pymammotion 0.2.97__tar.gz → 0.2.99__tar.gz

{pymammotion-0.2.97 → pymammotion-0.2.99}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymammotion
-Version: 0.2.97
+Version: 0.2.99
 Summary: 
 License: GNU-3.0
 Author: Michael Arthur

{pymammotion-0.2.97 → pymammotion-0.2.99}/pymammotion/aliyun/cloud_gateway.py

@@ -478,7 +478,7 @@ class CloudIOTGateway:
 
     def check_or_refresh_session(self):
         """Check or refresh the session."""
-        logger.debug("Try to refresh token")
+        logger.debug("Trying to refresh token")
         config = Config(
             app_key=self._app_key,
             app_secret=self._app_secret,
@@ -684,7 +684,7 @@ class CloudIOTGateway:
             logger.error(
                 "Error in sending cloud command: %s - %s",
                 str(response_body_dict.get("code")),
-                str(response_body_dict.get("msg")),
+                str(response_body_dict.get("message")),
             )
             if response_body_dict.get("code") == 29003:
                 logger.debug(self._session_by_authcode_response.data.identityId)

{pymammotion-0.2.97 → pymammotion-0.2.99}/pymammotion/bluetooth/ble_message.py

@@ -6,6 +6,7 @@ import sys
 import time
 from asyncio import sleep
 from io import BytesIO
+from typing import Union
 
 from bleak import BleakClient
 from jsonic.serializable import serialize
@@ -14,6 +15,7 @@ from pymammotion.aliyun.tmp_constant import tmp_constant
 from pymammotion.bluetooth.const import UUID_WRITE_CHARACTERISTIC
 from pymammotion.bluetooth.data.framectrldata import FrameCtrlData
 from pymammotion.bluetooth.data.notifydata import BlufiNotifyData
+from pymammotion.bluetooth.model.atomic_integer import AtomicInteger
 from pymammotion.data.model.execute_boarder import ExecuteBorder
 from pymammotion.proto import (
     dev_net_pb2,
@@ -23,6 +25,265 @@ from pymammotion.utility.constant.device_constant import bleOrderCmd
 
 _LOGGER = logging.getLogger(__name__)
 
+CRC_TB = [
+    0x0000,
+    0x1021,
+    0x2042,
+    0x3063,
+    0x4084,
+    0x50A5,
+    0x60C6,
+    0x70E7,
+    0x8108,
+    0x9129,
+    0xA14A,
+    0xB16B,
+    0xC18C,
+    0xD1AD,
+    0xE1CE,
+    0xF1EF,
+    0x1231,
+    0x0210,
+    0x3273,
+    0x2252,
+    0x52B5,
+    0x4294,
+    0x72F7,
+    0x62D6,
+    0x9339,
+    0x8318,
+    0xB37B,
+    0xA35A,
+    0xD3BD,
+    0xC39C,
+    0xF3FF,
+    0xE3DE,
+    0x2462,
+    0x3443,
+    0x0420,
+    0x1401,
+    0x64E6,
+    0x74C7,
+    0x44A4,
+    0x5485,
+    0xA56A,
+    0xB54B,
+    0x8528,
+    0x9509,
+    0xE5EE,
+    0xF5CF,
+    0xC5AC,
+    0xD58D,
+    0x3653,
+    0x2672,
+    0x1611,
+    0x0630,
+    0x76D7,
+    0x66F6,
+    0x5695,
+    0x46B4,
+    0xB75B,
+    0xA77A,
+    0x9719,
+    0x8738,
+    0xF7DF,
+    0xE7FE,
+    0xD79D,
+    0xC7BC,
+    0x48C4,
+    0x58E5,
+    0x6886,
+    0x78A7,
+    0x0840,
+    0x1861,
+    0x2802,
+    0x3823,
+    0xC9CC,
+    0xD9ED,
+    0xE98E,
+    0xF9AF,
+    0x8948,
+    0x9969,
+    0xA90A,
+    0xB92B,
+    0x5AF5,
+    0x4AD4,
+    0x7AB7,
+    0x6A96,
+    0x1A71,
+    0x0A50,
+    0x3A33,
+    0x2A12,
+    0xDBFD,
+    0xCBDC,
+    0xFBBF,
+    0xEB9E,
+    0x9B79,
+    0x8B58,
+    0xBB3B,
+    0xAB1A,
+    0x6CA6,
+    0x7C87,
+    0x4CE4,
+    0x5CC5,
+    0x2C22,
+    0x3C03,
+    0x0C60,
+    0x1C41,
+    0xEDAE,
+    0xFD8F,
+    0xCDEC,
+    0xDDCD,
+    0xAD2A,
+    0xBD0B,
+    0x8D68,
+    0x9D49,
+    0x7E97,
+    0x6EB6,
+    0x5ED5,
+    0x4EF4,
+    0x3E13,
+    0x2E32,
+    0x1E51,
+    0x0E70,
+    0xFF9F,
+    0xEFBE,
+    0xDFDD,
+    0xCFFC,
+    0xBF1B,
+    0xAF3A,
+    0x9F59,
+    0x8F78,
+    0x9188,
+    0x81A9,
+    0xB1CA,
+    0xA1EB,
+    0xD10C,
+    0xC12D,
+    0xF14E,
+    0xE16F,
+    0x1080,
+    0x00A1,
+    0x30C2,
+    0x20E3,
+    0x5004,
+    0x4025,
+    0x7046,
+    0x6067,
+    0x83B9,
+    0x9398,
+    0xA3FB,
+    0xB3DA,
+    0xC33D,
+    0xD31C,
+    0xE37F,
+    0xF35E,
+    0x02B1,
+    0x1290,
+    0x22F3,
+    0x32D2,
+    0x4235,
+    0x5214,
+    0x6277,
+    0x7256,
+    0xB5EA,
+    0xA5CB,
+    0x95A8,
+    0x8589,
+    0xF56E,
+    0xE54F,
+    0xD52C,
+    0xC50D,
+    0x34E2,
+    0x24C3,
+    0x14A0,
+    0x0481,
+    0x7466,
+    0x6447,
+    0x5424,
+    0x4405,
+    0xA7DB,
+    0xB7FA,
+    0x8799,
+    0x97B8,
+    0xE75F,
+    0xF77E,
+    0xC71D,
+    0xD73C,
+    0x26D3,
+    0x36F2,
+    0x0691,
+    0x16B0,
+    0x6657,
+    0x7676,
+    0x4615,
+    0x5634,
+    0xD94C,
+    0xC96D,
+    0xF90E,
+    0xE92F,
+    0x99C8,
+    0x89E9,
+    0xB98A,
+    0xA9AB,
+    0x5844,
+    0x4865,
+    0x7806,
+    0x6827,
+    0x18C0,
+    0x08E1,
+    0x3882,
+    0x28A3,
+    0xCB7D,
+    0xDB5C,
+    0xEB3F,
+    0xFB1E,
+    0x8BF9,
+    0x9BD8,
+    0xABBB,
+    0xBB9A,
+    0x4A75,
+    0x5A54,
+    0x6A37,
+    0x7A16,
+    0x0AF1,
+    0x1AD0,
+    0x2AB3,
+    0x3A92,
+    0xFD2E,
+    0xED0F,
+    0xDD6C,
+    0xCD4D,
+    0xBDAA,
+    0xAD8B,
+    0x9DE8,
+    0x8DC9,
+    0x7C26,
+    0x6C07,
+    0x5C64,
+    0x4C45,
+    0x3CA2,
+    0x2C83,
+    0x1CE0,
+    0x0CC1,
+    0xEF1F,
+    0xFF3E,
+    0xCF5D,
+    0xDF7C,
+    0xAF9B,
+    0xBFBA,
+    0x8FD9,
+    0x9FF8,
+    0x6E17,
+    0x7E36,
+    0x4E55,
+    0x5E74,
+    0x2E93,
+    0x3EB2,
+    0x0ED1,
+    0x1EF0,
+]
+
 
 class BleMessage:
     """Class for sending and recieving messages from Luba"""
@@ -43,15 +304,11 @@ class BleMessage:
     mChecksum = False
     mRequireAck = False
     mConnectState = 0
-    mSendSequence: iter
-    mReadSequence: iter
-    mAck: queue
-    notification: BlufiNotifyData
 
     def __init__(self, client: BleakClient) -> None:
         self.client = client
-        self.mSendSequence = itertools.count(start=0)
-        self.mReadSequence = itertools.count(start=0)
+        self.mSendSequence = AtomicInteger(-1)
+        self.mReadSequence = AtomicInteger(-1)
         self.mAck = queue.Queue()
         self.notification = BlufiNotifyData()
 
@@ -131,7 +388,7 @@ class BleMessage:
         await self.client.write_gatt_char(UUID_WRITE_CHARACTERISTIC, data, True)
 
     def parseNotification(self, response: bytearray):
-        dataOffset = None
+        """Parse notification data from BLE device."""
         if response is None:
             # Log.w(TAG, "parseNotification null data");
             return -1
@@ -144,17 +401,20 @@ class BleMessage:
             return -2
 
         sequence = int(response[2])  # toInt
+        current_sequence = self.mReadSequence.get() & 255
+        if sequence == current_sequence:
+            _LOGGER.debug(f"Received bluetooth data 1: {response.hex()}, object: {self}")
+            return 2
 
         # Compare with the second counter, mod 255
-        if sequence != (next(self.mReadSequence) & 255):
+        if sequence != (self.mReadSequence.increment_and_get() & 255):
             _LOGGER.debug(
                 "parseNotification read sequence wrong %s %s",
                 sequence,
-                self.mReadSequence,
+                self.mReadSequence.get(),
             )
-
             # Set the value for mReadSequence manually
-            self.mReadSequence = itertools.count(start=sequence - 1)
+            self.mReadSequence.set(sequence)
 
         # LogUtil.m7773e(self.mGatt.getDevice().getName() + "打印丢包率", self.mReadSequence_2 + "/" + self.mReadSequence_1);
         pkt_type = int(response[0])  # toInt
@@ -180,36 +440,27 @@ class BleMessage:
             #     dataBytes = aes.decrypt(dataBytes);
             # }
             if frameCtrlData.isChecksum():
-                _LOGGER.debug("checksum")
-            #     int respChecksum1 = toInt(response[response.length - 1]);
-            #     int respChecksum2 = toInt(response[response.length - 2]);
-            #     int crc = BlufiCRC.calcCRC(BlufiCRC.calcCRC(0, new byte[]{(byte) sequence, (byte) dataLen}), dataBytes);
-            #     int calcChecksum1 = (crc >> 8) & 255;
-            #     int calcChecksum2 = crc & 255;
-            #     if (respChecksum1 != calcChecksum1 || respChecksum2 != calcChecksum2) {
-            #         Log.w(TAG, "parseNotification: read invalid checksum");
-            #         if (self.mPrintDebug) {
-            #             Log.d(TAG, "expect   checksum: " + respChecksum1 + ", " + respChecksum2);
-            #             Log.d(TAG, "received checksum: " + calcChecksum1 + ", " + calcChecksum2);
-            #             return -4;
-            #         }
-            #         return -4;
-            #     }
-            # }
-            if frameCtrlData.hasFrag():
-                dataOffset = 2
-            else:
-                dataOffset = 0
-
-            self.notification.addData(dataBytes, dataOffset)
+                respChecksum1 = int(response[-1])
+                respChecksum2 = int(response[-2])
+                crc = self.calc_crc(self.calc_crc(0, bytes([sequence, dataLen])), dataBytes)
+                calcChecksum1 = (crc >> 8) & 255
+                calcChecksum2 = crc & 255
+
+                if respChecksum1 != calcChecksum1 or respChecksum2 != calcChecksum2:
+                    _LOGGER.debug(
+                        f"expect checksum: {respChecksum1}, {respChecksum2}\n"
+                        f"received checksum: {calcChecksum1}, {calcChecksum2}"
+                    )
+                    return -4
+
+            data_offset = 2 if frameCtrlData.hasFrag() else 0
+
+            self.notification.addData(dataBytes, data_offset)
             return 1 if frameCtrlData.hasFrag() else 0
         except Exception as e:
             _LOGGER.debug(e)
             return -100
 
-        # Log.w(TAG, "parseNotification data length less than 4");
-        return -2
-
     async def parseBlufiNotifyData(self, return_bytes: bool = False):
         pkgType = self.notification.getPkgType()
         subType = self.notification.getSubType()
@@ -284,17 +535,17 @@ class BleMessage:
 
     def receiveAck(self, expectAck: int) -> bool:
         try:
-            ack = next(self.mAck)
+            ack = self.mAck.get()
             return ack == expectAck
         except Exception as err:
             _LOGGER.debug(err)
             return False
 
-    def generateSendSequence(self):
-        return next(self.mSendSequence) & 255
+    def generate_send_sequence(self) -> int:
+        return self.mSendSequence.increment_and_get() & 255
 
     async def post_custom_data_bytes(self, data: bytes) -> None:
-        if data == None:
+        if data is None:
             return
         type_val = self.getTypeValue(1, 19)
         try:
@@ -336,7 +587,7 @@ class BleMessage:
         return await self.post_contains_data(encrypt, checksum, require_ack, type_of, data)
 
     async def post_non_data(self, encrypt: bool, checksum: bool, require_ack: bool, type_of: int) -> bool:
-        sequence = self.generateSendSequence()
+        sequence = self.generate_send_sequence()
         postBytes = self.getPostBytes(type_of, encrypt, checksum, require_ack, False, sequence, None)
         posted = await self.gatt_write(postBytes)
         return posted and (not require_ack or self.receiveAck(sequence))
@@ -359,22 +610,26 @@ class BleMessage:
                 chunks.append(data[i : i + chunk_size])
         for index, chunk in enumerate(chunks):
             frag = index != len(chunks) - 1
-            sequence = self.generateSendSequence()
+            sequence = self.generate_send_sequence()
             postBytes = self.getPostBytes(type_of, encrypt, checksum, require_ack, frag, sequence, chunk)
             # _LOGGER.debug("sequence")
             # _LOGGER.debug(sequence)
             posted = await self.gatt_write(postBytes)
-            if posted != None:
+            if posted is not None:
                 return False
 
             if not frag:
                 return not require_ack or self.receiveAck(sequence)
 
+            if require_ack and not self.receiveAck(sequence):
+                return False
+
+            _LOGGER.debug("sleeping 0.01")
+            await sleep(0.01)
             if require_ack and not self.receiveAck(sequence):
                 return False
             else:
-                _LOGGER.debug("sleeping 0.01")
-                await sleep(0.01)
+                return True
 
     def getPostBytes(
         self,
@@ -394,8 +649,42 @@ class BleMessage:
         byteOS.write(sequence.to_bytes(1, sys.byteorder))
         byteOS.write(dataLength.to_bytes(1, sys.byteorder))
 
-        if data != None:
+        if data is not None:
             byteOS.write(data)
 
         _LOGGER.debug(byteOS.getvalue())
         return byteOS.getvalue()
+
+    @staticmethod
+    def calc_crc(initial: int, data: Union[bytes, bytearray]) -> int:
+        """Calculate CRC value for given initial value and byte array.
+
+        Args:
+            initial: Initial CRC value
+            data: Bytes to calculate CRC for
+
+        Returns:
+            Calculated CRC value (16-bit)
+
+        Raises:
+            TypeError: If data is not bytes or bytearray
+            ValueError: If initial value is out of valid range
+
+        """
+        if not isinstance(data, (bytes, bytearray)):
+            raise TypeError("Data must be bytes or bytearray")
+
+        if not 0 <= initial <= 0xFFFF:
+            raise ValueError("Initial value must be between 0 and 65535")
+
+        try:
+            crc = (~initial) & 0xFFFF
+
+            for byte in data:
+                crc = ((crc << 8) ^ CRC_TB[byte ^ (crc >> 8)]) & 0xFFFF
+
+            return (~crc) & 0xFFFF
+
+        except Exception as e:
+            _LOGGER.error("Error calculating CRC: %s", str(e))
+            raise

pymammotion-0.2.99/pymammotion/bluetooth/model/atomic_integer.py

@@ -0,0 +1,54 @@
+from threading import Lock
+
+
+class AtomicInteger:
+    """Thread-safe atomic integer implementation."""
+
+    def __init__(self, initial_value: int = 0) -> None:
+        """Initialize atomic integer with given value."""
+        self._value = initial_value
+        self._lock = Lock()
+
+    def get(self) -> int:
+        """Get the current value."""
+        with self._lock:
+            return self._value
+
+    def set(self, value: int) -> None:
+        """Set a new value."""
+        with self._lock:
+            self._value = value
+
+    def increment_and_get(self) -> int:
+        """Increment the value and return the new value."""
+        with self._lock:
+            self._value += 1
+            return self._value
+
+    def decrement_and_get(self) -> int:
+        """Decrement the value and return the new value."""
+        with self._lock:
+            self._value -= 1
+            return self._value
+
+    def add_and_get(self, delta: int) -> int:
+        """Add delta to value and return the new value."""
+        with self._lock:
+            self._value += delta
+            return self._value
+
+    def compare_and_set(self, expect: int, update: int) -> bool:
+        """Compare value with expected and set to update if they match."""
+        with self._lock:
+            if self._value == expect:
+                self._value = update
+                return True
+            return False
+
+    def __str__(self) -> str:
+        """Returns string representation of the atomic integer."""
+        return str(self.get())
+
+    def __repr__(self) -> str:
+        """Detailed string representation of the atomic integer."""
+        return f"AtomicInteger({self.get()})"

{pymammotion-0.2.97 → pymammotion-0.2.99}/pymammotion/data/model/report_info.py

@@ -23,6 +23,11 @@ class MnetInfo(DataClassORJSONMixin):
     imei: str = ""
 
 
+@dataclass
+class LockStateT(DataClassORJSONMixin):
+    lock_state: int = 0
+
+
 @dataclass
 class DeviceData(DataClassORJSONMixin):
     sys_status: int = 0
@@ -30,9 +35,11 @@ class DeviceData(DataClassORJSONMixin):
     battery_val: int = 0
     sensor_status: int = 0
     last_status: int = 0
+    vslam_status: int = 0
     sys_time_stamp: str = ""
     collector_status: CollectorStatus = field(default_factory=CollectorStatus)
     mnet_info: MnetInfo = field(default_factory=MnetInfo)
+    lock_state: LockStateT = field(default_factory=LockStateT)
 
 
 @dataclass

{pymammotion-0.2.97 → pymammotion-0.2.99}/pymammotion/http/model/http.py

@@ -9,7 +9,7 @@ DataT = TypeVar("DataT")
 
 
 @dataclass
-class ErrorInfo:
+class ErrorInfo(DataClassDictMixin):
     code: str
     platform: str
     module: str
@@ -44,6 +44,24 @@ class ErrorInfo:
     sl_solution: str
     pt_implication: str
     pt_solution: str
+    hu_implication: str
+    hu_solution: str
+    hr_implication: str
+    hr_solution: str
+    no_implication: str
+    no_solution: str
+    fi_implication: str
+    fi_solution: str
+    ro_implication: str
+    ro_solution: str
+    bg_implication: str
+    bg_solution: str
+    et_implication: str
+    et_solution: str
+    lv_implication: str
+    lv_solution: str
+    lt_implication: str
+    lt_solution: str
 
 
 @dataclass

{pymammotion-0.2.97 → pymammotion-0.2.99}/pymammotion/mammotion/commands/messages/system.py

@@ -127,6 +127,12 @@ class MessageSystem(AbstractMessage, ABC):
             return self.send_order_msg_sys(build)
         return self.send_order_msg_sys(build)
 
+    def traverse_mode(self, id: int) -> None:
+        """Sets the traversal mode back to charger."""
+        # 0 direct
+        # 1 follow the perimeter
+        self.allpowerfull_rw(7, id, 1)
+
     # Commented out as not needed and too many refs to try fix up
     # def factory_test_order(self, test_id: int, test_duration: int, expect: str):
     #     new_builder = mow_to_app_qctools_info_t.Builder()
@@ -224,6 +230,9 @@ class MessageSystem(AbstractMessage, ABC):
     def get_device_version_info(self):
         return self.send_order_msg_sys(MctlSys(todev_get_dev_fw_info=1))
 
+    def read_and_set_rtk_pairing_code(self, op: int, cfg: str) -> bytes:
+        return self.send_order_msg_sys(MctlSys(todev_lora_cfg_req=LoraCfgReq(op=op, cfg=cfg)))
+
     # === sendOrderMsg_Sys2 ===
 
     def request_iot_sys(

{pymammotion-0.2.97 → pymammotion-0.2.99}/pymammotion/mammotion/devices/base.py

@@ -204,7 +204,8 @@ class MammotionBaseDevice:
         await self.queue_command("get_device_product_model")
         await self.queue_command("get_report_cfg")
         """RTK and dock location."""
-        await self.queue_command("allpowerfull_rw", id=5, rw=1, context=1)
+        await self.queue_command("allpowerfull_rw", id=5, context=1, rw=1)
+        await self.async_read_settings()
 
     async def start_map_sync(self) -> None:
         """Start sync of map data."""
@@ -225,6 +226,18 @@ class MammotionBaseDevice:
         # jobs list
         # hash_list_result = await self._send_command_with_args("get_all_boundary_hash_list", sub_cmd=3)
 
+    async def async_read_settings(self) -> None:
+        """Read settings from device."""
+        await self.queue_command("allpowerfull_rw", id=3, context=1, rw=0)
+        await self.queue_command("allpowerfull_rw", id=4, context=1, rw=0)
+        await self.queue_command("allpowerfull_rw", id=6, context=1, rw=0)
+        # traversal mode
+        await self.queue_command("allpowerfull_rw", id=7, context=1, rw=0)
+
+        await self.queue_command("read_and_set_sidelight", is_sidelight=True, operate=1)
+
+        await self.queue_command("read_and_set_rtk_pairing_code", op=1, cfg="")
+
     async def async_get_errors(self) -> None:
         """Error codes."""
         await self.queue_command("allpowerfull_rw", id=5, rw=1, context=2)

{pymammotion-0.2.97 → pymammotion-0.2.99}/pyproject.toml

@@ -1,10 +1,10 @@
 [project]
 name        = "pymammotion"
-version     = "0.2.97"
+version     = "0.2.98"
 
 [tool.poetry]
 name        = "pymammotion"
-version     = "0.2.97"
+version     = "0.2.99"
 license     = "GNU-3.0"
 description = ""
 readme      = "README.md"
@@ -61,7 +61,7 @@ mypy = "^1.11.2"
 autotyping = "^24.3.0"
 
 [tool.bumpver]
-current_version = "0.2.97"
+current_version = "0.2.99"
 version_pattern = "MAJOR.MINOR.PATCH"
 commit_message  = "Bump version {old_version} -> {new_version}"
 commit          = true