pymammotion 0.4.0a4__py3-none-any.whl → 0.4.0a6__py3-none-any.whl

pymammotion/aliyun/cloud_gateway.py

@@ -57,6 +57,8 @@ class AuthRefreshException(Exception):
 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 +659,7 @@ 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())
 
@@ -689,6 +691,10 @@ 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()

pymammotion/data/model/device.py

@@ -1,18 +1,18 @@
 """MowingDevice class to wrap around the betterproto dataclasses."""
 
 from dataclasses import dataclass, field
-from typing import Optional
 
 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 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.http.model.http import ErrorInfo
 from pymammotion.proto.mctrl_sys import (
+    DeviceFwInfo,
     MowToAppInfoT,
     ReportInfoData,
     SystemRapidStateTunnelMsg,
@@ -33,8 +33,9 @@ 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)
+    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:
@@ -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 +23,16 @@ 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

@@ -1,8 +1,9 @@
 """Manage state from notifications into MowingDevice."""
 
 import logging
+from collections.abc import Awaitable, Callable
 from datetime import datetime
-from typing import Any, Awaitable, Callable, Optional
+from typing import Any
 
 import betterproto
 
@@ -10,7 +11,7 @@ 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 DrvDevInfoResp, WifiIotStatusReport
 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
@@ -26,12 +27,10 @@ class StateManager:
 
     def __init__(self, device: MowingDevice) -> None:
         self._device = device
-        self.gethash_ack_callback: Optional[Callable[[NavGetHashListAck], Awaitable[None]]] = None
-        self.get_commondata_ack_callback: Optional[Callable[[NavGetCommDataAck | SvgMessageAckT], Awaitable[None]]] = (
-            None
-        )
-        self.on_notification_callback: Optional[Callable[[tuple[str, Any | None]], Awaitable[None]]] = None
-        self.queue_command_callback: Optional[Callable[[str, dict[str, Any]], Awaitable[bytes]]] = None
+        self.gethash_ack_callback: Callable[[NavGetHashListAck], Awaitable[None]] | None = None
+        self.get_commondata_ack_callback: Callable[[NavGetCommDataAck | SvgMessageAckT], Awaitable[None]] | None = None
+        self.on_notification_callback: Callable[[tuple[str, Any | None]], Awaitable[None]] | None = None
+        self.queue_command_callback: Callable[[str, dict[str, Any]], Awaitable[bytes]] | None = None
         self.last_updated_at = datetime.now()
 
     def get_device(self) -> MowingDevice:
@@ -121,6 +120,12 @@ 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 == "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/mqtt/linkkit/__init__.py

@@ -2,4 +2,4 @@
 
 from .linkkit import LinkKit
 
-__all__ = ["LinkKit"]
+__all__ = ["LinkKit"]