[perception_obstacles_visualization_t, _Mapping]] = ..., perception_universal_buff: _Optional[_Union[perception_universal_buff_t, _Mapping]] = ..., perception_local_map_visualization: _Optional[_Union[perception_local_map_visualization_t, _Mapping]] = ...) -> None: ...
+
+class perception_local_map_visualization_t(_message.Message):
+    __slots__ = ["map"]
+    MAP_FIELD_NUMBER: _ClassVar[int]
+    map: bytes
+    def __init__(self, map: _Optional[bytes] = ...) -> None: ...
 
 class perception_obstacles_t(_message.Message):
     __slots__ = ["label", "num", "points_x", "points_y"]
@@ -26,18 +34,18 @@ class perception_obstacles_t(_message.Message):
     def __init__(self, label: _Optional[int] = ..., num: _Optional[int] = ..., points_x: _Optional[_Iterable[int]] = ..., points_y: _Optional[_Iterable[int]] = ...) -> None: ...
 
 class perception_obstacles_visualization_t(_message.Message):
-    __slots__ = ["is_heart_beat", "num", "obstacles", "scale", "timestamp"]
-    IS_HEART_BEAT_FIELD_NUMBER: _ClassVar[int]
+    __slots__ = ["num", "obstacles", "scale", "status", "timestamp"]
     NUM_FIELD_NUMBER: _ClassVar[int]
     OBSTACLES_FIELD_NUMBER: _ClassVar[int]
     SCALE_FIELD_NUMBER: _ClassVar[int]
+    STATUS_FIELD_NUMBER: _ClassVar[int]
     TIMESTAMP_FIELD_NUMBER: _ClassVar[int]
-    is_heart_beat: int
     num: int
     obstacles: _containers.RepeatedCompositeFieldContainer[perception_obstacles_t]
     scale: float
+    status: int
     timestamp: float
-    def __init__(self, is_heart_beat: _Optional[int] = ..., num: _Optional[int] = ..., obstacles: _Optional[_Iterable[_Union[perception_obstacles_t, _Mapping]]] = ..., timestamp: _Optional[float] = ..., scale: _Optional[float] = ...) -> None: ...
+    def __init__(self, status: _Optional[int] = ..., num: _Optional[int] = ..., obstacles: _Optional[_Iterable[_Union[perception_obstacles_t, _Mapping]]] = ..., timestamp: _Optional[float] = ..., scale: _Optional[float] = ...) -> None: ...
 
 class perception_universal_buff_t(_message.Message):
     __slots__ = ["perception_len", "perception_type", "universal_buff"]

pymammotion/proto/mctrl_sys.proto

@@ -2,6 +2,106 @@ syntax = "proto3";
 
 import "pymammotion/proto/dev_net.proto";
 
+enum Operation {
+  WRITE = 0;
+  READ = 1;
+  ERASE = 2;
+}
+
+enum OffPartId {
+  OFF_PART_DL_IMG = 0;
+  OFF_PART_UPDINFO_BACK = 1;
+  OFF_PART_UPDINFO = 2;
+  OFF_PART_NAKEDB = 3;
+  OFF_PART_FLASHDB = 4;
+  OFF_PART_UPD_APP_IMG = 5;
+  OFF_PART_UPD_BMS_IMG = 6;
+  OFF_PART_UPD_TMP_IMG = 7;
+  OFF_PART_DEV_INFO = 8;
+  OFF_PART_NAKEDB_BACK = 9;
+  OFF_PART_MAX = 10;
+}
+
+enum QCAppTestId {
+  QC_APP_ITEM_ON_CHARGESATSTION = 0;
+  QC_APP_TEST_X3_SPEAKER = 1;
+  QC_APP_TEST_STATIC_OBSTACLE_DETECTION = 2;
+  QC_APP_TEST_CHARGESTATION_TEMP = 3;
+  QC_APP_ITEM_KEY = 4;
+  QC_APP_TEST_BUMPER_FRONTLEFT = 5;
+  QC_APP_TEST_BUMPER_FRONTRIGHT = 6;
+  QC_APP_TEST_STOP = 7;
+  QC_APP_TEST_UNLOCK = 8;
+  QC_APP_TEST_BUZZ = 9;
+  QC_APP_TEST_LIFT = 10;
+  QC_APP_ITEM_SENEOR = 11;
+  QC_APP_TEST_ROLL_LEFT = 12;
+  QC_APP_TEST_ROLL_RIGHT = 13;
+  QC_APP_TEST_ULTRA_UNCOVER = 14;
+  QC_APP_TEST_ULTRA0_COVER = 15;
+  QC_APP_TEST_ULTRA1_COVER = 16;
+  QC_APP_TEST_ULTRA2_COVER = 17;
+  QC_APP_TEST_RAIN = 18;
+  QC_APP_ITEM_SQ = 19;
+  QC_APP_TEST_BLE_RSSI = 20;
+  QC_APP_TEST_SATELLITES_ROVER = 21;
+  QC_APP_TEST_SATELLITES_REF_STATION_L1 = 22;
+  QC_APP_TEST_SATELLITES_REF_STATION_L2 = 23;
+  QC_APP_TEST_SATELLITES_COMMON_VIEW = 24;
+  QC_APP_TEST_CNO_ROVER = 25;
+  QC_APP_TEST_CNO_REF_STATION = 26;
+  QC_APP_TEST_REF_STATION_LINK_STATUS = 27;
+  QC_APP_TEST_LOCATION_STATE = 28;
+  QC_APP_TEST_CHARGE_STATUS = 29;
+  QC_APP_TEST_PPS_EXTI_COUNT = 30;
+  QC_APP_TEST_SAFE_KEY = 50;
+  QC_APP_TEST_LORA_RSSI = 60;
+  QC_APP_TEST_WIPER_TEST = 80;
+  QC_APP_TEST_HEADLAMP_TEST = 81;
+  QC_APP_TEST_COMPLETE_SIGNAL = 99;
+  QC_APP_TEST_MAX = 100;
+}
+
+enum rtk_used_type {
+  RTK_USED_LORA = 0;
+  RTK_USED_INTERNET = 1;
+  RTK_USED_NRTK = 2;
+}
+
+enum net_used_type {
+  NET_USED_TYPE_NONE = 0;
+  NET_USED_TYPE_WIFI = 1;
+  NET_USED_TYPE_MNET = 2;
+}
+
+enum rpt_info_type {
+  RIT_CONNECT = 0;
+  RIT_DEV_STA = 1;
+  RIT_RTK = 2;
+  RIT_DEV_LOCAL = 3;
+  RIT_WORK = 4;
+  RIT_FW_INFO = 5;
+  RIT_MAINTAIN = 6;
+  RIT_VISION_POINT = 7;
+  RIT_VIO = 8;
+  RIT_VISION_STATISTIC = 9;
+  RIT_BASESTATION_INFO = 10;
+  RIT_CUTTER_INFO = 11;
+}
+
+enum rpt_act {
+  RPT_START = 0;
+  RPT_STOP = 1;
+  RPT_KEEP = 2;
+}
+
+enum Command_Result {
+  RS_OK = 0;
+  RS_FAIL_MAGIC = 1;
+  RS_FAIL_OTA = 2;
+  RS_FAIL_SLOPE = 3;
+}
+
 message SysBatUp {
   int32 batVal = 1;
 }
@@ -72,8 +172,8 @@ message SysMowInfo {
   int32 deviceState = 1;
   int32 batVal = 2;
   int32 knifeHeight = 3;
-  int32 rtk_status = 4;
-  int32 rtk_stars = 5;
+  int32 RTKstatus = 4;
+  int32 RTKstars = 5;
 }
 
 message SysOptiLineAck {
@@ -114,6 +214,10 @@ message SysResetSystemStatus {
   int32 reset_staus = 1;
 }
 
+message SysResetBladeUsedTimeStatus {
+  int32 reset_blade_used_time_status = 1;
+}
+
 message TimeCtrlLight {
   int32 operate = 1;
   int32 enable = 2;
@@ -250,6 +354,25 @@ message mCtrlSimulationCmdData {
   repeated int32 param_value = 3;
 }
 
+message app_to_dev_get_mqtt_config_t {
+  int32 get_mqtt_config = 1;
+}
+
+message dev_to_app_get_mqtt_config_t {
+  int32 rtk_status = 1;
+  string rtk_base_num = 2;
+}
+
+message app_to_dev_set_mqtt_rtk_t {
+  rtk_used_type set_rtk_mode = 1;
+  int32 stop_nrtk_flag = 2;
+  int32 set_nrtk_net_mode = 3;
+}
+
+message dev_to_app_set_mqtt_rtk_t {
+  int32 set_rtk_mode_error = 1;
+}
+
 message rpt_lora {
   int32 pair_code_scan = 1;
   int32 pair_code_channel = 2;
@@ -259,9 +382,23 @@ message rpt_lora {
 }
 
 message mqtt_rtk_connect {
-    int32 rtk_switch = 1;
-    int32 rtk_channel = 2;
-    string rtk_base_num = 3;
+  rtk_used_type rtk_switch = 1;
+  int32 rtk_channel = 2;
+  string rtk_base_num = 3;
+  double latitude = 4;
+  double longitude = 5;
+  int32 nrtk_map_convert_status = 6;
+  int32 nrtk_net_mode = 7;
+  int32 new_rtk_mode = 8;
+}
+
+message pos_score {
+  uint32 rover_score = 1;
+  uint32 rover_level = 2;
+  uint32 base_score = 3;
+  uint32 base_level = 4;
+  uint32 base_moved = 5;
+  uint32 base_moving = 6;
 }
 
 message rpt_rtk {
@@ -278,6 +415,7 @@ message rpt_rtk {
   int32 reset = 11;
   rpt_lora lora_info = 12;
   mqtt_rtk_connect mqtt_rtk_info = 13;
+  pos_score score_info = 14;
 }
 
 message rpt_dev_location {
@@ -313,6 +451,13 @@ message rpt_dev_status {
   vio_survival_info_t vio_survival_info = 9;
   collector_status_t collector_status = 10;
   lock_state_t lock_state = 11;
+  uint32 self_check_status = 12;
+  fpv_to_app_info_t fpv_info = 13;
+}
+
+message net_speed {
+  uint32 download = 1;
+  uint32 upload = 2;
 }
 
 message rpt_connect_status {
@@ -324,11 +469,15 @@ message rpt_connect_status {
   int32 mnet_inet = 6;
   net_used_type used_net = 7;
   MnetCfg mnet_cfg = 8;
+  net_speed dev_net_speed = 9;
+  bool iot_wifi_report = 10;
+  int32 iot_con_status = 11;
+  int32 wifi_con_status = 12;
+  int32 wifi_is_available = 13;
 }
 
-
 message nav_heading_state_t {
-    int32 heading_state = 1;
+  uint32 heading_state = 1;
 }
 
 message rpt_work {
@@ -353,12 +502,39 @@ message rpt_work {
   int32 nav_edit_status = 19;
   int32 knife_height = 20;
   nav_heading_state_t nav_heading_state = 21;
+  float cutter_offset = 22;
+  float cutter_width = 23;
+}
+
+message blade_used {
+  int32 blade_used_time = 1;
+  int32 blade_used_warn_time = 2;
+}
+
+message user_set_blade_used_warn_time {
+  int32 blade_used_warn_time = 1;
 }
 
 message rpt_maintain {
   int64 mileage = 1;
   int32 work_time = 2;
   int32 bat_cycles = 3;
+  blade_used blade_used_time = 4;
+}
+
+message fpv_to_app_info_t {
+  int32 fpv_flag = 1;
+  int32 wifi_available = 2;
+  int32 mobile_net_available = 3;
+}
+
+message rpt_basestation_info {
+  uint32 ver_major = 1;
+  uint32 ver_minor = 2;
+  uint32 ver_patch = 3;
+  uint32 ver_build = 4;
+  uint32 basestation_status = 5;
+  uint32 connect_status_since_poweron = 6;
 }
 
 message report_info_cfg {
@@ -381,6 +557,123 @@ message report_info_data {
   repeated vision_point_info_msg vision_point_info = 8;
   vio_to_app_info_msg vio_to_app_info = 9;
   vision_statistic_info_msg vision_statistic_info = 10;
+  rpt_basestation_info basestation_info = 11;
+  rpt_cutter_rpm cutter_work_mode_info = 12;
+}
+
+message debug_common_report_t {
+  string m_name = 1;
+  string key = 2;
+  string value = 3;
+  int64 gen_time = 4;
+}
+
+message debug_errocode_report_t {
+  int32 code = 1;
+  string mname = 2;
+  string value = 3;
+  int64 gen_time = 4;
+}
+
+message debug_enable_t {
+  int32 enbale = 1;
+}
+
+message debug_res_cfg_ability_t {
+  int32 total_keys = 1;
+  int32 cur_key_id = 2;
+  string keys = 3;
+  string value = 4;
+}
+
+message debug_cfg_read_t {
+  string key = 1;
+  string value = 2;
+}
+
+message debug_cfg_write_t {
+  string key = 1;
+  string value = 2;
+}
+
+message msgbus_pkt {
+  int32 type = 1;
+  int32 typeCommand = 2;
+  int32 recvDeviceId = 3;
+  int32 sendDeviceId = 4;
+  int32 dataLength = 5;
+  string data = 6;
+  int32 ctrl = 7;
+  int32 flag = 8;
+  int32 seqs = 9;
+}
+
+message response_set_mode_t {
+  int32 statue = 1;
+  int32 set_work_mode = 2;
+  int32 cur_work_mode = 3;
+  int64 start_work_time = 4;
+  int64 end_work_time = 5;
+  int32 interruptflag = 6;
+  int32 cur_work_time = 7;
+}
+
+message rpt_cutter_rpm {
+  int32 current_cutter_mode = 1;
+  int32 current_cutter_rpm = 2;
+}
+
+message dev_statue_t {
+  int32 sys_status = 1;
+  int32 charge_status = 2;
+  int32 bat_val = 3;
+  int32 wheel_status = 4;
+  int32 pump_status = 5;
+  int32 work_mode = 6;
+  int32 model = 7;
+  int32 ble_rssi = 8;
+  int32 wifi_rssi = 9;
+  int32 wifi_connect_status = 10;
+  int32 iot_connect_status = 11;
+  int32 wifi_available = 12;
+}
+
+message report_info_t {
+  dev_statue_t dev_status = 1;
+}
+
+message work_mode_t {
+  int32 work_mode = 1;
+}
+
+message special_mode_t {
+  int32 stair_mode = 1;
+  int32 violent_mode = 2;
+  int32 berthing_mode = 3;
+}
+
+message set_peripherals_t {
+  int32 buzz_enable = 1;
+}
+
+message debug_sun_time_t {
+  int32 subCmd = 1;
+  int32 sunRiseTime = 2;
+  int32 sunSetTime = 3;
+}
+
+message remote_reset_req_t {
+  int32 magic = 1;
+  int64 bizid = 2;
+  int32 reset_mode = 3;
+  int32 force_reset = 4;
+  int64 account = 5;
+}
+
+message remote_reset_rsp_t {
+  int32 magic = 1;
+  int64 bizid = 2;
+  Command_Result result = 3;
 }
 
 message MctlSys {
@@ -419,84 +712,30 @@ message MctlSys {
     report_info_cfg todev_report_cfg = 38;
     report_info_data toapp_report_data = 39;
     mCtrlSimulationCmdData simulation_cmd = 42;
+    app_to_dev_get_mqtt_config_t app_to_dev_get_mqtt_config_msg = 43;
+    dev_to_app_get_mqtt_config_t dev_to_app_get_mqtt_config_msg = 44;
+    app_to_dev_set_mqtt_rtk_t app_to_dev_set_mqtt_rtk_msg = 45;
+    dev_to_app_set_mqtt_rtk_t dev_to_app_set_mqtt_rtk_msg = 46;
+    int32 todev_reset_blade_used_time = 47;
+    SysResetBladeUsedTimeStatus todev_reset_blade_used_time_status = 48;
+    int32 todev_factor_reset_system = 49;
+    user_set_blade_used_warn_time blade_used_warn_time = 50;
+    debug_common_report_t debug_common_report = 51;
+    debug_errocode_report_t debug_errocode_report = 52;
+    debug_enable_t debug_enable = 53;
+    debug_cfg_read_t debug_cfg_read = 54;
+    debug_cfg_write_t debug_cfg_write = 55;
+    debug_res_cfg_ability_t debug_res_cfg_ability = 56;
+    msgbus_pkt to_dev_msgbus = 57;
+    msgbus_pkt to_app_msgbus = 58;
+    response_set_mode_t response_set_mode = 59;
+    report_info_t report_info = 60;
+    work_mode_t set_work_mode = 61;
+    special_mode_t set_special_mode = 62;
+    set_peripherals_t set_peripherals = 63;
+    debug_sun_time_t to_dev_set_sun_time = 64;
+    remote_reset_req_t to_dev_remote_reset = 65;
+    remote_reset_rsp_t to_app_remote_reset = 66;
+    rpt_cutter_rpm current_cutter_mode = 67;
   }
-}
-
-enum Operation {
-  WRITE = 0;
-  READ = 1;
-  ERASE = 2;
-}
-
-enum OffPartId {
-  OFF_PART_DL_IMG = 0;
-  OFF_PART_UPDINFO_BACK = 1;
-  OFF_PART_UPDINFO = 2;
-  OFF_PART_NAKEDB = 3;
-  OFF_PART_FLASHDB = 4;
-  OFF_PART_UPD_APP_IMG = 5;
-  OFF_PART_UPD_BMS_IMG = 6;
-  OFF_PART_UPD_TMP_IMG = 7;
-  OFF_PART_DEV_INFO = 8;
-  OFF_PART_NAKEDB_BACK = 9;
-  OFF_PART_MAX = 10;
-}
-
-enum QCAppTestId {
-  QC_APP_ITEM_ON_CHARGESATSTION = 0;
-  QC_APP_TEST_X3_SPEAKER = 1;
-  QC_APP_TEST_STATIC_OBSTACLE_DETECTION = 2;
-  QC_APP_TEST_CHARGESTATION_TEMP = 3;
-  QC_APP_ITEM_KEY = 4;
-  QC_APP_TEST_BUMPER_FRONTLEFT = 5;
-  QC_APP_TEST_BUMPER_FRONTRIGHT = 6;
-  QC_APP_TEST_STOP = 7;
-  QC_APP_TEST_UNLOCK = 8;
-  QC_APP_TEST_BUZZ = 9;
-  QC_APP_TEST_LIFT = 10;
-  QC_APP_ITEM_SENEOR = 11;
-  QC_APP_TEST_ROLL_LEFT = 12;
-  QC_APP_TEST_ROLL_RIGHT = 13;
-  QC_APP_TEST_ULTRA_UNCOVER = 14;
-  QC_APP_TEST_ULTRA0_COVER = 15;
-  QC_APP_TEST_ULTRA1_COVER = 16;
-  QC_APP_TEST_ULTRA2_COVER = 17;
-  QC_APP_TEST_RAIN = 18;
-  QC_APP_ITEM_SQ = 19;
-  QC_APP_TEST_BLE_RSSI = 20;
-  QC_APP_TEST_SATELLITES_ROVER = 21;
-  QC_APP_TEST_SATELLITES_REF_STATION_L1 = 22;
-  QC_APP_TEST_SATELLITES_REF_STATION_L2 = 23;
-  QC_APP_TEST_SATELLITES_COMMON_VIEW = 24;
-  QC_APP_TEST_CNO_ROVER = 25;
-  QC_APP_TEST_CNO_REF_STATION = 26;
-  QC_APP_TEST_REF_STATION_LINK_STATUS = 27;
-  QC_APP_TEST_LOCATION_STATE = 28;
-  QC_APP_TEST_MAX = 29;
-}
-
-enum net_used_type {
-  NET_USED_TYPE_NONE = 0;
-  NET_USED_TYPE_WIFI = 1;
-  NET_USED_TYPE_MNET = 2;
-}
-
-enum rpt_info_type {
-  RIT_CONNECT = 0;
-  RIT_DEV_STA = 1;
-  RIT_RTK = 2;
-  RIT_DEV_LOCAL = 3;
-  RIT_WORK = 4;
-  RIT_FW_INFO = 5;
-  RIT_MAINTAIN = 6;
-  RIT_VISION_POINT = 7;
-  RIT_VIO = 8;
-  RIT_VISION_STATISTIC = 9;
-  RIT_BASESTATION_INFO = 10;
-}
-
-enum rpt_act {
-  RPT_START = 0;
-  RPT_STOP = 1;
-  RPT_KEEP = 2;
 }