pymammotion 0.4.43__py3-none-any.whl → 0.4.45__py3-none-any.whl

pymammotion/proto/mctrl_nav_pb2.pyi

@@ -7,29 +7,15 @@ from typing import ClassVar as _ClassVar, Iterable as _Iterable, Mapping as _Map
 DESCRIPTOR: _descriptor.FileDescriptor
 
 class AppGetAllAreaHashName(_message.Message):
-    __slots__ = ["device_id", "hashnames"]
-    DEVICE_ID_FIELD_NUMBER: _ClassVar[int]
+    __slots__ = ["deviceId", "hashnames"]
+    DEVICEID_FIELD_NUMBER: _ClassVar[int]
     HASHNAMES_FIELD_NUMBER: _ClassVar[int]
-    device_id: str
-    hashnames: _containers.RepeatedCompositeFieldContainer[AreaHashName]
-    def __init__(self, device_id: _Optional[str] = ..., hashnames: _Optional[_Iterable[_Union[AreaHashName, _Mapping]]] = ...) -> None: ...
-
-class AreaHashName(_message.Message):
-    __slots__ = ["hash", "name"]
-    HASH_FIELD_NUMBER: _ClassVar[int]
-    NAME_FIELD_NUMBER: _ClassVar[int]
-    hash: int
-    name: str
-    def __init__(self, name: _Optional[str] = ..., hash: _Optional[int] = ...) -> None: ...
-
-class AreaLabel(_message.Message):
-    __slots__ = ["label"]
-    LABEL_FIELD_NUMBER: _ClassVar[int]
-    label: str
-    def __init__(self, label: _Optional[str] = ...) -> None: ...
+    deviceId: str
+    hashnames: _containers.RepeatedCompositeFieldContainer[area_hash_name]
+    def __init__(self, deviceId: _Optional[str] = ..., hashnames: _Optional[_Iterable[_Union[area_hash_name, _Mapping]]] = ...) -> None: ...
 
 class MctlNav(_message.Message):
-    __slots__ = ["all_plan_task", "app_request_cover_paths", "bidire_reqconver_path", "bidire_taskid", "cover_path_upload", "nav_sys_param_cmd", "plan_task_execute", "plan_task_name_id", "simulation_cmd", "toapp_all_hash_name", "toapp_bp", "toapp_bstate", "toapp_chgpileto", "toapp_costmap", "toapp_get_commondata_ack", "toapp_gethash_ack", "toapp_lat_up", "toapp_map_name_msg", "toapp_opt_border_info", "toapp_opt_line_up", "toapp_opt_obs_info", "toapp_pos_up", "toapp_svg_msg", "toapp_task_info", "toapp_work_report_ack", "toapp_work_report_update_ack", "toapp_work_report_upload", "toapp_zigzag", "todev_cancel_draw_cmd", "todev_cancel_suscmd", "todev_chl_line", "todev_chl_line_data", "todev_chl_line_end", "todev_draw_border", "todev_draw_border_end", "todev_draw_obs", "todev_draw_obs_end", "todev_edgecmd", "todev_get_commondata", "todev_gethash", "todev_lat_up_ack", "todev_mow_task", "todev_one_touch_leave_pile", "todev_opt_border_info_ack", "todev_opt_line_up_ack", "todev_opt_obs_info_ack", "todev_planjob_set", "todev_rechgcmd", "todev_reset_chg_pile", "todev_save_task", "todev_sustask", "todev_svg_msg", "todev_task_info_ack", "todev_taskctrl", "todev_taskctrl_ack", "todev_unable_time_set", "todev_work_report_cmd", "todev_work_report_update_cmd", "todev_zigzag_ack", "vision_ctrl", "zone_start_precent"]
+    __slots__ = ["all_plan_task", "app_request_cover_paths", "bidire_reqconver_path", "bidire_taskid", "cover_path_upload", "nav_sys_param_cmd", "plan_task_execute", "plan_task_name_id", "simulation_cmd", "toapp_all_hash_name", "toapp_bp", "toapp_bstate", "toapp_chgpileto", "toapp_costmap", "toapp_edge_points", "toapp_edge_points_ack", "toapp_get_commondata_ack", "toapp_gethash_ack", "toapp_lat_up", "toapp_map_name_msg", "toapp_opt_border_info", "toapp_opt_line_up", "toapp_opt_obs_info", "toapp_pos_up", "toapp_svg_msg", "toapp_task_info", "toapp_work_report_ack", "toapp_work_report_update_ack", "toapp_work_report_upload", "toapp_zigzag", "todev_cancel_draw_cmd", "todev_cancel_suscmd", "todev_chl_line", "todev_chl_line_data", "todev_chl_line_end", "todev_draw_border", "todev_draw_border_end", "todev_draw_obs", "todev_draw_obs_end", "todev_edgecmd", "todev_get_commondata", "todev_gethash", "todev_lat_up_ack", "todev_mow_task", "todev_one_touch_leave_pile", "todev_opt_border_info_ack", "todev_opt_line_up_ack", "todev_opt_obs_info_ack", "todev_planjob_set", "todev_rechgcmd", "todev_reset_chg_pile", "todev_save_task", "todev_sustask", "todev_svg_msg", "todev_task_info_ack", "todev_taskctrl", "todev_taskctrl_ack", "todev_unable_time_set", "todev_work_report_cmd", "todev_work_report_update_cmd", "todev_zigzag_ack", "vision_ctrl", "zone_start_precent"]
     ALL_PLAN_TASK_FIELD_NUMBER: _ClassVar[int]
     APP_REQUEST_COVER_PATHS_FIELD_NUMBER: _ClassVar[int]
     BIDIRE_REQCONVER_PATH_FIELD_NUMBER: _ClassVar[int]
@@ -44,6 +30,8 @@ class MctlNav(_message.Message):
     TOAPP_BSTATE_FIELD_NUMBER: _ClassVar[int]
     TOAPP_CHGPILETO_FIELD_NUMBER: _ClassVar[int]
     TOAPP_COSTMAP_FIELD_NUMBER: _ClassVar[int]
+    TOAPP_EDGE_POINTS_ACK_FIELD_NUMBER: _ClassVar[int]
+    TOAPP_EDGE_POINTS_FIELD_NUMBER: _ClassVar[int]
     TOAPP_GETHASH_ACK_FIELD_NUMBER: _ClassVar[int]
     TOAPP_GET_COMMONDATA_ACK_FIELD_NUMBER: _ClassVar[int]
     TOAPP_LAT_UP_FIELD_NUMBER: _ClassVar[int]
@@ -105,6 +93,8 @@ class MctlNav(_message.Message):
     toapp_bstate: NavBorderState
     toapp_chgpileto: chargePileType
     toapp_costmap: costmap_t
+    toapp_edge_points: NavEdgePoints
+    toapp_edge_points_ack: NavEdgePointsAck
     toapp_get_commondata_ack: NavGetCommDataAck
     toapp_gethash_ack: NavGetHashListAck
     toapp_lat_up: NavLatLonUp
@@ -113,7 +103,7 @@ class MctlNav(_message.Message):
     toapp_opt_line_up: NavOptLineUp
     toapp_opt_obs_info: NavOptObsInfo
     toapp_pos_up: NavPosUp
-    toapp_svg_msg: SvgMessageAckT
+    toapp_svg_msg: svg_message_ack_t
     toapp_task_info: NavTaskInfo
     toapp_work_report_ack: WorkReportInfoAck
     toapp_work_report_update_ack: WorkReportUpdateAck
@@ -142,7 +132,7 @@ class MctlNav(_message.Message):
     todev_reset_chg_pile: int
     todev_save_task: int
     todev_sustask: int
-    todev_svg_msg: SvgMessageAckT
+    todev_svg_msg: svg_message_ack_t
     todev_task_info_ack: NavResFrame
     todev_taskctrl: NavTaskCtrl
     todev_taskctrl_ack: NavTaskCtrlAck
@@ -152,7 +142,7 @@ class MctlNav(_message.Message):
     todev_zigzag_ack: NavUploadZigZagResultAck
     vision_ctrl: vision_ctrl_msg
     zone_start_precent: zone_start_precent_t
-    def __init__(self, toapp_lat_up: _Optional[_Union[NavLatLonUp, _Mapping]] = ..., toapp_pos_up: _Optional[_Union[NavPosUp, _Mapping]] = ..., todev_chl_line_data: _Optional[_Union[NavCHlLineData, _Mapping]] = ..., toapp_task_info: _Optional[_Union[NavTaskInfo, _Mapping]] = ..., toapp_opt_line_up: _Optional[_Union[NavOptLineUp, _Mapping]] = ..., toapp_opt_border_info: _Optional[_Union[NavOptiBorderInfo, _Mapping]] = ..., toapp_opt_obs_info: _Optional[_Union[NavOptObsInfo, _Mapping]] = ..., todev_task_info_ack: _Optional[_Union[NavResFrame, _Mapping]] = ..., todev_opt_border_info_ack: _Optional[_Union[NavResFrame, _Mapping]] = ..., todev_opt_obs_info_ack: _Optional[_Union[NavResFrame, _Mapping]] = ..., todev_opt_line_up_ack: _Optional[_Union[NavResFrame, _Mapping]] = ..., toapp_chgpileto: _Optional[_Union[chargePileType, _Mapping]] = ..., todev_sustask: _Optional[int] = ..., todev_rechgcmd: _Optional[int] = ..., todev_edgecmd: _Optional[int] = ..., todev_draw_border: _Optional[int] = ..., todev_draw_border_end: _Optional[int] = ..., todev_draw_obs: _Optional[int] = ..., todev_draw_obs_end: _Optional[int] = ..., todev_chl_line: _Optional[int] = ..., todev_chl_line_end: _Optional[int] = ..., todev_save_task: _Optional[int] = ..., todev_cancel_suscmd: _Optional[int] = ..., todev_reset_chg_pile: _Optional[int] = ..., todev_cancel_draw_cmd: _Optional[int] = ..., todev_one_touch_leave_pile: _Optional[int] = ..., todev_mow_task: _Optional[_Union[NavStartJob, _Mapping]] = ..., toapp_bstate: _Optional[_Union[NavBorderState, _Mapping]] = ..., todev_lat_up_ack: _Optional[int] = ..., todev_gethash: _Optional[_Union[NavGetHashList, _Mapping]] = ..., toapp_gethash_ack: _Optional[_Union[NavGetHashListAck, _Mapping]] = ..., todev_get_commondata: _Optional[_Union[NavGetCommData, _Mapping]] = ..., toapp_get_commondata_ack: _Optional[_Union[NavGetCommDataAck, _Mapping]] = ..., bidire_reqconver_path: _Optional[_Union[NavReqCoverPath, _Mapping]] = ..., toapp_zigzag: _Optional[_Union[NavUploadZigZagResult, _Mapping]] = ..., todev_zigzag_ack: _Optional[_Union[NavUploadZigZagResultAck, _Mapping]] = ..., todev_taskctrl: _Optional[_Union[NavTaskCtrl, _Mapping]] = ..., bidire_taskid: _Optional[_Union[NavTaskIdRw, _Mapping]] = ..., toapp_bp: _Optional[_Union[NavTaskBreakPoint, _Mapping]] = ..., todev_planjob_set: _Optional[_Union[NavPlanJobSet, _Mapping]] = ..., todev_unable_time_set: _Optional[_Union[NavUnableTimeSet, _Mapping]] = ..., simulation_cmd: _Optional[_Union[SimulationCmdData, _Mapping]] = ..., todev_work_report_update_cmd: _Optional[_Union[WorkReportUpdateCmd, _Mapping]] = ..., toapp_work_report_update_ack: _Optional[_Union[WorkReportUpdateAck, _Mapping]] = ..., todev_work_report_cmd: _Optional[_Union[WorkReportCmdData, _Mapping]] = ..., toapp_work_report_ack: _Optional[_Union[WorkReportInfoAck, _Mapping]] = ..., toapp_work_report_upload: _Optional[_Union[WorkReportInfoAck, _Mapping]] = ..., app_request_cover_paths: _Optional[_Union[app_request_cover_paths_t, _Mapping]] = ..., cover_path_upload: _Optional[_Union[cover_path_upload_t, _Mapping]] = ..., zone_start_precent: _Optional[_Union[zone_start_precent_t, _Mapping]] = ..., vision_ctrl: _Optional[_Union[vision_ctrl_msg, _Mapping]] = ..., nav_sys_param_cmd: _Optional[_Union[nav_sys_param_msg, _Mapping]] = ..., plan_task_execute: _Optional[_Union[nav_plan_task_execute, _Mapping]] = ..., toapp_costmap: _Optional[_Union[costmap_t, _Mapping]] = ..., plan_task_name_id: _Optional[_Union[plan_task_name_id_t, _Mapping]] = ..., all_plan_task: _Optional[_Union[nav_get_all_plan_task, _Mapping]] = ..., todev_taskctrl_ack: _Optional[_Union[NavTaskCtrlAck, _Mapping]] = ..., toapp_map_name_msg: _Optional[_Union[NavMapNameMsg, _Mapping]] = ..., todev_svg_msg: _Optional[_Union[SvgMessageAckT, _Mapping]] = ..., toapp_svg_msg: _Optional[_Union[SvgMessageAckT, _Mapping]] = ..., toapp_all_hash_name: _Optional[_Union[AppGetAllAreaHashName, _Mapping]] = ...) -> None: ...
+    def __init__(self, toapp_lat_up: _Optional[_Union[NavLatLonUp, _Mapping]] = ..., toapp_pos_up: _Optional[_Union[NavPosUp, _Mapping]] = ..., todev_chl_line_data: _Optional[_Union[NavCHlLineData, _Mapping]] = ..., toapp_task_info: _Optional[_Union[NavTaskInfo, _Mapping]] = ..., toapp_opt_line_up: _Optional[_Union[NavOptLineUp, _Mapping]] = ..., toapp_opt_border_info: _Optional[_Union[NavOptiBorderInfo, _Mapping]] = ..., toapp_opt_obs_info: _Optional[_Union[NavOptObsInfo, _Mapping]] = ..., todev_task_info_ack: _Optional[_Union[NavResFrame, _Mapping]] = ..., todev_opt_border_info_ack: _Optional[_Union[NavResFrame, _Mapping]] = ..., todev_opt_obs_info_ack: _Optional[_Union[NavResFrame, _Mapping]] = ..., todev_opt_line_up_ack: _Optional[_Union[NavResFrame, _Mapping]] = ..., toapp_chgpileto: _Optional[_Union[chargePileType, _Mapping]] = ..., todev_sustask: _Optional[int] = ..., todev_rechgcmd: _Optional[int] = ..., todev_edgecmd: _Optional[int] = ..., todev_draw_border: _Optional[int] = ..., todev_draw_border_end: _Optional[int] = ..., todev_draw_obs: _Optional[int] = ..., todev_draw_obs_end: _Optional[int] = ..., todev_chl_line: _Optional[int] = ..., todev_chl_line_end: _Optional[int] = ..., todev_save_task: _Optional[int] = ..., todev_cancel_suscmd: _Optional[int] = ..., todev_reset_chg_pile: _Optional[int] = ..., todev_cancel_draw_cmd: _Optional[int] = ..., todev_one_touch_leave_pile: _Optional[int] = ..., todev_mow_task: _Optional[_Union[NavStartJob, _Mapping]] = ..., toapp_bstate: _Optional[_Union[NavBorderState, _Mapping]] = ..., todev_lat_up_ack: _Optional[int] = ..., todev_gethash: _Optional[_Union[NavGetHashList, _Mapping]] = ..., toapp_gethash_ack: _Optional[_Union[NavGetHashListAck, _Mapping]] = ..., todev_get_commondata: _Optional[_Union[NavGetCommData, _Mapping]] = ..., toapp_get_commondata_ack: _Optional[_Union[NavGetCommDataAck, _Mapping]] = ..., bidire_reqconver_path: _Optional[_Union[NavReqCoverPath, _Mapping]] = ..., toapp_zigzag: _Optional[_Union[NavUploadZigZagResult, _Mapping]] = ..., todev_zigzag_ack: _Optional[_Union[NavUploadZigZagResultAck, _Mapping]] = ..., todev_taskctrl: _Optional[_Union[NavTaskCtrl, _Mapping]] = ..., bidire_taskid: _Optional[_Union[NavTaskIdRw, _Mapping]] = ..., toapp_bp: _Optional[_Union[NavTaskBreakPoint, _Mapping]] = ..., todev_planjob_set: _Optional[_Union[NavPlanJobSet, _Mapping]] = ..., todev_unable_time_set: _Optional[_Union[NavUnableTimeSet, _Mapping]] = ..., simulation_cmd: _Optional[_Union[SimulationCmdData, _Mapping]] = ..., todev_work_report_update_cmd: _Optional[_Union[WorkReportUpdateCmd, _Mapping]] = ..., toapp_work_report_update_ack: _Optional[_Union[WorkReportUpdateAck, _Mapping]] = ..., todev_work_report_cmd: _Optional[_Union[WorkReportCmdData, _Mapping]] = ..., toapp_work_report_ack: _Optional[_Union[WorkReportInfoAck, _Mapping]] = ..., toapp_work_report_upload: _Optional[_Union[WorkReportInfoAck, _Mapping]] = ..., app_request_cover_paths: _Optional[_Union[app_request_cover_paths_t, _Mapping]] = ..., cover_path_upload: _Optional[_Union[cover_path_upload_t, _Mapping]] = ..., zone_start_precent: _Optional[_Union[zone_start_precent_t, _Mapping]] = ..., vision_ctrl: _Optional[_Union[vision_ctrl_msg, _Mapping]] = ..., nav_sys_param_cmd: _Optional[_Union[nav_sys_param_msg, _Mapping]] = ..., plan_task_execute: _Optional[_Union[nav_plan_task_execute, _Mapping]] = ..., toapp_costmap: _Optional[_Union[costmap_t, _Mapping]] = ..., plan_task_name_id: _Optional[_Union[plan_task_name_id_t, _Mapping]] = ..., all_plan_task: _Optional[_Union[nav_get_all_plan_task, _Mapping]] = ..., todev_taskctrl_ack: _Optional[_Union[NavTaskCtrlAck, _Mapping]] = ..., toapp_map_name_msg: _Optional[_Union[NavMapNameMsg, _Mapping]] = ..., todev_svg_msg: _Optional[_Union[svg_message_ack_t, _Mapping]] = ..., toapp_svg_msg: _Optional[_Union[svg_message_ack_t, _Mapping]] = ..., toapp_all_hash_name: _Optional[_Union[AppGetAllAreaHashName, _Mapping]] = ..., toapp_edge_points: _Optional[_Union[NavEdgePoints, _Mapping]] = ..., toapp_edge_points_ack: _Optional[_Union[NavEdgePointsAck, _Mapping]] = ...) -> None: ...
 
 class NavBorderDataGet(_message.Message):
     __slots__ = ["borderLen", "currentFrame", "jobId"]
@@ -200,6 +190,40 @@ class NavCHlLineDataAck(_message.Message):
     startJobRI: int
     def __init__(self, startJobRI: _Optional[int] = ..., endJobRI: _Optional[int] = ..., currentFrame: _Optional[int] = ...) -> None: ...
 
+class NavEdgePoints(_message.Message):
+    __slots__ = ["Hash", "action", "currentFrame", "dataCouple", "result", "totalFrame", "type"]
+    ACTION_FIELD_NUMBER: _ClassVar[int]
+    CURRENTFRAME_FIELD_NUMBER: _ClassVar[int]
+    DATACOUPLE_FIELD_NUMBER: _ClassVar[int]
+    HASH_FIELD_NUMBER: _ClassVar[int]
+    Hash: int
+    RESULT_FIELD_NUMBER: _ClassVar[int]
+    TOTALFRAME_FIELD_NUMBER: _ClassVar[int]
+    TYPE_FIELD_NUMBER: _ClassVar[int]
+    action: int
+    currentFrame: int
+    dataCouple: _containers.RepeatedCompositeFieldContainer[_common_pb2.CommDataCouple]
+    result: int
+    totalFrame: int
+    type: int
+    def __init__(self, result: _Optional[int] = ..., action: _Optional[int] = ..., type: _Optional[int] = ..., Hash: _Optional[int] = ..., totalFrame: _Optional[int] = ..., currentFrame: _Optional[int] = ..., dataCouple: _Optional[_Iterable[_Union[_common_pb2.CommDataCouple, _Mapping]]] = ...) -> None: ...
+
+class NavEdgePointsAck(_message.Message):
+    __slots__ = ["Hash", "action", "currentFrame", "result", "totalFrame", "type"]
+    ACTION_FIELD_NUMBER: _ClassVar[int]
+    CURRENTFRAME_FIELD_NUMBER: _ClassVar[int]
+    HASH_FIELD_NUMBER: _ClassVar[int]
+    Hash: int
+    RESULT_FIELD_NUMBER: _ClassVar[int]
+    TOTALFRAME_FIELD_NUMBER: _ClassVar[int]
+    TYPE_FIELD_NUMBER: _ClassVar[int]
+    action: int
+    currentFrame: int
+    result: int
+    totalFrame: int
+    type: int
+    def __init__(self, result: _Optional[int] = ..., action: _Optional[int] = ..., type: _Optional[int] = ..., Hash: _Optional[int] = ..., totalFrame: _Optional[int] = ..., currentFrame: _Optional[int] = ...) -> None: ...
+
 class NavGetCommData(_message.Message):
     __slots__ = ["action", "currentFrame", "dataHash", "hash", "paternalHashA", "paternalHashB", "pver", "reserved", "subCmd", "totalFrame", "type"]
     ACTION_FIELD_NUMBER: _ClassVar[int]
@@ -227,15 +251,15 @@ class NavGetCommData(_message.Message):
     def __init__(self, pver: _Optional[int] = ..., subCmd: _Optional[int] = ..., action: _Optional[int] = ..., type: _Optional[int] = ..., hash: _Optional[int] = ..., paternalHashA: _Optional[int] = ..., paternalHashB: _Optional[int] = ..., totalFrame: _Optional[int] = ..., currentFrame: _Optional[int] = ..., dataHash: _Optional[int] = ..., reserved: _Optional[str] = ...) -> None: ...
 
 class NavGetCommDataAck(_message.Message):
-    __slots__ = ["Hash", "action", "areaLabel", "currentFrame", "dataCouple", "dataHash", "dataLen", "paternalHashA", "paternalHashB", "pver", "reserved", "result", "subCmd", "totalFrame", "type"]
+    __slots__ = ["Hash", "action", "currentFrame", "dataCouple", "dataHash", "dataLen", "nameTime", "paternalHashA", "paternalHashB", "pver", "reserved", "result", "subCmd", "totalFrame", "type"]
     ACTION_FIELD_NUMBER: _ClassVar[int]
-    AREALABEL_FIELD_NUMBER: _ClassVar[int]
     CURRENTFRAME_FIELD_NUMBER: _ClassVar[int]
     DATACOUPLE_FIELD_NUMBER: _ClassVar[int]
     DATAHASH_FIELD_NUMBER: _ClassVar[int]
     DATALEN_FIELD_NUMBER: _ClassVar[int]
     HASH_FIELD_NUMBER: _ClassVar[int]
     Hash: int
+    NAMETIME_FIELD_NUMBER: _ClassVar[int]
     PATERNALHASHA_FIELD_NUMBER: _ClassVar[int]
     PATERNALHASHB_FIELD_NUMBER: _ClassVar[int]
     PVER_FIELD_NUMBER: _ClassVar[int]
@@ -245,11 +269,11 @@ class NavGetCommDataAck(_message.Message):
     TOTALFRAME_FIELD_NUMBER: _ClassVar[int]
     TYPE_FIELD_NUMBER: _ClassVar[int]
     action: int
-    areaLabel: AreaLabel
     currentFrame: int
     dataCouple: _containers.RepeatedCompositeFieldContainer[_common_pb2.CommDataCouple]
     dataHash: int
     dataLen: int
+    nameTime: NavGetNameTime
     paternalHashA: int
     paternalHashB: int
     pver: int
@@ -258,7 +282,7 @@ class NavGetCommDataAck(_message.Message):
     subCmd: int
     totalFrame: int
     type: int
-    def __init__(self, pver: _Optional[int] = ..., subCmd: _Optional[int] = ..., result: _Optional[int] = ..., action: _Optional[int] = ..., type: _Optional[int] = ..., Hash: _Optional[int] = ..., paternalHashA: _Optional[int] = ..., paternalHashB: _Optional[int] = ..., totalFrame: _Optional[int] = ..., currentFrame: _Optional[int] = ..., dataHash: _Optional[int] = ..., dataLen: _Optional[int] = ..., dataCouple: _Optional[_Iterable[_Union[_common_pb2.CommDataCouple, _Mapping]]] = ..., reserved: _Optional[str] = ..., areaLabel: _Optional[_Union[AreaLabel, _Mapping]] = ...) -> None: ...
+    def __init__(self, pver: _Optional[int] = ..., subCmd: _Optional[int] = ..., result: _Optional[int] = ..., action: _Optional[int] = ..., type: _Optional[int] = ..., Hash: _Optional[int] = ..., paternalHashA: _Optional[int] = ..., paternalHashB: _Optional[int] = ..., totalFrame: _Optional[int] = ..., currentFrame: _Optional[int] = ..., dataHash: _Optional[int] = ..., dataLen: _Optional[int] = ..., dataCouple: _Optional[_Iterable[_Union[_common_pb2.CommDataCouple, _Mapping]]] = ..., reserved: _Optional[str] = ..., nameTime: _Optional[_Union[NavGetNameTime, _Mapping]] = ...) -> None: ...
 
 class NavGetHashList(_message.Message):
     __slots__ = ["currentFrame", "dataHash", "pver", "reserved", "subCmd", "totalFrame"]
@@ -298,6 +322,16 @@ class NavGetHashListAck(_message.Message):
     totalFrame: int
     def __init__(self, pver: _Optional[int] = ..., subCmd: _Optional[int] = ..., totalFrame: _Optional[int] = ..., currentFrame: _Optional[int] = ..., dataHash: _Optional[int] = ..., hashLen: _Optional[int] = ..., reserved: _Optional[str] = ..., result: _Optional[int] = ..., dataCouple: _Optional[_Iterable[int]] = ...) -> None: ...
 
+class NavGetNameTime(_message.Message):
+    __slots__ = ["create_time", "modify_time", "name"]
+    CREATE_TIME_FIELD_NUMBER: _ClassVar[int]
+    MODIFY_TIME_FIELD_NUMBER: _ClassVar[int]
+    NAME_FIELD_NUMBER: _ClassVar[int]
+    create_time: int
+    modify_time: int
+    name: str
+    def __init__(self, name: _Optional[str] = ..., create_time: _Optional[int] = ..., modify_time: _Optional[int] = ...) -> None: ...
+
 class NavLatLonUp(_message.Message):
     __slots__ = ["lat", "lon"]
     LAT_FIELD_NUMBER: _ClassVar[int]
@@ -307,18 +341,18 @@ class NavLatLonUp(_message.Message):
     def __init__(self, lat: _Optional[float] = ..., lon: _Optional[float] = ...) -> None: ...
 
 class NavMapNameMsg(_message.Message):
-    __slots__ = ["device_id", "hash", "name", "result", "rw"]
-    DEVICE_ID_FIELD_NUMBER: _ClassVar[int]
+    __slots__ = ["deviceId", "hash", "name", "result", "rw"]
+    DEVICEID_FIELD_NUMBER: _ClassVar[int]
     HASH_FIELD_NUMBER: _ClassVar[int]
     NAME_FIELD_NUMBER: _ClassVar[int]
     RESULT_FIELD_NUMBER: _ClassVar[int]
     RW_FIELD_NUMBER: _ClassVar[int]
-    device_id: str
+    deviceId: str
     hash: int
     name: str
     result: int
     rw: int
-    def __init__(self, rw: _Optional[int] = ..., hash: _Optional[int] = ..., name: _Optional[str] = ..., result: _Optional[int] = ..., device_id: _Optional[str] = ...) -> None: ...
+    def __init__(self, rw: _Optional[int] = ..., hash: _Optional[int] = ..., name: _Optional[str] = ..., result: _Optional[int] = ..., deviceId: _Optional[str] = ...) -> None: ...
 
 class NavObstiBorderDataGet(_message.Message):
     __slots__ = ["currentFrame", "obstacleIndex", "obstaclesLen"]
@@ -647,20 +681,22 @@ class NavTaskProgress(_message.Message):
     def __init__(self, taskProgress: _Optional[int] = ...) -> None: ...
 
 class NavUnableTimeSet(_message.Message):
-    __slots__ = ["deviceId", "reserved", "result", "subCmd", "unableEndTime", "unableStartTime"]
+    __slots__ = ["deviceId", "reserved", "result", "subCmd", "trigger", "unableEndTime", "unableStartTime"]
     DEVICEID_FIELD_NUMBER: _ClassVar[int]
     RESERVED_FIELD_NUMBER: _ClassVar[int]
     RESULT_FIELD_NUMBER: _ClassVar[int]
     SUBCMD_FIELD_NUMBER: _ClassVar[int]
+    TRIGGER_FIELD_NUMBER: _ClassVar[int]
     UNABLEENDTIME_FIELD_NUMBER: _ClassVar[int]
     UNABLESTARTTIME_FIELD_NUMBER: _ClassVar[int]
     deviceId: str
     reserved: str
     result: int
     subCmd: int
+    trigger: int
     unableEndTime: str
     unableStartTime: str
-    def __init__(self, subCmd: _Optional[int] = ..., deviceId: _Optional[str] = ..., unableStartTime: _Optional[str] = ..., unableEndTime: _Optional[str] = ..., result: _Optional[int] = ..., reserved: _Optional[str] = ...) -> None: ...
+    def __init__(self, subCmd: _Optional[int] = ..., deviceId: _Optional[str] = ..., unableStartTime: _Optional[str] = ..., unableEndTime: _Optional[str] = ..., result: _Optional[int] = ..., reserved: _Optional[str] = ..., trigger: _Optional[int] = ...) -> None: ...
 
 class NavUploadZigZagResult(_message.Message):
     __slots__ = ["area", "channelMode", "channelModeId", "currentFrame", "currentHash", "currentZone", "currentZonePathId", "currentZonePathNum", "dataCouple", "dataHash", "dataLen", "jobId", "jobVer", "pver", "reserved", "result", "subCmd", "time", "totalFrame", "totalZoneNum"]
@@ -736,28 +772,6 @@ class SimulationCmdData(_message.Message):
     subCmd: int
     def __init__(self, subCmd: _Optional[int] = ..., param_id: _Optional[int] = ..., param_value: _Optional[_Iterable[int]] = ...) -> None: ...
 
-class SvgMessageAckT(_message.Message):
-    __slots__ = ["current_frame", "data_hash", "paternal_hash_a", "pver", "result", "sub_cmd", "svg_message", "total_frame", "type"]
-    CURRENT_FRAME_FIELD_NUMBER: _ClassVar[int]
-    DATA_HASH_FIELD_NUMBER: _ClassVar[int]
-    PATERNAL_HASH_A_FIELD_NUMBER: _ClassVar[int]
-    PVER_FIELD_NUMBER: _ClassVar[int]
-    RESULT_FIELD_NUMBER: _ClassVar[int]
-    SUB_CMD_FIELD_NUMBER: _ClassVar[int]
-    SVG_MESSAGE_FIELD_NUMBER: _ClassVar[int]
-    TOTAL_FRAME_FIELD_NUMBER: _ClassVar[int]
-    TYPE_FIELD_NUMBER: _ClassVar[int]
-    current_frame: int
-    data_hash: int
-    paternal_hash_a: int
-    pver: int
-    result: int
-    sub_cmd: int
-    svg_message: svg_message_t
-    total_frame: int
-    type: int
-    def __init__(self, pver: _Optional[int] = ..., sub_cmd: _Optional[int] = ..., total_frame: _Optional[int] = ..., current_frame: _Optional[int] = ..., data_hash: _Optional[int] = ..., paternal_hash_a: _Optional[int] = ..., type: _Optional[int] = ..., result: _Optional[int] = ..., svg_message: _Optional[_Union[svg_message_t, _Mapping]] = ...) -> None: ...
-
 class WorkReportCmdData(_message.Message):
     __slots__ = ["getInfoNum", "subCmd"]
     GETINFONUM_FIELD_NUMBER: _ClassVar[int]
@@ -767,11 +781,12 @@ class WorkReportCmdData(_message.Message):
     def __init__(self, subCmd: _Optional[int] = ..., getInfoNum: _Optional[int] = ...) -> None: ...
 
 class WorkReportInfoAck(_message.Message):
-    __slots__ = ["current_ack_num", "end_work_time", "height_of_knife", "interrupt_flag", "start_work_time", "total_ack_num", "work_ares", "work_progress", "work_result", "work_time_used", "work_type"]
+    __slots__ = ["current_ack_num", "end_work_time", "height_of_knife", "interrupt_flag", "job_content", "start_work_time", "total_ack_num", "work_ares", "work_progress", "work_result", "work_time_used", "work_type"]
     CURRENT_ACK_NUM_FIELD_NUMBER: _ClassVar[int]
     END_WORK_TIME_FIELD_NUMBER: _ClassVar[int]
     HEIGHT_OF_KNIFE_FIELD_NUMBER: _ClassVar[int]
     INTERRUPT_FLAG_FIELD_NUMBER: _ClassVar[int]
+    JOB_CONTENT_FIELD_NUMBER: _ClassVar[int]
     START_WORK_TIME_FIELD_NUMBER: _ClassVar[int]
     TOTAL_ACK_NUM_FIELD_NUMBER: _ClassVar[int]
     WORK_ARES_FIELD_NUMBER: _ClassVar[int]
@@ -783,6 +798,7 @@ class WorkReportInfoAck(_message.Message):
     end_work_time: int
     height_of_knife: int
     interrupt_flag: bool
+    job_content: int
     start_work_time: int
     total_ack_num: int
     work_ares: float
@@ -790,7 +806,7 @@ class WorkReportInfoAck(_message.Message):
     work_result: int
     work_time_used: int
     work_type: int
-    def __init__(self, interrupt_flag: bool = ..., start_work_time: _Optional[int] = ..., end_work_time: _Optional[int] = ..., work_time_used: _Optional[int] = ..., work_ares: _Optional[float] = ..., work_progress: _Optional[int] = ..., height_of_knife: _Optional[int] = ..., work_type: _Optional[int] = ..., work_result: _Optional[int] = ..., total_ack_num: _Optional[int] = ..., current_ack_num: _Optional[int] = ...) -> None: ...
+    def __init__(self, interrupt_flag: bool = ..., start_work_time: _Optional[int] = ..., end_work_time: _Optional[int] = ..., work_time_used: _Optional[int] = ..., work_ares: _Optional[float] = ..., work_progress: _Optional[int] = ..., height_of_knife: _Optional[int] = ..., work_type: _Optional[int] = ..., work_result: _Optional[int] = ..., total_ack_num: _Optional[int] = ..., current_ack_num: _Optional[int] = ..., job_content: _Optional[int] = ...) -> None: ...
 
 class WorkReportUpdateAck(_message.Message):
     __slots__ = ["info_num", "update_flag"]
@@ -826,6 +842,14 @@ class app_request_cover_paths_t(_message.Message):
     transaction_id: int
     def __init__(self, pver: _Optional[int] = ..., subCmd: _Optional[int] = ..., totalFrame: _Optional[int] = ..., currentFrame: _Optional[int] = ..., dataHash: _Optional[int] = ..., transaction_id: _Optional[int] = ..., reserved: _Optional[_Iterable[int]] = ..., hash_list: _Optional[_Iterable[int]] = ...) -> None: ...
 
+class area_hash_name(_message.Message):
+    __slots__ = ["hash", "name"]
+    HASH_FIELD_NUMBER: _ClassVar[int]
+    NAME_FIELD_NUMBER: _ClassVar[int]
+    hash: int
+    name: str
+    def __init__(self, hash: _Optional[int] = ..., name: _Optional[str] = ...) -> None: ...
+
 class chargePileType(_message.Message):
     __slots__ = ["toward", "x", "y"]
     TOWARD_FIELD_NUMBER: _ClassVar[int]
@@ -938,6 +962,28 @@ class plan_task_name_id_t(_message.Message):
     name: str
     def __init__(self, id: _Optional[str] = ..., name: _Optional[str] = ...) -> None: ...
 
+class svg_message_ack_t(_message.Message):
+    __slots__ = ["currentFrame", "dataHash", "paternalHashA", "pver", "result", "subCmd", "svg_message", "totalFrame", "type"]
+    CURRENTFRAME_FIELD_NUMBER: _ClassVar[int]
+    DATAHASH_FIELD_NUMBER: _ClassVar[int]
+    PATERNALHASHA_FIELD_NUMBER: _ClassVar[int]
+    PVER_FIELD_NUMBER: _ClassVar[int]
+    RESULT_FIELD_NUMBER: _ClassVar[int]
+    SUBCMD_FIELD_NUMBER: _ClassVar[int]
+    SVG_MESSAGE_FIELD_NUMBER: _ClassVar[int]
+    TOTALFRAME_FIELD_NUMBER: _ClassVar[int]
+    TYPE_FIELD_NUMBER: _ClassVar[int]
+    currentFrame: int
+    dataHash: int
+    paternalHashA: int
+    pver: int
+    result: int
+    subCmd: int
+    svg_message: svg_message_t
+    totalFrame: int
+    type: int
+    def __init__(self, pver: _Optional[int] = ..., subCmd: _Optional[int] = ..., totalFrame: _Optional[int] = ..., currentFrame: _Optional[int] = ..., dataHash: _Optional[int] = ..., paternalHashA: _Optional[int] = ..., type: _Optional[int] = ..., result: _Optional[int] = ..., svg_message: _Optional[_Union[svg_message_t, _Mapping]] = ...) -> None: ...
+
 class svg_message_t(_message.Message):
     __slots__ = ["base_height_m", "base_height_pix", "base_width_m", "base_width_pix", "data_count", "hide_svg", "name_count", "rotate", "scale", "svg_file_data", "svg_file_name", "x_move", "y_move"]
     BASE_HEIGHT_M_FIELD_NUMBER: _ClassVar[int]
@@ -966,7 +1012,7 @@ class svg_message_t(_message.Message):
     svg_file_name: str
     x_move: float
     y_move: float
-    def __init__(self, x_move: _Optional[float] = ..., y_move: _Optional[float] = ..., scale: _Optional[float] = ..., rotate: _Optional[float] = ..., base_width_m: _Optional[float] = ..., base_width_pix: _Optional[int] = ..., base_height_m: _Optional[float] = ..., base_height_pix: _Optional[int] = ..., data_count: _Optional[int] = ..., hide_svg: bool = ..., name_count: _Optional[int] = ..., svg_file_name: _Optional[str] = ..., svg_file_data: _Optional[str] = ...) -> None: ...
+    def __init__(self, x_move: _Optional[float] = ..., y_move: _Optional[float] = ..., scale: _Optional[float] = ..., rotate: _Optional[float] = ..., base_width_m: _Optional[float] = ..., base_height_m: _Optional[float] = ..., base_width_pix: _Optional[int] = ..., base_height_pix: _Optional[int] = ..., svg_file_name: _Optional[str] = ..., svg_file_data: _Optional[str] = ..., name_count: _Optional[int] = ..., data_count: _Optional[int] = ..., hide_svg: bool = ...) -> None: ...
 
 class vision_ctrl_msg(_message.Message):
     __slots__ = ["cmd", "type"]

pymammotion/proto/mctrl_ota.proto

@@ -5,6 +5,25 @@ enum infoType {
   IT_OTA = 1;
 }
 
+message uplink_t {
+  int32 pkg_seq = 1;
+  int32 status = 2;
+}
+
+message downlink_t {
+  int32 fw_id = 1;
+  int32 pkg_seq = 2;
+  repeated int32 data = 3;
+}
+
+message fwDownloadCtrl {
+  oneof SubFwDownloadCtrl {
+    uplink_t uplink = 2;
+    downlink_t downlink = 3;
+  }
+  int32 cmd = 1;
+}
+
 message baseInfo {
   string dev_version = 1;
   int32 dev_status = 2;
@@ -26,17 +45,36 @@ message getInfoReq {
 }
 
 message getInfoRsp {
-  int32 result = 1;
-  infoType type = 2;
   oneof info {
     baseInfo base = 3;
     otaInfo ota = 4;
   }
+  int32 result = 1;
+  infoType type = 2;
+}
+
+message FotaInfo_t {
+  int32 need_ota_num = 1;
+  int32 need_ota_img_size = 2;
+  int32 ota_otype = 3;
+  string ota_oid = 4;
+  string ota_version = 5;
+}
+
+message FotaSubInfo_t {
+  int32 sub_mod_ota_flag = 1;
+  int32 sub_mod_id = 2;
+  int32 sub_img_size = 3;
+  string sub_mod_version = 4;
+  string sub_img_url = 5;
 }
 
 message MctlOta {
   oneof SubOtaMsg {
     getInfoReq todev_get_info_req = 1;
     getInfoRsp toapp_get_info_rsp = 2;
+    fwDownloadCtrl fw_download_ctrl = 3;
+    FotaInfo_t fota_info = 4;
+    FotaSubInfo_t fota_sub_info = 5;
   }
 }

pymammotion/proto/mctrl_ota_pb2.py

@@ -13,23 +13,33 @@ _sym_db = _symbol_database.Default()
 
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n!pymammotion/proto/mctrl_ota.proto\"k\n\x08\x62\x61seInfo\x12\x13\n\x0b\x64\x65v_version\x18\x01 \x01(\t\x12\x12\n\ndev_status\x18\x02 \x01(\x05\x12\x10\n\x08\x62\x61tt_val\x18\x03 \x01(\x05\x12\x13\n\x0binit_status\x18\x04 \x01(\x05\x12\x0f\n\x07is_tilt\x18\x05 \x01(\x05\"\\\n\x07otaInfo\x12\r\n\x05otaid\x18\x01 \x01(\t\x12\x0f\n\x07version\x18\x02 \x01(\t\x12\x10\n\x08progress\x18\x03 \x01(\x05\x12\x0e\n\x06result\x18\x04 \x01(\x05\x12\x0f\n\x07message\x18\x05 \x01(\t\"%\n\ngetInfoReq\x12\x17\n\x04type\x18\x01 \x01(\x0e\x32\t.infoType\"q\n\ngetInfoRsp\x12\x0e\n\x06result\x18\x01 \x01(\x05\x12\x17\n\x04type\x18\x02 \x01(\x0e\x32\t.infoType\x12\x19\n\x04\x62\x61se\x18\x03 \x01(\x0b\x32\t.baseInfoH\x00\x12\x17\n\x03ota\x18\x04 \x01(\x0b\x32\x08.otaInfoH\x00\x42\x06\n\x04info\"l\n\x07MctlOta\x12)\n\x12todev_get_info_req\x18\x01 \x01(\x0b\x32\x0b.getInfoReqH\x00\x12)\n\x12toapp_get_info_rsp\x18\x02 \x01(\x0b\x32\x0b.getInfoRspH\x00\x42\x0b\n\tSubOtaMsg*#\n\x08infoType\x12\x0b\n\x07IT_BASE\x10\x00\x12\n\n\x06IT_OTA\x10\x01\x62\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n!pymammotion/proto/mctrl_ota.proto\"+\n\x08uplink_t\x12\x0f\n\x07pkg_seq\x18\x01 \x01(\x05\x12\x0e\n\x06status\x18\x02 \x01(\x05\":\n\ndownlink_t\x12\r\n\x05\x66w_id\x18\x01 \x01(\x05\x12\x0f\n\x07pkg_seq\x18\x02 \x01(\x05\x12\x0c\n\x04\x64\x61ta\x18\x03 \x03(\x05\"p\n\x0e\x66wDownloadCtrl\x12\x1b\n\x06uplink\x18\x02 \x01(\x0b\x32\t.uplink_tH\x00\x12\x1f\n\x08\x64ownlink\x18\x03 \x01(\x0b\x32\x0b.downlink_tH\x00\x12\x0b\n\x03\x63md\x18\x01 \x01(\x05\x42\x13\n\x11SubFwDownloadCtrl\"k\n\x08\x62\x61seInfo\x12\x13\n\x0b\x64\x65v_version\x18\x01 \x01(\t\x12\x12\n\ndev_status\x18\x02 \x01(\x05\x12\x10\n\x08\x62\x61tt_val\x18\x03 \x01(\x05\x12\x13\n\x0binit_status\x18\x04 \x01(\x05\x12\x0f\n\x07is_tilt\x18\x05 \x01(\x05\"\\\n\x07otaInfo\x12\r\n\x05otaid\x18\x01 \x01(\t\x12\x0f\n\x07version\x18\x02 \x01(\t\x12\x10\n\x08progress\x18\x03 \x01(\x05\x12\x0e\n\x06result\x18\x04 \x01(\x05\x12\x0f\n\x07message\x18\x05 \x01(\t\"%\n\ngetInfoReq\x12\x17\n\x04type\x18\x01 \x01(\x0e\x32\t.infoType\"q\n\ngetInfoRsp\x12\x19\n\x04\x62\x61se\x18\x03 \x01(\x0b\x32\t.baseInfoH\x00\x12\x17\n\x03ota\x18\x04 \x01(\x0b\x32\x08.otaInfoH\x00\x12\x0e\n\x06result\x18\x01 \x01(\x05\x12\x17\n\x04type\x18\x02 \x01(\x0e\x32\t.infoTypeB\x06\n\x04info\"v\n\nFotaInfo_t\x12\x14\n\x0cneed_ota_num\x18\x01 \x01(\x05\x12\x19\n\x11need_ota_img_size\x18\x02 \x01(\x05\x12\x11\n\tota_otype\x18\x03 \x01(\x05\x12\x0f\n\x07ota_oid\x18\x04 \x01(\t\x12\x13\n\x0bota_version\x18\x05 \x01(\t\"\x81\x01\n\rFotaSubInfo_t\x12\x18\n\x10sub_mod_ota_flag\x18\x01 \x01(\x05\x12\x12\n\nsub_mod_id\x18\x02 \x01(\x05\x12\x14\n\x0csub_img_size\x18\x03 \x01(\x05\x12\x17\n\x0fsub_mod_version\x18\x04 \x01(\t\x12\x13\n\x0bsub_img_url\x18\x05 \x01(\t\"\xe4\x01\n\x07MctlOta\x12)\n\x12todev_get_info_req\x18\x01 \x01(\x0b\x32\x0b.getInfoReqH\x00\x12)\n\x12toapp_get_info_rsp\x18\x02 \x01(\x0b\x32\x0b.getInfoRspH\x00\x12+\n\x10\x66w_download_ctrl\x18\x03 \x01(\x0b\x32\x0f.fwDownloadCtrlH\x00\x12 \n\tfota_info\x18\x04 \x01(\x0b\x32\x0b.FotaInfo_tH\x00\x12\'\n\rfota_sub_info\x18\x05 \x01(\x0b\x32\x0e.FotaSubInfo_tH\x00\x42\x0b\n\tSubOtaMsg*#\n\x08infoType\x12\x0b\n\x07IT_BASE\x10\x00\x12\n\n\x06IT_OTA\x10\x01\x62\x06proto3')
 
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'pymammotion.proto.mctrl_ota_pb2', globals())
 if _descriptor._USE_C_DESCRIPTORS == False:
 
   DESCRIPTOR._options = None
-  _INFOTYPE._serialized_start=504
-  _INFOTYPE._serialized_end=539
-  _BASEINFO._serialized_start=37
-  _BASEINFO._serialized_end=144
-  _OTAINFO._serialized_start=146
-  _OTAINFO._serialized_end=238
-  _GETINFOREQ._serialized_start=240
-  _GETINFOREQ._serialized_end=277
-  _GETINFORSP._serialized_start=279
-  _GETINFORSP._serialized_end=392
-  _MCTLOTA._serialized_start=394
-  _MCTLOTA._serialized_end=502
+  _INFOTYPE._serialized_start=1096
+  _INFOTYPE._serialized_end=1131
+  _UPLINK_T._serialized_start=37
+  _UPLINK_T._serialized_end=80
+  _DOWNLINK_T._serialized_start=82
+  _DOWNLINK_T._serialized_end=140
+  _FWDOWNLOADCTRL._serialized_start=142
+  _FWDOWNLOADCTRL._serialized_end=254
+  _BASEINFO._serialized_start=256
+  _BASEINFO._serialized_end=363
+  _OTAINFO._serialized_start=365
+  _OTAINFO._serialized_end=457
+  _GETINFOREQ._serialized_start=459
+  _GETINFOREQ._serialized_end=496
+  _GETINFORSP._serialized_start=498
+  _GETINFORSP._serialized_end=611
+  _FOTAINFO_T._serialized_start=613
+  _FOTAINFO_T._serialized_end=731
+  _FOTASUBINFO_T._serialized_start=734
+  _FOTASUBINFO_T._serialized_end=863
+  _MCTLOTA._serialized_start=866
+  _MCTLOTA._serialized_end=1094
 # @@protoc_insertion_point(module_scope)

pymammotion/proto/mctrl_ota_pb2.pyi

@@ -1,19 +1,54 @@
+from google.protobuf.internal import containers as _containers
 from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
 from google.protobuf import descriptor as _descriptor
 from google.protobuf import message as _message
-from typing import ClassVar as _ClassVar, Mapping as _Mapping, Optional as _Optional, Union as _Union
+from typing import ClassVar as _ClassVar, Iterable as _Iterable, Mapping as _Mapping, Optional as _Optional, Union as _Union
 
 DESCRIPTOR: _descriptor.FileDescriptor
 IT_BASE: infoType
 IT_OTA: infoType
 
+class FotaInfo_t(_message.Message):
+    __slots__ = ["need_ota_img_size", "need_ota_num", "ota_oid", "ota_otype", "ota_version"]
+    NEED_OTA_IMG_SIZE_FIELD_NUMBER: _ClassVar[int]
+    NEED_OTA_NUM_FIELD_NUMBER: _ClassVar[int]
+    OTA_OID_FIELD_NUMBER: _ClassVar[int]
+    OTA_OTYPE_FIELD_NUMBER: _ClassVar[int]
+    OTA_VERSION_FIELD_NUMBER: _ClassVar[int]
+    need_ota_img_size: int
+    need_ota_num: int
+    ota_oid: str
+    ota_otype: int
+    ota_version: str
+    def __init__(self, need_ota_num: _Optional[int] = ..., need_ota_img_size: _Optional[int] = ..., ota_otype: _Optional[int] = ..., ota_oid: _Optional[str] = ..., ota_version: _Optional[str] = ...) -> None: ...
+
+class FotaSubInfo_t(_message.Message):
+    __slots__ = ["sub_img_size", "sub_img_url", "sub_mod_id", "sub_mod_ota_flag", "sub_mod_version"]
+    SUB_IMG_SIZE_FIELD_NUMBER: _ClassVar[int]
+    SUB_IMG_URL_FIELD_NUMBER: _ClassVar[int]
+    SUB_MOD_ID_FIELD_NUMBER: _ClassVar[int]
+    SUB_MOD_OTA_FLAG_FIELD_NUMBER: _ClassVar[int]
+    SUB_MOD_VERSION_FIELD_NUMBER: _ClassVar[int]
+    sub_img_size: int
+    sub_img_url: str
+    sub_mod_id: int
+    sub_mod_ota_flag: int
+    sub_mod_version: str
+    def __init__(self, sub_mod_ota_flag: _Optional[int] = ..., sub_mod_id: _Optional[int] = ..., sub_img_size: _Optional[int] = ..., sub_mod_version: _Optional[str] = ..., sub_img_url: _Optional[str] = ...) -> None: ...
+
 class MctlOta(_message.Message):
-    __slots__ = ["toapp_get_info_rsp", "todev_get_info_req"]
+    __slots__ = ["fota_info", "fota_sub_info", "fw_download_ctrl", "toapp_get_info_rsp", "todev_get_info_req"]
+    FOTA_INFO_FIELD_NUMBER: _ClassVar[int]
+    FOTA_SUB_INFO_FIELD_NUMBER: _ClassVar[int]
+    FW_DOWNLOAD_CTRL_FIELD_NUMBER: _ClassVar[int]
     TOAPP_GET_INFO_RSP_FIELD_NUMBER: _ClassVar[int]
     TODEV_GET_INFO_REQ_FIELD_NUMBER: _ClassVar[int]
+    fota_info: FotaInfo_t
+    fota_sub_info: FotaSubInfo_t
+    fw_download_ctrl: fwDownloadCtrl
     toapp_get_info_rsp: getInfoRsp
     todev_get_info_req: getInfoReq
-    def __init__(self, todev_get_info_req: _Optional[_Union[getInfoReq, _Mapping]] = ..., toapp_get_info_rsp: _Optional[_Union[getInfoRsp, _Mapping]] = ...) -> None: ...
+    def __init__(self, todev_get_info_req: _Optional[_Union[getInfoReq, _Mapping]] = ..., toapp_get_info_rsp: _Optional[_Union[getInfoRsp, _Mapping]] = ..., fw_download_ctrl: _Optional[_Union[fwDownloadCtrl, _Mapping]] = ..., fota_info: _Optional[_Union[FotaInfo_t, _Mapping]] = ..., fota_sub_info: _Optional[_Union[FotaSubInfo_t, _Mapping]] = ...) -> None: ...
 
 class baseInfo(_message.Message):
     __slots__ = ["batt_val", "dev_status", "dev_version", "init_status", "is_tilt"]
@@ -29,6 +64,26 @@ class baseInfo(_message.Message):
     is_tilt: int
     def __init__(self, dev_version: _Optional[str] = ..., dev_status: _Optional[int] = ..., batt_val: _Optional[int] = ..., init_status: _Optional[int] = ..., is_tilt: _Optional[int] = ...) -> None: ...
 
+class downlink_t(_message.Message):
+    __slots__ = ["data", "fw_id", "pkg_seq"]
+    DATA_FIELD_NUMBER: _ClassVar[int]
+    FW_ID_FIELD_NUMBER: _ClassVar[int]
+    PKG_SEQ_FIELD_NUMBER: _ClassVar[int]
+    data: _containers.RepeatedScalarFieldContainer[int]
+    fw_id: int
+    pkg_seq: int
+    def __init__(self, fw_id: _Optional[int] = ..., pkg_seq: _Optional[int] = ..., data: _Optional[_Iterable[int]] = ...) -> None: ...
+
+class fwDownloadCtrl(_message.Message):
+    __slots__ = ["cmd", "downlink", "uplink"]
+    CMD_FIELD_NUMBER: _ClassVar[int]
+    DOWNLINK_FIELD_NUMBER: _ClassVar[int]
+    UPLINK_FIELD_NUMBER: _ClassVar[int]
+    cmd: int
+    downlink: downlink_t
+    uplink: uplink_t
+    def __init__(self, uplink: _Optional[_Union[uplink_t, _Mapping]] = ..., downlink: _Optional[_Union[downlink_t, _Mapping]] = ..., cmd: _Optional[int] = ...) -> None: ...
+
 class getInfoReq(_message.Message):
     __slots__ = ["type"]
     TYPE_FIELD_NUMBER: _ClassVar[int]
@@ -45,7 +100,7 @@ class getInfoRsp(_message.Message):
     ota: otaInfo
     result: int
     type: infoType
-    def __init__(self, result: _Optional[int] = ..., type: _Optional[_Union[infoType, str]] = ..., base: _Optional[_Union[baseInfo, _Mapping]] = ..., ota: _Optional[_Union[otaInfo, _Mapping]] = ...) -> None: ...
+    def __init__(self, base: _Optional[_Union[baseInfo, _Mapping]] = ..., ota: _Optional[_Union[otaInfo, _Mapping]] = ..., result: _Optional[int] = ..., type: _Optional[_Union[infoType, str]] = ...) -> None: ...
 
 class otaInfo(_message.Message):
     __slots__ = ["message", "otaid", "progress", "result", "version"]
@@ -61,5 +116,13 @@ class otaInfo(_message.Message):
     version: str
     def __init__(self, otaid: _Optional[str] = ..., version: _Optional[str] = ..., progress: _Optional[int] = ..., result: _Optional[int] = ..., message: _Optional[str] = ...) -> None: ...
 
+class uplink_t(_message.Message):
+    __slots__ = ["pkg_seq", "status"]
+    PKG_SEQ_FIELD_NUMBER: _ClassVar[int]
+    STATUS_FIELD_NUMBER: _ClassVar[int]
+    pkg_seq: int
+    status: int
+    def __init__(self, pkg_seq: _Optional[int] = ..., status: _Optional[int] = ...) -> None: ...
+
 class infoType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
     __slots__ = []

pymammotion/proto/mctrl_pept.proto

@@ -3,8 +3,8 @@ syntax = "proto3";
 message perception_obstacles_t {
   int32 label = 1;
   int32 num = 2;
-  repeated int32 points_x = 3;
-  repeated int32 points_y = 4;
+  repeated sint32 points_x = 3;
+  repeated sint32 points_y = 4;
 }
 
 message perception_obstacles_visualization_t {

pymammotion/proto/mctrl_pept_pb2.py

@@ -13,7 +13,7 @@ _sym_db = _symbol_database.Default()
 
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\"pymammotion/proto/mctrl_pept.proto\"X\n\x16perception_obstacles_t\x12\r\n\x05label\x18\x01 \x01(\x05\x12\x0b\n\x03num\x18\x02 \x01(\x05\x12\x10\n\x08points_x\x18\x03 \x03(\x05\x12\x10\n\x08points_y\x18\x04 \x03(\x05\"\x98\x01\n$perception_obstacles_visualization_t\x12\x15\n\ris_heart_beat\x18\x01 \x01(\x05\x12\x0b\n\x03num\x18\x02 \x01(\x05\x12*\n\tobstacles\x18\x03 \x03(\x0b\x32\x17.perception_obstacles_t\x12\x11\n\ttimestamp\x18\x04 \x01(\x01\x12\r\n\x05scale\x18\x05 \x01(\x02\"f\n\x1bperception_universal_buff_t\x12\x17\n\x0fperception_type\x18\x01 \x01(\x05\x12\x16\n\x0eperception_len\x18\x02 \x01(\x05\x12\x16\n\x0euniversal_buff\x18\x03 \x03(\x03\"\xb0\x01\n\x08MctlPept\x12S\n\"perception_obstacles_visualization\x18\x01 \x01(\x0b\x32%.perception_obstacles_visualization_tH\x00\x12\x41\n\x19perception_universal_buff\x18\x02 \x01(\x0b\x32\x1c.perception_universal_buff_tH\x00\x42\x0c\n\nSubPeptMsgb\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\"pymammotion/proto/mctrl_pept.proto\"X\n\x16perception_obstacles_t\x12\r\n\x05label\x18\x01 \x01(\x05\x12\x0b\n\x03num\x18\x02 \x01(\x05\x12\x10\n\x08points_x\x18\x03 \x03(\x11\x12\x10\n\x08points_y\x18\x04 \x03(\x11\"\x98\x01\n$perception_obstacles_visualization_t\x12\x15\n\ris_heart_beat\x18\x01 \x01(\x05\x12\x0b\n\x03num\x18\x02 \x01(\x05\x12*\n\tobstacles\x18\x03 \x03(\x0b\x32\x17.perception_obstacles_t\x12\x11\n\ttimestamp\x18\x04 \x01(\x01\x12\r\n\x05scale\x18\x05 \x01(\x02\"f\n\x1bperception_universal_buff_t\x12\x17\n\x0fperception_type\x18\x01 \x01(\x05\x12\x16\n\x0eperception_len\x18\x02 \x01(\x05\x12\x16\n\x0euniversal_buff\x18\x03 \x03(\x03\"\xb0\x01\n\x08MctlPept\x12S\n\"perception_obstacles_visualization\x18\x01 \x01(\x0b\x32%.perception_obstacles_visualization_tH\x00\x12\x41\n\x19perception_universal_buff\x18\x02 \x01(\x0b\x32\x1c.perception_universal_buff_tH\x00\x42\x0c\n\nSubPeptMsgb\x06proto3')
 
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'pymammotion.proto.mctrl_pept_pb2', globals())