pymammotion 0.4.0a2__py3-none-any.whl → 0.5.51__py3-none-any.whl

pymammotion/mammotion/commands/messages/navigation.py

@@ -1,16 +1,19 @@
 # === sendOrderMsg_Nav ===
+from abc import ABC
 import logging
 import time
-from abc import ABC
 
 from pymammotion.data.model import GenerateRouteInformation
-from pymammotion.data.model.plan import Plan
+from pymammotion.data.model.hash_list import Plan
 from pymammotion.data.model.region_data import RegionData
 from pymammotion.mammotion.commands.abstract_message import AbstractMessage
-from pymammotion.proto.luba_msg import LubaMsg, MsgAttr, MsgCmdType, MsgDevice
-from pymammotion.proto.mctrl_nav import (
+from pymammotion.proto import (
     AppRequestCoverPathsT,
+    LubaMsg,
     MctlNav,
+    MsgAttr,
+    MsgCmdType,
+    MsgDevice,
     NavGetCommData,
     NavGetHashList,
     NavMapNameMsg,
@@ -30,24 +33,24 @@ logger = logging.getLogger(__name__)
 
 
 class MessageNavigation(AbstractMessage, ABC):
-    def send_order_msg_nav(self, build) -> bytes:
+    def send_order_msg_nav(self, build: MctlNav) -> bytes:
         luba_msg = LubaMsg(
-            msgtype=MsgCmdType.MSG_CMD_TYPE_NAV,
+            msgtype=MsgCmdType.NAV,
             sender=MsgDevice.DEV_MOBILEAPP,
-            rcver=self.get_msg_device(MsgCmdType.MSG_CMD_TYPE_NAV, MsgDevice.DEV_MAINCTL),
-            msgattr=MsgAttr.MSG_ATTR_REQ,
-            seqs=1,
+            rcver=self.get_msg_device(MsgCmdType.NAV, MsgDevice.DEV_MAINCTL),
+            msgattr=MsgAttr.REQ,
+            seqs=self.seqs.increment_and_get() & 255,
             version=1,
-            subtype=1,
+            subtype=self.user_account,
             nav=build,
             timestamp=round(time.time() * 1000),
         )
 
         return luba_msg.SerializeToString()
 
-    def allpowerfull_rw_adapter_x3(self, id: int, context: int, rw: int) -> bytes:
-        build = MctlNav(nav_sys_param_cmd=NavSysParamMsg(id=id, context=context, rw=rw))
-        logger.debug(f"Send command--9 general read and write command id={id}, context={context}, rw={rw}")
+    def allpowerfull_rw_adapter_x3(self, rw_id: int, context: int, rw: int) -> bytes:
+        build = MctlNav(nav_sys_param_cmd=NavSysParamMsg(id=rw_id, context=context, rw=rw))
+        logger.debug(f"Send command--x3 general read and write command id={rw_id}, context={context}, rw={rw}")
         return self.send_order_msg_nav(build)
 
     def along_border(self) -> bytes:
@@ -203,9 +206,9 @@ class MessageNavigation(AbstractMessage, ABC):
             reserved=plan_bean.reserved,
             weeks=plan_bean.weeks,
             start_date=plan_bean.start_date,
-            trigger_type=plan_bean.job_type,
-            day=plan_bean.interval_days,
-            toward_included_angle=plan_bean.demond_angle,
+            trigger_type=plan_bean.trigger_type,
+            day=plan_bean.day,
+            toward_included_angle=plan_bean.toward_included_angle,
             toward_mode=0,
         )
         logger.debug(f"Send read job plan command planBean={plan_bean}")
@@ -242,6 +245,35 @@ class MessageNavigation(AbstractMessage, ABC):
         logger.debug(f"Send command--Read plan time {sub_cmd}")
         return self.send_order_msg_nav(build2)
 
+    def read_job_not_not_disturb(self) -> bytes:
+        build = NavUnableTimeSet(sub_cmd=2)
+        build2 = MctlNav(todev_unable_time_set=build)
+        logger.debug(f"Send command--Read job dnd {2}")
+        return self.send_order_msg_nav(build2)
+
+    def job_animal_protect_read(self) -> bytes:
+        """Read animal protection settings."""
+        build = NavUnableTimeSet(sub_cmd=2, trigger=99)
+        build2 = MctlNav(todev_unable_time_set=build)
+        logger.debug(f"Send command - Read job do not disturb time subCmd2 {build}")
+        return self.send_order_msg_nav(build2)
+
+    def job_do_not_disturb(self, unable_start_time: str, unable_end_time: str) -> bytes:
+        """Set do not disturb time period."""
+        build = MctlNav(
+            todev_unable_time_set=NavUnableTimeSet(
+                sub_cmd=1, trigger=1, unable_start_time=unable_start_time, unable_end_time=unable_end_time
+            )
+        )
+        logger.debug(f"Send command - Set job do not disturb time: {unable_start_time} - {unable_end_time}")
+        return self.send_order_msg_nav(build)
+
+    def job_do_not_disturb_del(self) -> bytes:
+        """Delete do not disturb settings."""
+        build = MctlNav(todev_unable_time_set=NavUnableTimeSet(sub_cmd=1, trigger=0))
+        logger.debug("Send command - Turn off do not disturb time")
+        return self.send_order_msg_nav(build)
+
     def query_job_history(self) -> bytes:
         return self.send_order_msg_nav(MctlNav(todev_work_report_update_cmd=WorkReportUpdateCmd(sub_cmd=1)))
 
@@ -259,7 +291,7 @@ class MessageNavigation(AbstractMessage, ABC):
             toapp_map_name_msg=NavMapNameMsg(
                 hash=0,
                 result=0,
-                device_id=device_id,  # iotId or ???
+                device_id=device_id,  # iot_id
                 rw=0,
             )
         )
@@ -268,7 +300,7 @@ class MessageNavigation(AbstractMessage, ABC):
         logger.debug("Send command--Get area name list")
         return self.send_order_msg_nav(mctl_nav)
 
-    def set_area_name(self, device_id, hash_id: int, name: str) -> bytes:
+    def set_area_name(self, device_id: str, hash_id: int, name: str) -> bytes:
         # Build the NavMapNameMsg with the specified parameters
         mctl_nav = MctlNav(
             toapp_map_name_msg=NavMapNameMsg(hash=hash_id, name=name, result=0, device_id=device_id, rw=1)
@@ -280,7 +312,7 @@ class MessageNavigation(AbstractMessage, ABC):
 
     def get_all_boundary_hash_list(self, sub_cmd: int) -> bytes:
         build = MctlNav(todev_gethash=NavGetHashList(pver=1, sub_cmd=sub_cmd))
-        logger.debug(f"Area loading=====================:Get area hash list++Bluetooth:{sub_cmd}")
+        logger.debug(f"Area loading=====================:Get area hash list:{sub_cmd}")
         return self.send_order_msg_nav(build)
 
     def get_hash_response(self, total_frame: int, current_frame: int) -> bytes:
@@ -294,7 +326,7 @@ class MessageNavigation(AbstractMessage, ABC):
 
     def synchronize_hash_data(self, hash_num: int) -> bytes:
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=8, hash=hash_num, sub_cmd=1))
-        logger.debug(f"Send command--209,hash synchronize area data hash:{hash}")
+        logger.debug(f"Send command--209,hash synchronize area data hash:{hash_num}")
         return self.send_order_msg_nav(build)
 
     def get_area_to_be_transferred(self) -> bytes:
@@ -327,9 +359,9 @@ class MessageNavigation(AbstractMessage, ABC):
         logger.debug(f"Send command--Send tool command id={param_id},values={values}")
         return self.send_order_msg_nav(build)
 
-    def end_draw_border(self, type: int) -> bytes:
+    def end_draw_border(self, type: int) -> bytes | None:
         if type == -1:
-            return
+            return None
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=1, type=type))
         logger.debug(f"Send command--End drawing boundary, obstacle, channel command type={type}")
         return self.send_order_msg_nav(build)
@@ -339,9 +371,9 @@ class MessageNavigation(AbstractMessage, ABC):
         logger.debug("Send command--Cancel current recording (boundary, obstacle)")
         return self.send_order_msg_nav(build)
 
-    def delete_map_elements(self, type: int, hash_num: int) -> bytes:
+    def delete_map_elements(self, type: int, hash_num: int) -> bytes | None:
         if type == -1:
-            return
+            return None
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=6, type=type, hash=hash_num))
         logger.debug(f"Send command--Delete boundary or obstacle or channel command type={type},hash={hash}")
         return self.send_order_msg_nav(build)
@@ -387,7 +419,7 @@ class MessageNavigation(AbstractMessage, ABC):
         generate_route_information}")
         return self.send_order_msg_nav(MctlNav(bidire_reqconver_path=build))
 
-    def modify_generate_route_information(self, generate_route_information: GenerateRouteInformation) -> bytes:
+    def modify_route_information(self, generate_route_information: GenerateRouteInformation) -> bytes:
         logger.debug(f"Generate route data source: {generate_route_information}")
         build = NavReqCoverPath(
             pver=1,
@@ -429,7 +461,11 @@ class MessageNavigation(AbstractMessage, ABC):
         return self.send_order_msg_nav(build)
 
     def get_line_info_list(self, hash_list: list[int], transaction_id: int) -> bytes:
+        """Get route information (mow path) corresponding to the specified hash list based on time.
+        e.g transaction_id = int(time.time() * 1000)
+        """
         logger.debug(f"Sending==========Get route command: {hash_list}")
+
         build = MctlNav(
             app_request_cover_paths=AppRequestCoverPathsT(
                 pver=1, hash_list=hash_list, transaction_id=transaction_id, sub_cmd=0

pymammotion/mammotion/commands/messages/network.py

@@ -1,11 +1,10 @@
 # === sendOrderMsg_Net  ===
-import time
 from abc import ABC
+import time
 
 from pymammotion import logger
 from pymammotion.mammotion.commands.abstract_message import AbstractMessage
-from pymammotion.mammotion.commands.messages.navigation import MessageNavigation
-from pymammotion.proto.dev_net import (
+from pymammotion.proto import (
     DevNet,
     DrvDebugDdsZmq,
     DrvDevInfoReq,
@@ -18,26 +17,26 @@ from pymammotion.proto.dev_net import (
     DrvWifiUpload,
     GetNetworkInfoReq,
     IotConctrlType,
+    LubaMsg,
     MnetCfg,
+    MsgAttr,
+    MsgCmdType,
+    MsgDevice,
     NetType,
     SetMnetCfgReq,
 )
-from pymammotion.proto.luba_msg import LubaMsg, MsgAttr, MsgCmdType, MsgDevice
 
 
 class MessageNetwork(AbstractMessage, ABC):
-    messageNavigation: MessageNavigation = MessageNavigation()
-
-    @staticmethod
-    def send_order_msg_net(build: DevNet) -> bytes:
+    def send_order_msg_net(self, build: DevNet) -> bytes:
         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,
-            seqs=1,
+            msgattr=MsgAttr.REQ,
+            seqs=self.seqs.increment_and_get() & 255,
             version=1,
-            subtype=1,
+            subtype=self.user_account,
             net=build,
             timestamp=round(time.time() * 1000),
         )
@@ -76,7 +75,7 @@ class MessageNetwork(AbstractMessage, ABC):
 
     def set_zmq_enable(self) -> bytes:
         build = DevNet(
-            todev_set_dds2zmq=DrvDebugDdsZmq(
+            todev_set_dds2_zmq=DrvDebugDdsZmq(
                 is_enable=True,
                 rx_topic_name="perception_post_result",
                 tx_zmq_url="tcp://0.0.0.0:5555",
@@ -164,7 +163,7 @@ class MessageNetwork(AbstractMessage, ABC):
             todev_ble_sync=1,
             todev_set_mnet_cfg_req=SetMnetCfgReq(
                 cfg=MnetCfg(
-                    type=NetType.NET_TYPE_WIFI,
+                    type=NetType.WIFI,
                     inet_enable=new_4g_status,
                     mnet_enable=new_4g_status,
                 )
@@ -177,7 +176,7 @@ class MessageNetwork(AbstractMessage, ABC):
     def set_device_wifi_enable_status(self, new_wifi_status: bool) -> bytes:
         build = DevNet(
             todev_ble_sync=1,
-            todev__wifi__configuration=DrvWifiSet(config_param=4, wifi_enable=new_wifi_status),
+            todev_wifi_configuration=DrvWifiSet(config_param=4, wifi_enable=new_wifi_status),
         )
         logger.debug(f"szNetwork: Send command - set network (on/off status). newWifiStatus={new_wifi_status}")
         return self.send_order_msg_net(build)
@@ -185,25 +184,20 @@ class MessageNetwork(AbstractMessage, ABC):
     def wifi_connectinfo_update(self) -> bytes:
         build = DevNet(
             todev_ble_sync=1,
-            todev__wifi_msg_upload=DrvWifiUpload(wifi_msg_upload=1),
+            todev_wifi_msg_upload=DrvWifiUpload(wifi_msg_upload=1),
         )
         logger.debug("Send command - get Wifi connection information")
         return self.send_order_msg_net(build)
 
-    def wifi_connectinfo_update2(self) -> None:
-        hash_map = {"getMsgCmd": 1}
-        # self.post_custom_data(self.get_json_string(
-        #     68, hash_map))  # ToDo: Fix this
-
     def get_record_wifi_list(self) -> bytes:
-        build = DevNet(todev_ble_sync=1, todev__wifi_list_upload=DrvWifiList())
+        build = DevNet(todev_ble_sync=1, todev_wifi_list_upload=DrvWifiList())
         logger.debug("Send command - get memorized WiFi list upload command")
         return self.send_order_msg_net(build)
 
     def close_clear_connect_current_wifi(self, ssid: str, status: int) -> bytes:
         build = DevNet(
             todev_ble_sync=1,
-            todev__wifi__configuration=DrvWifiSet(config_param=status, confssid=ssid),
+            todev_wifi_configuration=DrvWifiSet(config_param=status, confssid=ssid),
         )
         logger.debug(
             f"Send command - set network (disconnect, direct connect, forget, no operation reconnect) operation command (downlink ssid={ssid}, status={status})"

pymammotion/mammotion/commands/messages/ota.py

@@ -1,38 +1,38 @@
 # === sendOrderMsg_Ota ===
 from abc import ABC
+import logging
 
 from pymammotion.mammotion.commands.abstract_message import AbstractMessage
-from pymammotion.proto import luba_msg_pb2, mctrl_ota_pb2
-from pymammotion.proto.luba_msg import MsgCmdType, MsgDevice
+from pymammotion.proto import GetInfoReq, InfoType, LubaMsg, MctlOta, MsgAttr, MsgCmdType, MsgDevice
+
+_LOGGER = logging.getLogger(__name__)
 
 
 class MessageOta(AbstractMessage, ABC):
+    """Message OTA class."""
+
     def send_order_msg_ota(self, ota):
-        luba_msg = luba_msg_pb2.LubaMsg(
-            msgtype=luba_msg_pb2.MSG_CMD_TYPE_EMBED_OTA,
-            sender=luba_msg_pb2.DEV_MOBILEAPP,
-            rcver=self.get_msg_device(MsgCmdType.MSG_CMD_TYPE_EMBED_OTA, MsgDevice.DEV_MAINCTL),
-            msgattr=luba_msg_pb2.MSG_ATTR_REQ,
-            seqs=1,
+        luba_msg = LubaMsg(
+            msgtype=MsgCmdType.EMBED_OTA,
+            sender=MsgDevice.DEV_MOBILEAPP,
+            rcver=self.get_msg_device(MsgCmdType.EMBED_OTA, MsgDevice.DEV_MAINCTL),
+            msgattr=MsgAttr.REQ,
+            seqs=self.seqs.increment_and_get() & 255,
             version=1,
-            subtype=1,
+            subtype=self.user_account,
             ota=ota,
         )
 
         return luba_msg.SerializeToString()
 
     def get_device_ota_info(self, log_type: int):
-        todev_get_info_req = mctrl_ota_pb2.MctlOta(
-            todev_get_info_req=mctrl_ota_pb2.getInfoReq(type=mctrl_ota_pb2.IT_OTA)
-        )
+        todev_get_info_req = MctlOta(todev_get_info_req=GetInfoReq(type=InfoType.IT_OTA))
 
-        print("===Send command to get upgrade details===logType:" + str(log_type))
+        _LOGGER.debug("===Send command to get upgrade details===logType:" + str(log_type))
         return self.send_order_msg_ota(todev_get_info_req)
 
-    def get_device_info_new(self):
+    def get_device_info_new(self) -> bytes:
         """New device call for OTA upgrade information."""
-        todev_get_info_req = mctrl_ota_pb2.MctlOta(
-            todev_get_info_req=mctrl_ota_pb2.getInfoReq(type=mctrl_ota_pb2.IT_BASE)
-        )
-        print("Send to get OTA upgrade information", "Get device information")
+        todev_get_info_req = MctlOta(todev_get_info_req=GetInfoReq(type=InfoType.IT_BASE))
+        _LOGGER.debug("Send to get OTA upgrade information", "Get device information")
         return self.send_order_msg_ota(todev_get_info_req)

pymammotion/mammotion/commands/messages/system.py

@@ -1,17 +1,19 @@
 # === sendOrderMsg_Sys ===
+from abc import ABC
 import datetime
 import time
-from abc import ABC
 
 from pymammotion import logger
 from pymammotion.mammotion.commands.abstract_message import AbstractMessage
-from pymammotion.mammotion.commands.messages.navigation import MessageNavigation
-from pymammotion.proto.luba_msg import LubaMsg, MsgAttr, MsgCmdType, MsgDevice
-from pymammotion.proto.mctrl_sys import (
+from pymammotion.proto import (
     DeviceProductTypeInfoT,
     LoraCfgReq,
+    LubaMsg,
     MctlSys,
     MCtrlSimulationCmdData,
+    MsgAttr,
+    MsgCmdType,
+    MsgDevice,
     ReportInfoCfg,
     RptAct,
     RptInfoType,
@@ -20,44 +22,40 @@ from pymammotion.proto.mctrl_sys import (
     SysSetDateTime,
     TimeCtrlLight,
 )
-from pymammotion.utility.device_type import DeviceType
 
 
 class MessageSystem(AbstractMessage, ABC):
-    messageNavigation: MessageNavigation = MessageNavigation()
-
-    def send_order_msg_sys(self, sys):
+    def send_order_msg_sys(self, sys) -> bytes:
         luba_msg = LubaMsg(
-            msgtype=MsgCmdType.MSG_CMD_TYPE_EMBED_SYS,
-            msgattr=MsgAttr.MSG_ATTR_REQ,
+            msgtype=MsgCmdType.EMBED_SYS,
+            msgattr=MsgAttr.REQ,
             sender=MsgDevice.DEV_MOBILEAPP,
-            rcver=self.get_msg_device(MsgCmdType.MSG_CMD_TYPE_EMBED_SYS, MsgDevice.DEV_MAINCTL),
+            rcver=self.get_msg_device(MsgCmdType.EMBED_SYS, MsgDevice.DEV_MAINCTL),
             sys=sys,
-            seqs=1,
+            seqs=self.seqs.increment_and_get() & 255,
             version=1,
-            subtype=1,
+            subtype=self.user_account,
             timestamp=round(time.time() * 1000),
         )
 
         return luba_msg.SerializeToString()
 
-    @staticmethod
-    def send_order_msg_sys_legacy(sys):
+    def send_order_msg_sys_legacy(self, sys) -> bytes:
         luba_msg = LubaMsg(
-            msgtype=MsgCmdType.MSG_CMD_TYPE_EMBED_SYS,
-            msgattr=MsgAttr.MSG_ATTR_REQ,
+            msgtype=MsgCmdType.EMBED_SYS,
+            msgattr=MsgAttr.REQ,
             sender=MsgDevice.DEV_MOBILEAPP,
             rcver=MsgDevice.DEV_MAINCTL,
             sys=sys,
-            seqs=1,
+            seqs=self.seqs.increment_and_get() & 255,
             version=1,
-            subtype=1,
+            subtype=self.user_account,
             timestamp=round(time.time() * 1000),
         )
 
         return luba_msg.SerializeToString()
 
-    def reset_system(self):
+    def reset_system(self) -> bytes:
         build = MctlSys(todev_reset_system=1)
         logger.debug("Send command - send factory reset")
         return self.send_order_msg_sys(build)
@@ -102,7 +100,7 @@ class MessageSystem(AbstractMessage, ABC):
             is_sidelight}, operate:{operate}, timeCtrlLight:{build}")
         return self.send_order_msg_sys(build2)
 
-    def test_tool_order_to_sys(self, sub_cmd: int, param_id: int, param_value: list[int]):
+    def test_tool_order_to_sys(self, sub_cmd: int, param_id: int, param_value: list[int]) -> bytes:
         build = MCtrlSimulationCmdData(sub_cmd=sub_cmd, param_id=param_id, param_value=param_value)
         logger.debug(f"Send tool test command: subCmd={sub_cmd}, param_id:{
             param_id}, param_value={param_value}")
@@ -111,32 +109,16 @@ class MessageSystem(AbstractMessage, ABC):
             param_id}, param_value={param_value}")
         return self.send_order_msg_sys(build2)
 
-    def read_and_set_rtk_paring_code(self, op: int, cgf: str | None = None):
+    def read_and_set_rtk_paring_code(self, op: int, cgf: str | None = None) -> bytes:
         logger.debug(f"Send read and write base station configuration quality op:{
             op}, cgf:{cgf}")
         return self.send_order_msg_sys(MctlSys(todev_lora_cfg_req=LoraCfgReq(op=op, cfg=cgf)))
 
-    def allpowerfull_rw(self, id: int, context: int, rw: int) -> bytes:
-        if (id == 6 or id == 3 or id == 7) and DeviceType.is_luba_2(self.get_device_name()):
-            return self.messageNavigation.allpowerfull_rw_adapter_x3(id, context, rw)
-        build = MctlSys(bidire_comm_cmd=SysCommCmd(id=id, context=context, rw=rw))
-        logger.debug(f"Send command - 9 general read and write command id={id}, context={context}, rw={rw}")
-        if id == 5:
-            # TODO investigate if the original code makes any difference to this call.
-            """
-            LubaMsgOuterClass.LubaMsg.Builder protoBufBuilderSet = getProtoBufBuilderSet(LubaMsgOuterClass.MsgCmdType.MSG_CMD_TYPE_EMBED_SYS, LubaMsgOuterClass.MsgDevice.DEV_MAINCTL, LubaMsgOuterClass.MsgAttr.MSG_ATTR_REQ);
-            protoBufBuilderSet.setSys(build);
-            sendMsg(protoBufBuilderSet, 122, true, "发送指令--9通用读写命令id=" + i + ",context=" + i2 + ",rw=" + i3);
-            """
-            return self.send_order_msg_sys(build)
+    def allpowerfull_rw(self, rw_id: int, context: int, rw: int) -> bytes:
+        build = MctlSys(bidire_comm_cmd=SysCommCmd(id=rw_id, context=context, rw=rw))
+        logger.debug(f"Send command - 9 general read and write command id={rw_id}, context={context}, rw={rw}")
         return self.send_order_msg_sys(build)
 
-    def traverse_mode(self, id: int) -> bytes:
-        """Sets the traversal mode back to charger."""
-        # 0 direct
-        # 1 follow the perimeter
-        return self.allpowerfull_rw(7, id, 1)
-
     # Commented out as not needed and too many refs to try fix up
     # def factory_test_order(self, test_id: int, test_duration: int, expect: str):
     #     new_builder = mow_to_app_qctools_info_t.Builder()
@@ -198,6 +180,7 @@ class MessageSystem(AbstractMessage, ABC):
     #     return self.send_order_msg_sys(build2)
 
     def send_sys_set_date_time(self) -> bytes:
+        # TODO get HA timezone
         calendar = datetime.datetime.now()
         i = calendar.year
         i2 = calendar.month
@@ -298,13 +281,13 @@ class MessageSystem(AbstractMessage, ABC):
         mctl_sys.todev_report_cfg.sub.append(RptInfoType.RIT_VISION_STATISTIC)
 
         luba_msg = LubaMsg(
-            msgtype=MsgCmdType.MSG_CMD_TYPE_EMBED_SYS,
+            msgtype=MsgCmdType.EMBED_SYS,
             sender=MsgDevice.DEV_MOBILEAPP,
             rcver=MsgDevice.DEV_MAINCTL,
-            msgattr=MsgAttr.MSG_ATTR_REQ,
-            seqs=1,
+            msgattr=MsgAttr.REQ,
+            seqs=self.seqs.increment_and_get() & 255,
             version=1,
-            subtype=1,
+            subtype=self.user_account,
             sys=mctl_sys,
             timestamp=round(time.time() * 1000),
         )
@@ -334,13 +317,13 @@ class MessageSystem(AbstractMessage, ABC):
         mctl_sys.todev_report_cfg.sub.append(RptInfoType.RIT_BASESTATION_INFO)
 
         luba_msg = LubaMsg(
-            msgtype=MsgCmdType.MSG_CMD_TYPE_EMBED_SYS,
+            msgtype=MsgCmdType.EMBED_SYS,
             sender=MsgDevice.DEV_MOBILEAPP,
             rcver=MsgDevice.DEV_MAINCTL,
-            msgattr=MsgAttr.MSG_ATTR_REQ,
-            seqs=1,
+            msgattr=MsgAttr.REQ,
+            seqs=self.seqs.increment_and_get() & 255,
             version=1,
-            subtype=1,
+            subtype=self.user_account,
             sys=mctl_sys,
             timestamp=round(time.time() * 1000),
         )

pymammotion/mammotion/commands/messages/video.py

@@ -1,24 +1,23 @@
 # === sendOrderMsg_Video ===
-import time
 from abc import ABC
+import time
 
 from pymammotion.mammotion.commands.abstract_message import AbstractMessage
-from pymammotion.proto import luba_msg_pb2, luba_mul_pb2
-from pymammotion.proto.luba_msg import MsgAttr, MsgCmdType, MsgDevice
+from pymammotion.proto import LubaMsg, MsgAttr, MsgCmdType, MsgDevice, MulCameraPosition, MulSetVideo, SocMul
 from pymammotion.utility.device_type import DeviceType
 
 
 class MessageVideo(AbstractMessage, ABC):
-    async def send_order_msg_video(self, mul):
-        luba_msg = luba_msg_pb2.LubaMsg(
-            msgtype=luba_msg_pb2.MSG_CMD_TYPE_MUL,
-            msgattr=MsgAttr.MSG_ATTR_REQ,
-            sender=luba_msg_pb2.DEV_MOBILEAPP,
-            rcver=self.get_msg_device(MsgCmdType.MSG_CMD_TYPE_MUL, MsgDevice.SOC_MODULE_MULTIMEDIA),
+    def send_order_msg_video(self, mul: SocMul):
+        luba_msg = LubaMsg(
+            msgtype=MsgCmdType.MUL,
+            msgattr=MsgAttr.REQ,
+            sender=MsgDevice.DEV_MOBILEAPP,
+            rcver=self.get_msg_device(MsgCmdType.MUL, MsgDevice.SOC_MODULE_MULTIMEDIA),
             mul=mul,
-            seqs=1,
+            seqs=self.seqs.increment_and_get() & 255,
             version=1,
-            subtype=1,
+            subtype=self.user_account,
             timestamp=round(time.time() * 1000),
         )
 
@@ -26,9 +25,9 @@ class MessageVideo(AbstractMessage, ABC):
 
     def device_agora_join_channel_with_position(self, enter_state: int):
         position = (
-            luba_mul_pb2.MUL_CAMERA_POSITION.ALL
-            if DeviceType.is_yuka(self.get_device_name())
-            else luba_mul_pb2.MUL_CAMERA_POSITION.LEFT
+            MulCameraPosition.ALL
+            if DeviceType.value_of_str(self.get_device_name()).get_value() == DeviceType.LUBA_YUKA.get_value()
+            else MulCameraPosition.LEFT
         )
-        mctl_sys = luba_mul_pb2.SocMul(set_video=luba_mul_pb2.MulSetVideo(position=position, vi_switch=enter_state))
-        return self.send_order_msg_video(mctl_sys)
+        soc_mul = SocMul(set_video=MulSetVideo(position=position, vi_switch=enter_state))
+        return self.send_order_msg_video(soc_mul)

pymammotion/mammotion/devices/__init__.py

@@ -1,5 +1,29 @@
-"""mqtt init."""
+"""Mammotion devices module."""
 
-from .mammotion import MammotionBaseBLEDevice
+from .mammotion import Mammotion, MammotionDeviceManager
+from .mammotion_bluetooth import MammotionBaseBLEDevice
+from .mammotion_cloud import MammotionBaseCloudDevice, MammotionCloud
+from .mammotion_mower_ble import MammotionMowerBLEDevice
+from .mammotion_mower_cloud import MammotionMowerCloudDevice
+from .mower_device import MammotionMowerDevice
+from .mower_manager import MammotionMowerDeviceManager
+from .rtk_ble import MammotionRTKBLEDevice
+from .rtk_cloud import MammotionRTKCloudDevice
+from .rtk_device import MammotionRTKDevice
+from .rtk_manager import MammotionRTKDeviceManager
 
-__all__ = ["MammotionBaseBLEDevice"]
+__all__ = [
+    "Mammotion",
+    "MammotionDeviceManager",
+    "MammotionMowerDeviceManager",
+    "MammotionBaseBLEDevice",
+    "MammotionBaseCloudDevice",
+    "MammotionCloud",
+    "MammotionMowerBLEDevice",
+    "MammotionMowerCloudDevice",
+    "MammotionMowerDevice",
+    "MammotionRTKBLEDevice",
+    "MammotionRTKCloudDevice",
+    "MammotionRTKDevice",
+    "MammotionRTKDeviceManager",
+]