pymammotion 0.2.6__tar.gz → 0.2.7__tar.gz

{pymammotion-0.2.6 → pymammotion-0.2.7}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymammotion
-Version: 0.2.6
+Version: 0.2.7
 Summary: 
 License: GNU-3.0
 Author: Michael Arthur
@@ -17,6 +17,7 @@ Requires-Dist: alibabacloud-iot-api-gateway (>=0.0.4,<0.0.5)
 Requires-Dist: alicloud-gateway-iot (>=1.0.0,<2.0.0)
 Requires-Dist: aliyun-iot-linkkit (>=1.2.12,<2.0.0)
 Requires-Dist: aliyun-python-sdk-iot (>=8.57.0,<9.0.0)
+Requires-Dist: async-timeout (>=4.0.3,<5.0.0)
 Requires-Dist: betterproto (>=1.2.5,<2.0.0)
 Requires-Dist: bleak (>=0.21.0)
 Requires-Dist: bleak-retry-connector (>=3.5.0,<4.0.0)

{pymammotion-0.2.6 → pymammotion-0.2.7}/pymammotion/aliyun/cloud_gateway.py

@@ -530,6 +530,8 @@ class CloudIOTGateway:
             )
             if response_body_dict.get("code") == 29003:
                 raise SetupException(response_body_dict.get("code"))
+            if response_body_dict.get("code") == 6205:
+                """Device is offline."""
 
         return message_id
 

{pymammotion-0.2.6 → pymammotion-0.2.7}/pymammotion/data/model/location.py

@@ -7,8 +7,8 @@ from dataclasses import dataclass
 class Point:
     """Returns a lat long."""
 
-    latitude: float
-    longitude: float
+    latitude: float = 0.0
+    longitude: float = 0.0
 
     def __init__(self, latitude=0.0, longitude=0.0):
         self.latitude = latitude
@@ -19,7 +19,7 @@ class Point:
 class Dock(Point):
     """Stores robot dock position."""
 
-    rotation: int
+    rotation: int = 0
 
     def __init__(self):
         super().__init__()
@@ -33,8 +33,8 @@ class Location:
     device: Point
     RTK: Point
     dock: Dock
-    position_type: int
-    orientation: int  # 360 degree rotation +-
+    position_type: int = 0
+    orientation: int = 0 # 360 degree rotation +-
 
     def __init__(self):
         self.device = Point()

{pymammotion-0.2.6 → pymammotion-0.2.7}/pymammotion/mammotion/devices/mammotion.py

@@ -2,12 +2,15 @@
 
 from __future__ import annotations
 
+import queue
+import threading
 import asyncio
 import base64
 import codecs
 import json
 import logging
 from abc import abstractmethod
+from collections import deque
 from enum import Enum
 from functools import cache
 from typing import Any, Callable, Optional, cast
@@ -38,6 +41,7 @@ from pymammotion.data.state_manager import StateManager
 from pymammotion.http.http import connect_http
 from pymammotion.mammotion.commands.mammotion_command import MammotionCommand
 from pymammotion.mqtt import MammotionMQTT
+from pymammotion.mqtt.mammotion_future import MammotionFuture
 from pymammotion.proto.luba_msg import LubaMsg
 from pymammotion.proto.mctrl_nav import NavGetCommDataAck, NavGetHashListAck
 from pymammotion.utility.rocker_util import RockerControlUtil
@@ -88,10 +92,10 @@ def slashescape(err):
 codecs.register_error("slashescape", slashescape)
 
 
-def find_next_integer(lst: list[int], current_int: int) -> int | None:
+def find_next_integer(lst: list[int], current_hash: float) -> int | None:
     try:
         # Find the index of the current integer
-        current_index = lst.index(current_int)
+        current_index = lst.index(current_hash)
 
         # Check if there is a next integer in the list
         if current_index + 1 < len(lst):
@@ -115,12 +119,12 @@ async def _handle_retry(fut: asyncio.Future[None], func, command: bytes) -> None
         await func(command)
 
 
-async def _handle_retry_cloud(fut: asyncio.Future[None], func, iotId: str, command: bytes) -> None:
+async def _handle_retry_cloud(self, fut: asyncio.Future[None], func, iot_id: str, command: bytes) -> None:
     """Handle a retry."""
 
     if not fut.done():
-        loop = asyncio.get_running_loop()
-        await loop.run_in_executor(None, func, iotId, command)
+        self._operation_lock.release()
+        await self.loop.run_in_executor(None, func, iot_id, command)
 
 
 class ConnectionPreference(Enum):
@@ -334,7 +338,6 @@ class MammotionBaseDevice:
         self._raw_data = LubaMsg().to_dict(casing=betterproto.Casing.SNAKE)
         self._mower = device
         self._state_manager = StateManager(self._mower)
-
         self._state_manager.gethash_ack_callback.add_subscribers(self.datahash_response)
         self._state_manager.get_commondata_ack_callback.add_subscribers(self.commdata_response)
         self._notify_future: asyncio.Future[bytes] | None = None
@@ -945,7 +948,7 @@ class MammotionBaseCloudDevice(MammotionBaseDevice):
         self._commands: MammotionCommand = MammotionCommand(cloud_device.deviceName)
         self.currentID = ""
         self.on_ready_callback: Optional[Callable[[], None]] = None
-        self._operation_lock = asyncio.Lock()
+        self._waiting_queue = deque()
 
         self._mqtt_client.on_connected = self.on_connected
         self._mqtt_client.on_disconnected = self.on_disconnected
@@ -958,19 +961,19 @@ class MammotionBaseCloudDevice(MammotionBaseDevice):
         # temporary for testing only
         # self._start_sync_task = self.loop.call_later(30, lambda: asyncio.ensure_future(self.start_sync(0)))
 
-    def on_ready(self):
+    async def on_ready(self):
         """Callback for when MQTT is subscribed to events."""
         if self.on_ready_callback:
             self.on_ready_callback()
 
-        asyncio.run(self._ble_sync())
-        asyncio.run(self.run_periodic_sync_task())
+        await self._ble_sync()
+        await self.run_periodic_sync_task()
 
-    def on_connected(self):
+    async def on_connected(self):
         """Callback for when MQTT connects."""
 
 
-    def on_disconnected(self):
+    async def on_disconnected(self):
         """Callback for when MQTT disconnects."""
 
     async def _ble_sync(self):
@@ -993,27 +996,24 @@ class MammotionBaseCloudDevice(MammotionBaseDevice):
                 160, lambda: asyncio.ensure_future(self.run_periodic_sync_task())
             )
 
-    def _on_mqtt_message(self, topic: str, payload: str, iot_id: str) -> None:
+    async def _on_mqtt_message(self, topic: str, payload: str, iot_id: str) -> None:
         """Handle incoming MQTT messages."""
-        _LOGGER.debug("MQTT message received on topic %s: %s", topic, payload)
+        _LOGGER.debug("MQTT message received on topic %s: %s", topic, payload, iot_id)
 
         json_str = json.dumps(payload)
         payload = json.loads(json_str)
 
-        self._handle_mqtt_message(topic, payload)
+        await self._handle_mqtt_message(topic, payload)
 
     async def _send_command(self, key: str, retry: int | None = None) -> bytes | None:
         """Send command to device via MQTT and read response."""
-        if self._operation_lock.locked():
-            _LOGGER.debug("%s: Operation already in progress, waiting for it to complete;", self.device.nickName)
 
-        async with self._operation_lock:
-            try:
-                command_bytes = getattr(self._commands, key)()
-                return await self._send_command_locked(key, command_bytes)
-            except Exception as ex:
-                _LOGGER.exception("%s: error in sending command -  %s", self.device.nickName, ex)
-                raise
+        try:
+            command_bytes = getattr(self._commands, key)()
+            return await self._send_command_locked(key, command_bytes)
+        except Exception as ex:
+            _LOGGER.exception("%s: error in sending command -  %s", self.device.nickName, ex)
+            raise
 
     async def _send_command_locked(self, key: str, command: bytes) -> bytes:
         """Send command to device and read response."""
@@ -1032,33 +1032,16 @@ class MammotionBaseCloudDevice(MammotionBaseDevice):
     async def _execute_command_locked(self, key: str, command: bytes) -> bytes:
         """Execute command and read response."""
         assert self._mqtt_client is not None
-        self._notify_future = self.loop.create_future()
         self._key = key
         _LOGGER.debug("%s: Sending command: %s", self.device.nickName, key)
-        loop = asyncio.get_running_loop()
-        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() + 10,
-            lambda: asyncio.ensure_future(
-                _handle_retry_cloud(
-                    self._notify_future, self._mqtt_client.get_cloud_client().send_cloud_command, self.iot_id, command
-                )
-            ),
-        )
+        await self.loop.run_in_executor(None, self._mqtt_client.get_cloud_client().send_cloud_command, self.iot_id, command)
+        future = MammotionFuture()
+        self._waiting_queue.append(future)
         timeout = 20
-        timeout_handle = self.loop.call_at(self.loop.time() + timeout, _handle_timeout, self._notify_future)
-        timeout_expired = False
         try:
-            notify_msg = await self._notify_future
+            notify_msg = await future.async_get(timeout)
         except asyncio.TimeoutError:
-            timeout_expired = True
             raise
-        finally:
-            if not timeout_expired:
-                timeout_handle.cancel()
-                retry_handle.cancel()
-            self._notify_future = None
 
         _LOGGER.debug("%s: Message received", self.device.nickName)
 
@@ -1066,15 +1049,12 @@ class MammotionBaseCloudDevice(MammotionBaseDevice):
 
     async def _send_command_with_args(self, key: str, **kwargs: any) -> bytes | None:
         """Send command with arguments to device via MQTT and read response."""
-        if self._operation_lock.locked():
-            _LOGGER.debug("%s: Operation already in progress, waiting for it to complete;", self.device.nickName)
-        async with self._operation_lock:
-            try:
-                command_bytes = getattr(self._commands, key)(**kwargs)
-                return await self._send_command_locked(key, command_bytes)
-            except Exception as ex:
-                _LOGGER.exception("%s: error in sending command -  %s", self.device.nickName, ex)
-                raise
+        try:
+            command_bytes = getattr(self._commands, key)(**kwargs)
+            return await self._send_command_locked(key, command_bytes)
+        except Exception as ex:
+            _LOGGER.exception("%s: error in sending command -  %s", self.device.nickName, ex)
+            raise
 
     def _extract_message_id(self, payload: dict) -> str:
         """Extract the message ID from the payload."""
@@ -1089,7 +1069,7 @@ class MammotionBaseCloudDevice(MammotionBaseDevice):
             _LOGGER.error("Error extracting encoded message. Payload: %s", payload)
             return ""
 
-    def _parse_mqtt_response(self, topic: str, payload: dict) -> None:
+    async def _parse_mqtt_response(self, topic: str, payload: dict) -> None:
         """Parse the MQTT response."""
         if topic.endswith("/app/down/thing/events"):
             _LOGGER.debug("Thing event received")
@@ -1100,14 +1080,25 @@ class MammotionBaseCloudDevice(MammotionBaseDevice):
                 binary_data = base64.b64decode(params.value.get("content", ""))
                 self._update_raw_data(cast(bytes, binary_data))
                 new_msg = LubaMsg().parse(cast(bytes, binary_data))
-                if self._notify_future and not self._notify_future.done():
-                    self._notify_future.set_result(new_msg)
-                asyncio.run(self._state_manager.notification(new_msg))
 
-    def _handle_mqtt_message(self, topic: str, payload: dict) -> None:
+                if self._commands.get_device_product_key() == "" and self._commands.get_device_name() == event.params.deviceName:
+                    self._commands.set_device_product_key(event.params.productKey)
+
+                if betterproto.serialized_on_wire(new_msg.net):
+                    if new_msg.net.todev_ble_sync != 0 or has_field(new_msg.net.toapp_wifi_iot_status):
+                        return
+
+
+                if len(self._waiting_queue) > 0:
+                    fut: MammotionFuture = self._waiting_queue.popleft()
+                    fut.resolve(cast(bytes, binary_data))
+                await self._state_manager.notification(new_msg)
+
+    async def _handle_mqtt_message(self, topic: str, payload: dict) -> None:
         """Async handler for incoming MQTT messages."""
-        self._parse_mqtt_response(topic=topic, payload=payload)
+        await self._parse_mqtt_response(topic=topic, payload=payload)
 
-    async def _disconnect(self):
+    def _disconnect(self):
         """Disconnect the MQTT client."""
         self._mqtt_client.disconnect()
+

pymammotion-0.2.7/pymammotion/mqtt/mammotion_future.py

@@ -0,0 +1,25 @@
+from asyncio import Future
+from typing import Any
+
+import async_timeout
+
+
+class MammotionFuture:
+    """Create futures for each MQTT Message."""
+    def __init__(self):
+        self.fut: Future = Future()
+        self.loop = self.fut.get_loop()
+
+    def _resolve(self, item: bytes) -> None:
+        if not self.fut.cancelled():
+            self.fut.set_result(item)
+
+    def resolve(self, item: bytes) -> None:
+        self.loop.call_soon_threadsafe(self._resolve, item)
+
+    async def async_get(self, timeout: float | int) -> bytes:
+        try:
+            async with async_timeout.timeout(timeout):
+                return await self.fut
+        finally:
+            self.fut.cancel()

{pymammotion-0.2.6 → pymammotion-0.2.7}/pymammotion/mqtt/mammotion_mqtt.py

@@ -5,7 +5,7 @@ import hmac
 import json
 import logging
 from logging import getLogger
-from typing import Callable, Optional, cast
+from typing import Callable, Optional, cast, Awaitable
 
 from linkkit.linkkit import LinkKit
 from paho.mqtt.client import MQTTMessage
@@ -36,11 +36,11 @@ class MammotionMQTT:
         self._cloud_client = None
         self.is_connected = False
         self.is_ready = False
-        self.on_connected: Optional[Callable[[], None]] = None
-        self.on_ready: Optional[Callable[[], None]] = None
-        self.on_error: Optional[Callable[[str], None]] = None
-        self.on_disconnected: Optional[Callable[[], None]] = None
-        self.on_message: Optional[Callable[[str, str, str], None]] = None
+        self.on_connected: Optional[Callable[[],Awaitable[None]]] = None
+        self.on_ready: Optional[Callable[[],Awaitable[None]]] = None
+        self.on_error: Optional[Callable[[str],Awaitable[None]]] = None
+        self.on_disconnected: Optional[Callable[[],Awaitable[None]]] = None
+        self.on_message: Optional[Callable[[str, str, str],Awaitable[None]]] = None
 
         self._product_key = product_key
         self._device_name = device_name
@@ -57,6 +57,7 @@ class MammotionMQTT:
         ).hexdigest()
 
         self._client_id = client_id
+        self.loop = asyncio.get_event_loop()
 
         self._linkkit_client = LinkKit(
             region_id,
@@ -79,7 +80,6 @@ class MammotionMQTT:
     def connect_async(self):
         """Connect async to MQTT Server."""
         logger.info("Connecting...")
-        self._linkkit_client.thing_setup()
         self._linkkit_client.connect_async()
 
 
@@ -121,7 +121,8 @@ class MammotionMQTT:
 
         if self.on_ready:
             self.is_ready = True
-            self.on_ready()
+            future = asyncio.run_coroutine_threadsafe(self.on_ready(), self.loop)
+            asyncio.wrap_future(future, loop=self.loop)
         # self._linkkit_client.query_ota_firmware()
         # command = MammotionCommand(device_name="Luba")
         # self._cloud_client.send_cloud_command(command.get_report_cfg())
@@ -137,13 +138,17 @@ class MammotionMQTT:
         payload = json.loads(payload)
         iot_id = payload.get("params", {}).get("iotId", "")
         if iot_id != "" and self.on_message:
-            self.on_message(topic, payload, iot_id)
+            future = asyncio.run_coroutine_threadsafe(self.on_message(topic, payload, iot_id), self.loop)
+            return asyncio.wrap_future(future, loop=self.loop)
+
 
     def _thing_on_connect(self, session_flag, rc, user_data):
         """Is called on thing connect."""
         self.is_connected = True
         if self.on_connected is not None:
-            self.on_connected()
+            future = asyncio.run_coroutine_threadsafe(self.on_connected(), self.loop)
+            asyncio.wrap_future(future, loop=self.loop)
+
         logger.debug("on_connect, session_flag:%d, rc:%d", session_flag, rc)
 
         # self._linkkit_client.subscribe_topic(f"/sys/{self._product_key}/{self._device_name}/#")
@@ -154,7 +159,9 @@ class MammotionMQTT:
         self.is_connected = False
         self.is_ready = False
         if self.on_disconnected:
-            self.on_disconnected()
+            future = asyncio.run_coroutine_threadsafe(self.on_disconnected(), self.loop)
+            asyncio.wrap_future(future, loop=self.loop)
+
 
     def _on_message(self, _client, _userdata, message: MQTTMessage):
         """Is called when message is received."""
@@ -185,3 +192,4 @@ class MammotionMQTT:
     def get_cloud_client(self) -> Optional[CloudIOTGateway]:
         """Return internal cloud client."""
         return self._cloud_client
+

{pymammotion-0.2.6 → pymammotion-0.2.7}/pyproject.toml

@@ -1,10 +1,10 @@
 [project]
 name        = "pymammotion"
-version     = "0.2.6"
+version     = "0.2.7"
 
 [tool.poetry]
 name        = "pymammotion"
-version     = "0.2.6"
+version     = "0.2.7"
 license     = "GNU-3.0"
 description = ""
 readme      = "README.md"
@@ -36,6 +36,7 @@ betterproto = "^1.2.5"
 pyjoystick = "^1.2.4"
 nest-asyncio = "^1.6.0"
 numpy = "^1.26.0"
+async-timeout = "^4.0.3"
 
 
 [tool.poetry.group.dev.dependencies]
@@ -52,7 +53,7 @@ mypy = "^1.10.0"
 pre-commit = "^3.7.1"
 
 [tool.bumpver]
-current_version = "0.2.6"
+current_version = "0.2.7"
 version_pattern = "MAJOR.MINOR.PATCH"
 commit_message  = "Bump version {old_version} -> {new_version}"
 commit          = true