pymammotion 0.4.0a3__py3-none-any.whl → 0.4.0a5__py3-none-any.whl

pymammotion/aliyun/cloud_gateway.py

@@ -695,7 +695,6 @@ class CloudIOTGateway:
                 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/data/model/device.py

@@ -7,7 +7,7 @@ import betterproto
 from mashumaro.mixins.orjson import DataClassORJSONMixin
 
 from pymammotion.data.model import HashList, RapidState
-from pymammotion.data.model.device_info import MowerInfo
+from pymammotion.data.model.device_info import MowerInfo, DeviceFirmwares
 from pymammotion.data.model.location import Location
 from pymammotion.data.model.report_info import ReportData
 from pymammotion.data.mqtt.properties import ThingPropertiesMessage
@@ -16,7 +16,7 @@ from pymammotion.proto.mctrl_sys import (
     MowToAppInfoT,
     ReportInfoData,
     SystemRapidStateTunnelMsg,
-    SystemUpdateBufMsg,
+    SystemUpdateBufMsg, DeviceFwInfo,
 )
 from pymammotion.utility.constant import WorkMode
 from pymammotion.utility.conversions import parse_double
@@ -33,6 +33,7 @@ class MowingDevice(DataClassORJSONMixin):
     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: Optional[list] = field(default_factory=list)
     error_codes: dict[str, ErrorInfo] = field(default_factory=dict)
@@ -84,7 +85,7 @@ class MowingDevice(DataClassORJSONMixin):
         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 = location.real_toward / 10000
+                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)
                 )
@@ -93,13 +94,16 @@ class MowingDevice(DataClassORJSONMixin):
                         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 = self.mowing_state.toward / 10000
+        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)
         )
@@ -113,3 +117,23 @@ class MowingDevice(DataClassORJSONMixin):
 
     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/data/model/device_info.py

@@ -23,3 +23,15 @@ class MowerInfo(DataClassORJSONMixin):
     swversion: str = ""
     product_key: str = ""
     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 = ""
+    version: str = ""

pymammotion/data/state_manager.py

@@ -10,7 +10,7 @@ from pymammotion.data.model.device import MowingDevice
 from pymammotion.data.model.device_info import SideLight
 from pymammotion.data.model.hash_list import AreaHashNameList
 from pymammotion.data.mqtt.properties import ThingPropertiesMessage
-from pymammotion.proto.dev_net import WifiIotStatusReport
+from pymammotion.proto.dev_net import WifiIotStatusReport, DrvDevInfoResp
 from pymammotion.proto.luba_msg import LubaMsg
 from pymammotion.proto.mctrl_nav import AppGetAllAreaHashName, NavGetCommDataAck, NavGetHashListAck, SvgMessageAckT
 from pymammotion.proto.mctrl_sys import DeviceProductTypeInfoT, TimeCtrlLight
@@ -121,6 +121,12 @@ class StateManager:
             case "toapp_wifi_iot_status":
                 wifi_iot_status: WifiIotStatusReport = net_msg[1]
                 self._device.mower_state.product_key = wifi_iot_status.productkey
+            case "toapp_devinfo_resp":
+                toapp_devinfo_resp: DrvDevInfoResp = net_msg[1]
+                for resp in toapp_devinfo_resp.resp_ids:
+                    if resp.res is "DRV_RESULT_SUC":
+                        self._device.mower_state.swversion = resp.info
+                        self._device.device_firmwares.device_version = resp.info
 
     def _update_mul_data(self, message) -> None:
         pass

pymammotion/mammotion/devices/mammotion.py

@@ -169,7 +169,7 @@ class Mammotion:
         self, ble_device: BLEDevice, preference: ConnectionPreference = ConnectionPreference.BLUETOOTH
     ) -> None:
         if ble_device:
-            self.devices.add_device(
+            self.device_manager.add_device(
                 MammotionMixedDeviceManager(name=ble_device.name, ble_device=ble_device, preference=preference)
             )
 
@@ -205,9 +205,9 @@ class Mammotion:
 
     def add_cloud_devices(self, mqtt_client: MammotionCloud) -> None:
         for device in mqtt_client.cloud_client.devices_by_account_response.data.data:
-            mower_device = self.devices.get_device(device.deviceName)
+            mower_device = self.device_manager.get_device(device.deviceName)
             if device.deviceName.startswith(("Luba-", "Yuka-")) and mower_device is None:
-                self.devices.add_device(
+                self.device_manager.add_device(
                     MammotionMixedDeviceManager(
                         name=device.deviceName,
                         cloud_device=device,
@@ -222,7 +222,7 @@ class Mammotion:
                     mower_device.replace_mqtt(mqtt_client)
 
     def set_disconnect_strategy(self, disconnect: bool) -> None:
-        for device_name, device in self.devices.devices.items():
+        for device_name, device in self.device_manager.devices.items():
             if device.ble() is not None:
                 ble_device: MammotionBaseBLEDevice = device.ble()
                 ble_device.set_disconnect_strategy(disconnect)
@@ -249,10 +249,10 @@ class Mammotion:
         return cloud_client
 
     async def remove_device(self, name: str) -> None:
-        await self.devices.remove_device(name)
+        await self.device_manager.remove_device(name)
 
     def get_device_by_name(self, name: str) -> MammotionMixedDeviceManager:
-        return self.devices.get_device(name)
+        return self.device_manager.get_device(name)
 
     async def send_command(self, name: str, key: str):
         """Send a command to the device."""

pymammotion/mqtt/linkkit/__init__.py

@@ -0,0 +1,5 @@
+"""Package for linkkit."""
+
+from .linkkit import LinkKit
+
+__all__ = ["LinkKit"]