pymammotion 0.3.8__py3-none-any.whl → 0.4.0__py3-none-any.whl

pymammotion/proto/__init__.py

@@ -1,6 +1,2181 @@
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# sources: pymammotion/proto/basestation.proto, pymammotion/proto/common.proto, pymammotion/proto/dev_net.proto, pymammotion/proto/luba_msg.proto, pymammotion/proto/luba_mul.proto, pymammotion/proto/mctrl_driver.proto, pymammotion/proto/mctrl_nav.proto, pymammotion/proto/mctrl_ota.proto, pymammotion/proto/mctrl_pept.proto, pymammotion/proto/mctrl_sys.proto
+# plugin: python-betterproto
+# This file has been @generated
+from dataclasses import dataclass
+from typing import (
+    Optional,
+)
+
 import betterproto
 
 
+
 def has_field(message: betterproto.Message) -> bool:
     """Check if the message has any fields serialized on wire."""
-    return betterproto.serialized_on_wire(message)
+    return betterproto.serialized_on_wire(message)
+
+
+class WifiConfType(betterproto.Enum):
+    DisconnectWifi = 0
+    ForgetWifi = 1
+    DirectConnectWifi = 2
+    ReconnectWifi = 3
+    set_enable = 4
+
+
+
+class DrvUploadFileFileType(betterproto.Enum):
+    FILE_TYPE_ALL = 0
+    FILE_TYPE_SYSLOG = 1
+    FILE_TYPE_NAVLOG = 2
+    FILE_TYPE_RTKLOG = 3
+
+
+
+class DrvDevInfoResult(betterproto.Enum):
+    DRV_RESULT_FAIL = 0
+    DRV_RESULT_SUC = 1
+    DRV_RESULT_NOTSUP = 2
+
+
+
+class SimCardSta(betterproto.Enum):
+    SIM_NONE = 0
+    SIM_NO_CARD = 1
+    SIM_INVALID = 2
+    SIM_INPUT_PIN = 3
+    SIM_INPUT_PUK = 4
+    SIM_OK = 5
+
+
+
+class MnetLinkType(betterproto.Enum):
+    MNET_LINK_NONE = 0
+    MNET_LINK_2G = 1
+    MNET_LINK_3G = 2
+    MNET_LINK_4G = 3
+
+
+
+class ApnAuthType(betterproto.Enum):
+    APN_AUTH_NONE = 0
+    APN_AUTH_PAP = 1
+    APN_AUTH_CHAP = 2
+    APN_AUTH_PAP_CHAP = 3
+
+
+
+class NetType(betterproto.Enum):
+    WIFI = 0
+    MNET = 1
+
+
+
+class IotConctrlType(betterproto.Enum):
+    IOT_TYPE_OFFLINE = 0
+    IOT_TYPE_ONLINE = 1
+    IOT_TYPE_RESET = 2
+
+
+
+class Operation(betterproto.Enum):
+    WRITE = 0
+    READ = 1
+    ERASE = 2
+
+
+
+class OffPartId(betterproto.Enum):
+    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
+
+
+
+class QcAppTestId(betterproto.Enum):
+    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
+
+
+
+class NetUsedType(betterproto.Enum):
+    NONE = 0
+    WIFI = 1
+    MNET = 2
+
+
+
+class RptInfoType(betterproto.Enum):
+    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
+
+
+
+class RptAct(betterproto.Enum):
+    RPT_START = 0
+    RPT_STOP = 1
+    RPT_KEEP = 2
+
+
+
+class InfoType(betterproto.Enum):
+    IT_BASE = 0
+    IT_OTA = 1
+
+
+
+class MulLanguage(betterproto.Enum):
+    ENGLISH = 0
+    GERMAN = 1
+    UNRECOGNIZED = -1
+
+
+
+class MulCameraPosition(betterproto.Enum):
+    LEFT = 0
+    RIGHT = 1
+    REAR = 2
+    ALL = 3
+
+
+
+class MulVideoErrorCode(betterproto.Enum):
+    SUCCESS = 0
+    ACTIVATION_FAILED = 1
+    NETWORK_NOT_AVAILABLE = 2
+    CREATE_CHANNEL_FAILED = 3
+    PARAM_INVAILD = 4
+    CELLULAR_RESTRICTION = 5
+
+
+
+class MulWiperErrorCode(betterproto.Enum):
+    SET_SUCCESS = 0
+    HW_ERROR = 1
+    NAVIGATION_WORK_FORBID = 2
+
+
+
+class MsgCmdType(betterproto.Enum):
+    START = 0
+    NAV = 240
+    LOCALIZATION = 241
+    PLANNING = 242
+    EMBED_DRIVER = 243
+    EMBED_SYS = 244
+    EMBED_MIDWARE = 245
+    EMBED_OTA = 246
+    APPLICATION = 247
+    ESP = 248
+    MUL = 249
+    PEPT = 250
+
+
+
+class MsgAttr(betterproto.Enum):
+    NONE = 0
+    REQ = 1
+    RESP = 2
+    REPORT = 3
+
+
+
+class MsgDevice(betterproto.Enum):
+    DEV_COMM_ESP = 0
+    DEV_MAINCTL = 1
+    DEV_LEFTMOTOR = 2
+    DEV_RIGHTMOTOR = 3
+    DEV_BASESTATION = 4
+    DEV_RTKCLI = 5
+    DEV_USBHOST = 6
+    DEV_MOBILEAPP = 7
+    DEV_IOTSERVER = 8
+    DEV_BMS = 9
+    DEV_NAVIGATION = 17
+    DEV_LOCALIZATION = 18
+    DEV_PERCEPTION = 19
+    SOC_MODULE_MULTIMEDIA = 21
+    DEV_IOTCTRL = 25
+
+
+
+@dataclass(eq=False, repr=False)
+class RequestBasestationInfoT(betterproto.Message):
+    request_type: int = betterproto.uint32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class ResponseBasestationInfoT(betterproto.Message):
+    system_status: int = betterproto.uint64_field(1)
+    app_connect_type: int = betterproto.uint32_field(2)
+    ble_rssi: int = betterproto.int32_field(3)
+    wifi_rssi: int = betterproto.int32_field(4)
+    sats_num: int = betterproto.uint64_field(5)
+    lora_scan: int = betterproto.int64_field(6)
+    lora_channel: int = betterproto.int64_field(7)
+    lora_locid: int = betterproto.int64_field(8)
+    lora_netid: int = betterproto.int64_field(9)
+    rtk_status: int = betterproto.uint64_field(10)
+    lowpower_status: int = betterproto.int32_field(11)
+    mqtt_rtk_status: int = betterproto.int32_field(12)
+    rtk_channel: int = betterproto.int32_field(13)
+    rtk_switch: int = betterproto.int32_field(14)
+
+
+@dataclass(eq=False, repr=False)
+class AppToBaseMqttRtkT(betterproto.Message):
+    rtk_switch: int = betterproto.int32_field(1)
+    rtk_url: str = betterproto.string_field(2)
+    rtk_port: int = betterproto.int32_field(3)
+    rtk_username: str = betterproto.string_field(4)
+    rtk_password: str = betterproto.string_field(5)
+
+
+@dataclass(eq=False, repr=False)
+class BaseToAppMqttRtkT(betterproto.Message):
+    rtk_switch_status: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class BaseStation(betterproto.Message):
+    to_dev: Optional["RequestBasestationInfoT"] = betterproto.message_field(
+        1, optional=True, group="BaseStationSubType"
+    )
+    to_app: Optional["ResponseBasestationInfoT"] = betterproto.message_field(
+        2, optional=True, group="BaseStationSubType"
+    )
+    app_to_base_mqtt_rtk_msg: Optional["AppToBaseMqttRtkT"] = betterproto.message_field(
+        3, optional=True, group="BaseStationSubType"
+    )
+    base_to_app_mqtt_rtk_msg: Optional["BaseToAppMqttRtkT"] = betterproto.message_field(
+        4, optional=True, group="BaseStationSubType"
+    )
+
+
+
+@dataclass(eq=False, repr=False)
+class CommDataCouple(betterproto.Message):
+    x: float = betterproto.float_field(1)
+    y: float = betterproto.float_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class DrvWifiUpload(betterproto.Message):
+    wifi_msg_upload: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class DrvWifiList(betterproto.Message):
+    nvs_wifi_upload: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class DrvWifiSet(betterproto.Message):
+    config_param: int = betterproto.int32_field(1)
+    confssid: str = betterproto.string_field(2)
+    wifi_enable: bool = betterproto.bool_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class DrvWifiMsg(betterproto.Message):
+    status1: bool = betterproto.bool_field(1)
+    status2: bool = betterproto.bool_field(2)
+    ip: str = betterproto.string_field(3)
+    msgssid: str = betterproto.string_field(4)
+    password: str = betterproto.string_field(5)
+    rssi: int = betterproto.int32_field(6)
+    productkey: str = betterproto.string_field(7)
+    devicename: str = betterproto.string_field(8)
+    wifi_enable: bool = betterproto.bool_field(9)
+
+
+@dataclass(eq=False, repr=False)
+class DrvWifiConf(betterproto.Message):
+    succ_flag: bool = betterproto.bool_field(1)
+    code: int = betterproto.int32_field(2)
+    confssid: str = betterproto.string_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class DrvListUpload(betterproto.Message):
+    sum: int = betterproto.int32_field(1)
+    current: int = betterproto.int32_field(2)
+    status: int = betterproto.int32_field(3)
+    memssid: str = betterproto.string_field(4)
+    rssi: int = betterproto.int32_field(5)
+
+
+@dataclass(eq=False, repr=False)
+class DrvUploadFileReq(betterproto.Message):
+    biz_id: str = betterproto.string_field(1)
+    url: str = betterproto.string_field(2)
+    user_id: str = betterproto.string_field(3)
+    num: int = betterproto.int32_field(4)
+    type: int = betterproto.int32_field(5)
+
+
+@dataclass(eq=False, repr=False)
+class DrvUploadFileCancel(betterproto.Message):
+    biz_id: str = betterproto.string_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class DrvUploadFileToAppReq(betterproto.Message):
+    biz_id: str = betterproto.string_field(1)
+    operation: int = betterproto.int32_field(2)
+    server_ip: int = betterproto.fixed32_field(3)
+    server_port: int = betterproto.int32_field(4)
+    num: int = betterproto.int32_field(5)
+    type: int = betterproto.int32_field(6)
+
+
+@dataclass(eq=False, repr=False)
+class DrvUploadFileToAppRsp(betterproto.Message):
+    biz_id: str = betterproto.string_field(1)
+    operation: int = betterproto.int32_field(2)
+    result: int = betterproto.int32_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class DrvDevInfoReqId(betterproto.Message):
+    id: int = betterproto.int32_field(1)
+    type: int = betterproto.int32_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class DrvDevInfoRespId(betterproto.Message):
+    id: int = betterproto.int32_field(1)
+    type: int = betterproto.int32_field(2)
+    res: "DrvDevInfoResult" = betterproto.enum_field(3)
+    info: str = betterproto.string_field(4)
+
+
+@dataclass(eq=False, repr=False)
+class DrvDevInfoReq(betterproto.Message):
+    req_ids: list["DrvDevInfoReqId"] = betterproto.message_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class DrvDevInfoResp(betterproto.Message):
+    resp_ids: list["DrvDevInfoRespId"] = betterproto.message_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class DrvUpgradeReport(betterproto.Message):
+    devname: str = betterproto.string_field(1)
+    otaid: str = betterproto.string_field(2)
+    version: str = betterproto.string_field(3)
+    progress: int = betterproto.int32_field(4)
+    result: int = betterproto.int32_field(5)
+    message: str = betterproto.string_field(6)
+    properties: str = betterproto.string_field(7)
+
+
+@dataclass(eq=False, repr=False)
+class WifiIotStatusReport(betterproto.Message):
+    wifi_connected: bool = betterproto.bool_field(1)
+    iot_connected: bool = betterproto.bool_field(2)
+    productkey: str = betterproto.string_field(3)
+    devicename: str = betterproto.string_field(4)
+
+
+@dataclass(eq=False, repr=False)
+class BleTestBytes(betterproto.Message):
+    seqs: int = betterproto.int32_field(1)
+    data: list[int] = betterproto.fixed32_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class GetNetworkInfoReq(betterproto.Message):
+    req_ids: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class GetNetworkInfoRsp(betterproto.Message):
+    req_ids: int = betterproto.int32_field(1)
+    wifi_ssid: str = betterproto.string_field(2)
+    wifi_mac: str = betterproto.string_field(3)
+    wifi_rssi: int = betterproto.int32_field(4)
+    ip: int = betterproto.fixed32_field(5)
+    mask: int = betterproto.fixed32_field(6)
+    gateway: int = betterproto.fixed32_field(7)
+
+
+@dataclass(eq=False, repr=False)
+class MnetInetStatus(betterproto.Message):
+    connect: bool = betterproto.bool_field(1)
+    ip: int = betterproto.fixed32_field(2)
+    mask: int = betterproto.fixed32_field(3)
+    gateway: int = betterproto.fixed32_field(4)
+
+
+@dataclass(eq=False, repr=False)
+class MnetInfo(betterproto.Message):
+    model: str = betterproto.string_field(1)
+    revision: str = betterproto.string_field(2)
+    imei: str = betterproto.string_field(3)
+    sim: "SimCardSta" = betterproto.enum_field(4)
+    imsi: str = betterproto.string_field(5)
+    link_type: "MnetLinkType" = betterproto.enum_field(6)
+    rssi: int = betterproto.int32_field(7)
+    inet: "MnetInetStatus" = betterproto.message_field(8)
+
+
+@dataclass(eq=False, repr=False)
+class GetMnetInfoReq(betterproto.Message):
+    req_ids: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class GetMnetInfoRsp(betterproto.Message):
+    req_ids: int = betterproto.int32_field(1)
+    result: int = betterproto.int32_field(2)
+    mnet: "MnetInfo" = betterproto.message_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class MnetApn(betterproto.Message):
+    cid: int = betterproto.int32_field(1)
+    apn_alias: str = betterproto.string_field(2)
+    apn_name: str = betterproto.string_field(3)
+    auth: "ApnAuthType" = betterproto.enum_field(4)
+    username: str = betterproto.string_field(5)
+    password: str = betterproto.string_field(6)
+
+
+@dataclass(eq=False, repr=False)
+class MnetApnCfg(betterproto.Message):
+    apn_used_idx: int = betterproto.int32_field(1)
+    apn: list["MnetApn"] = betterproto.message_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class MnetApnSetCfg(betterproto.Message):
+    use_default: bool = betterproto.bool_field(1)
+    cfg: "MnetApnCfg" = betterproto.message_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class MnetCfg(betterproto.Message):
+    mnet_enable: bool = betterproto.bool_field(1)
+    inet_enable: bool = betterproto.bool_field(2)
+    type: "NetType" = betterproto.enum_field(3)
+    apn: "MnetApnSetCfg" = betterproto.message_field(4)
+    auto_select: bool = betterproto.bool_field(5)
+
+
+@dataclass(eq=False, repr=False)
+class GetMnetCfgReq(betterproto.Message):
+    req_ids: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class GetMnetCfgRsp(betterproto.Message):
+    req_ids: int = betterproto.int32_field(1)
+    result: int = betterproto.int32_field(2)
+    cfg: "MnetCfg" = betterproto.message_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class SetMnetCfgReq(betterproto.Message):
+    req_ids: int = betterproto.int32_field(1)
+    cfg: "MnetCfg" = betterproto.message_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class SetMnetCfgRsp(betterproto.Message):
+    req_ids: int = betterproto.int32_field(1)
+    result: int = betterproto.int32_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class DrvDebugDdsZmq(betterproto.Message):
+    is_enable: bool = betterproto.bool_field(1)
+    rx_topic_name: str = betterproto.string_field(2)
+    tx_zmq_url: str = betterproto.string_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class SetDrvBleMtu(betterproto.Message):
+    mtu_count: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class DevNet(betterproto.Message):
+    todev_ble_sync: Optional[int] = betterproto.int32_field(
+        1, optional=True, group="NetSubType"
+    )
+    todev_conf_type: Optional["WifiConfType"] = betterproto.enum_field(
+        2, optional=True, group="NetSubType"
+    )
+    todev_wifi_msg_upload: Optional["DrvWifiUpload"] = betterproto.message_field(
+        3, optional=True, group="NetSubType"
+    )
+    todev_wifi_list_upload: Optional["DrvWifiList"] = betterproto.message_field(
+        4, optional=True, group="NetSubType"
+    )
+    todev_wifi_configuration: Optional["DrvWifiSet"] = betterproto.message_field(
+        5, optional=True, group="NetSubType"
+    )
+    toapp_wifi_msg: Optional["DrvWifiMsg"] = betterproto.message_field(
+        6, optional=True, group="NetSubType"
+    )
+    toapp_wifi_conf: Optional["DrvWifiConf"] = betterproto.message_field(
+        7, optional=True, group="NetSubType"
+    )
+    toapp_list_upload: Optional["DrvListUpload"] = betterproto.message_field(
+        8, optional=True, group="NetSubType"
+    )
+    todev_req_log_info: Optional["DrvUploadFileReq"] = betterproto.message_field(
+        9, optional=True, group="NetSubType"
+    )
+    todev_log_data_cancel: Optional["DrvUploadFileCancel"] = betterproto.message_field(
+        10, optional=True, group="NetSubType"
+    )
+    todev_devinfo_req: Optional["DrvDevInfoReq"] = betterproto.message_field(
+        11, optional=True, group="NetSubType"
+    )
+    toapp_devinfo_resp: Optional["DrvDevInfoResp"] = betterproto.message_field(
+        12, optional=True, group="NetSubType"
+    )
+    toapp_upgrade_report: Optional["DrvUpgradeReport"] = betterproto.message_field(
+        13, optional=True, group="NetSubType"
+    )
+    toapp_wifi_iot_status: Optional["WifiIotStatusReport"] = betterproto.message_field(
+        14, optional=True, group="NetSubType"
+    )
+    todev_uploadfile_req: Optional["DrvUploadFileToAppReq"] = betterproto.message_field(
+        15, optional=True, group="NetSubType"
+    )
+    toapp_uploadfile_rsp: Optional["DrvUploadFileToAppRsp"] = betterproto.message_field(
+        16, optional=True, group="NetSubType"
+    )
+    todev_networkinfo_req: Optional["GetNetworkInfoReq"] = betterproto.message_field(
+        17, optional=True, group="NetSubType"
+    )
+    toapp_networkinfo_rsp: Optional["GetNetworkInfoRsp"] = betterproto.message_field(
+        18, optional=True, group="NetSubType"
+    )
+    bir_testdata: Optional["BleTestBytes"] = betterproto.message_field(
+        19, optional=True, group="NetSubType"
+    )
+    todev_mnet_info_req: Optional["GetMnetInfoReq"] = betterproto.message_field(
+        20, optional=True, group="NetSubType"
+    )
+    toapp_mnet_info_rsp: Optional["GetMnetInfoRsp"] = betterproto.message_field(
+        21, optional=True, group="NetSubType"
+    )
+    todev_get_mnet_cfg_req: Optional["GetMnetCfgReq"] = betterproto.message_field(
+        22, optional=True, group="NetSubType"
+    )
+    toapp_get_mnet_cfg_rsp: Optional["GetMnetCfgRsp"] = betterproto.message_field(
+        23, optional=True, group="NetSubType"
+    )
+    todev_set_mnet_cfg_req: Optional["SetMnetCfgReq"] = betterproto.message_field(
+        24, optional=True, group="NetSubType"
+    )
+    toapp_set_mnet_cfg_rsp: Optional["SetMnetCfgRsp"] = betterproto.message_field(
+        25, optional=True, group="NetSubType"
+    )
+    todev_set_dds2_zmq: Optional["DrvDebugDdsZmq"] = betterproto.message_field(
+        26, optional=True, group="NetSubType"
+    )
+    todev_set_ble_mtu: Optional["SetDrvBleMtu"] = betterproto.message_field(
+        27, optional=True, group="NetSubType"
+    )
+    todev_set_iot_offline_req: Optional["IotConctrlType"] = betterproto.enum_field(
+        28, optional=True, group="NetSubType"
+    )
+
+
+
+@dataclass(eq=False, repr=False)
+class DrvMotionCtrl(betterproto.Message):
+    set_linear_speed: int = betterproto.int32_field(1)
+    set_angular_speed: int = betterproto.int32_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class DrvKnifeHeight(betterproto.Message):
+    knife_height: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class DrvSrSpeed(betterproto.Message):
+    rw: int = betterproto.int32_field(1)
+    speed: float = betterproto.float_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class DrvKnifeStatus(betterproto.Message):
+    knife_status: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class DrvKnifeChangeReport(betterproto.Message):
+    is_start: int = betterproto.int32_field(1)
+    start_high: int = betterproto.int32_field(2)
+    end_high: int = betterproto.int32_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class DrvMowCtrlByHand(betterproto.Message):
+    main_ctrl: int = betterproto.int32_field(1)
+    cut_knife_ctrl: int = betterproto.int32_field(2)
+    cut_knife_height: int = betterproto.int32_field(3)
+    max_run_speed: float = betterproto.float_field(4)
+
+
+@dataclass(eq=False, repr=False)
+class RtkCfgReqT(betterproto.Message):
+    cmd_length: int = betterproto.int32_field(1)
+    cmd_req: str = betterproto.string_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class RtkCfgReqAckT(betterproto.Message):
+    cmd_length: int = betterproto.int32_field(1)
+    cmd_response: str = betterproto.string_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class RtkSysMaskQueryT(betterproto.Message):
+    sat_system: int = betterproto.uint32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class RtkSysMaskQueryAckT(betterproto.Message):
+    sat_system: int = betterproto.uint32_field(1)
+    system_mask_bits: list[int] = betterproto.uint32_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class MctlDriver(betterproto.Message):
+    todev_devmotion_ctrl: Optional["DrvMotionCtrl"] = betterproto.message_field(
+        1, optional=True, group="SubDrvMsg"
+    )
+    todev_knife_height_set: Optional["DrvKnifeHeight"] = betterproto.message_field(
+        2, optional=True, group="SubDrvMsg"
+    )
+    bidire_speed_read_set: Optional["DrvSrSpeed"] = betterproto.message_field(
+        3, optional=True, group="SubDrvMsg"
+    )
+    bidire_knife_height_report: Optional["DrvKnifeHeight"] = betterproto.message_field(
+        4, optional=True, group="SubDrvMsg"
+    )
+    toapp_knife_status: Optional["DrvKnifeStatus"] = betterproto.message_field(
+        5, optional=True, group="SubDrvMsg"
+    )
+    mow_ctrl_by_hand: Optional["DrvMowCtrlByHand"] = betterproto.message_field(
+        6, optional=True, group="SubDrvMsg"
+    )
+    rtk_cfg_req: Optional["RtkCfgReqT"] = betterproto.message_field(
+        7, optional=True, group="SubDrvMsg"
+    )
+    rtk_cfg_req_ack: Optional["RtkCfgReqAckT"] = betterproto.message_field(
+        8, optional=True, group="SubDrvMsg"
+    )
+    rtk_sys_mask_query: Optional["RtkSysMaskQueryT"] = betterproto.message_field(
+        9, optional=True, group="SubDrvMsg"
+    )
+    rtk_sys_mask_query_ack: Optional["RtkSysMaskQueryAckT"] = betterproto.message_field(
+        10, optional=True, group="SubDrvMsg"
+    )
+    toapp_knife_status_change: Optional["DrvKnifeChangeReport"] = (
+        betterproto.message_field(11, optional=True, group="SubDrvMsg")
+    )
+
+
+
+@dataclass(eq=False, repr=False)
+class NavLatLonUp(betterproto.Message):
+    lat: float = betterproto.double_field(1)
+    lon: float = betterproto.double_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class NavBorderState(betterproto.Message):
+    bdstate: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class NavPosUp(betterproto.Message):
+    x: float = betterproto.float_field(1)
+    y: float = betterproto.float_field(2)
+    status: int = betterproto.int32_field(3)
+    toward: int = betterproto.int32_field(4)
+    stars: int = betterproto.int32_field(5)
+    age: float = betterproto.float_field(6)
+    lat_stddev: float = betterproto.float_field(7)
+    lon_stddev: float = betterproto.float_field(8)
+    l2_df_stars: int = betterproto.int32_field(9)
+    pos_type: int = betterproto.int32_field(10)
+    c_hash_id: int = betterproto.int64_field(11)
+    pos_level: int = betterproto.int32_field(12)
+
+
+@dataclass(eq=False, repr=False)
+class NavBorderDataGetAck(betterproto.Message):
+    job_id: int = betterproto.int32_field(1)
+    current_frame: int = betterproto.int32_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class NavObstiBorderDataGet(betterproto.Message):
+    obstacle_index: int = betterproto.int32_field(1)
+    current_frame: int = betterproto.int32_field(2)
+    obstacles_len: int = betterproto.int32_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class NavObstiBorderDataGetAck(betterproto.Message):
+    obstacle_index: int = betterproto.int32_field(1)
+    current_frame: int = betterproto.int32_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class NavCHlLineData(betterproto.Message):
+    start_job_ri: int = betterproto.int32_field(1)
+    end_job_ri: int = betterproto.int32_field(2)
+    current_frame: int = betterproto.int32_field(3)
+    channel_line_len: int = betterproto.int32_field(4)
+
+
+@dataclass(eq=False, repr=False)
+class NavCHlLineDataAck(betterproto.Message):
+    start_job_ri: int = betterproto.int32_field(1)
+    end_job_ri: int = betterproto.int32_field(2)
+    current_frame: int = betterproto.int32_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class NavTaskInfo(betterproto.Message):
+    area: int = betterproto.int32_field(1)
+    time: int = betterproto.int32_field(2)
+    all_frame: int = betterproto.int32_field(3)
+    current_frame: int = betterproto.int32_field(4)
+    pathlen: int = betterproto.int32_field(5)
+    dc: list["CommDataCouple"] = betterproto.message_field(6)
+
+
+@dataclass(eq=False, repr=False)
+class NavBorderDataGet(betterproto.Message):
+    job_id: int = betterproto.int32_field(1)
+    current_frame: int = betterproto.int32_field(2)
+    border_len: int = betterproto.int32_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class NavOptLineUp(betterproto.Message):
+    start_job_ri: int = betterproto.int32_field(1)
+    end_job_ri: int = betterproto.int32_field(2)
+    all_frame: int = betterproto.int32_field(3)
+    current_frame: int = betterproto.int32_field(4)
+    channel_data_len: int = betterproto.int32_field(5)
+    dc: list["CommDataCouple"] = betterproto.message_field(6)
+
+
+@dataclass(eq=False, repr=False)
+class NavOptiBorderInfo(betterproto.Message):
+    job_id: int = betterproto.int32_field(1)
+    all_frame: int = betterproto.int32_field(2)
+    current_frame: int = betterproto.int32_field(3)
+    border_data_len: int = betterproto.int32_field(4)
+    dc: list["CommDataCouple"] = betterproto.message_field(5)
+
+
+@dataclass(eq=False, repr=False)
+class NavOptObsInfo(betterproto.Message):
+    obstacle_id: int = betterproto.int32_field(1)
+    all_frame: int = betterproto.int32_field(2)
+    current_frame: int = betterproto.int32_field(3)
+    obstacle_data_len: int = betterproto.int32_field(4)
+    dc: list["CommDataCouple"] = betterproto.message_field(5)
+
+
+@dataclass(eq=False, repr=False)
+class NavStartJob(betterproto.Message):
+    job_id: int = betterproto.int64_field(1)
+    job_ver: int = betterproto.int32_field(2)
+    job_mode: int = betterproto.int32_field(3)
+    rain_tactics: int = betterproto.int32_field(4)
+    knife_height: int = betterproto.int32_field(5)
+    speed: float = betterproto.float_field(6)
+    channel_width: int = betterproto.int32_field(7)
+    ultra_wave: int = betterproto.int32_field(8)
+    channel_mode: int = betterproto.int32_field(9)
+
+
+@dataclass(eq=False, repr=False)
+class NavTaskProgress(betterproto.Message):
+    task_progress: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class NavResFrame(betterproto.Message):
+    frameid: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class NavGetHashList(betterproto.Message):
+    pver: int = betterproto.int32_field(1)
+    sub_cmd: int = betterproto.int32_field(2)
+    total_frame: int = betterproto.int32_field(3)
+    current_frame: int = betterproto.int32_field(4)
+    data_hash: int = betterproto.fixed64_field(5)
+    reserved: str = betterproto.string_field(6)
+
+
+@dataclass(eq=False, repr=False)
+class NavGetHashListAck(betterproto.Message):
+    pver: int = betterproto.int32_field(1)
+    sub_cmd: int = betterproto.int32_field(2)
+    total_frame: int = betterproto.int32_field(3)
+    current_frame: int = betterproto.int32_field(4)
+    data_hash: int = betterproto.fixed64_field(5)
+    hash_len: int = betterproto.int32_field(6)
+    reserved: str = betterproto.string_field(7)
+    result: int = betterproto.int32_field(8)
+    data_couple: list[int] = betterproto.int64_field(13)
+
+
+@dataclass(eq=False, repr=False)
+class NavGetCommData(betterproto.Message):
+    pver: int = betterproto.int32_field(1)
+    sub_cmd: int = betterproto.int32_field(2)
+    action: int = betterproto.int32_field(3)
+    type: int = betterproto.int32_field(4)
+    hash: int = betterproto.int64_field(5)
+    paternal_hash_a: int = betterproto.int64_field(6)
+    paternal_hash_b: int = betterproto.int64_field(7)
+    total_frame: int = betterproto.int32_field(8)
+    current_frame: int = betterproto.int32_field(9)
+    data_hash: int = betterproto.fixed64_field(10)
+    reserved: str = betterproto.string_field(11)
+
+
+@dataclass(eq=False, repr=False)
+class AreaLabel(betterproto.Message):
+    label: str = betterproto.string_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class NavGetCommDataAck(betterproto.Message):
+    pver: int = betterproto.int32_field(1)
+    sub_cmd: int = betterproto.int32_field(2)
+    result: int = betterproto.int32_field(3)
+    action: int = betterproto.int32_field(4)
+    type: int = betterproto.int32_field(5)
+    hash: int = betterproto.fixed64_field(6)
+    paternal_hash_a: int = betterproto.fixed64_field(7)
+    paternal_hash_b: int = betterproto.fixed64_field(8)
+    total_frame: int = betterproto.int32_field(9)
+    current_frame: int = betterproto.int32_field(10)
+    data_hash: int = betterproto.fixed64_field(11)
+    data_len: int = betterproto.int32_field(12)
+    data_couple: list["CommDataCouple"] = betterproto.message_field(13)
+    reserved: str = betterproto.string_field(14)
+    area_label: "AreaLabel" = betterproto.message_field(15)
+
+
+@dataclass(eq=False, repr=False)
+class NavReqCoverPath(betterproto.Message):
+    pver: int = betterproto.int32_field(1)
+    job_id: int = betterproto.fixed64_field(2)
+    job_ver: int = betterproto.int32_field(3)
+    job_mode: int = betterproto.int32_field(4)
+    sub_cmd: int = betterproto.int32_field(5)
+    edge_mode: int = betterproto.int32_field(6)
+    knife_height: int = betterproto.int32_field(7)
+    channel_width: int = betterproto.int32_field(8)
+    ultra_wave: int = betterproto.int32_field(9)
+    channel_mode: int = betterproto.int32_field(10)
+    toward: int = betterproto.int32_field(11)
+    speed: float = betterproto.float_field(12)
+    zone_hashs: list[int] = betterproto.fixed64_field(13)
+    path_hash: int = betterproto.fixed64_field(14)
+    reserved: str = betterproto.string_field(15)
+    result: int = betterproto.int32_field(16)
+    toward_mode: int = betterproto.int32_field(17)
+    toward_included_angle: int = betterproto.int32_field(18)
+
+
+@dataclass(eq=False, repr=False)
+class NavUploadZigZagResult(betterproto.Message):
+    pver: int = betterproto.int32_field(1)
+    job_id: int = betterproto.fixed64_field(2)
+    job_ver: int = betterproto.int32_field(3)
+    result: int = betterproto.int32_field(4)
+    area: int = betterproto.int32_field(5)
+    time: int = betterproto.int32_field(6)
+    total_zone_num: int = betterproto.int32_field(7)
+    current_zone_path_num: int = betterproto.int32_field(8)
+    current_zone_path_id: int = betterproto.int32_field(9)
+    current_zone: int = betterproto.int32_field(10)
+    current_hash: int = betterproto.fixed64_field(11)
+    total_frame: int = betterproto.int32_field(12)
+    current_frame: int = betterproto.int32_field(13)
+    channel_mode: int = betterproto.int32_field(14)
+    channel_mode_id: int = betterproto.int32_field(15)
+    data_hash: int = betterproto.fixed64_field(16)
+    data_len: int = betterproto.int32_field(17)
+    reserved: str = betterproto.string_field(18)
+    data_couple: list["CommDataCouple"] = betterproto.message_field(19)
+    sub_cmd: int = betterproto.int32_field(20)
+
+
+@dataclass(eq=False, repr=False)
+class NavUploadZigZagResultAck(betterproto.Message):
+    pver: int = betterproto.int32_field(1)
+    current_zone: int = betterproto.int32_field(2)
+    current_hash: int = betterproto.fixed64_field(3)
+    total_frame: int = betterproto.int32_field(4)
+    current_frame: int = betterproto.int32_field(5)
+    data_hash: int = betterproto.fixed64_field(6)
+    reserved: str = betterproto.string_field(7)
+    sub_cmd: int = betterproto.int32_field(8)
+
+
+@dataclass(eq=False, repr=False)
+class NavTaskCtrl(betterproto.Message):
+    type: int = betterproto.int32_field(1)
+    action: int = betterproto.int32_field(2)
+    result: int = betterproto.int32_field(3)
+    reserved: str = betterproto.string_field(4)
+
+
+@dataclass(eq=False, repr=False)
+class NavTaskIdRw(betterproto.Message):
+    pver: int = betterproto.int32_field(1)
+    sub_cmd: int = betterproto.int32_field(2)
+    task_name: str = betterproto.string_field(3)
+    task_id: str = betterproto.string_field(4)
+    result: int = betterproto.int32_field(5)
+    reserved: str = betterproto.string_field(6)
+
+
+@dataclass(eq=False, repr=False)
+class NavSysHashOverview(betterproto.Message):
+    commonhash_overview: int = betterproto.fixed64_field(1)
+    path_hash_overview: int = betterproto.fixed64_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class NavTaskBreakPoint(betterproto.Message):
+    x: float = betterproto.float_field(1)
+    y: float = betterproto.float_field(2)
+    toward: int = betterproto.int32_field(3)
+    flag: int = betterproto.int32_field(4)
+    action: int = betterproto.int32_field(5)
+    zone_hash: int = betterproto.fixed64_field(6)
+
+
+@dataclass(eq=False, repr=False)
+class NavPlanJobSet(betterproto.Message):
+    pver: int = betterproto.int32_field(1)
+    sub_cmd: int = betterproto.int32_field(2)
+    area: int = betterproto.int32_field(3)
+    work_time: int = betterproto.int32_field(4)
+    version: str = betterproto.string_field(5)
+    id: str = betterproto.string_field(6)
+    user_id: str = betterproto.string_field(7)
+    device_id: str = betterproto.string_field(8)
+    plan_id: str = betterproto.string_field(9)
+    task_id: str = betterproto.string_field(10)
+    job_id: str = betterproto.string_field(11)
+    start_time: str = betterproto.string_field(12)
+    end_time: str = betterproto.string_field(13)
+    week: int = betterproto.int32_field(14)
+    knife_height: int = betterproto.int32_field(15)
+    model: int = betterproto.int32_field(16)
+    edge_mode: int = betterproto.int32_field(17)
+    required_time: int = betterproto.int32_field(18)
+    route_angle: int = betterproto.int32_field(19)
+    route_model: int = betterproto.int32_field(20)
+    route_spacing: int = betterproto.int32_field(21)
+    ultrasonic_barrier: int = betterproto.int32_field(22)
+    total_plan_num: int = betterproto.int32_field(23)
+    plan_index: int = betterproto.int32_field(24)
+    result: int = betterproto.int32_field(25)
+    speed: float = betterproto.float_field(26)
+    task_name: str = betterproto.string_field(27)
+    job_name: str = betterproto.string_field(28)
+    zone_hashs: list[int] = betterproto.fixed64_field(29)
+    reserved: str = betterproto.string_field(30)
+    start_date: str = betterproto.string_field(31)
+    end_date: str = betterproto.string_field(32)
+    trigger_type: int = betterproto.int32_field(33)
+    day: int = betterproto.int32_field(34)
+    weeks: list[int] = betterproto.fixed32_field(35)
+    remained_seconds: int = betterproto.int64_field(36)
+    toward_mode: int = betterproto.int32_field(37)
+    toward_included_angle: int = betterproto.int32_field(38)
+
+
+@dataclass(eq=False, repr=False)
+class NavUnableTimeSet(betterproto.Message):
+    sub_cmd: int = betterproto.int32_field(1)
+    device_id: str = betterproto.string_field(2)
+    unable_start_time: str = betterproto.string_field(3)
+    unable_end_time: str = betterproto.string_field(4)
+    result: int = betterproto.int32_field(5)
+    reserved: str = betterproto.string_field(6)
+
+
+@dataclass(eq=False, repr=False)
+class ChargePileType(betterproto.Message):
+    toward: int = betterproto.int32_field(1)
+    x: float = betterproto.float_field(2)
+    y: float = betterproto.float_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class SimulationCmdData(betterproto.Message):
+    sub_cmd: int = betterproto.int32_field(1)
+    param_id: int = betterproto.int32_field(2)
+    param_value: list[int] = betterproto.int32_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class WorkReportUpdateCmd(betterproto.Message):
+    sub_cmd: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class WorkReportUpdateAck(betterproto.Message):
+    update_flag: bool = betterproto.bool_field(1)
+    info_num: int = betterproto.int32_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class WorkReportCmdData(betterproto.Message):
+    sub_cmd: int = betterproto.int32_field(1)
+    get_info_num: int = betterproto.int32_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class WorkReportInfoAck(betterproto.Message):
+    interrupt_flag: bool = betterproto.bool_field(1)
+    start_work_time: int = betterproto.int64_field(2)
+    end_work_time: int = betterproto.int64_field(3)
+    work_time_used: int = betterproto.int32_field(4)
+    work_ares: float = betterproto.double_field(5)
+    work_progress: int = betterproto.int32_field(6)
+    height_of_knife: int = betterproto.int32_field(7)
+    work_type: int = betterproto.int32_field(8)
+    work_result: int = betterproto.int32_field(9)
+    total_ack_num: int = betterproto.int32_field(10)
+    current_ack_num: int = betterproto.int32_field(11)
+
+
+@dataclass(eq=False, repr=False)
+class AppRequestCoverPathsT(betterproto.Message):
+    pver: int = betterproto.int32_field(1)
+    sub_cmd: int = betterproto.int32_field(2)
+    total_frame: int = betterproto.int32_field(3)
+    current_frame: int = betterproto.int32_field(4)
+    data_hash: int = betterproto.fixed64_field(5)
+    transaction_id: int = betterproto.int64_field(6)
+    reserved: list[int] = betterproto.int64_field(7)
+    hash_list: list[int] = betterproto.fixed64_field(8)
+
+
+@dataclass(eq=False, repr=False)
+class CoverPathPacketT(betterproto.Message):
+    path_hash: int = betterproto.fixed64_field(1)
+    path_type: int = betterproto.int32_field(2)
+    path_total: int = betterproto.int32_field(3)
+    path_cur: int = betterproto.int32_field(4)
+    zone_hash: int = betterproto.fixed64_field(5)
+    data_couple: list["CommDataCouple"] = betterproto.message_field(6)
+
+
+@dataclass(eq=False, repr=False)
+class CoverPathUploadT(betterproto.Message):
+    pver: int = betterproto.int32_field(1)
+    result: int = betterproto.int32_field(2)
+    sub_cmd: int = betterproto.int32_field(3)
+    area: int = betterproto.int32_field(4)
+    time: int = betterproto.int32_field(5)
+    total_frame: int = betterproto.int32_field(6)
+    current_frame: int = betterproto.int32_field(7)
+    total_path_num: int = betterproto.int32_field(8)
+    vaild_path_num: int = betterproto.int32_field(9)
+    data_hash: int = betterproto.fixed64_field(10)
+    transaction_id: int = betterproto.int64_field(11)
+    reserved: list[int] = betterproto.int64_field(12)
+    data_len: int = betterproto.int32_field(13)
+    path_packets: list["CoverPathPacketT"] = betterproto.message_field(14)
+
+
+@dataclass(eq=False, repr=False)
+class ZoneStartPrecentT(betterproto.Message):
+    data_hash: int = betterproto.fixed64_field(1)
+    x: float = betterproto.float_field(2)
+    y: float = betterproto.float_field(3)
+    index: int = betterproto.int32_field(4)
+
+
+@dataclass(eq=False, repr=False)
+class VisionCtrlMsg(betterproto.Message):
+    type: int = betterproto.int32_field(1)
+    cmd: int = betterproto.int32_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class NavSysParamMsg(betterproto.Message):
+    rw: int = betterproto.int32_field(1)
+    id: int = betterproto.int32_field(2)
+    context: int = betterproto.int32_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class NavPlanTaskExecute(betterproto.Message):
+    sub_cmd: int = betterproto.int32_field(1)
+    id: str = betterproto.string_field(2)
+    name: str = betterproto.string_field(3)
+    result: int = betterproto.int32_field(4)
+
+
+@dataclass(eq=False, repr=False)
+class CostmapT(betterproto.Message):
+    width: int = betterproto.int32_field(1)
+    height: int = betterproto.int32_field(2)
+    center_x: float = betterproto.float_field(3)
+    center_y: float = betterproto.float_field(4)
+    yaw: float = betterproto.float_field(5)
+    res: float = betterproto.float_field(6)
+    costmap: list[int] = betterproto.int32_field(7)
+
+
+@dataclass(eq=False, repr=False)
+class PlanTaskNameIdT(betterproto.Message):
+    id: str = betterproto.string_field(1)
+    name: str = betterproto.string_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class NavGetAllPlanTask(betterproto.Message):
+    tasks: list["PlanTaskNameIdT"] = betterproto.message_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class NavTaskCtrlAck(betterproto.Message):
+    """Define the NavTaskCtrlAck message"""
+
+    type: int = betterproto.int32_field(1)
+    action: int = betterproto.int32_field(2)
+    result: int = betterproto.int32_field(3)
+    nav_state: int = betterproto.int32_field(4)
+    reserved: str = betterproto.string_field(5)
+
+
+@dataclass(eq=False, repr=False)
+class NavMapNameMsg(betterproto.Message):
+    rw: int = betterproto.int32_field(1)
+    hash: int = betterproto.int64_field(2)
+    name: str = betterproto.string_field(3)
+    result: int = betterproto.int32_field(4)
+    device_id: str = betterproto.string_field(5)
+
+
+@dataclass(eq=False, repr=False)
+class SvgMessageT(betterproto.Message):
+    x_move: float = betterproto.double_field(1)
+    y_move: float = betterproto.double_field(2)
+    scale: float = betterproto.double_field(3)
+    rotate: float = betterproto.double_field(4)
+    base_width_m: float = betterproto.double_field(5)
+    base_width_pix: int = betterproto.int32_field(7)
+    base_height_m: float = betterproto.double_field(6)
+    base_height_pix: int = betterproto.int32_field(8)
+    data_count: int = betterproto.int32_field(12)
+    hide_svg: bool = betterproto.bool_field(13)
+    name_count: int = betterproto.int32_field(11)
+    svg_file_name: str = betterproto.string_field(9)
+    svg_file_data: str = betterproto.string_field(10)
+
+
+@dataclass(eq=False, repr=False)
+class SvgMessageAckT(betterproto.Message):
+    pver: int = betterproto.int32_field(1)
+    sub_cmd: int = betterproto.int32_field(2)
+    total_frame: int = betterproto.int32_field(3)
+    current_frame: int = betterproto.int32_field(4)
+    data_hash: int = betterproto.fixed64_field(5)
+    paternal_hash_a: int = betterproto.fixed64_field(6)
+    type: int = betterproto.int32_field(7)
+    result: int = betterproto.int32_field(8)
+    svg_message: "SvgMessageT" = betterproto.message_field(9)
+
+
+@dataclass(eq=False, repr=False)
+class AreaHashName(betterproto.Message):
+    name: str = betterproto.string_field(2)
+    hash: int = betterproto.int64_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class AppGetAllAreaHashName(betterproto.Message):
+    device_id: str = betterproto.string_field(1)
+    hashnames: list["AreaHashName"] = betterproto.message_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class MctlNav(betterproto.Message):
+    toapp_lat_up: Optional["NavLatLonUp"] = betterproto.message_field(
+        1, optional=True, group="SubNavMsg"
+    )
+    toapp_pos_up: Optional["NavPosUp"] = betterproto.message_field(
+        2, optional=True, group="SubNavMsg"
+    )
+    todev_chl_line_data: Optional["NavCHlLineData"] = betterproto.message_field(
+        3, optional=True, group="SubNavMsg"
+    )
+    toapp_task_info: Optional["NavTaskInfo"] = betterproto.message_field(
+        4, optional=True, group="SubNavMsg"
+    )
+    toapp_opt_line_up: Optional["NavOptLineUp"] = betterproto.message_field(
+        5, optional=True, group="SubNavMsg"
+    )
+    toapp_opt_border_info: Optional["NavOptiBorderInfo"] = betterproto.message_field(
+        6, optional=True, group="SubNavMsg"
+    )
+    toapp_opt_obs_info: Optional["NavOptObsInfo"] = betterproto.message_field(
+        7, optional=True, group="SubNavMsg"
+    )
+    todev_task_info_ack: Optional["NavResFrame"] = betterproto.message_field(
+        8, optional=True, group="SubNavMsg"
+    )
+    todev_opt_border_info_ack: Optional["NavResFrame"] = betterproto.message_field(
+        9, optional=True, group="SubNavMsg"
+    )
+    todev_opt_obs_info_ack: Optional["NavResFrame"] = betterproto.message_field(
+        10, optional=True, group="SubNavMsg"
+    )
+    todev_opt_line_up_ack: Optional["NavResFrame"] = betterproto.message_field(
+        11, optional=True, group="SubNavMsg"
+    )
+    toapp_chgpileto: Optional["ChargePileType"] = betterproto.message_field(
+        12, optional=True, group="SubNavMsg"
+    )
+    todev_sustask: Optional[int] = betterproto.int32_field(
+        13, optional=True, group="SubNavMsg"
+    )
+    todev_rechgcmd: Optional[int] = betterproto.int32_field(
+        14, optional=True, group="SubNavMsg"
+    )
+    todev_edgecmd: Optional[int] = betterproto.int32_field(
+        15, optional=True, group="SubNavMsg"
+    )
+    todev_draw_border: Optional[int] = betterproto.int32_field(
+        16, optional=True, group="SubNavMsg"
+    )
+    todev_draw_border_end: Optional[int] = betterproto.int32_field(
+        17, optional=True, group="SubNavMsg"
+    )
+    todev_draw_obs: Optional[int] = betterproto.int32_field(
+        18, optional=True, group="SubNavMsg"
+    )
+    todev_draw_obs_end: Optional[int] = betterproto.int32_field(
+        19, optional=True, group="SubNavMsg"
+    )
+    todev_chl_line: Optional[int] = betterproto.int32_field(
+        20, optional=True, group="SubNavMsg"
+    )
+    todev_chl_line_end: Optional[int] = betterproto.int32_field(
+        21, optional=True, group="SubNavMsg"
+    )
+    todev_save_task: Optional[int] = betterproto.int32_field(
+        22, optional=True, group="SubNavMsg"
+    )
+    todev_cancel_suscmd: Optional[int] = betterproto.int32_field(
+        23, optional=True, group="SubNavMsg"
+    )
+    todev_reset_chg_pile: Optional[int] = betterproto.int32_field(
+        24, optional=True, group="SubNavMsg"
+    )
+    todev_cancel_draw_cmd: Optional[int] = betterproto.int32_field(
+        25, optional=True, group="SubNavMsg"
+    )
+    todev_one_touch_leave_pile: Optional[int] = betterproto.int32_field(
+        26, optional=True, group="SubNavMsg"
+    )
+    todev_mow_task: Optional["NavStartJob"] = betterproto.message_field(
+        27, optional=True, group="SubNavMsg"
+    )
+    toapp_bstate: Optional["NavBorderState"] = betterproto.message_field(
+        28, optional=True, group="SubNavMsg"
+    )
+    todev_lat_up_ack: Optional[int] = betterproto.int32_field(
+        29, optional=True, group="SubNavMsg"
+    )
+    todev_gethash: Optional["NavGetHashList"] = betterproto.message_field(
+        30, optional=True, group="SubNavMsg"
+    )
+    toapp_gethash_ack: Optional["NavGetHashListAck"] = betterproto.message_field(
+        31, optional=True, group="SubNavMsg"
+    )
+    todev_get_commondata: Optional["NavGetCommData"] = betterproto.message_field(
+        32, optional=True, group="SubNavMsg"
+    )
+    toapp_get_commondata_ack: Optional["NavGetCommDataAck"] = betterproto.message_field(
+        33, optional=True, group="SubNavMsg"
+    )
+    bidire_reqconver_path: Optional["NavReqCoverPath"] = betterproto.message_field(
+        34, optional=True, group="SubNavMsg"
+    )
+    toapp_zigzag: Optional["NavUploadZigZagResult"] = betterproto.message_field(
+        35, optional=True, group="SubNavMsg"
+    )
+    todev_zigzag_ack: Optional["NavUploadZigZagResultAck"] = betterproto.message_field(
+        36, optional=True, group="SubNavMsg"
+    )
+    todev_taskctrl: Optional["NavTaskCtrl"] = betterproto.message_field(
+        37, optional=True, group="SubNavMsg"
+    )
+    bidire_taskid: Optional["NavTaskIdRw"] = betterproto.message_field(
+        38, optional=True, group="SubNavMsg"
+    )
+    toapp_bp: Optional["NavTaskBreakPoint"] = betterproto.message_field(
+        39, optional=True, group="SubNavMsg"
+    )
+    todev_planjob_set: Optional["NavPlanJobSet"] = betterproto.message_field(
+        40, optional=True, group="SubNavMsg"
+    )
+    todev_unable_time_set: Optional["NavUnableTimeSet"] = betterproto.message_field(
+        41, optional=True, group="SubNavMsg"
+    )
+    simulation_cmd: Optional["SimulationCmdData"] = betterproto.message_field(
+        42, optional=True, group="SubNavMsg"
+    )
+    todev_work_report_update_cmd: Optional["WorkReportUpdateCmd"] = (
+        betterproto.message_field(43, optional=True, group="SubNavMsg")
+    )
+    toapp_work_report_update_ack: Optional["WorkReportUpdateAck"] = (
+        betterproto.message_field(44, optional=True, group="SubNavMsg")
+    )
+    todev_work_report_cmd: Optional["WorkReportCmdData"] = betterproto.message_field(
+        45, optional=True, group="SubNavMsg"
+    )
+    toapp_work_report_ack: Optional["WorkReportInfoAck"] = betterproto.message_field(
+        46, optional=True, group="SubNavMsg"
+    )
+    toapp_work_report_upload: Optional["WorkReportInfoAck"] = betterproto.message_field(
+        47, optional=True, group="SubNavMsg"
+    )
+    app_request_cover_paths: Optional["AppRequestCoverPathsT"] = (
+        betterproto.message_field(48, optional=True, group="SubNavMsg")
+    )
+    cover_path_upload: Optional["CoverPathUploadT"] = betterproto.message_field(
+        49, optional=True, group="SubNavMsg"
+    )
+    zone_start_precent: Optional["ZoneStartPrecentT"] = betterproto.message_field(
+        50, optional=True, group="SubNavMsg"
+    )
+    vision_ctrl: Optional["VisionCtrlMsg"] = betterproto.message_field(
+        51, optional=True, group="SubNavMsg"
+    )
+    nav_sys_param_cmd: Optional["NavSysParamMsg"] = betterproto.message_field(
+        52, optional=True, group="SubNavMsg"
+    )
+    plan_task_execute: Optional["NavPlanTaskExecute"] = betterproto.message_field(
+        53, optional=True, group="SubNavMsg"
+    )
+    toapp_costmap: Optional["CostmapT"] = betterproto.message_field(
+        54, optional=True, group="SubNavMsg"
+    )
+    plan_task_name_id: Optional["PlanTaskNameIdT"] = betterproto.message_field(
+        55, optional=True, group="SubNavMsg"
+    )
+    all_plan_task: Optional["NavGetAllPlanTask"] = betterproto.message_field(
+        56, optional=True, group="SubNavMsg"
+    )
+    todev_taskctrl_ack: Optional["NavTaskCtrlAck"] = betterproto.message_field(
+        57, optional=True, group="SubNavMsg"
+    )
+    toapp_map_name_msg: Optional["NavMapNameMsg"] = betterproto.message_field(
+        58, optional=True, group="SubNavMsg"
+    )
+    todev_svg_msg: Optional["SvgMessageAckT"] = betterproto.message_field(
+        59, optional=True, group="SubNavMsg"
+    )
+    toapp_svg_msg: Optional["SvgMessageAckT"] = betterproto.message_field(
+        60, optional=True, group="SubNavMsg"
+    )
+    toapp_all_hash_name: Optional["AppGetAllAreaHashName"] = betterproto.message_field(
+        61, optional=True, group="SubNavMsg"
+    )
+
+
+
+@dataclass(eq=False, repr=False)
+class SysBatUp(betterproto.Message):
+    bat_val: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class SysWorkState(betterproto.Message):
+    device_state: int = betterproto.int32_field(1)
+    charge_state: int = betterproto.int32_field(2)
+    cm_hash: int = betterproto.int64_field(3)
+    path_hash: int = betterproto.int64_field(4)
+
+
+@dataclass(eq=False, repr=False)
+class SysSetTimeZone(betterproto.Message):
+    time_stamp: int = betterproto.int32_field(1)
+    time_area: int = betterproto.int32_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class SysSetDateTime(betterproto.Message):
+    year: int = betterproto.int32_field(1)
+    month: int = betterproto.int32_field(2)
+    date: int = betterproto.int32_field(3)
+    week: int = betterproto.int32_field(4)
+    hours: int = betterproto.int32_field(5)
+    minutes: int = betterproto.int32_field(6)
+    seconds: int = betterproto.int32_field(7)
+    time_zone: int = betterproto.int32_field(8)
+    daylight: int = betterproto.int32_field(9)
+
+
+@dataclass(eq=False, repr=False)
+class SysJobPlan(betterproto.Message):
+    job_id: int = betterproto.int64_field(1)
+    job_mode: int = betterproto.int32_field(2)
+    rain_tactics: int = betterproto.int32_field(3)
+    knife_height: int = betterproto.int32_field(4)
+
+
+@dataclass(eq=False, repr=False)
+class SysDevErrCode(betterproto.Message):
+    error_code: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class SysBoardType(betterproto.Message):
+    board_type: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class SysSwVersion(betterproto.Message):
+    board_type: int = betterproto.int32_field(1)
+    version_len: int = betterproto.int32_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class SysDelJobPlan(betterproto.Message):
+    device_id: str = betterproto.string_field(1)
+    plan_id: str = betterproto.string_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class SysJobPlanTime(betterproto.Message):
+    plan_id: int = betterproto.int64_field(1)
+    start_job_time: int = betterproto.int32_field(2)
+    end_job_time: int = betterproto.int32_field(3)
+    time_in_day: int = betterproto.int32_field(4)
+    job_plan_mode: int = betterproto.int32_field(5)
+    job_plan_enable: int = betterproto.int32_field(6)
+    week_day: list[int] = betterproto.int32_field(7)
+    time_in_week_day: list[int] = betterproto.int32_field(8)
+    every_day: int = betterproto.int32_field(9)
+    job_plan: "SysJobPlan" = betterproto.message_field(10)
+
+
+@dataclass(eq=False, repr=False)
+class SysMowInfo(betterproto.Message):
+    device_state: int = betterproto.int32_field(1)
+    bat_val: int = betterproto.int32_field(2)
+    knife_height: int = betterproto.int32_field(3)
+    rtk_status: int = betterproto.int32_field(4)
+    rtk_stars: int = betterproto.int32_field(5)
+
+
+@dataclass(eq=False, repr=False)
+class SysOptiLineAck(betterproto.Message):
+    respones_cmd: int = betterproto.int32_field(1)
+    current_frame: int = betterproto.int32_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class SysCommCmd(betterproto.Message):
+    rw: int = betterproto.int32_field(1)
+    id: int = betterproto.int32_field(2)
+    context: int = betterproto.int32_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class SysUploadFileProgress(betterproto.Message):
+    biz_id: str = betterproto.string_field(1)
+    result: int = betterproto.int32_field(2)
+    progress: int = betterproto.int32_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class SysErrorCode(betterproto.Message):
+    code_no: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class SysBorder(betterproto.Message):
+    borderval: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class SysPlanJobStatus(betterproto.Message):
+    planjob_status: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class SysKnifeControl(betterproto.Message):
+    knife_status: int = betterproto.int32_field(1)
+    knife_height: int = betterproto.int32_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class SysResetSystemStatus(betterproto.Message):
+    reset_staus: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class TimeCtrlLight(betterproto.Message):
+    operate: int = betterproto.int32_field(1)
+    enable: int = betterproto.int32_field(2)
+    start_hour: int = betterproto.int32_field(3)
+    start_min: int = betterproto.int32_field(4)
+    end_hour: int = betterproto.int32_field(5)
+    end_min: int = betterproto.int32_field(6)
+    action: int = betterproto.int32_field(7)
+
+
+@dataclass(eq=False, repr=False)
+class VisionPointMsg(betterproto.Message):
+    x: float = betterproto.float_field(1)
+    y: float = betterproto.float_field(2)
+    z: float = betterproto.float_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class VisionPointInfoMsg(betterproto.Message):
+    label: int = betterproto.int32_field(1)
+    num: int = betterproto.int32_field(2)
+    vision_point: list["VisionPointMsg"] = betterproto.message_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class VioToAppInfoMsg(betterproto.Message):
+    x: float = betterproto.double_field(1)
+    y: float = betterproto.double_field(2)
+    heading: float = betterproto.double_field(3)
+    vio_state: int = betterproto.int32_field(4)
+    brightness: int = betterproto.int32_field(5)
+    detect_feature_num: int = betterproto.int32_field(6)
+    track_feature_num: int = betterproto.int32_field(7)
+
+
+@dataclass(eq=False, repr=False)
+class VisionStatisticMsg(betterproto.Message):
+    mean: float = betterproto.float_field(1)
+    var: float = betterproto.float_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class VisionStatisticInfoMsg(betterproto.Message):
+    timestamp: float = betterproto.double_field(1)
+    num: int = betterproto.int32_field(2)
+    vision_statistics: list["VisionStatisticMsg"] = betterproto.message_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class SystemRapidStateTunnelMsg(betterproto.Message):
+    rapid_state_data: list[int] = betterproto.int64_field(1)
+    vision_point_info: list["VisionPointInfoMsg"] = betterproto.message_field(2)
+    vio_to_app_info: "VioToAppInfoMsg" = betterproto.message_field(3)
+    vision_statistic_info: "VisionStatisticInfoMsg" = betterproto.message_field(4)
+
+
+@dataclass(eq=False, repr=False)
+class SystemTardStateTunnelMsg(betterproto.Message):
+    tard_state_data: list[int] = betterproto.int64_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class SystemUpdateBufMsg(betterproto.Message):
+    update_buf_data: list[int] = betterproto.int64_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class SysOffChipFlash(betterproto.Message):
+    op: "Operation" = betterproto.enum_field(1)
+    id: "OffPartId" = betterproto.enum_field(2)
+    start_addr: int = betterproto.uint32_field(3)
+    offset: int = betterproto.uint32_field(4)
+    length: int = betterproto.int32_field(5)
+    data: bytes = betterproto.bytes_field(6)
+    code: int = betterproto.int32_field(7)
+    msg: str = betterproto.string_field(8)
+
+
+@dataclass(eq=False, repr=False)
+class SystemTmpCycleTxMsg(betterproto.Message):
+    cycle_tx_data: list[int] = betterproto.int64_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class LoraCfgReq(betterproto.Message):
+    op: int = betterproto.int32_field(1)
+    cfg: str = betterproto.string_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class LoraCfgRsp(betterproto.Message):
+    result: int = betterproto.int32_field(1)
+    op: int = betterproto.int32_field(2)
+    cfg: str = betterproto.string_field(3)
+    fac_cfg: bytes = betterproto.bytes_field(4)
+
+
+@dataclass(eq=False, repr=False)
+class ModFwInfo(betterproto.Message):
+    type: int = betterproto.int32_field(1)
+    identify: str = betterproto.string_field(2)
+    version: str = betterproto.string_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class DeviceFwInfo(betterproto.Message):
+    result: int = betterproto.int32_field(1)
+    version: str = betterproto.string_field(2)
+    mod: list["ModFwInfo"] = betterproto.message_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class MowToAppInfoT(betterproto.Message):
+    type: int = betterproto.int32_field(1)
+    cmd: int = betterproto.int32_field(2)
+    mow_data: list[int] = betterproto.int32_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class DeviceProductTypeInfoT(betterproto.Message):
+    result: int = betterproto.int32_field(1)
+    main_product_type: str = betterproto.string_field(2)
+    sub_product_type: str = betterproto.string_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class QcAppTestExcept(betterproto.Message):
+    except_type: str = betterproto.string_field(1)
+    conditions: list["QcAppTestConditions"] = betterproto.message_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class QcAppTestConditions(betterproto.Message):
+    cond_type: str = betterproto.string_field(1)
+    int_val: int = betterproto.int32_field(2)
+    float_val: float = betterproto.float_field(3)
+    double_val: float = betterproto.double_field(4)
+    string_val: str = betterproto.string_field(5)
+
+
+@dataclass(eq=False, repr=False)
+class MowToAppQctoolsInfoT(betterproto.Message):
+    type: "QcAppTestId" = betterproto.enum_field(1)
+    time_of_duration: int = betterproto.int32_field(2)
+    result: int = betterproto.int32_field(3)
+    result_details: str = betterproto.string_field(4)
+    except_: list["QcAppTestExcept"] = betterproto.message_field(5)
+
+
+@dataclass(eq=False, repr=False)
+class MCtrlSimulationCmdData(betterproto.Message):
+    sub_cmd: int = betterproto.int32_field(1)
+    param_id: int = betterproto.int32_field(2)
+    param_value: list[int] = betterproto.int32_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class RptLora(betterproto.Message):
+    pair_code_scan: int = betterproto.int32_field(1)
+    pair_code_channel: int = betterproto.int32_field(2)
+    pair_code_locid: int = betterproto.int32_field(3)
+    pair_code_netid: int = betterproto.int32_field(4)
+    lora_connection_status: int = betterproto.int32_field(5)
+
+
+@dataclass(eq=False, repr=False)
+class MqttRtkConnect(betterproto.Message):
+    rtk_switch: int = betterproto.int32_field(1)
+    rtk_channel: int = betterproto.int32_field(2)
+    rtk_base_num: str = betterproto.string_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class RptRtk(betterproto.Message):
+    status: int = betterproto.int32_field(1)
+    pos_level: int = betterproto.int32_field(2)
+    gps_stars: int = betterproto.int32_field(3)
+    age: int = betterproto.int32_field(4)
+    lat_std: int = betterproto.int32_field(5)
+    lon_std: int = betterproto.int32_field(6)
+    l2_stars: int = betterproto.int32_field(7)
+    dis_status: int = betterproto.int64_field(8)
+    top4_total_mean: int = betterproto.int64_field(9)
+    co_view_stars: int = betterproto.int32_field(10)
+    reset: int = betterproto.int32_field(11)
+    lora_info: "RptLora" = betterproto.message_field(12)
+    mqtt_rtk_info: "MqttRtkConnect" = betterproto.message_field(13)
+
+
+@dataclass(eq=False, repr=False)
+class RptDevLocation(betterproto.Message):
+    real_pos_x: int = betterproto.int32_field(1)
+    real_pos_y: int = betterproto.int32_field(2)
+    real_toward: int = betterproto.int32_field(3)
+    pos_type: int = betterproto.int32_field(4)
+    zone_hash: int = betterproto.int64_field(5)
+    bol_hash: int = betterproto.int64_field(6)
+
+
+@dataclass(eq=False, repr=False)
+class VioSurvivalInfoT(betterproto.Message):
+    vio_survival_distance: float = betterproto.float_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class CollectorStatusT(betterproto.Message):
+    collector_installation_status: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class LockStateT(betterproto.Message):
+    lock_state: int = betterproto.uint32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class RptDevStatus(betterproto.Message):
+    sys_status: int = betterproto.int32_field(1)
+    charge_state: int = betterproto.int32_field(2)
+    battery_val: int = betterproto.int32_field(3)
+    sensor_status: int = betterproto.int32_field(4)
+    last_status: int = betterproto.int32_field(5)
+    sys_time_stamp: int = betterproto.int64_field(6)
+    vslam_status: int = betterproto.int32_field(7)
+    mnet_info: "MnetInfo" = betterproto.message_field(8)
+    vio_survival_info: "VioSurvivalInfoT" = betterproto.message_field(9)
+    collector_status: "CollectorStatusT" = betterproto.message_field(10)
+    lock_state: "LockStateT" = betterproto.message_field(11)
+
+
+@dataclass(eq=False, repr=False)
+class RptConnectStatus(betterproto.Message):
+    connect_type: int = betterproto.int32_field(1)
+    ble_rssi: int = betterproto.int32_field(2)
+    wifi_rssi: int = betterproto.int32_field(3)
+    link_type: int = betterproto.int32_field(4)
+    mnet_rssi: int = betterproto.int32_field(5)
+    mnet_inet: int = betterproto.int32_field(6)
+    used_net: "NetUsedType" = betterproto.enum_field(7)
+    mnet_cfg: "MnetCfg" = betterproto.message_field(8)
+
+
+@dataclass(eq=False, repr=False)
+class NavHeadingStateT(betterproto.Message):
+    heading_state: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class RptWork(betterproto.Message):
+    plan: int = betterproto.int32_field(1)
+    path_hash: int = betterproto.int64_field(2)
+    progress: int = betterproto.int32_field(3)
+    area: int = betterproto.int32_field(4)
+    bp_info: int = betterproto.int32_field(5)
+    bp_hash: int = betterproto.int64_field(6)
+    bp_pos_x: int = betterproto.int32_field(7)
+    bp_pos_y: int = betterproto.int32_field(8)
+    real_path_num: int = betterproto.int64_field(9)
+    path_pos_x: int = betterproto.int32_field(10)
+    path_pos_y: int = betterproto.int32_field(11)
+    ub_zone_hash: int = betterproto.int64_field(12)
+    ub_path_hash: int = betterproto.int64_field(13)
+    init_cfg_hash: int = betterproto.int64_field(14)
+    ub_ecode_hash: int = betterproto.int64_field(15)
+    nav_run_mode: int = betterproto.int32_field(16)
+    test_mode_status: int = betterproto.int64_field(17)
+    man_run_speed: int = betterproto.int32_field(18)
+    nav_edit_status: int = betterproto.int32_field(19)
+    knife_height: int = betterproto.int32_field(20)
+    nav_heading_state: "NavHeadingStateT" = betterproto.message_field(21)
+
+
+@dataclass(eq=False, repr=False)
+class RptMaintain(betterproto.Message):
+    mileage: int = betterproto.int64_field(1)
+    work_time: int = betterproto.int32_field(2)
+    bat_cycles: int = betterproto.int32_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class ReportInfoCfg(betterproto.Message):
+    act: "RptAct" = betterproto.enum_field(1)
+    timeout: int = betterproto.int32_field(2)
+    period: int = betterproto.int32_field(3)
+    no_change_period: int = betterproto.int32_field(4)
+    count: int = betterproto.int32_field(5)
+    sub: list["RptInfoType"] = betterproto.enum_field(6)
+
+
+@dataclass(eq=False, repr=False)
+class ReportInfoData(betterproto.Message):
+    connect: "RptConnectStatus" = betterproto.message_field(1)
+    dev: "RptDevStatus" = betterproto.message_field(2)
+    rtk: "RptRtk" = betterproto.message_field(3)
+    locations: list["RptDevLocation"] = betterproto.message_field(4)
+    work: "RptWork" = betterproto.message_field(5)
+    fw_info: "DeviceFwInfo" = betterproto.message_field(6)
+    maintain: "RptMaintain" = betterproto.message_field(7)
+    vision_point_info: list["VisionPointInfoMsg"] = betterproto.message_field(8)
+    vio_to_app_info: "VioToAppInfoMsg" = betterproto.message_field(9)
+    vision_statistic_info: "VisionStatisticInfoMsg" = betterproto.message_field(10)
+
+
+@dataclass(eq=False, repr=False)
+class MctlSys(betterproto.Message):
+    toapp_batinfo: Optional["SysBatUp"] = betterproto.message_field(
+        1, optional=True, group="SubSysMsg"
+    )
+    toapp_work_state: Optional["SysWorkState"] = betterproto.message_field(
+        2, optional=True, group="SubSysMsg"
+    )
+    todev_time_zone: Optional["SysSetTimeZone"] = betterproto.message_field(
+        3, optional=True, group="SubSysMsg"
+    )
+    todev_data_time: Optional["SysSetDateTime"] = betterproto.message_field(
+        4, optional=True, group="SubSysMsg"
+    )
+    job_plan: Optional["SysJobPlan"] = betterproto.message_field(
+        6, optional=True, group="SubSysMsg"
+    )
+    toapp_err_code: Optional["SysDevErrCode"] = betterproto.message_field(
+        7, optional=True, group="SubSysMsg"
+    )
+    todev_job_plan_time: Optional["SysJobPlanTime"] = betterproto.message_field(
+        10, optional=True, group="SubSysMsg"
+    )
+    toapp_mow_info: Optional["SysMowInfo"] = betterproto.message_field(
+        11, optional=True, group="SubSysMsg"
+    )
+    bidire_comm_cmd: Optional["SysCommCmd"] = betterproto.message_field(
+        12, optional=True, group="SubSysMsg"
+    )
+    plan_job_del: Optional[int] = betterproto.int64_field(
+        14, optional=True, group="SubSysMsg"
+    )
+    border: Optional["SysBorder"] = betterproto.message_field(
+        15, optional=True, group="SubSysMsg"
+    )
+    toapp_plan_status: Optional["SysPlanJobStatus"] = betterproto.message_field(
+        18, optional=True, group="SubSysMsg"
+    )
+    toapp_ul_fprogress: Optional["SysUploadFileProgress"] = betterproto.message_field(
+        19, optional=True, group="SubSysMsg"
+    )
+    todev_deljobplan: Optional["SysDelJobPlan"] = betterproto.message_field(
+        20, optional=True, group="SubSysMsg"
+    )
+    todev_mow_info_up: Optional[int] = betterproto.int32_field(
+        21, optional=True, group="SubSysMsg"
+    )
+    todev_knife_ctrl: Optional["SysKnifeControl"] = betterproto.message_field(
+        22, optional=True, group="SubSysMsg"
+    )
+    todev_reset_system: Optional[int] = betterproto.int32_field(
+        23, optional=True, group="SubSysMsg"
+    )
+    todev_reset_system_status: Optional["SysResetSystemStatus"] = (
+        betterproto.message_field(24, optional=True, group="SubSysMsg")
+    )
+    system_rapid_state_tunnel: Optional["SystemRapidStateTunnelMsg"] = (
+        betterproto.message_field(25, optional=True, group="SubSysMsg")
+    )
+    system_tard_state_tunnel: Optional["SystemTardStateTunnelMsg"] = (
+        betterproto.message_field(26, optional=True, group="SubSysMsg")
+    )
+    system_update_buf: Optional["SystemUpdateBufMsg"] = betterproto.message_field(
+        27, optional=True, group="SubSysMsg"
+    )
+    todev_time_ctrl_light: Optional["TimeCtrlLight"] = betterproto.message_field(
+        28, optional=True, group="SubSysMsg"
+    )
+    system_tmp_cycle_tx: Optional["SystemTmpCycleTxMsg"] = betterproto.message_field(
+        29, optional=True, group="SubSysMsg"
+    )
+    todev_off_chip_flash: Optional["SysOffChipFlash"] = betterproto.message_field(
+        30, optional=True, group="SubSysMsg"
+    )
+    todev_get_dev_fw_info: Optional[int] = betterproto.int32_field(
+        31, optional=True, group="SubSysMsg"
+    )
+    toapp_dev_fw_info: Optional["DeviceFwInfo"] = betterproto.message_field(
+        32, optional=True, group="SubSysMsg"
+    )
+    todev_lora_cfg_req: Optional["LoraCfgReq"] = betterproto.message_field(
+        33, optional=True, group="SubSysMsg"
+    )
+    toapp_lora_cfg_rsp: Optional["LoraCfgRsp"] = betterproto.message_field(
+        34, optional=True, group="SubSysMsg"
+    )
+    mow_to_app_info: Optional["MowToAppInfoT"] = betterproto.message_field(
+        35, optional=True, group="SubSysMsg"
+    )
+    device_product_type_info: Optional["DeviceProductTypeInfoT"] = (
+        betterproto.message_field(36, optional=True, group="SubSysMsg")
+    )
+    mow_to_app_qctools_info: Optional["MowToAppQctoolsInfoT"] = (
+        betterproto.message_field(37, optional=True, group="SubSysMsg")
+    )
+    todev_report_cfg: Optional["ReportInfoCfg"] = betterproto.message_field(
+        38, optional=True, group="SubSysMsg"
+    )
+    toapp_report_data: Optional["ReportInfoData"] = betterproto.message_field(
+        39, optional=True, group="SubSysMsg"
+    )
+    simulation_cmd: Optional["MCtrlSimulationCmdData"] = betterproto.message_field(
+        42, optional=True, group="SubSysMsg"
+    )
+
+
+
+@dataclass(eq=False, repr=False)
+class BaseInfo(betterproto.Message):
+    dev_version: str = betterproto.string_field(1)
+    dev_status: int = betterproto.int32_field(2)
+    batt_val: int = betterproto.int32_field(3)
+    init_status: int = betterproto.int32_field(4)
+    is_tilt: int = betterproto.int32_field(5)
+
+
+@dataclass(eq=False, repr=False)
+class OtaInfo(betterproto.Message):
+    otaid: str = betterproto.string_field(1)
+    version: str = betterproto.string_field(2)
+    progress: int = betterproto.int32_field(3)
+    result: int = betterproto.int32_field(4)
+    message: str = betterproto.string_field(5)
+
+
+@dataclass(eq=False, repr=False)
+class GetInfoReq(betterproto.Message):
+    type: "InfoType" = betterproto.enum_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class GetInfoRsp(betterproto.Message):
+    result: int = betterproto.int32_field(1)
+    type: "InfoType" = betterproto.enum_field(2)
+    base: Optional["BaseInfo"] = betterproto.message_field(
+        3, optional=True, group="info"
+    )
+    ota: Optional["OtaInfo"] = betterproto.message_field(4, optional=True, group="info")
+
+
+
+@dataclass(eq=False, repr=False)
+class MctlOta(betterproto.Message):
+    todev_get_info_req: Optional["GetInfoReq"] = betterproto.message_field(
+        1, optional=True, group="SubOtaMsg"
+    )
+    toapp_get_info_rsp: Optional["GetInfoRsp"] = betterproto.message_field(
+        2, optional=True, group="SubOtaMsg"
+    )
+
+
+
+@dataclass(eq=False, repr=False)
+class MulSetAudio(betterproto.Message):
+    at_switch: Optional[int] = betterproto.int32_field(
+        1, optional=True, group="AudioCfg_u"
+    )
+    au_language: Optional["MulLanguage"] = betterproto.enum_field(
+        2, optional=True, group="AudioCfg_u"
+    )
+
+
+
+@dataclass(eq=False, repr=False)
+class MulSetVideo(betterproto.Message):
+    position: "MulCameraPosition" = betterproto.enum_field(1)
+    vi_switch: int = betterproto.int32_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class MulSetVideoAck(betterproto.Message):
+    error_code: "MulVideoErrorCode" = betterproto.enum_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class MulAudioCfg(betterproto.Message):
+    au_switch: int = betterproto.int32_field(1)
+    au_language: "MulLanguage" = betterproto.enum_field(2)
+
+
+@dataclass(eq=False, repr=False)
+class MulSetWiper(betterproto.Message):
+    round: int = betterproto.int32_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class MulSetWiperAck(betterproto.Message):
+    error_code: "MulWiperErrorCode" = betterproto.enum_field(1)
+
+
+@dataclass(eq=False, repr=False)
+class SocMul(betterproto.Message):
+    set_audio: Optional["MulSetAudio"] = betterproto.message_field(
+        1, optional=True, group="SubMul"
+    )
+    audio_cfg: Optional["MulAudioCfg"] = betterproto.message_field(
+        2, optional=True, group="SubMul"
+    )
+    set_video: Optional["MulSetVideo"] = betterproto.message_field(
+        3, optional=True, group="SubMul"
+    )
+    set_video_ack: Optional["MulSetVideoAck"] = betterproto.message_field(
+        4, optional=True, group="SubMul"
+    )
+    set_wiper: Optional["MulSetWiper"] = betterproto.message_field(
+        5, optional=True, group="SubMul"
+    )
+    set_wiper_ack: Optional["MulSetWiperAck"] = betterproto.message_field(
+        6, optional=True, group="SubMul"
+    )
+
+
+
+@dataclass(eq=False, repr=False)
+class PerceptionObstaclesT(betterproto.Message):
+    label: int = betterproto.int32_field(1)
+    num: int = betterproto.int32_field(2)
+    points_x: list[int] = betterproto.int32_field(3)
+    points_y: list[int] = betterproto.int32_field(4)
+
+
+@dataclass(eq=False, repr=False)
+class PerceptionObstaclesVisualizationT(betterproto.Message):
+    is_heart_beat: int = betterproto.int32_field(1)
+    num: int = betterproto.int32_field(2)
+    obstacles: list["PerceptionObstaclesT"] = betterproto.message_field(3)
+    timestamp: float = betterproto.double_field(4)
+    scale: float = betterproto.float_field(5)
+
+
+@dataclass(eq=False, repr=False)
+class PerceptionUniversalBuffT(betterproto.Message):
+    perception_type: int = betterproto.int32_field(1)
+    perception_len: int = betterproto.int32_field(2)
+    universal_buff: list[int] = betterproto.int64_field(3)
+
+
+@dataclass(eq=False, repr=False)
+class MctlPept(betterproto.Message):
+    perception_obstacles_visualization: Optional[
+        "PerceptionObstaclesVisualizationT"
+    ] = betterproto.message_field(1, optional=True, group="SubPeptMsg")
+    perception_universal_buff: Optional["PerceptionUniversalBuffT"] = (
+        betterproto.message_field(2, optional=True, group="SubPeptMsg")
+    )
+
+
+
+@dataclass(eq=False, repr=False)
+class MsgNull(betterproto.Message):
+    pass
+
+
+@dataclass(eq=False, repr=False)
+class LubaMsg(betterproto.Message):
+    msgtype: Optional["MsgCmdType"] = betterproto.enum_field(1, optional=True)
+    sender: Optional["MsgDevice"] = betterproto.enum_field(2, optional=True)
+    rcver: Optional["MsgDevice"] = betterproto.enum_field(3, optional=True)
+    msgattr: Optional["MsgAttr"] = betterproto.enum_field(4, optional=True)
+    seqs: Optional[int] = betterproto.int32_field(5, optional=True)
+    version: Optional[int] = betterproto.int32_field(6, optional=True)
+    subtype: Optional[int] = betterproto.int32_field(7, optional=True)
+    net: Optional["DevNet"] = betterproto.message_field(
+        8, optional=True, group="LubaSubMsg"
+    )
+    sys: Optional["MctlSys"] = betterproto.message_field(
+        10, optional=True, group="LubaSubMsg"
+    )
+    nav: Optional["MctlNav"] = betterproto.message_field(
+        11, optional=True, group="LubaSubMsg"
+    )
+    driver: Optional["MctlDriver"] = betterproto.message_field(
+        12, optional=True, group="LubaSubMsg"
+    )
+    ota: Optional["MctlOta"] = betterproto.message_field(
+        13, optional=True, group="LubaSubMsg"
+    )
+    mul: Optional["SocMul"] = betterproto.message_field(
+        14, optional=True, group="LubaSubMsg"
+    )
+    null: Optional["MsgNull"] = betterproto.message_field(
+        16, optional=True, group="LubaSubMsg"
+    )
+    pept: Optional["MctlPept"] = betterproto.message_field(
+        17, optional=True, group="LubaSubMsg"
+    )
+    base: Optional["BaseStation"] = betterproto.message_field(
+        18, optional=True, group="LubaSubMsg"
+    )
+    timestamp: Optional[int] = betterproto.uint64_field(15, optional=True)