pymammotion 0.3.8__tar.gz → 0.4.0__tar.gz

{pymammotion-0.3.8 → pymammotion-0.4.0}/PKG-INFO

@@ -1,12 +1,12 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.3
 Name: pymammotion
-Version: 0.3.8
+Version: 0.4.0
 Summary: 
-License: GNU-3.0
+License: GPL-3.0
 Author: Michael Arthur
 Author-email: michael@jumblesoft.co.nz
-Requires-Python: >=3.10,<3.13
-Classifier: License :: Other/Proprietary License
+Requires-Python: >=3.10
+Classifier: License :: OSI Approved :: GNU General Public License v3 (GPLv3)
 Classifier: Programming Language :: Python :: 3
 Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
@@ -15,17 +15,17 @@ Requires-Dist: aiohttp (>=3.9.1,<4.0.0)
 Requires-Dist: alibabacloud-apigateway-util (>=0.0.2,<0.0.3)
 Requires-Dist: alibabacloud-iot-api-gateway (>=0.0.4,<0.0.5)
 Requires-Dist: alicloud-gateway-iot (>=1.0.0,<2.0.0)
-Requires-Dist: aliyun-iot-linkkit (>=1.2.12,<2.0.0)
-Requires-Dist: aliyun-python-sdk-iot (>=8.57.0,<9.0.0)
 Requires-Dist: async-timeout (>=4.0.3,<5.0.0)
-Requires-Dist: betterproto (>=1.2.5,<2.0.0)
+Requires-Dist: betterproto (>=2.0.0b7,<3.0.0)
 Requires-Dist: bleak (>=0.21.0)
 Requires-Dist: bleak-retry-connector (>=3.5.0,<4.0.0)
+Requires-Dist: crcmod (>=1.7,<2.0)
+Requires-Dist: cryptography (>=43.0.1)
 Requires-Dist: jsonic (>=1.0.0,<2.0.0)
 Requires-Dist: mashumaro (>=3.13,<4.0)
 Requires-Dist: numpy (>=1.26.0)
 Requires-Dist: orjson (>=3.9.15,<4.0.0)
-Requires-Dist: paho-mqtt (>=1.6.1,<2.0.0)
+Requires-Dist: paho-mqtt (>=2.1.0,<3.0.0)
 Requires-Dist: protobuf (>=4.23.1)
 Requires-Dist: py-jsonic (>=0.0.2,<0.0.3)
 Description-Content-Type: text/markdown

{pymammotion-0.3.8 → pymammotion-0.4.0}/pymammotion/__init__.py

@@ -12,7 +12,7 @@ from pymammotion.aliyun.cloud_gateway import CloudIOTGateway
 
 # works outside HA on its own
 from pymammotion.bluetooth.ble import MammotionBLE
-from pymammotion.http.http import MammotionHTTP, connect_http
+from pymammotion.http.http import MammotionHTTP
 
 # TODO make a working device that will work outside HA too.
 from pymammotion.mqtt import MammotionMQTT
@@ -20,7 +20,7 @@ from pymammotion.mqtt import MammotionMQTT
 logger = logging.getLogger(__name__)
 
 
-__all__ = ["MammotionBLE", "MammotionHTTP", "connect_http", "MammotionMQTT", "logger"]
+__all__ = ["MammotionBLE", "MammotionHTTP", "MammotionMQTT", "logger"]
 
 
 # TODO provide interface to pick between mqtt/cloud/bluetooth

{pymammotion-0.3.8 → pymammotion-0.4.0}/pymammotion/aliyun/cloud_gateway.py

@@ -5,11 +5,11 @@ import hashlib
 import hmac
 import itertools
 import json
+from logging import getLogger
 import random
 import string
 import time
 import uuid
-from logging import getLogger
 
 from aiohttp import ClientSession
 from alibabacloud_iot_api_gateway.client import Client
@@ -19,14 +19,10 @@ from alibabacloud_tea_util.models import RuntimeOptions
 
 from pymammotion.aliyun.model.aep_response import AepResponse
 from pymammotion.aliyun.model.connect_response import ConnectResponse
-from pymammotion.aliyun.model.dev_by_account_response import (
-    ListingDevByAccountResponse,
-)
+from pymammotion.aliyun.model.dev_by_account_response import ListingDevByAccountResponse
 from pymammotion.aliyun.model.login_by_oauth_response import LoginByOAuthResponse
 from pymammotion.aliyun.model.regions_response import RegionResponse
-from pymammotion.aliyun.model.session_by_authcode_response import (
-    SessionByAuthCodeResponse,
-)
+from pymammotion.aliyun.model.session_by_authcode_response import SessionByAuthCodeResponse
 from pymammotion.const import ALIYUN_DOMAIN, APP_KEY, APP_SECRET, APP_VERSION
 from pymammotion.http.http import MammotionHTTP
 from pymammotion.utility.datatype_converter import DatatypeConverter
@@ -58,6 +54,10 @@ class DeviceOfflineException(Exception):
     """Raise exception when device is offline."""
 
 
+class GatewayTimeoutException(Exception):
+    """Raise exception when the gateway times out."""
+
+
 class LoginException(Exception):
     """Raise exception when library cannot log in."""
 
@@ -657,7 +657,7 @@ class CloudIOTGateway:
             iot_token=self._session_by_authcode_response.data.iotToken,
         )
 
-        # TODO move to using  InvokeThingServiceRequest()
+        # TODO move to using InvokeThingServiceRequest()
 
         message_id = str(uuid.uuid4())
 
@@ -689,13 +689,16 @@ class CloudIOTGateway:
                 str(response_body_dict.get("code")),
                 str(response_body_dict.get("message")),
             )
+            if response_body_dict.get("code") == 20056:
+                logger.debug("Gateway timeout.")
+                raise GatewayTimeoutException(response_body_dict.get("code"))
+
             if response_body_dict.get("code") == 29003:
                 logger.debug(self._session_by_authcode_response.data.identityId)
                 self.sign_out()
                 raise SetupException(response_body_dict.get("code"))
             if response_body_dict.get("code") == 6205:
                 raise DeviceOfflineException(response_body_dict.get("code"))
-                """Device is offline."""
 
         return message_id
 

{pymammotion-0.3.8 → pymammotion-0.4.0}/pymammotion/aliyun/model/aep_response.py

@@ -1,5 +1,4 @@
 from dataclasses import dataclass
-from typing import Optional
 
 from mashumaro.config import BaseConfig
 from mashumaro.mixins.orjson import DataClassORJSONMixin
@@ -16,7 +15,7 @@ class DeviceData(DataClassORJSONMixin):
 class AepResponse(DataClassORJSONMixin):
     code: int
     data: DeviceData
-    id: Optional[str] = None
+    id: str | None = None
 
     class Config(BaseConfig):
         omit_default = True

{pymammotion-0.3.8 → pymammotion-0.4.0}/pymammotion/aliyun/model/dev_by_account_response.py

@@ -1,5 +1,4 @@
 from dataclasses import dataclass
-from typing import Optional
 
 from mashumaro.config import BaseConfig
 from mashumaro.mixins.orjson import DataClassORJSONMixin
@@ -23,11 +22,11 @@ class Device(DataClassORJSONMixin):
     identityId: str
     thingType: str
     status: int
-    nickName: Optional[str] = None
-    description: Optional[str] = None
-    productImage: Optional[str] = None
-    categoryImage: Optional[str] = None
-    productModel: Optional[str] = None
+    nickName: str | None = None
+    description: str | None = None
+    productImage: str | None = None
+    categoryImage: str | None = None
+    productModel: str | None = None
 
     class Config(BaseConfig):
         omit_default = True
@@ -44,5 +43,5 @@ class Data(DataClassORJSONMixin):
 @dataclass
 class ListingDevByAccountResponse(DataClassORJSONMixin):
     code: int
-    data: Optional[Data]
-    id: Optional[str] = None
+    data: Data | None
+    id: str | None = None

{pymammotion-0.3.8 → pymammotion-0.4.0}/pymammotion/aliyun/model/login_by_oauth_response.py

@@ -1,5 +1,4 @@
 from dataclasses import dataclass
-from typing import Optional
 
 from mashumaro.mixins.orjson import DataClassORJSONMixin
 
@@ -18,7 +17,7 @@ class OpenAccount(DataClassORJSONMixin):
     domainId: int
     enableDevice: str
     status: int
-    country: Optional[str] = None
+    country: str | None = None
 
 
 @dataclass
@@ -54,7 +53,7 @@ class InnerData(DataClassORJSONMixin):
     subCode: int
     message: str
     successful: str
-    deviceId: Optional[str] = None
+    deviceId: str | None = None
 
 
 @dataclass

{pymammotion-0.3.8 → pymammotion-0.4.0}/pymammotion/aliyun/model/regions_response.py

@@ -1,5 +1,5 @@
 from dataclasses import dataclass
-from typing import Optional, TypeVar
+from typing import TypeVar
 
 from mashumaro.config import BaseConfig
 from mashumaro.mixins.orjson import DataClassORJSONMixin
@@ -22,8 +22,8 @@ class RegionResponseData(DataClassORJSONMixin):
 class RegionResponse(DataClassORJSONMixin):
     data: RegionResponseData
     code: int
-    id: Optional[str] = None
-    msg: Optional[str] = None
+    id: str | None = None
+    msg: str | None = None
 
     class Config(BaseConfig):
         omit_default = True

{pymammotion-0.3.8 → pymammotion-0.4.0}/pymammotion/aliyun/model/session_by_authcode_response.py

@@ -1,5 +1,4 @@
 from dataclasses import dataclass
-from typing import Optional
 
 from mashumaro.mixins.orjson import DataClassORJSONMixin
 
@@ -16,4 +15,4 @@ class SessionOauthToken(DataClassORJSONMixin):
 @dataclass
 class SessionByAuthCodeResponse(DataClassORJSONMixin):
     code: int
-    data: Optional[SessionOauthToken] = None
+    data: SessionOauthToken | None = None

{pymammotion-0.3.8 → pymammotion-0.4.0}/pymammotion/aliyun/model/stream_subscription_response.py

@@ -1,5 +1,4 @@
 from dataclasses import dataclass
-from typing import List
 
 from mashumaro.mixins.orjson import DataClassORJSONMixin
 
@@ -13,7 +12,7 @@ class Camera(DataClassORJSONMixin):
 @dataclass
 class StreamSubscriptionResponse(DataClassORJSONMixin):
     appid: str
-    cameras: List[Camera]
+    cameras: list[Camera]
     channelName: str
     token: str
     uid: int

{pymammotion-0.3.8 → pymammotion-0.4.0}/pymammotion/bluetooth/ble.py

@@ -1,14 +1,13 @@
 from bleak import BleakClient, BleakScanner, BLEDevice
 from bleak.backends.characteristic import BleakGATTCharacteristic
 
-from pymammotion.bluetooth.const import (
-    SERVICE_CHANGED_CHARACTERISTIC,
-    UUID_NOTIFICATION_CHARACTERISTIC,
-)
+from pymammotion.bluetooth.const import SERVICE_CHANGED_CHARACTERISTIC, UUID_NOTIFICATION_CHARACTERISTIC
 from pymammotion.event.event import BleNotificationEvent
 
 
 class MammotionBLE:
+    """Class for basic ble connections to mowers."""
+
     client: BleakClient
 
     def __init__(self, bleEvt: BleNotificationEvent) -> None:
@@ -60,5 +59,6 @@ class MammotionBLE:
             await self.client.start_notify(UUID_NOTIFICATION_CHARACTERISTIC, self.notification_handler)
             await self.client.start_notify(SERVICE_CHANGED_CHARACTERISTIC, self.service_changed_handler)
 
-    def getClient(self):
+    def get_client(self):
+        """Returns the ble client."""
         return self.client

{pymammotion-0.3.8 → pymammotion-0.4.0}/pymammotion/bluetooth/ble_message.py

@@ -1,12 +1,11 @@
+from asyncio import sleep
+from io import BytesIO
 import itertools
 import json
 import logging
 import queue
 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
@@ -17,10 +16,7 @@ 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,
-)
-from pymammotion.proto.luba_msg import LubaMsg, MsgAttr, MsgCmdType, MsgDevice
+from pymammotion.proto import DevNet, DrvDevInfoReq, LubaMsg, MsgAttr, MsgCmdType, MsgDevice
 from pymammotion.utility.constant.device_constant import bleOrderCmd
 
 _LOGGER = logging.getLogger(__name__)
@@ -320,7 +316,7 @@ class BleMessage:
         hash_map = {"ctrl": 1}
         await self.post_custom_data(self.get_json_string(bleOrderCmd.bleAlive, hash_map))
 
-    def get_json_string(self, cmd: int, hash_map: dict[str, object]) -> str:
+    def get_json_string(self, cmd: int, hash_map: dict[str, int]) -> str:
         jSONObject = {}
         try:
             jSONObject["cmd"] = cmd
@@ -334,7 +330,7 @@ class BleMessage:
             print(e)
             return ""
 
-    def clearNotification(self) -> None:
+    def clear_notification(self) -> None:
         self.notification = None
         self.notification = BlufiNotifyData()
 
@@ -344,14 +340,14 @@ class BleMessage:
     async def send_device_info(self) -> None:
         """Currently not called"""
         luba_msg = LubaMsg(
-            msgtype=MsgCmdType.MSG_CMD_TYPE_ESP,
+            msgtype=MsgCmdType.ESP,
             sender=MsgDevice.DEV_MOBILEAPP,
             rcver=MsgDevice.DEV_COMM_ESP,
-            msgattr=MsgAttr.MSG_ATTR_REQ,
+            msgattr=MsgAttr.REQ,
             seqs=1,
             version=1,
             subtype=1,
-            net=dev_net_pb2.DevNet(todev_ble_sync=1, todev_devinfo_req=dev_net_pb2.DrvDevInfoReq()),
+            net=DevNet(todev_ble_sync=1, todev_devinfo_req=DrvDevInfoReq()),
         )
         byte_arr = luba_msg.SerializeToString()
         await self.post_custom_data_bytes(byte_arr)
@@ -656,7 +652,7 @@ class BleMessage:
         return byteOS.getvalue()
 
     @staticmethod
-    def calc_crc(initial: int, data: Union[bytes, bytearray]) -> int:
+    def calc_crc(initial: int, data: bytes | bytearray) -> int:
         """Calculate CRC value for given initial value and byte array.
 
         Args:

pymammotion-0.4.0/pymammotion/data/model/device.py

@@ -0,0 +1,136 @@
+"""MowingDevice class to wrap around the betterproto dataclasses."""
+
+from dataclasses import dataclass, field
+
+import betterproto
+from mashumaro.mixins.orjson import DataClassORJSONMixin
+
+from pymammotion.data.model import HashList, RapidState
+from pymammotion.data.model.device_info import DeviceFirmwares, MowerInfo
+from pymammotion.data.model.location import Location
+from pymammotion.data.model.report_info import ReportData
+from pymammotion.data.mqtt.properties import ThingPropertiesMessage
+from pymammotion.data.mqtt.status import ThingStatusMessage
+from pymammotion.http.model.http import ErrorInfo
+from pymammotion.proto import DeviceFwInfo, MowToAppInfoT, ReportInfoData, SystemRapidStateTunnelMsg, SystemUpdateBufMsg
+from pymammotion.utility.constant import WorkMode
+from pymammotion.utility.conversions import parse_double
+from pymammotion.utility.map import CoordinateConverter
+
+
+@dataclass
+class MowingDevice(DataClassORJSONMixin):
+    """Wraps the betterproto dataclasses, so we can bypass the groups for keeping all data."""
+
+    online: bool = True
+    mower_state: MowerInfo = field(default_factory=MowerInfo)
+    mqtt_properties: ThingPropertiesMessage | None = None
+    status_properties: ThingStatusMessage | None = None
+    map: HashList = field(default_factory=HashList)
+    location: Location = field(default_factory=Location)
+    mowing_state: RapidState = field(default_factory=RapidState)
+    report_data: ReportData = field(default_factory=ReportData)
+    device_firmwares: DeviceFirmwares = field(default_factory=DeviceFirmwares)
+    err_code_list: list = field(default_factory=list)
+    err_code_list_time: list | None = field(default_factory=list)
+    error_codes: dict[str, ErrorInfo] = field(default_factory=dict)
+
+    def buffer(self, buffer_list: SystemUpdateBufMsg) -> None:
+        """Update the device based on which buffer we are reading from."""
+        match buffer_list.update_buf_data[0]:
+            case 1:
+                # 4 speed
+                self.location.RTK.latitude = parse_double(buffer_list.update_buf_data[5], 8.0)
+                self.location.RTK.longitude = parse_double(buffer_list.update_buf_data[6], 8.0)
+                self.location.dock.latitude = parse_double(buffer_list.update_buf_data[7], 4.0)
+                self.location.dock.longitude = parse_double(buffer_list.update_buf_data[8], 4.0)
+                self.location.dock.rotation = buffer_list.update_buf_data[3] + 180
+            case 2:
+                self.err_code_list.clear()
+                self.err_code_list_time.clear()
+                self.err_code_list.extend(
+                    [
+                        buffer_list.update_buf_data[3],
+                        buffer_list.update_buf_data[5],
+                        buffer_list.update_buf_data[7],
+                        buffer_list.update_buf_data[9],
+                        buffer_list.update_buf_data[11],
+                        buffer_list.update_buf_data[13],
+                        buffer_list.update_buf_data[15],
+                        buffer_list.update_buf_data[17],
+                        buffer_list.update_buf_data[19],
+                        buffer_list.update_buf_data[21],
+                    ]
+                )
+                self.err_code_list_time.extend(
+                    [
+                        buffer_list.update_buf_data[4],
+                        buffer_list.update_buf_data[6],
+                        buffer_list.update_buf_data[8],
+                        buffer_list.update_buf_data[10],
+                        buffer_list.update_buf_data[12],
+                        buffer_list.update_buf_data[14],
+                        buffer_list.update_buf_data[16],
+                        buffer_list.update_buf_data[18],
+                        buffer_list.update_buf_data[20],
+                        buffer_list.update_buf_data[22],
+                    ]
+                )
+
+    def update_report_data(self, toapp_report_data: ReportInfoData) -> None:
+        coordinate_converter = CoordinateConverter(self.location.RTK.latitude, self.location.RTK.longitude)
+        for index, location in enumerate(toapp_report_data.locations):
+            if index == 0 and location.real_pos_y != 0:
+                self.location.position_type = location.pos_type
+                self.location.orientation = int(location.real_toward / 10000)
+                self.location.device = coordinate_converter.enu_to_lla(
+                    parse_double(location.real_pos_y, 4.0), parse_double(location.real_pos_x, 4.0)
+                )
+                if location.zone_hash:
+                    self.location.work_zone = (
+                        location.zone_hash if self.report_data.dev.sys_status == WorkMode.MODE_WORKING else 0
+                    )
+
+        if toapp_report_data.fw_info:
+            self.update_device_firmwares(toapp_report_data.fw_info)
+
+        self.report_data.update(toapp_report_data.to_dict(casing=betterproto.Casing.SNAKE))
+
+    def run_state_update(self, rapid_state: SystemRapidStateTunnelMsg) -> None:
+        coordinate_converter = CoordinateConverter(self.location.RTK.latitude, self.location.RTK.longitude)
+        self.mowing_state = RapidState().from_raw(rapid_state.rapid_state_data)
+        self.location.position_type = self.mowing_state.pos_type
+        self.location.orientation = int(self.mowing_state.toward / 10000)
+        self.location.device = coordinate_converter.enu_to_lla(
+            parse_double(self.mowing_state.pos_y, 4.0), parse_double(self.mowing_state.pos_x, 4.0)
+        )
+        if self.mowing_state.zone_hash:
+            self.location.work_zone = (
+                self.mowing_state.zone_hash if self.report_data.dev.sys_status == WorkMode.MODE_WORKING else 0
+            )
+
+    def mow_info(self, toapp_mow_info: MowToAppInfoT) -> None:
+        pass
+
+    def report_missing_data(self) -> None:
+        """Report missing data so we can refetch it."""
+
+    def update_device_firmwares(self, fw_info: DeviceFwInfo) -> None:
+        """Sets firmware versions on all parts of the robot or RTK."""
+        for mod in fw_info.mod:
+            match mod.type:
+                case 1:
+                    self.device_firmwares.main_controller = mod.version
+                case 3:
+                    self.device_firmwares.left_motor_driver = mod.version
+                case 4:
+                    self.device_firmwares.right_motor_driver = mod.version
+                case 5:
+                    self.device_firmwares.rtk_rover_station = mod.version
+                case 101:
+                    # RTK main board
+                    self.device_firmwares.main_controller = mod.version
+                case 102:
+                    self.device_firmwares.rtk_version = mod.version
+                case 103:
+                    self.device_firmwares.lora_version = mod.version

{pymammotion-0.3.8 → pymammotion-0.4.0}/pymammotion/data/model/device_config.py

@@ -5,16 +5,6 @@ from mashumaro.mixins.orjson import DataClassORJSONMixin
 from pymammotion.utility.device_type import DeviceType
 
 
-@dataclass
-class DeviceLimits(DataClassORJSONMixin):
-    blade_height_min: int = 30
-    blade_height_max: int = 100
-    working_speed_min: float = 0.2
-    working_speed_max: float = 1.2
-    working_path_min: int = 15
-    working_path_max: int = 35
-
-
 @dataclass
 class OperationSettings(DataClassORJSONMixin):
     """Operation settings for a device."""

{pymammotion-0.3.8 → pymammotion-0.4.0}/pymammotion/data/model/device_info.py

@@ -23,3 +23,16 @@ class MowerInfo(DataClassORJSONMixin):
     swversion: str = ""
     product_key: str = ""
     model_id: str = ""
+    sub_model_id: str = ""
+
+
+@dataclass
+class DeviceFirmwares(DataClassORJSONMixin):
+    device_version: str = ""
+    left_motor_driver: str = ""
+    lora_version: str = ""
+    main_controller: str = ""
+    model_name: str = ""
+    right_motor_driver: str = ""
+    rtk_rover_station: str = ""
+    rtk_version: str = ""

pymammotion-0.4.0/pymammotion/data/model/device_limits.py

@@ -0,0 +1,49 @@
+from dataclasses import dataclass, field
+
+
+@dataclass
+class RangeLimit:
+    min: float
+    max: float
+
+
+@dataclass
+class DeviceLimits:
+    cutter_height: RangeLimit = field(default_factory=RangeLimit)
+    working_speed: RangeLimit = field(default_factory=RangeLimit)
+    working_path: RangeLimit = field(default_factory=RangeLimit)
+    work_area_num_max: int = 60
+    display_image_type: int = 0
+
+    def to_dict(self) -> dict:
+        """Convert the device limits to a dictionary format."""
+        return {
+            "cutter_height": {"min": self.cutter_height.min, "max": self.cutter_height.max},
+            "working_speed": {"min": self.working_speed.min, "max": self.working_speed.max},
+            "working_path": {"min": self.working_path.min, "max": self.working_path.max},
+            "work_area_num_max": self.work_area_num_max,
+            "display_image_type": self.display_image_type,
+        }
+
+    @classmethod
+    def from_dict(cls, data: dict) -> "DeviceLimits":
+        """Create a DeviceLimits instance from a dictionary."""
+        return cls(
+            cutter_height=RangeLimit(min=data["cutter_height"]["min"], max=data["cutter_height"]["max"]),
+            working_speed=RangeLimit(min=data["working_speed"]["min"], max=data["working_speed"]["max"]),
+            working_path=RangeLimit(min=data["working_path"]["min"], max=data["working_path"]["max"]),
+            work_area_num_max=data["work_area_num_max"],
+            display_image_type=data["display_image_type"],
+        )
+
+    def validate(self) -> bool:
+        """Validate that all ranges are logical (min <= max)."""
+        return all(
+            [
+                self.cutter_height.min <= self.cutter_height.max,
+                self.working_speed.min <= self.working_speed.max,
+                self.working_path.min <= self.working_path.max,
+                self.work_area_num_max > 0,
+                self.display_image_type in (0, 1),
+            ]
+        )

{pymammotion-0.3.8 → pymammotion-0.4.0}/pymammotion/data/model/hash_list.py

@@ -3,7 +3,7 @@ from enum import IntEnum
 
 from mashumaro.mixins.orjson import DataClassORJSONMixin
 
-from pymammotion.proto.mctrl_nav import NavGetCommDataAck, NavGetHashListAck, SvgMessageAckT
+from pymammotion.proto import NavGetCommDataAck, NavGetHashListAck, SvgMessageAckT
 
 
 class PathType(IntEnum):
@@ -93,7 +93,7 @@ class HashList(DataClassORJSONMixin):
         # If no match was found, append the new item
         self.root_hash_list.data.append(hash_list)
 
-    def missing_hash_frame(self):
+    def missing_hash_frame(self) -> list[int]:
         return self._find_missing_frames(self.root_hash_list)
 
     def missing_frame(self, hash_data: NavGetCommDataAck | SvgMessageAckT) -> list[int]:
@@ -112,6 +112,8 @@ class HashList(DataClassORJSONMixin):
         if hash_data.type == PathType.SVG:
             return self._find_missing_frames(self.svg.get(hash_data.data_hash))
 
+        return []
+
     def update(self, hash_data: NavGetCommDataAck | SvgMessageAckT) -> bool:
         """Update the map data."""
         if hash_data.type == PathType.AREA:
@@ -133,6 +135,8 @@ class HashList(DataClassORJSONMixin):
         if hash_data.type == PathType.SVG:
             return self._add_hash_data(self.svg, hash_data)
 
+        return False
+
     @staticmethod
     def _find_missing_frames(frame_list: FrameList | RootHashList) -> list[int]:
         if frame_list.total_frame == len(frame_list.data):

{pymammotion-0.3.8 → pymammotion-0.4.0}/pymammotion/data/model/plan.py

@@ -1,6 +1,3 @@
-from typing import List
-
-
 class Plan:
     def __init__(self) -> None:
         self.pver: int = 0