pymammotion 0.4.55__py3-none-any.whl → 0.4.57__py3-none-any.whl

pymammotion/proto/luba_mul_pb2.py

@@ -13,27 +13,27 @@ _sym_db = _symbol_database.Default()
 
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n pymammotion/proto/luba_mul.proto\"o\n\x0bMulSetAudio\x12\x13\n\tat_switch\x18\x01 \x01(\x05H\x00\x12$\n\x0b\x61u_language\x18\x02 \x01(\x0e\x32\r.MUL_LANGUAGEH\x00\x12\x17\n\x03sex\x18\x03 \x01(\x0e\x32\x08.MUL_SEXH\x00\x42\x0c\n\nAudioCfg_u\"H\n\x0bMulSetVideo\x12&\n\x08position\x18\x01 \x01(\x0e\x32\x14.MUL_CAMERA_POSITION\x12\x11\n\tvi_switch\x18\x02 \x01(\x05\";\n\x0eMulSetVideoAck\x12)\n\nerror_code\x18\x01 \x01(\x0e\x32\x15.MUL_VIDEO_ERROR_CODE\"[\n\x0bMulAudioCfg\x12\x11\n\tau_switch\x18\x01 \x01(\x05\x12\"\n\x0b\x61u_language\x18\x02 \x01(\x0e\x32\r.MUL_LANGUAGE\x12\x15\n\x03sex\x18\x03 \x01(\x0e\x32\x08.MUL_SEX\"\x1c\n\x0bMulSetWiper\x12\r\n\x05round\x18\x01 \x01(\x05\"\x1e\n\x0bGetHeadlamp\x12\x0f\n\x07get_ids\x18\x01 \x01(\x05\"\xba\x01\n\x0bSetHeadlamp\x12\x0f\n\x07set_ids\x18\x01 \x01(\x05\x12\x17\n\x0flamp_power_ctrl\x18\x02 \x01(\x05\x12!\n\tlamp_ctrl\x18\x03 \x01(\x0e\x32\x0e.lamp_ctrl_sta\x12\x18\n\x10\x63trl_lamp_bright\x18\x04 \x01(\x08\x12\x13\n\x0blamp_bright\x18\x05 \x01(\x05\x12/\n\x10lamp_manual_ctrl\x18\x06 \x01(\x0e\x32\x15.lamp_manual_ctrl_sta\"-\n\nSetlamprsp\x12\x0f\n\x07set_ids\x18\x01 \x01(\x05\x12\x0e\n\x06result\x18\x02 \x01(\x05\"\x96\x01\n\nGetlamprsp\x12\x0f\n\x07get_ids\x18\x01 \x01(\x05\x12\x0e\n\x06result\x18\x02 \x01(\x05\x12!\n\tlamp_ctrl\x18\x03 \x01(\x0e\x32\x0e.lamp_ctrl_sta\x12\x13\n\x0blamp_bright\x18\x04 \x01(\x05\x12/\n\x10lamp_manual_ctrl\x18\x05 \x01(\x0e\x32\x15.lamp_manual_ctrl_sta\";\n\x0eMulSetWiperAck\x12)\n\nerror_code\x18\x01 \x01(\x0e\x32\x15.MUL_WIPER_ERROR_CODE\"\x1e\n\x0cMulSetEncode\x12\x0e\n\x06\x65ncode\x18\x01 \x01(\x08\"\xa5\x03\n\x06SocMul\x12!\n\tset_audio\x18\x01 \x01(\x0b\x32\x0c.MulSetAudioH\x00\x12!\n\taudio_cfg\x18\x02 \x01(\x0b\x32\x0c.MulAudioCfgH\x00\x12!\n\tset_video\x18\x03 \x01(\x0b\x32\x0c.MulSetVideoH\x00\x12(\n\rset_video_ack\x18\x04 \x01(\x0b\x32\x0f.MulSetVideoAckH\x00\x12!\n\tset_wiper\x18\x05 \x01(\x0b\x32\x0c.MulSetWiperH\x00\x12(\n\rset_wiper_ack\x18\x06 \x01(\x0b\x32\x0f.MulSetWiperAckH\x00\x12 \n\x08get_lamp\x18\x07 \x01(\x0b\x32\x0c.GetHeadlampH\x00\x12 \n\x08set_lamp\x18\x08 \x01(\x0b\x32\x0c.SetHeadlampH\x00\x12#\n\x0cset_lamp_rsp\x18\t \x01(\x0b\x32\x0b.SetlamprspH\x00\x12#\n\x0cget_lamp_rsp\x18\n \x01(\x0b\x32\x0b.GetlamprspH\x00\x12#\n\nreq_encode\x18\x0b \x01(\x0b\x32\r.MulSetEncodeH\x00\x42\x08\n\x06SubMul*v\n\x0cMUL_LANGUAGE\x12\x0b\n\x07\x45NGLISH\x10\x00\x12\n\n\x06GERMAN\x10\x01\x12\n\n\x06\x46RENCH\x10\x02\x12\x0b\n\x07ITALIAN\x10\x03\x12\x0b\n\x07SPANISH\x10\x04\x12\x0e\n\nPORTUGUESE\x10\x05\x12\t\n\x05\x44UTCH\x10\x06\x12\x0c\n\x08NONE_LAN\x10\x07*+\n\x07MUL_SEX\x12\x07\n\x03MAN\x10\x00\x12\t\n\x05WOMAN\x10\x01\x12\x0c\n\x08NONE_SEX\x10\x02*=\n\x13MUL_CAMERA_POSITION\x12\x08\n\x04LEFT\x10\x00\x12\t\n\x05RIGHT\x10\x01\x12\x08\n\x04REAR\x10\x02\x12\x07\n\x03\x41LL\x10\x03*\x9d\x01\n\x14MUL_VIDEO_ERROR_CODE\x12\x0b\n\x07SUCCESS\x10\x00\x12\x15\n\x11\x41\x43TIVATION_FAILED\x10\x01\x12\x19\n\x15NETWORK_NOT_AVAILABLE\x10\x02\x12\x19\n\x15\x43REATE_CHANNEL_FAILED\x10\x03\x12\x11\n\rPARAM_INVAILD\x10\x04\x12\x18\n\x14\x43\x45LLULAR_RESTRICTION\x10\x05*Q\n\x14MUL_WIPER_ERROR_CODE\x12\x0f\n\x0bSET_SUCCESS\x10\x00\x12\x0c\n\x08HW_ERROR\x10\x01\x12\x1a\n\x16NAVIGATION_WORK_FORBID\x10\x02*?\n\rlamp_ctrl_sta\x12\r\n\tpower_off\x10\x00\x12\x0c\n\x08power_on\x10\x01\x12\x11\n\rpower_ctrl_on\x10\x02*A\n\x14lamp_manual_ctrl_sta\x12\x14\n\x10manual_power_off\x10\x00\x12\x13\n\x0fmanual_power_on\x10\x01\x62\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n pymammotion/proto/luba_mul.proto\"o\n\x0bMulSetAudio\x12\x13\n\tat_switch\x18\x01 \x01(\x05H\x00\x12$\n\x0b\x61u_language\x18\x02 \x01(\x0e\x32\r.MUL_LANGUAGEH\x00\x12\x17\n\x03sex\x18\x03 \x01(\x0e\x32\x08.MUL_SEXH\x00\x42\x0c\n\nAudioCfg_u\"H\n\x0bMulSetVideo\x12&\n\x08position\x18\x01 \x01(\x0e\x32\x14.MUL_CAMERA_POSITION\x12\x11\n\tvi_switch\x18\x02 \x01(\x05\";\n\x0eMulSetVideoAck\x12)\n\nerror_code\x18\x01 \x01(\x0e\x32\x15.MUL_VIDEO_ERROR_CODE\"[\n\x0bMulAudioCfg\x12\x11\n\tau_switch\x18\x01 \x01(\x05\x12\"\n\x0b\x61u_language\x18\x02 \x01(\x0e\x32\r.MUL_LANGUAGE\x12\x15\n\x03sex\x18\x03 \x01(\x0e\x32\x08.MUL_SEX\"\x1c\n\x0bMulSetWiper\x12\r\n\x05round\x18\x01 \x01(\x05\"\x1e\n\x0bGetHeadlamp\x12\x0f\n\x07get_ids\x18\x01 \x01(\x05\"\xba\x01\n\x0bSetHeadlamp\x12\x0f\n\x07set_ids\x18\x01 \x01(\x05\x12\x17\n\x0flamp_power_ctrl\x18\x02 \x01(\x05\x12!\n\tlamp_ctrl\x18\x03 \x01(\x0e\x32\x0e.lamp_ctrl_sta\x12\x18\n\x10\x63trl_lamp_bright\x18\x04 \x01(\x08\x12\x13\n\x0blamp_bright\x18\x05 \x01(\x05\x12/\n\x10lamp_manual_ctrl\x18\x06 \x01(\x0e\x32\x15.lamp_manual_ctrl_sta\"-\n\nSetlamprsp\x12\x0f\n\x07set_ids\x18\x01 \x01(\x05\x12\x0e\n\x06result\x18\x02 \x01(\x05\"\x96\x01\n\nGetlamprsp\x12\x0f\n\x07get_ids\x18\x01 \x01(\x05\x12\x0e\n\x06result\x18\x02 \x01(\x05\x12!\n\tlamp_ctrl\x18\x03 \x01(\x0e\x32\x0e.lamp_ctrl_sta\x12\x13\n\x0blamp_bright\x18\x04 \x01(\x05\x12/\n\x10lamp_manual_ctrl\x18\x05 \x01(\x0e\x32\x15.lamp_manual_ctrl_sta\";\n\x0eMulSetWiperAck\x12)\n\nerror_code\x18\x01 \x01(\x0e\x32\x15.MUL_WIPER_ERROR_CODE\"\x1e\n\x0cMulSetEncode\x12\x0e\n\x06\x65ncode\x18\x01 \x01(\x08\"\xa5\x03\n\x06SocMul\x12!\n\tset_audio\x18\x01 \x01(\x0b\x32\x0c.MulSetAudioH\x00\x12!\n\taudio_cfg\x18\x02 \x01(\x0b\x32\x0c.MulAudioCfgH\x00\x12!\n\tset_video\x18\x03 \x01(\x0b\x32\x0c.MulSetVideoH\x00\x12(\n\rset_video_ack\x18\x04 \x01(\x0b\x32\x0f.MulSetVideoAckH\x00\x12!\n\tset_wiper\x18\x05 \x01(\x0b\x32\x0c.MulSetWiperH\x00\x12(\n\rset_wiper_ack\x18\x06 \x01(\x0b\x32\x0f.MulSetWiperAckH\x00\x12 \n\x08get_lamp\x18\x07 \x01(\x0b\x32\x0c.GetHeadlampH\x00\x12 \n\x08set_lamp\x18\x08 \x01(\x0b\x32\x0c.SetHeadlampH\x00\x12#\n\x0cset_lamp_rsp\x18\t \x01(\x0b\x32\x0b.SetlamprspH\x00\x12#\n\x0cget_lamp_rsp\x18\n \x01(\x0b\x32\x0b.GetlamprspH\x00\x12#\n\nreq_encode\x18\x0b \x01(\x0b\x32\r.MulSetEncodeH\x00\x42\x08\n\x06SubMul*\x83\x01\n\x0cMUL_LANGUAGE\x12\x0b\n\x07\x45NGLISH\x10\x00\x12\n\n\x06GERMAN\x10\x01\x12\n\n\x06\x46RENCH\x10\x02\x12\x0b\n\x07ITALIAN\x10\x03\x12\x0b\n\x07SPANISH\x10\x04\x12\x0e\n\nPORTUGUESE\x10\x05\x12\t\n\x05\x44UTCH\x10\x06\x12\x0b\n\x07SWEDISH\x10\x07\x12\x0c\n\x08NONE_LAN\x10\x08*+\n\x07MUL_SEX\x12\x07\n\x03MAN\x10\x00\x12\t\n\x05WOMAN\x10\x01\x12\x0c\n\x08NONE_SEX\x10\x02*=\n\x13MUL_CAMERA_POSITION\x12\x08\n\x04LEFT\x10\x00\x12\t\n\x05RIGHT\x10\x01\x12\x08\n\x04REAR\x10\x02\x12\x07\n\x03\x41LL\x10\x03*\x83\x01\n\x14MUL_VIDEO_ERROR_CODE\x12\x0b\n\x07SUCCESS\x10\x00\x12\x15\n\x11\x41\x43TIVATION_FAILED\x10\x01\x12\x19\n\x15NETWORK_NOT_AVAILABLE\x10\x02\x12\x19\n\x15\x43REATE_CHANNEL_FAILED\x10\x03\x12\x11\n\rPARAM_INVAILD\x10\x04*Q\n\x14MUL_WIPER_ERROR_CODE\x12\x0f\n\x0bSET_SUCCESS\x10\x00\x12\x0c\n\x08HW_ERROR\x10\x01\x12\x1a\n\x16NAVIGATION_WORK_FORBID\x10\x02*?\n\rlamp_ctrl_sta\x12\r\n\tpower_off\x10\x00\x12\x0c\n\x08power_on\x10\x01\x12\x11\n\rpower_ctrl_on\x10\x02*A\n\x14lamp_manual_ctrl_sta\x12\x14\n\x10manual_power_off\x10\x00\x12\x13\n\x0fmanual_power_on\x10\x01\x62\x06proto3')
 
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'pymammotion.proto.luba_mul_pb2', globals())
 if _descriptor._USE_C_DESCRIPTORS == False:
 
   DESCRIPTOR._options = None
-  _MUL_LANGUAGE._serialized_start=1345
-  _MUL_LANGUAGE._serialized_end=1463
-  _MUL_SEX._serialized_start=1465
-  _MUL_SEX._serialized_end=1508
-  _MUL_CAMERA_POSITION._serialized_start=1510
-  _MUL_CAMERA_POSITION._serialized_end=1571
-  _MUL_VIDEO_ERROR_CODE._serialized_start=1574
-  _MUL_VIDEO_ERROR_CODE._serialized_end=1731
-  _MUL_WIPER_ERROR_CODE._serialized_start=1733
-  _MUL_WIPER_ERROR_CODE._serialized_end=1814
-  _LAMP_CTRL_STA._serialized_start=1816
-  _LAMP_CTRL_STA._serialized_end=1879
-  _LAMP_MANUAL_CTRL_STA._serialized_start=1881
-  _LAMP_MANUAL_CTRL_STA._serialized_end=1946
+  _MUL_LANGUAGE._serialized_start=1346
+  _MUL_LANGUAGE._serialized_end=1477
+  _MUL_SEX._serialized_start=1479
+  _MUL_SEX._serialized_end=1522
+  _MUL_CAMERA_POSITION._serialized_start=1524
+  _MUL_CAMERA_POSITION._serialized_end=1585
+  _MUL_VIDEO_ERROR_CODE._serialized_start=1588
+  _MUL_VIDEO_ERROR_CODE._serialized_end=1719
+  _MUL_WIPER_ERROR_CODE._serialized_start=1721
+  _MUL_WIPER_ERROR_CODE._serialized_end=1802
+  _LAMP_CTRL_STA._serialized_start=1804
+  _LAMP_CTRL_STA._serialized_end=1867
+  _LAMP_MANUAL_CTRL_STA._serialized_start=1869
+  _LAMP_MANUAL_CTRL_STA._serialized_end=1934
   _MULSETAUDIO._serialized_start=36
   _MULSETAUDIO._serialized_end=147
   _MULSETVIDEO._serialized_start=149

pymammotion/proto/luba_mul_pb2.pyi

@@ -5,7 +5,6 @@ from typing import ClassVar as _ClassVar, Mapping as _Mapping, Optional as _Opti
 
 ACTIVATION_FAILED: MUL_VIDEO_ERROR_CODE
 ALL: MUL_CAMERA_POSITION
-CELLULAR_RESTRICTION: MUL_VIDEO_ERROR_CODE
 CREATE_CHANNEL_FAILED: MUL_VIDEO_ERROR_CODE
 DESCRIPTOR: _descriptor.FileDescriptor
 DUTCH: MUL_LANGUAGE
@@ -27,6 +26,7 @@ RIGHT: MUL_CAMERA_POSITION
 SET_SUCCESS: MUL_WIPER_ERROR_CODE
 SPANISH: MUL_LANGUAGE
 SUCCESS: MUL_VIDEO_ERROR_CODE
+SWEDISH: MUL_LANGUAGE
 WOMAN: MUL_SEX
 manual_power_off: lamp_manual_ctrl_sta
 manual_power_on: lamp_manual_ctrl_sta

pymammotion/proto/mctrl_driver.proto

@@ -1,5 +1,11 @@
 syntax = "proto3";
 
+enum CutterWorkMode {
+  CUTTER_STANDARD = 0;
+  CUTTER_PERFORMANCE = 1;
+  CUTTER_ECONOMIC = 2;
+}
+
 enum CollectMotorState {
   COLLECT_CLOSE = 0;
   COLLECT_OPEN = 1;
@@ -34,9 +40,9 @@ message DrvKnifeStatus {
 
 message DrvKnifeChangeReport {
   int32 is_start = 1;
-  int32 start_high = 2;
-  int32 end_high = 3;
-  int32 cur_high = 4;
+  int32 start_height = 2;
+  int32 end_height = 3;
+  int32 cur_height = 4;
 }
 
 message DrvCollectCtrlByHand {
@@ -70,6 +76,17 @@ message rtk_sys_mask_query_ack_t {
   repeated uint32 system_mask_bits = 2;
 }
 
+message AppSetCutterWorkMode {
+  int32 CutterMode = 1;
+  int32 SetResult = 2;
+}
+
+message AppGetCutterWorkMode {
+  int32 current_cutter_mode = 1;
+  int32 current_cutter_rpm = 2;
+  int32 QueryResult = 3;
+}
+
 message MctlDriver {
   oneof SubDrvMsg {
     DrvMotionCtrl todev_devmotion_ctrl = 1;
@@ -84,5 +101,7 @@ message MctlDriver {
     rtk_sys_mask_query_ack_t rtk_sys_mask_query_ack = 10;
     DrvKnifeChangeReport toapp_knife_status_change = 11;
     DrvCollectCtrlByHand collect_ctrl_by_hand = 12;
+    AppSetCutterWorkMode cutter_mode_ctrl_by_hand = 13;
+    AppGetCutterWorkMode current_cutter_mode = 14;
   }
-}
+}

pymammotion/proto/mctrl_driver_pb2.py

@@ -13,17 +13,19 @@ _sym_db = _symbol_database.Default()
 
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n$pymammotion/proto/mctrl_driver.proto\"@\n\rDrvMotionCtrl\x12\x16\n\x0esetLinearSpeed\x18\x01 \x01(\x05\x12\x17\n\x0fsetAngularSpeed\x18\x02 \x01(\x05\"%\n\x0e\x44rvKnifeHeight\x12\x13\n\x0bknifeHeight\x18\x01 \x01(\x05\"\'\n\nDrvSrSpeed\x12\n\n\x02rw\x18\x01 \x01(\x05\x12\r\n\x05speed\x18\x02 \x01(\x02\"&\n\x0e\x44rvKnifeStatus\x12\x14\n\x0cknife_status\x18\x01 \x01(\x05\"`\n\x14\x44rvKnifeChangeReport\x12\x10\n\x08is_start\x18\x01 \x01(\x05\x12\x12\n\nstart_high\x18\x02 \x01(\x05\x12\x10\n\x08\x65nd_high\x18\x03 \x01(\x05\x12\x10\n\x08\x63ur_high\x18\x04 \x01(\x05\"A\n\x14\x44rvCollectCtrlByHand\x12\x14\n\x0c\x63ollect_ctrl\x18\x01 \x01(\x05\x12\x13\n\x0bunload_ctrl\x18\x02 \x01(\x05\"n\n\x10\x44rvMowCtrlByHand\x12\x11\n\tmain_ctrl\x18\x01 \x01(\x05\x12\x16\n\x0e\x63ut_knife_ctrl\x18\x02 \x01(\x05\x12\x18\n\x10\x63ut_knife_height\x18\x03 \x01(\x05\x12\x15\n\rmax_run_Speed\x18\x04 \x01(\x02\"4\n\rrtk_cfg_req_t\x12\x12\n\ncmd_length\x18\x01 \x01(\x05\x12\x0f\n\x07\x63md_req\x18\x02 \x01(\t\"=\n\x11rtk_cfg_req_ack_t\x12\x12\n\ncmd_length\x18\x01 \x01(\x05\x12\x14\n\x0c\x63md_response\x18\x02 \x01(\t\"*\n\x14rtk_sys_mask_query_t\x12\x12\n\nsat_system\x18\x01 \x01(\r\"H\n\x18rtk_sys_mask_query_ack_t\x12\x12\n\nsat_system\x18\x01 \x01(\r\x12\x18\n\x10system_mask_bits\x18\x02 \x03(\r\"\xfa\x04\n\nMctlDriver\x12.\n\x14todev_devmotion_ctrl\x18\x01 \x01(\x0b\x32\x0e.DrvMotionCtrlH\x00\x12\x31\n\x16todev_knife_height_set\x18\x02 \x01(\x0b\x32\x0f.DrvKnifeHeightH\x00\x12,\n\x15\x62idire_speed_read_set\x18\x03 \x01(\x0b\x32\x0b.DrvSrSpeedH\x00\x12\x35\n\x1a\x62idire_knife_height_report\x18\x04 \x01(\x0b\x32\x0f.DrvKnifeHeightH\x00\x12-\n\x12toapp_knife_status\x18\x05 \x01(\x0b\x32\x0f.DrvKnifeStatusH\x00\x12-\n\x10mow_ctrl_by_hand\x18\x06 \x01(\x0b\x32\x11.DrvMowCtrlByHandH\x00\x12%\n\x0brtk_cfg_req\x18\x07 \x01(\x0b\x32\x0e.rtk_cfg_req_tH\x00\x12-\n\x0frtk_cfg_req_ack\x18\x08 \x01(\x0b\x32\x12.rtk_cfg_req_ack_tH\x00\x12\x33\n\x12rtk_sys_mask_query\x18\t \x01(\x0b\x32\x15.rtk_sys_mask_query_tH\x00\x12;\n\x16rtk_sys_mask_query_ack\x18\n \x01(\x0b\x32\x19.rtk_sys_mask_query_ack_tH\x00\x12:\n\x19toapp_knife_status_change\x18\x0b \x01(\x0b\x32\x15.DrvKnifeChangeReportH\x00\x12\x35\n\x14\x63ollect_ctrl_by_hand\x18\x0c \x01(\x0b\x32\x15.DrvCollectCtrlByHandH\x00\x42\x0b\n\tSubDrvMsg*a\n\x11\x43ollectMotorState\x12\x11\n\rCOLLECT_CLOSE\x10\x00\x12\x10\n\x0c\x43OLLECT_OPEN\x10\x01\x12\x11\n\rCOLLECT_STUCK\x10\x02\x12\x14\n\x10\x43OLLECT_ABNORMAL\x10\x03*Z\n\x10UnloadMotorState\x12\x10\n\x0cUNLOAD_CLOSE\x10\x00\x12\x0f\n\x0bUNLOAD_OPEN\x10\x01\x12\x0f\n\x0bUNLOAD_STOP\x10\x02\x12\x12\n\x0eUNLOAD_RUNNING\x10\x03\x62\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n$pymammotion/proto/mctrl_driver.proto\"@\n\rDrvMotionCtrl\x12\x16\n\x0esetLinearSpeed\x18\x01 \x01(\x05\x12\x17\n\x0fsetAngularSpeed\x18\x02 \x01(\x05\"%\n\x0e\x44rvKnifeHeight\x12\x13\n\x0bknifeHeight\x18\x01 \x01(\x05\"\'\n\nDrvSrSpeed\x12\n\n\x02rw\x18\x01 \x01(\x05\x12\r\n\x05speed\x18\x02 \x01(\x02\"&\n\x0e\x44rvKnifeStatus\x12\x14\n\x0cknife_status\x18\x01 \x01(\x05\"f\n\x14\x44rvKnifeChangeReport\x12\x10\n\x08is_start\x18\x01 \x01(\x05\x12\x14\n\x0cstart_height\x18\x02 \x01(\x05\x12\x12\n\nend_height\x18\x03 \x01(\x05\x12\x12\n\ncur_height\x18\x04 \x01(\x05\"A\n\x14\x44rvCollectCtrlByHand\x12\x14\n\x0c\x63ollect_ctrl\x18\x01 \x01(\x05\x12\x13\n\x0bunload_ctrl\x18\x02 \x01(\x05\"n\n\x10\x44rvMowCtrlByHand\x12\x11\n\tmain_ctrl\x18\x01 \x01(\x05\x12\x16\n\x0e\x63ut_knife_ctrl\x18\x02 \x01(\x05\x12\x18\n\x10\x63ut_knife_height\x18\x03 \x01(\x05\x12\x15\n\rmax_run_Speed\x18\x04 \x01(\x02\"4\n\rrtk_cfg_req_t\x12\x12\n\ncmd_length\x18\x01 \x01(\x05\x12\x0f\n\x07\x63md_req\x18\x02 \x01(\t\"=\n\x11rtk_cfg_req_ack_t\x12\x12\n\ncmd_length\x18\x01 \x01(\x05\x12\x14\n\x0c\x63md_response\x18\x02 \x01(\t\"*\n\x14rtk_sys_mask_query_t\x12\x12\n\nsat_system\x18\x01 \x01(\r\"H\n\x18rtk_sys_mask_query_ack_t\x12\x12\n\nsat_system\x18\x01 \x01(\r\x12\x18\n\x10system_mask_bits\x18\x02 \x03(\r\"=\n\x14\x41ppSetCutterWorkMode\x12\x12\n\nCutterMode\x18\x01 \x01(\x05\x12\x11\n\tSetResult\x18\x02 \x01(\x05\"d\n\x14\x41ppGetCutterWorkMode\x12\x1b\n\x13\x63urrent_cutter_mode\x18\x01 \x01(\x05\x12\x1a\n\x12\x63urrent_cutter_rpm\x18\x02 \x01(\x05\x12\x13\n\x0bQueryResult\x18\x03 \x01(\x05\"\xeb\x05\n\nMctlDriver\x12.\n\x14todev_devmotion_ctrl\x18\x01 \x01(\x0b\x32\x0e.DrvMotionCtrlH\x00\x12\x31\n\x16todev_knife_height_set\x18\x02 \x01(\x0b\x32\x0f.DrvKnifeHeightH\x00\x12,\n\x15\x62idire_speed_read_set\x18\x03 \x01(\x0b\x32\x0b.DrvSrSpeedH\x00\x12\x35\n\x1a\x62idire_knife_height_report\x18\x04 \x01(\x0b\x32\x0f.DrvKnifeHeightH\x00\x12-\n\x12toapp_knife_status\x18\x05 \x01(\x0b\x32\x0f.DrvKnifeStatusH\x00\x12-\n\x10mow_ctrl_by_hand\x18\x06 \x01(\x0b\x32\x11.DrvMowCtrlByHandH\x00\x12%\n\x0brtk_cfg_req\x18\x07 \x01(\x0b\x32\x0e.rtk_cfg_req_tH\x00\x12-\n\x0frtk_cfg_req_ack\x18\x08 \x01(\x0b\x32\x12.rtk_cfg_req_ack_tH\x00\x12\x33\n\x12rtk_sys_mask_query\x18\t \x01(\x0b\x32\x15.rtk_sys_mask_query_tH\x00\x12;\n\x16rtk_sys_mask_query_ack\x18\n \x01(\x0b\x32\x19.rtk_sys_mask_query_ack_tH\x00\x12:\n\x19toapp_knife_status_change\x18\x0b \x01(\x0b\x32\x15.DrvKnifeChangeReportH\x00\x12\x35\n\x14\x63ollect_ctrl_by_hand\x18\x0c \x01(\x0b\x32\x15.DrvCollectCtrlByHandH\x00\x12\x39\n\x18\x63utter_mode_ctrl_by_hand\x18\r \x01(\x0b\x32\x15.AppSetCutterWorkModeH\x00\x12\x34\n\x13\x63urrent_cutter_mode\x18\x0e \x01(\x0b\x32\x15.AppGetCutterWorkModeH\x00\x42\x0b\n\tSubDrvMsg*R\n\x0e\x43utterWorkMode\x12\x13\n\x0f\x43UTTER_STANDARD\x10\x00\x12\x16\n\x12\x43UTTER_PERFORMANCE\x10\x01\x12\x13\n\x0f\x43UTTER_ECONOMIC\x10\x02*a\n\x11\x43ollectMotorState\x12\x11\n\rCOLLECT_CLOSE\x10\x00\x12\x10\n\x0c\x43OLLECT_OPEN\x10\x01\x12\x11\n\rCOLLECT_STUCK\x10\x02\x12\x14\n\x10\x43OLLECT_ABNORMAL\x10\x03*Z\n\x10UnloadMotorState\x12\x10\n\x0cUNLOAD_CLOSE\x10\x00\x12\x0f\n\x0bUNLOAD_OPEN\x10\x01\x12\x0f\n\x0bUNLOAD_STOP\x10\x02\x12\x12\n\x0eUNLOAD_RUNNING\x10\x03\x62\x06proto3')
 
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'pymammotion.proto.mctrl_driver_pb2', globals())
 if _descriptor._USE_C_DESCRIPTORS == False:
 
   DESCRIPTOR._options = None
-  _COLLECTMOTORSTATE._serialized_start=1375
-  _COLLECTMOTORSTATE._serialized_end=1472
-  _UNLOADMOTORSTATE._serialized_start=1474
-  _UNLOADMOTORSTATE._serialized_end=1564
+  _CUTTERWORKMODE._serialized_start=1659
+  _CUTTERWORKMODE._serialized_end=1741
+  _COLLECTMOTORSTATE._serialized_start=1743
+  _COLLECTMOTORSTATE._serialized_end=1840
+  _UNLOADMOTORSTATE._serialized_start=1842
+  _UNLOADMOTORSTATE._serialized_end=1932
   _DRVMOTIONCTRL._serialized_start=40
   _DRVMOTIONCTRL._serialized_end=104
   _DRVKNIFEHEIGHT._serialized_start=106
@@ -33,19 +35,23 @@ if _descriptor._USE_C_DESCRIPTORS == False:
   _DRVKNIFESTATUS._serialized_start=186
   _DRVKNIFESTATUS._serialized_end=224
   _DRVKNIFECHANGEREPORT._serialized_start=226
-  _DRVKNIFECHANGEREPORT._serialized_end=322
-  _DRVCOLLECTCTRLBYHAND._serialized_start=324
-  _DRVCOLLECTCTRLBYHAND._serialized_end=389
-  _DRVMOWCTRLBYHAND._serialized_start=391
-  _DRVMOWCTRLBYHAND._serialized_end=501
-  _RTK_CFG_REQ_T._serialized_start=503
-  _RTK_CFG_REQ_T._serialized_end=555
-  _RTK_CFG_REQ_ACK_T._serialized_start=557
-  _RTK_CFG_REQ_ACK_T._serialized_end=618
-  _RTK_SYS_MASK_QUERY_T._serialized_start=620
-  _RTK_SYS_MASK_QUERY_T._serialized_end=662
-  _RTK_SYS_MASK_QUERY_ACK_T._serialized_start=664
-  _RTK_SYS_MASK_QUERY_ACK_T._serialized_end=736
-  _MCTLDRIVER._serialized_start=739
-  _MCTLDRIVER._serialized_end=1373
+  _DRVKNIFECHANGEREPORT._serialized_end=328
+  _DRVCOLLECTCTRLBYHAND._serialized_start=330
+  _DRVCOLLECTCTRLBYHAND._serialized_end=395
+  _DRVMOWCTRLBYHAND._serialized_start=397
+  _DRVMOWCTRLBYHAND._serialized_end=507
+  _RTK_CFG_REQ_T._serialized_start=509
+  _RTK_CFG_REQ_T._serialized_end=561
+  _RTK_CFG_REQ_ACK_T._serialized_start=563
+  _RTK_CFG_REQ_ACK_T._serialized_end=624
+  _RTK_SYS_MASK_QUERY_T._serialized_start=626
+  _RTK_SYS_MASK_QUERY_T._serialized_end=668
+  _RTK_SYS_MASK_QUERY_ACK_T._serialized_start=670
+  _RTK_SYS_MASK_QUERY_ACK_T._serialized_end=742
+  _APPSETCUTTERWORKMODE._serialized_start=744
+  _APPSETCUTTERWORKMODE._serialized_end=805
+  _APPGETCUTTERWORKMODE._serialized_start=807
+  _APPGETCUTTERWORKMODE._serialized_end=907
+  _MCTLDRIVER._serialized_start=910
+  _MCTLDRIVER._serialized_end=1657
 # @@protoc_insertion_point(module_scope)

pymammotion/proto/mctrl_driver_pb2.pyi

@@ -8,12 +8,33 @@ COLLECT_ABNORMAL: CollectMotorState
 COLLECT_CLOSE: CollectMotorState
 COLLECT_OPEN: CollectMotorState
 COLLECT_STUCK: CollectMotorState
+CUTTER_ECONOMIC: CutterWorkMode
+CUTTER_PERFORMANCE: CutterWorkMode
+CUTTER_STANDARD: CutterWorkMode
 DESCRIPTOR: _descriptor.FileDescriptor
 UNLOAD_CLOSE: UnloadMotorState
 UNLOAD_OPEN: UnloadMotorState
 UNLOAD_RUNNING: UnloadMotorState
 UNLOAD_STOP: UnloadMotorState
 
+class AppGetCutterWorkMode(_message.Message):
+    __slots__ = ["QueryResult", "current_cutter_mode", "current_cutter_rpm"]
+    CURRENT_CUTTER_MODE_FIELD_NUMBER: _ClassVar[int]
+    CURRENT_CUTTER_RPM_FIELD_NUMBER: _ClassVar[int]
+    QUERYRESULT_FIELD_NUMBER: _ClassVar[int]
+    QueryResult: int
+    current_cutter_mode: int
+    current_cutter_rpm: int
+    def __init__(self, current_cutter_mode: _Optional[int] = ..., current_cutter_rpm: _Optional[int] = ..., QueryResult: _Optional[int] = ...) -> None: ...
+
+class AppSetCutterWorkMode(_message.Message):
+    __slots__ = ["CutterMode", "SetResult"]
+    CUTTERMODE_FIELD_NUMBER: _ClassVar[int]
+    CutterMode: int
+    SETRESULT_FIELD_NUMBER: _ClassVar[int]
+    SetResult: int
+    def __init__(self, CutterMode: _Optional[int] = ..., SetResult: _Optional[int] = ...) -> None: ...
+
 class DrvCollectCtrlByHand(_message.Message):
     __slots__ = ["collect_ctrl", "unload_ctrl"]
     COLLECT_CTRL_FIELD_NUMBER: _ClassVar[int]
@@ -23,16 +44,16 @@ class DrvCollectCtrlByHand(_message.Message):
     def __init__(self, collect_ctrl: _Optional[int] = ..., unload_ctrl: _Optional[int] = ...) -> None: ...
 
 class DrvKnifeChangeReport(_message.Message):
-    __slots__ = ["cur_high", "end_high", "is_start", "start_high"]
-    CUR_HIGH_FIELD_NUMBER: _ClassVar[int]
-    END_HIGH_FIELD_NUMBER: _ClassVar[int]
+    __slots__ = ["cur_height", "end_height", "is_start", "start_height"]
+    CUR_HEIGHT_FIELD_NUMBER: _ClassVar[int]
+    END_HEIGHT_FIELD_NUMBER: _ClassVar[int]
     IS_START_FIELD_NUMBER: _ClassVar[int]
-    START_HIGH_FIELD_NUMBER: _ClassVar[int]
-    cur_high: int
-    end_high: int
+    START_HEIGHT_FIELD_NUMBER: _ClassVar[int]
+    cur_height: int
+    end_height: int
     is_start: int
-    start_high: int
-    def __init__(self, is_start: _Optional[int] = ..., start_high: _Optional[int] = ..., end_high: _Optional[int] = ..., cur_high: _Optional[int] = ...) -> None: ...
+    start_height: int
+    def __init__(self, is_start: _Optional[int] = ..., start_height: _Optional[int] = ..., end_height: _Optional[int] = ..., cur_height: _Optional[int] = ...) -> None: ...
 
 class DrvKnifeHeight(_message.Message):
     __slots__ = ["knifeHeight"]
@@ -75,10 +96,12 @@ class DrvSrSpeed(_message.Message):
     def __init__(self, rw: _Optional[int] = ..., speed: _Optional[float] = ...) -> None: ...
 
 class MctlDriver(_message.Message):
-    __slots__ = ["bidire_knife_height_report", "bidire_speed_read_set", "collect_ctrl_by_hand", "mow_ctrl_by_hand", "rtk_cfg_req", "rtk_cfg_req_ack", "rtk_sys_mask_query", "rtk_sys_mask_query_ack", "toapp_knife_status", "toapp_knife_status_change", "todev_devmotion_ctrl", "todev_knife_height_set"]
+    __slots__ = ["bidire_knife_height_report", "bidire_speed_read_set", "collect_ctrl_by_hand", "current_cutter_mode", "cutter_mode_ctrl_by_hand", "mow_ctrl_by_hand", "rtk_cfg_req", "rtk_cfg_req_ack", "rtk_sys_mask_query", "rtk_sys_mask_query_ack", "toapp_knife_status", "toapp_knife_status_change", "todev_devmotion_ctrl", "todev_knife_height_set"]
     BIDIRE_KNIFE_HEIGHT_REPORT_FIELD_NUMBER: _ClassVar[int]
     BIDIRE_SPEED_READ_SET_FIELD_NUMBER: _ClassVar[int]
     COLLECT_CTRL_BY_HAND_FIELD_NUMBER: _ClassVar[int]
+    CURRENT_CUTTER_MODE_FIELD_NUMBER: _ClassVar[int]
+    CUTTER_MODE_CTRL_BY_HAND_FIELD_NUMBER: _ClassVar[int]
     MOW_CTRL_BY_HAND_FIELD_NUMBER: _ClassVar[int]
     RTK_CFG_REQ_ACK_FIELD_NUMBER: _ClassVar[int]
     RTK_CFG_REQ_FIELD_NUMBER: _ClassVar[int]
@@ -91,6 +114,8 @@ class MctlDriver(_message.Message):
     bidire_knife_height_report: DrvKnifeHeight
     bidire_speed_read_set: DrvSrSpeed
     collect_ctrl_by_hand: DrvCollectCtrlByHand
+    current_cutter_mode: AppGetCutterWorkMode
+    cutter_mode_ctrl_by_hand: AppSetCutterWorkMode
     mow_ctrl_by_hand: DrvMowCtrlByHand
     rtk_cfg_req: rtk_cfg_req_t
     rtk_cfg_req_ack: rtk_cfg_req_ack_t
@@ -100,7 +125,7 @@ class MctlDriver(_message.Message):
     toapp_knife_status_change: DrvKnifeChangeReport
     todev_devmotion_ctrl: DrvMotionCtrl
     todev_knife_height_set: DrvKnifeHeight
-    def __init__(self, todev_devmotion_ctrl: _Optional[_Union[DrvMotionCtrl, _Mapping]] = ..., todev_knife_height_set: _Optional[_Union[DrvKnifeHeight, _Mapping]] = ..., bidire_speed_read_set: _Optional[_Union[DrvSrSpeed, _Mapping]] = ..., bidire_knife_height_report: _Optional[_Union[DrvKnifeHeight, _Mapping]] = ..., toapp_knife_status: _Optional[_Union[DrvKnifeStatus, _Mapping]] = ..., mow_ctrl_by_hand: _Optional[_Union[DrvMowCtrlByHand, _Mapping]] = ..., rtk_cfg_req: _Optional[_Union[rtk_cfg_req_t, _Mapping]] = ..., rtk_cfg_req_ack: _Optional[_Union[rtk_cfg_req_ack_t, _Mapping]] = ..., rtk_sys_mask_query: _Optional[_Union[rtk_sys_mask_query_t, _Mapping]] = ..., rtk_sys_mask_query_ack: _Optional[_Union[rtk_sys_mask_query_ack_t, _Mapping]] = ..., toapp_knife_status_change: _Optional[_Union[DrvKnifeChangeReport, _Mapping]] = ..., collect_ctrl_by_hand: _Optional[_Union[DrvCollectCtrlByHand, _Mapping]] = ...) -> None: ...
+    def __init__(self, todev_devmotion_ctrl: _Optional[_Union[DrvMotionCtrl, _Mapping]] = ..., todev_knife_height_set: _Optional[_Union[DrvKnifeHeight, _Mapping]] = ..., bidire_speed_read_set: _Optional[_Union[DrvSrSpeed, _Mapping]] = ..., bidire_knife_height_report: _Optional[_Union[DrvKnifeHeight, _Mapping]] = ..., toapp_knife_status: _Optional[_Union[DrvKnifeStatus, _Mapping]] = ..., mow_ctrl_by_hand: _Optional[_Union[DrvMowCtrlByHand, _Mapping]] = ..., rtk_cfg_req: _Optional[_Union[rtk_cfg_req_t, _Mapping]] = ..., rtk_cfg_req_ack: _Optional[_Union[rtk_cfg_req_ack_t, _Mapping]] = ..., rtk_sys_mask_query: _Optional[_Union[rtk_sys_mask_query_t, _Mapping]] = ..., rtk_sys_mask_query_ack: _Optional[_Union[rtk_sys_mask_query_ack_t, _Mapping]] = ..., toapp_knife_status_change: _Optional[_Union[DrvKnifeChangeReport, _Mapping]] = ..., collect_ctrl_by_hand: _Optional[_Union[DrvCollectCtrlByHand, _Mapping]] = ..., cutter_mode_ctrl_by_hand: _Optional[_Union[AppSetCutterWorkMode, _Mapping]] = ..., current_cutter_mode: _Optional[_Union[AppGetCutterWorkMode, _Mapping]] = ...) -> None: ...
 
 class rtk_cfg_req_ack_t(_message.Message):
     __slots__ = ["cmd_length", "cmd_response"]
@@ -132,6 +157,9 @@ class rtk_sys_mask_query_t(_message.Message):
     sat_system: int
     def __init__(self, sat_system: _Optional[int] = ...) -> None: ...
 
+class CutterWorkMode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = []
+
 class CollectMotorState(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
     __slots__ = []
 

pymammotion/proto/mctrl_nav.proto

@@ -505,6 +505,22 @@ message NavEdgePointsAck {
   int32 currentFrame = 6;
 }
 
+message ManualElementMessage {
+  int32 pver = 1;
+  int32 type = 2;
+  int32 shape = 3;
+  int32 result = 4;
+  int32 subCmd = 5;
+  fixed64 dataHash = 6;
+  bool ifHide = 7;
+  string reserved = 8;
+  double point1_center_x = 9;
+  double point1_center_y = 10;
+  double point2_width_x = 11;
+  double point2_height_y = 12;
+  double rotate_radius = 13;
+}
+
 message MctlNav {
   oneof SubNavMsg {
     NavLatLonUp toapp_lat_up = 1;
@@ -570,5 +586,6 @@ message MctlNav {
     AppGetAllAreaHashName toapp_all_hash_name = 61;
     NavEdgePoints toapp_edge_points = 62;
     NavEdgePointsAck toapp_edge_points_ack = 63;
+    ManualElementMessage toapp_manual_element = 64;
   }
-}
+}

pymammotion/proto/mctrl_nav_pb2.py

@@ -14,7 +14,7 @@ _sym_db = _symbol_database.Default()
 from pymammotion.proto import common_pb2 as pymammotion_dot_proto_dot_common__pb2
 
 
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 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'pymammotion.proto.mctrl_nav_pb2', globals())
@@ -129,6 +129,8 @@ if _descriptor._USE_C_DESCRIPTORS == False:
   _NAVEDGEPOINTS._serialized_end=7434
   _NAVEDGEPOINTSACK._serialized_start=7436
   _NAVEDGEPOINTSACK._serialized_end=7556
-  _MCTLNAV._serialized_start=7559
-  _MCTLNAV._serialized_end=10321
+  _MANUALELEMENTMESSAGE._serialized_start=7559
+  _MANUALELEMENTMESSAGE._serialized_end=7830
+  _MCTLNAV._serialized_start=7833
+  _MCTLNAV._serialized_end=10650
 # @@protoc_insertion_point(module_scope)

pymammotion/proto/mctrl_nav_pb2.pyi

@@ -14,8 +14,38 @@ class AppGetAllAreaHashName(_message.Message):
     hashnames: _containers.RepeatedCompositeFieldContainer[area_hash_name]
     def __init__(self, deviceId: _Optional[str] = ..., hashnames: _Optional[_Iterable[_Union[area_hash_name, _Mapping]]] = ...) -> None: ...
 
+class ManualElementMessage(_message.Message):
+    __slots__ = ["dataHash", "ifHide", "point1_center_x", "point1_center_y", "point2_height_y", "point2_width_x", "pver", "reserved", "result", "rotate_radius", "shape", "subCmd", "type"]
+    DATAHASH_FIELD_NUMBER: _ClassVar[int]
+    IFHIDE_FIELD_NUMBER: _ClassVar[int]
+    POINT1_CENTER_X_FIELD_NUMBER: _ClassVar[int]
+    POINT1_CENTER_Y_FIELD_NUMBER: _ClassVar[int]
+    POINT2_HEIGHT_Y_FIELD_NUMBER: _ClassVar[int]
+    POINT2_WIDTH_X_FIELD_NUMBER: _ClassVar[int]
+    PVER_FIELD_NUMBER: _ClassVar[int]
+    RESERVED_FIELD_NUMBER: _ClassVar[int]
+    RESULT_FIELD_NUMBER: _ClassVar[int]
+    ROTATE_RADIUS_FIELD_NUMBER: _ClassVar[int]
+    SHAPE_FIELD_NUMBER: _ClassVar[int]
+    SUBCMD_FIELD_NUMBER: _ClassVar[int]
+    TYPE_FIELD_NUMBER: _ClassVar[int]
+    dataHash: int
+    ifHide: bool
+    point1_center_x: float
+    point1_center_y: float
+    point2_height_y: float
+    point2_width_x: float
+    pver: int
+    reserved: str
+    result: int
+    rotate_radius: float
+    shape: int
+    subCmd: int
+    type: int
+    def __init__(self, pver: _Optional[int] = ..., type: _Optional[int] = ..., shape: _Optional[int] = ..., result: _Optional[int] = ..., subCmd: _Optional[int] = ..., dataHash: _Optional[int] = ..., ifHide: bool = ..., reserved: _Optional[str] = ..., point1_center_x: _Optional[float] = ..., point1_center_y: _Optional[float] = ..., point2_width_x: _Optional[float] = ..., point2_height_y: _Optional[float] = ..., rotate_radius: _Optional[float] = ...) -> 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_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"]
+    __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_manual_element", "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]
@@ -35,6 +65,7 @@ class MctlNav(_message.Message):
     TOAPP_GETHASH_ACK_FIELD_NUMBER: _ClassVar[int]
     TOAPP_GET_COMMONDATA_ACK_FIELD_NUMBER: _ClassVar[int]
     TOAPP_LAT_UP_FIELD_NUMBER: _ClassVar[int]
+    TOAPP_MANUAL_ELEMENT_FIELD_NUMBER: _ClassVar[int]
     TOAPP_MAP_NAME_MSG_FIELD_NUMBER: _ClassVar[int]
     TOAPP_OPT_BORDER_INFO_FIELD_NUMBER: _ClassVar[int]
     TOAPP_OPT_LINE_UP_FIELD_NUMBER: _ClassVar[int]
@@ -98,6 +129,7 @@ class MctlNav(_message.Message):
     toapp_get_commondata_ack: NavGetCommDataAck
     toapp_gethash_ack: NavGetHashListAck
     toapp_lat_up: NavLatLonUp
+    toapp_manual_element: ManualElementMessage
     toapp_map_name_msg: NavMapNameMsg
     toapp_opt_border_info: NavOptiBorderInfo
     toapp_opt_line_up: NavOptLineUp
@@ -142,7 +174,7 @@ 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[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: ...
+    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]] = ..., toapp_manual_element: _Optional[_Union[ManualElementMessage, _Mapping]] = ...) -> None: ...
 
 class NavBorderDataGet(_message.Message):
     __slots__ = ["borderLen", "currentFrame", "jobId"]

pymammotion/proto/mctrl_pept.proto

@@ -8,7 +8,7 @@ message perception_obstacles_t {
 }
 
 message perception_obstacles_visualization_t {
-  int32 is_heart_beat = 1;
+  int32 status = 1;
   int32 num = 2;
   repeated perception_obstacles_t obstacles = 3;
   double timestamp = 4;
@@ -21,9 +21,14 @@ message perception_universal_buff_t {
   repeated int64 universal_buff = 3;
 }
 
+message perception_local_map_visualization_t {
+  bytes map = 1;
+}
+
 message MctlPept {
   oneof SubPeptMsg {
     perception_obstacles_visualization_t perception_obstacles_visualization = 1;
     perception_universal_buff_t perception_universal_buff = 2;
+    perception_local_map_visualization_t perception_local_map_visualization = 3;
   }
 }

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(\x11\x12\x10\n\x08points_y\x18\x04 \x03(\x11\"\x98\x01\n$perception_obstacles_visualization_t\x12\x15\n\ris_heart_beat\x18\x01 \x01(\x05\x12\x0b\n\x03num\x18\x02 \x01(\x05\x12*\n\tobstacles\x18\x03 \x03(\x0b\x32\x17.perception_obstacles_t\x12\x11\n\ttimestamp\x18\x04 \x01(\x01\x12\r\n\x05scale\x18\x05 \x01(\x02\"f\n\x1bperception_universal_buff_t\x12\x17\n\x0fperception_type\x18\x01 \x01(\x05\x12\x16\n\x0eperception_len\x18\x02 \x01(\x05\x12\x16\n\x0euniversal_buff\x18\x03 \x03(\x03\"\xb0\x01\n\x08MctlPept\x12S\n\"perception_obstacles_visualization\x18\x01 \x01(\x0b\x32%.perception_obstacles_visualization_tH\x00\x12\x41\n\x19perception_universal_buff\x18\x02 \x01(\x0b\x32\x1c.perception_universal_buff_tH\x00\x42\x0c\n\nSubPeptMsgb\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\"pymammotion/proto/mctrl_pept.proto\"X\n\x16perception_obstacles_t\x12\r\n\x05label\x18\x01 \x01(\x05\x12\x0b\n\x03num\x18\x02 \x01(\x05\x12\x10\n\x08points_x\x18\x03 \x03(\x11\x12\x10\n\x08points_y\x18\x04 \x03(\x11\"\x91\x01\n$perception_obstacles_visualization_t\x12\x0e\n\x06status\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\"3\n$perception_local_map_visualization_t\x12\x0b\n\x03map\x18\x01 \x01(\x0c\"\x85\x02\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\x12S\n\"perception_local_map_visualization\x18\x03 \x01(\x0b\x32%.perception_local_map_visualization_tH\x00\x42\x0c\n\nSubPeptMsgb\x06proto3')
 
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'pymammotion.proto.mctrl_pept_pb2', globals())
@@ -23,9 +23,11 @@ if _descriptor._USE_C_DESCRIPTORS == False:
   _PERCEPTION_OBSTACLES_T._serialized_start=38
   _PERCEPTION_OBSTACLES_T._serialized_end=126
   _PERCEPTION_OBSTACLES_VISUALIZATION_T._serialized_start=129
-  _PERCEPTION_OBSTACLES_VISUALIZATION_T._serialized_end=281
-  _PERCEPTION_UNIVERSAL_BUFF_T._serialized_start=283
-  _PERCEPTION_UNIVERSAL_BUFF_T._serialized_end=385
-  _MCTLPEPT._serialized_start=388
-  _MCTLPEPT._serialized_end=564
+  _PERCEPTION_OBSTACLES_VISUALIZATION_T._serialized_end=274
+  _PERCEPTION_UNIVERSAL_BUFF_T._serialized_start=276
+  _PERCEPTION_UNIVERSAL_BUFF_T._serialized_end=378
+  _PERCEPTION_LOCAL_MAP_VISUALIZATION_T._serialized_start=380
+  _PERCEPTION_LOCAL_MAP_VISUALIZATION_T._serialized_end=431
+  _MCTLPEPT._serialized_start=434
+  _MCTLPEPT._serialized_end=695
 # @@protoc_insertion_point(module_scope)