pymammotion 0.4.56__py3-none-any.whl → 0.4.57__py3-none-any.whl

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Files changed (38) hide show
  1. pymammotion/aliyun/cloud_gateway.py +13 -3
  2. pymammotion/data/model/device.py +2 -1
  3. pymammotion/data/mqtt/properties.py +56 -44
  4. pymammotion/data/state_manager.py +16 -3
  5. pymammotion/http/http.py +43 -8
  6. pymammotion/http/model/http.py +46 -1
  7. pymammotion/http/model/response_factory.py +39 -0
  8. pymammotion/mammotion/commands/abstract_message.py +1 -4
  9. pymammotion/mammotion/devices/mammotion.py +30 -9
  10. pymammotion/mammotion/devices/mammotion_bluetooth.py +3 -3
  11. pymammotion/mammotion/devices/mammotion_cloud.py +7 -2
  12. pymammotion/proto/__init__.py +2 -6
  13. pymammotion/proto/basestation.proto +8 -0
  14. pymammotion/proto/basestation_pb2.py +11 -9
  15. pymammotion/proto/basestation_pb2.pyi +16 -2
  16. pymammotion/proto/dev_net.proto +2 -0
  17. pymammotion/proto/dev_net_pb2.py +60 -60
  18. pymammotion/proto/dev_net_pb2.pyi +8 -4
  19. pymammotion/proto/luba_mul.proto +2 -2
  20. pymammotion/proto/luba_mul_pb2.py +15 -15
  21. pymammotion/proto/luba_mul_pb2.pyi +1 -1
  22. pymammotion/proto/mctrl_driver.proto +23 -4
  23. pymammotion/proto/mctrl_driver_pb2.py +26 -20
  24. pymammotion/proto/mctrl_driver_pb2.pyi +38 -10
  25. pymammotion/proto/mctrl_nav.proto +18 -1
  26. pymammotion/proto/mctrl_nav_pb2.py +5 -3
  27. pymammotion/proto/mctrl_nav_pb2.pyi +34 -2
  28. pymammotion/proto/mctrl_pept.proto +6 -1
  29. pymammotion/proto/mctrl_pept_pb2.py +8 -6
  30. pymammotion/proto/mctrl_pept_pb2.pyi +14 -6
  31. pymammotion/proto/mctrl_sys.proto +82 -9
  32. pymammotion/proto/mctrl_sys_pb2.py +162 -146
  33. pymammotion/proto/mctrl_sys_pb2.pyi +151 -34
  34. pymammotion/utility/device_type.py +3 -0
  35. {pymammotion-0.4.56.dist-info → pymammotion-0.4.57.dist-info}/METADATA +1 -1
  36. {pymammotion-0.4.56.dist-info → pymammotion-0.4.57.dist-info}/RECORD +38 -37
  37. {pymammotion-0.4.56.dist-info → pymammotion-0.4.57.dist-info}/LICENSE +0 -0
  38. {pymammotion-0.4.56.dist-info → pymammotion-0.4.57.dist-info}/WHEEL +0 -0
pymammotion/proto/mctrl_driver_pb2.pyi CHANGED
@@ -8,12 +8,33 @@ COLLECT_ABNORMAL: CollectMotorState
8
8
  COLLECT_CLOSE: CollectMotorState
9
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  COLLECT_OPEN: CollectMotorState
10
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  COLLECT_STUCK: CollectMotorState
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+ CUTTER_ECONOMIC: CutterWorkMode
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+ CUTTER_PERFORMANCE: CutterWorkMode
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+ CUTTER_STANDARD: CutterWorkMode
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  DESCRIPTOR: _descriptor.FileDescriptor
12
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  UNLOAD_CLOSE: UnloadMotorState
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  UNLOAD_OPEN: UnloadMotorState
14
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  UNLOAD_RUNNING: UnloadMotorState
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  UNLOAD_STOP: UnloadMotorState
16
19
 
20
+ class AppGetCutterWorkMode(_message.Message):
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+ __slots__ = ["QueryResult", "current_cutter_mode", "current_cutter_rpm"]
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+ CURRENT_CUTTER_MODE_FIELD_NUMBER: _ClassVar[int]
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+ CURRENT_CUTTER_RPM_FIELD_NUMBER: _ClassVar[int]
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+ QUERYRESULT_FIELD_NUMBER: _ClassVar[int]
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+ QueryResult: int
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+ current_cutter_mode: int
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+ current_cutter_rpm: int
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+ def __init__(self, current_cutter_mode: _Optional[int] = ..., current_cutter_rpm: _Optional[int] = ..., QueryResult: _Optional[int] = ...) -> None: ...
29
+
30
+ class AppSetCutterWorkMode(_message.Message):
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+ __slots__ = ["CutterMode", "SetResult"]
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+ CUTTERMODE_FIELD_NUMBER: _ClassVar[int]
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+ CutterMode: int
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+ SETRESULT_FIELD_NUMBER: _ClassVar[int]
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+ SetResult: int
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+ def __init__(self, CutterMode: _Optional[int] = ..., SetResult: _Optional[int] = ...) -> None: ...
37
+
17
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  class DrvCollectCtrlByHand(_message.Message):
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  __slots__ = ["collect_ctrl", "unload_ctrl"]
19
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  COLLECT_CTRL_FIELD_NUMBER: _ClassVar[int]
@@ -23,16 +44,16 @@ class DrvCollectCtrlByHand(_message.Message):
23
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  def __init__(self, collect_ctrl: _Optional[int] = ..., unload_ctrl: _Optional[int] = ...) -> None: ...
24
45
 
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  class DrvKnifeChangeReport(_message.Message):
26
- __slots__ = ["cur_high", "end_high", "is_start", "start_high"]
27
- CUR_HIGH_FIELD_NUMBER: _ClassVar[int]
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- END_HIGH_FIELD_NUMBER: _ClassVar[int]
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+ __slots__ = ["cur_height", "end_height", "is_start", "start_height"]
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+ CUR_HEIGHT_FIELD_NUMBER: _ClassVar[int]
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+ END_HEIGHT_FIELD_NUMBER: _ClassVar[int]
29
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  IS_START_FIELD_NUMBER: _ClassVar[int]
30
- START_HIGH_FIELD_NUMBER: _ClassVar[int]
31
- cur_high: int
32
- end_high: int
51
+ START_HEIGHT_FIELD_NUMBER: _ClassVar[int]
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+ cur_height: int
53
+ end_height: int
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54
  is_start: int
34
- start_high: int
35
- def __init__(self, is_start: _Optional[int] = ..., start_high: _Optional[int] = ..., end_high: _Optional[int] = ..., cur_high: _Optional[int] = ...) -> None: ...
55
+ start_height: int
56
+ def __init__(self, is_start: _Optional[int] = ..., start_height: _Optional[int] = ..., end_height: _Optional[int] = ..., cur_height: _Optional[int] = ...) -> None: ...
36
57
 
37
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  class DrvKnifeHeight(_message.Message):
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  __slots__ = ["knifeHeight"]
@@ -75,10 +96,12 @@ class DrvSrSpeed(_message.Message):
75
96
  def __init__(self, rw: _Optional[int] = ..., speed: _Optional[float] = ...) -> None: ...
76
97
 
77
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  class MctlDriver(_message.Message):
78
- __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"]
99
+ __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"]
79
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  BIDIRE_KNIFE_HEIGHT_REPORT_FIELD_NUMBER: _ClassVar[int]
80
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  BIDIRE_SPEED_READ_SET_FIELD_NUMBER: _ClassVar[int]
81
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  COLLECT_CTRL_BY_HAND_FIELD_NUMBER: _ClassVar[int]
103
+ CURRENT_CUTTER_MODE_FIELD_NUMBER: _ClassVar[int]
104
+ CUTTER_MODE_CTRL_BY_HAND_FIELD_NUMBER: _ClassVar[int]
82
105
  MOW_CTRL_BY_HAND_FIELD_NUMBER: _ClassVar[int]
83
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  RTK_CFG_REQ_ACK_FIELD_NUMBER: _ClassVar[int]
84
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  RTK_CFG_REQ_FIELD_NUMBER: _ClassVar[int]
@@ -91,6 +114,8 @@ class MctlDriver(_message.Message):
91
114
  bidire_knife_height_report: DrvKnifeHeight
92
115
  bidire_speed_read_set: DrvSrSpeed
93
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  collect_ctrl_by_hand: DrvCollectCtrlByHand
117
+ current_cutter_mode: AppGetCutterWorkMode
118
+ cutter_mode_ctrl_by_hand: AppSetCutterWorkMode
94
119
  mow_ctrl_by_hand: DrvMowCtrlByHand
95
120
  rtk_cfg_req: rtk_cfg_req_t
96
121
  rtk_cfg_req_ack: rtk_cfg_req_ack_t
@@ -100,7 +125,7 @@ class MctlDriver(_message.Message):
100
125
  toapp_knife_status_change: DrvKnifeChangeReport
101
126
  todev_devmotion_ctrl: DrvMotionCtrl
102
127
  todev_knife_height_set: DrvKnifeHeight
103
- 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: ...
128
+ 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: ...
104
129
 
105
130
  class rtk_cfg_req_ack_t(_message.Message):
106
131
  __slots__ = ["cmd_length", "cmd_response"]
@@ -132,6 +157,9 @@ class rtk_sys_mask_query_t(_message.Message):
132
157
  sat_system: int
133
158
  def __init__(self, sat_system: _Optional[int] = ...) -> None: ...
134
159
 
160
+ class CutterWorkMode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
161
+ __slots__ = []
162
+
135
163
  class CollectMotorState(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
136
164
  __slots__ = []
137
165
 
pymammotion/proto/mctrl_nav.proto CHANGED
@@ -505,6 +505,22 @@ message NavEdgePointsAck {
505
505
  int32 currentFrame = 6;
506
506
  }
507
507
 
508
+ message ManualElementMessage {
509
+ int32 pver = 1;
510
+ int32 type = 2;
511
+ int32 shape = 3;
512
+ int32 result = 4;
513
+ int32 subCmd = 5;
514
+ fixed64 dataHash = 6;
515
+ bool ifHide = 7;
516
+ string reserved = 8;
517
+ double point1_center_x = 9;
518
+ double point1_center_y = 10;
519
+ double point2_width_x = 11;
520
+ double point2_height_y = 12;
521
+ double rotate_radius = 13;
522
+ }
523
+
508
524
  message MctlNav {
509
525
  oneof SubNavMsg {
510
526
  NavLatLonUp toapp_lat_up = 1;
@@ -570,5 +586,6 @@ message MctlNav {
570
586
  AppGetAllAreaHashName toapp_all_hash_name = 61;
571
587
  NavEdgePoints toapp_edge_points = 62;
572
588
  NavEdgePointsAck toapp_edge_points_ack = 63;
589
+ ManualElementMessage toapp_manual_element = 64;
573
590
  }
574
- }
591
+ }
pymammotion/proto/mctrl_nav_pb2.py CHANGED
@@ -14,7 +14,7 @@ _sym_db = _symbol_database.Default()
14
14
  from pymammotion.proto import common_pb2 as pymammotion_dot_proto_dot_common__pb2
15
15
 
16
16
 
17
- DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n!pymammotion/proto/mctrl_nav.proto\x1a\x1epymammotion/proto/common.proto\"\'\n\x0bNavLatLonUp\x12\x0b\n\x03lat\x18\x01 \x01(\x01\x12\x0b\n\x03lon\x18\x02 \x01(\x01\"!\n\x0eNavBorderState\x12\x0f\n\x07\x62\x64state\x18\x01 \x01(\x05\"\xc9\x01\n\x08NavPosUp\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\x0e\n\x06status\x18\x03 \x01(\x05\x12\x0e\n\x06toward\x18\x04 \x01(\x05\x12\r\n\x05stars\x18\x05 \x01(\x05\x12\x0b\n\x03\x61ge\x18\x06 \x01(\x02\x12\x11\n\tlatStddev\x18\x07 \x01(\x02\x12\x11\n\tlonStddev\x18\x08 \x01(\x02\x12\x11\n\tl2dfStars\x18\t \x01(\x05\x12\x0f\n\x07posType\x18\n \x01(\x05\x12\x0f\n\x07\x63HashId\x18\x0b \x01(\x03\x12\x10\n\x08posLevel\x18\x0c \x01(\x05\":\n\x13NavBorderDataGetAck\x12\r\n\x05jobId\x18\x01 \x01(\x05\x12\x14\n\x0c\x63urrentFrame\x18\x02 \x01(\x05\"Z\n\x15NavObstiBorderDataGet\x12\x15\n\robstacleIndex\x18\x01 \x01(\x05\x12\x14\n\x0c\x63urrentFrame\x18\x02 \x01(\x05\x12\x14\n\x0cobstaclesLen\x18\x03 \x01(\x05\"G\n\x18NavObstiBorderDataGetAck\x12\x15\n\robstacleIndex\x18\x01 \x01(\x05\x12\x14\n\x0c\x63urrentFrame\x18\x02 \x01(\x05\"d\n\x0eNavCHlLineData\x12\x12\n\nstartJobRI\x18\x01 \x01(\x05\x12\x10\n\x08\x65ndJobRI\x18\x02 \x01(\x05\x12\x14\n\x0c\x63urrentFrame\x18\x03 \x01(\x05\x12\x16\n\x0e\x63hannelLineLen\x18\x04 \x01(\x05\"O\n\x11NavCHlLineDataAck\x12\x12\n\nstartJobRI\x18\x01 \x01(\x05\x12\x10\n\x08\x65ndJobRI\x18\x02 \x01(\x05\x12\x14\n\x0c\x63urrentFrame\x18\x03 \x01(\x05\"\x7f\n\x0bNavTaskInfo\x12\x0c\n\x04\x61rea\x18\x01 \x01(\x05\x12\x0c\n\x04time\x18\x02 \x01(\x05\x12\x10\n\x08\x61llFrame\x18\x03 \x01(\x05\x12\x14\n\x0c\x63urrentFrame\x18\x04 \x01(\x05\x12\x0f\n\x07pathlen\x18\x05 \x01(\x05\x12\x1b\n\x02\x64\x63\x18\x06 \x03(\x0b\x32\x0f.CommDataCouple\"J\n\x10NavBorderDataGet\x12\r\n\x05jobId\x18\x01 \x01(\x05\x12\x14\n\x0c\x63urrentFrame\x18\x02 \x01(\x05\x12\x11\n\tborderLen\x18\x03 \x01(\x05\"\x91\x01\n\x0cNavOptLineUp\x12\x12\n\nstartJobRI\x18\x01 \x01(\x05\x12\x10\n\x08\x65ndJobRI\x18\x02 \x01(\x05\x12\x10\n\x08\x61llFrame\x18\x03 \x01(\x05\x12\x14\n\x0c\x63urrentFrame\x18\x04 \x01(\x05\x12\x16\n\x0e\x63hannelDataLen\x18\x05 \x01(\x05\x12\x1b\n\x02\x64\x63\x18\x06 \x03(\x0b\x32\x0f.CommDataCouple\"~\n\x11NavOptiBorderInfo\x12\r\n\x05jobId\x18\x01 \x01(\x05\x12\x10\n\x08\x61llFrame\x18\x02 \x01(\x05\x12\x14\n\x0c\x63urrentFrame\x18\x03 \x01(\x05\x12\x15\n\rborderDataLen\x18\x04 \x01(\x05\x12\x1b\n\x02\x64\x63\x18\x05 \x03(\x0b\x32\x0f.CommDataCouple\"\x81\x01\n\rNavOptObsInfo\x12\x12\n\nobstacleId\x18\x01 \x01(\x05\x12\x10\n\x08\x61llFrame\x18\x02 \x01(\x05\x12\x14\n\x0c\x63urrentFrame\x18\x03 \x01(\x05\x12\x17\n\x0fobstacleDataLen\x18\x04 \x01(\x05\x12\x1b\n\x02\x64\x63\x18\x05 \x03(\x0b\x32\x0f.CommDataCouple\"\xb4\x01\n\x0bNavStartJob\x12\r\n\x05jobId\x18\x01 \x01(\x03\x12\x0e\n\x06jobVer\x18\x02 \x01(\x05\x12\x0f\n\x07jobMode\x18\x03 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\x01(\x05\x12\x0e\n\x06result\x18\x03 \x01(\x05\x12\x11\n\tnav_state\x18\x04 \x01(\x05\x12\x10\n\x08reserved\x18\x05 \x01(\t\"Y\n\rNavMapNameMsg\x12\n\n\x02rw\x18\x01 \x01(\x05\x12\x0c\n\x04hash\x18\x02 \x01(\x06\x12\x0c\n\x04name\x18\x03 \x01(\t\x12\x0e\n\x06result\x18\x04 \x01(\x05\x12\x10\n\x08\x64\x65viceId\x18\x05 \x01(\t\"\x9a\x01\n\rNavEdgePoints\x12\x0e\n\x06result\x18\x01 \x01(\x05\x12\x0e\n\x06\x61\x63tion\x18\x02 \x01(\x05\x12\x0c\n\x04type\x18\x03 \x01(\x05\x12\x0c\n\x04Hash\x18\x04 \x01(\x06\x12\x12\n\ntotalFrame\x18\x05 \x01(\x05\x12\x14\n\x0c\x63urrentFrame\x18\x06 \x01(\x05\x12#\n\ndataCouple\x18\x07 \x03(\x0b\x32\x0f.CommDataCouple\"x\n\x10NavEdgePointsAck\x12\x0e\n\x06result\x18\x01 \x01(\x05\x12\x0e\n\x06\x61\x63tion\x18\x02 \x01(\x05\x12\x0c\n\x04type\x18\x03 \x01(\x05\x12\x0c\n\x04Hash\x18\x04 \x01(\x06\x12\x12\n\ntotalFrame\x18\x05 \x01(\x05\x12\x14\n\x0c\x63urrentFrame\x18\x06 \x01(\x05\"\x8f\x02\n\x14ManualElementMessage\x12\x0c\n\x04pver\x18\x01 \x01(\x05\x12\x0c\n\x04type\x18\x02 \x01(\x05\x12\r\n\x05shape\x18\x03 \x01(\x05\x12\x0e\n\x06result\x18\x04 \x01(\x05\x12\x0e\n\x06subCmd\x18\x05 \x01(\x05\x12\x10\n\x08\x64\x61taHash\x18\x06 \x01(\x06\x12\x0e\n\x06ifHide\x18\x07 \x01(\x08\x12\x10\n\x08reserved\x18\x08 \x01(\t\x12\x17\n\x0fpoint1_center_x\x18\t \x01(\x01\x12\x17\n\x0fpoint1_center_y\x18\n \x01(\x01\x12\x16\n\x0epoint2_width_x\x18\x0b \x01(\x01\x12\x17\n\x0fpoint2_height_y\x18\x0c \x01(\x01\x12\x15\n\rrotate_radius\x18\r \x01(\x01\"\x81\x16\n\x07MctlNav\x12$\n\x0ctoapp_lat_up\x18\x01 \x01(\x0b\x32\x0c.NavLatLonUpH\x00\x12!\n\x0ctoapp_pos_up\x18\x02 \x01(\x0b\x32\t.NavPosUpH\x00\x12.\n\x13todev_chl_line_data\x18\x03 \x01(\x0b\x32\x0f.NavCHlLineDataH\x00\x12\'\n\x0ftoapp_task_info\x18\x04 \x01(\x0b\x32\x0c.NavTaskInfoH\x00\x12*\n\x11toapp_opt_line_up\x18\x05 \x01(\x0b\x32\r.NavOptLineUpH\x00\x12\x33\n\x15toapp_opt_border_info\x18\x06 \x01(\x0b\x32\x12.NavOptiBorderInfoH\x00\x12,\n\x12toapp_opt_obs_info\x18\x07 \x01(\x0b\x32\x0e.NavOptObsInfoH\x00\x12+\n\x13todev_task_info_ack\x18\x08 \x01(\x0b\x32\x0c.NavResFrameH\x00\x12\x31\n\x19todev_opt_border_info_ack\x18\t \x01(\x0b\x32\x0c.NavResFrameH\x00\x12.\n\x16todev_opt_obs_info_ack\x18\n \x01(\x0b\x32\x0c.NavResFrameH\x00\x12-\n\x15todev_opt_line_up_ack\x18\x0b \x01(\x0b\x32\x0c.NavResFrameH\x00\x12*\n\x0ftoapp_chgpileto\x18\x0c \x01(\x0b\x32\x0f.chargePileTypeH\x00\x12\x17\n\rtodev_sustask\x18\r \x01(\x05H\x00\x12\x18\n\x0etodev_rechgcmd\x18\x0e \x01(\x05H\x00\x12\x17\n\rtodev_edgecmd\x18\x0f \x01(\x05H\x00\x12\x1b\n\x11todev_draw_border\x18\x10 \x01(\x05H\x00\x12\x1f\n\x15todev_draw_border_end\x18\x11 \x01(\x05H\x00\x12\x18\n\x0etodev_draw_obs\x18\x12 \x01(\x05H\x00\x12\x1c\n\x12todev_draw_obs_end\x18\x13 \x01(\x05H\x00\x12\x18\n\x0etodev_chl_line\x18\x14 \x01(\x05H\x00\x12\x1c\n\x12todev_chl_line_end\x18\x15 \x01(\x05H\x00\x12\x19\n\x0ftodev_save_task\x18\x16 \x01(\x05H\x00\x12\x1d\n\x13todev_cancel_suscmd\x18\x17 \x01(\x05H\x00\x12\x1e\n\x14todev_reset_chg_pile\x18\x18 \x01(\x05H\x00\x12\x1f\n\x15todev_cancel_draw_cmd\x18\x19 \x01(\x05H\x00\x12$\n\x1atodev_one_touch_leave_pile\x18\x1a \x01(\x05H\x00\x12&\n\x0etodev_mow_task\x18\x1b \x01(\x0b\x32\x0c.NavStartJobH\x00\x12\'\n\x0ctoapp_bstate\x18\x1c \x01(\x0b\x32\x0f.NavBorderStateH\x00\x12\x1a\n\x10todev_lat_up_ack\x18\x1d \x01(\x05H\x00\x12(\n\rtodev_gethash\x18\x1e \x01(\x0b\x32\x0f.NavGetHashListH\x00\x12/\n\x11toapp_gethash_ack\x18\x1f \x01(\x0b\x32\x12.NavGetHashListAckH\x00\x12/\n\x14todev_get_commondata\x18 \x01(\x0b\x32\x0f.NavGetCommDataH\x00\x12\x36\n\x18toapp_get_commondata_ack\x18! \x01(\x0b\x32\x12.NavGetCommDataAckH\x00\x12\x31\n\x15\x62idire_reqconver_path\x18\" \x01(\x0b\x32\x10.NavReqCoverPathH\x00\x12.\n\x0ctoapp_zigzag\x18# \x01(\x0b\x32\x16.NavUploadZigZagResultH\x00\x12\x35\n\x10todev_zigzag_ack\x18$ \x01(\x0b\x32\x19.NavUploadZigZagResultAckH\x00\x12&\n\x0etodev_taskctrl\x18% \x01(\x0b\x32\x0c.NavTaskCtrlH\x00\x12%\n\rbidire_taskid\x18& \x01(\x0b\x32\x0c.NavTaskIdRwH\x00\x12&\n\x08toapp_bp\x18\' \x01(\x0b\x32\x12.NavTaskBreakPointH\x00\x12+\n\x11todev_planjob_set\x18( \x01(\x0b\x32\x0e.NavPlanJobSetH\x00\x12\x32\n\x15todev_unable_time_set\x18) \x01(\x0b\x32\x11.NavUnableTimeSetH\x00\x12,\n\x0esimulation_cmd\x18* \x01(\x0b\x32\x12.SimulationCmdDataH\x00\x12<\n\x1ctodev_work_report_update_cmd\x18+ \x01(\x0b\x32\x14.WorkReportUpdateCmdH\x00\x12<\n\x1ctoapp_work_report_update_ack\x18, \x01(\x0b\x32\x14.WorkReportUpdateAckH\x00\x12\x33\n\x15todev_work_report_cmd\x18- \x01(\x0b\x32\x12.WorkReportCmdDataH\x00\x12\x33\n\x15toapp_work_report_ack\x18. \x01(\x0b\x32\x12.WorkReportInfoAckH\x00\x12\x36\n\x18toapp_work_report_upload\x18/ \x01(\x0b\x32\x12.WorkReportInfoAckH\x00\x12=\n\x17\x61pp_request_cover_paths\x18\x30 \x01(\x0b\x32\x1a.app_request_cover_paths_tH\x00\x12\x31\n\x11\x63over_path_upload\x18\x31 \x01(\x0b\x32\x14.cover_path_upload_tH\x00\x12\x33\n\x12zone_start_precent\x18\x32 \x01(\x0b\x32\x15.zone_start_precent_tH\x00\x12\'\n\x0bvision_ctrl\x18\x33 \x01(\x0b\x32\x10.vision_ctrl_msgH\x00\x12/\n\x11nav_sys_param_cmd\x18\x34 \x01(\x0b\x32\x12.nav_sys_param_msgH\x00\x12\x33\n\x11plan_task_execute\x18\x35 \x01(\x0b\x32\x16.nav_plan_task_executeH\x00\x12#\n\rtoapp_costmap\x18\x36 \x01(\x0b\x32\n.costmap_tH\x00\x12\x31\n\x11plan_task_name_id\x18\x37 \x01(\x0b\x32\x14.plan_task_name_id_tH\x00\x12/\n\rall_plan_task\x18\x38 \x01(\x0b\x32\x16.nav_get_all_plan_taskH\x00\x12-\n\x12todev_taskctrl_ack\x18\x39 \x01(\x0b\x32\x0f.NavTaskCtrlAckH\x00\x12,\n\x12toapp_map_name_msg\x18: \x01(\x0b\x32\x0e.NavMapNameMsgH\x00\x12+\n\rtodev_svg_msg\x18; \x01(\x0b\x32\x12.svg_message_ack_tH\x00\x12+\n\rtoapp_svg_msg\x18< \x01(\x0b\x32\x12.svg_message_ack_tH\x00\x12\x35\n\x13toapp_all_hash_name\x18= \x01(\x0b\x32\x16.AppGetAllAreaHashNameH\x00\x12+\n\x11toapp_edge_points\x18> \x01(\x0b\x32\x0e.NavEdgePointsH\x00\x12\x32\n\x15toapp_edge_points_ack\x18? \x01(\x0b\x32\x11.NavEdgePointsAckH\x00\x12\x35\n\x14toapp_manual_element\x18@ \x01(\x0b\x32\x15.ManualElementMessageH\x00\x42\x0b\n\tSubNavMsgb\x06proto3')
18
18
 
19
19
  _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
20
20
  _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'pymammotion.proto.mctrl_nav_pb2', globals())
@@ -129,6 +129,8 @@ if _descriptor._USE_C_DESCRIPTORS == False:
129
129
  _NAVEDGEPOINTS._serialized_end=7434
130
130
  _NAVEDGEPOINTSACK._serialized_start=7436
131
131
  _NAVEDGEPOINTSACK._serialized_end=7556
132
- _MCTLNAV._serialized_start=7559
133
- _MCTLNAV._serialized_end=10321
132
+ _MANUALELEMENTMESSAGE._serialized_start=7559
133
+ _MANUALELEMENTMESSAGE._serialized_end=7830
134
+ _MCTLNAV._serialized_start=7833
135
+ _MCTLNAV._serialized_end=10650
134
136
  # @@protoc_insertion_point(module_scope)
pymammotion/proto/mctrl_nav_pb2.pyi CHANGED
@@ -14,8 +14,38 @@ class AppGetAllAreaHashName(_message.Message):
14
14
  hashnames: _containers.RepeatedCompositeFieldContainer[area_hash_name]
15
15
  def __init__(self, deviceId: _Optional[str] = ..., hashnames: _Optional[_Iterable[_Union[area_hash_name, _Mapping]]] = ...) -> None: ...
16
16
 
17
+ class ManualElementMessage(_message.Message):
18
+ __slots__ = ["dataHash", "ifHide", "point1_center_x", "point1_center_y", "point2_height_y", "point2_width_x", "pver", "reserved", "result", "rotate_radius", "shape", "subCmd", "type"]
19
+ DATAHASH_FIELD_NUMBER: _ClassVar[int]
20
+ IFHIDE_FIELD_NUMBER: _ClassVar[int]
21
+ POINT1_CENTER_X_FIELD_NUMBER: _ClassVar[int]
22
+ POINT1_CENTER_Y_FIELD_NUMBER: _ClassVar[int]
23
+ POINT2_HEIGHT_Y_FIELD_NUMBER: _ClassVar[int]
24
+ POINT2_WIDTH_X_FIELD_NUMBER: _ClassVar[int]
25
+ PVER_FIELD_NUMBER: _ClassVar[int]
26
+ RESERVED_FIELD_NUMBER: _ClassVar[int]
27
+ RESULT_FIELD_NUMBER: _ClassVar[int]
28
+ ROTATE_RADIUS_FIELD_NUMBER: _ClassVar[int]
29
+ SHAPE_FIELD_NUMBER: _ClassVar[int]
30
+ SUBCMD_FIELD_NUMBER: _ClassVar[int]
31
+ TYPE_FIELD_NUMBER: _ClassVar[int]
32
+ dataHash: int
33
+ ifHide: bool
34
+ point1_center_x: float
35
+ point1_center_y: float
36
+ point2_height_y: float
37
+ point2_width_x: float
38
+ pver: int
39
+ reserved: str
40
+ result: int
41
+ rotate_radius: float
42
+ shape: int
43
+ subCmd: int
44
+ type: int
45
+ 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: ...
46
+
17
47
  class MctlNav(_message.Message):
18
- __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"]
48
+ __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"]
19
49
  ALL_PLAN_TASK_FIELD_NUMBER: _ClassVar[int]
20
50
  APP_REQUEST_COVER_PATHS_FIELD_NUMBER: _ClassVar[int]
21
51
  BIDIRE_REQCONVER_PATH_FIELD_NUMBER: _ClassVar[int]
@@ -35,6 +65,7 @@ class MctlNav(_message.Message):
35
65
  TOAPP_GETHASH_ACK_FIELD_NUMBER: _ClassVar[int]
36
66
  TOAPP_GET_COMMONDATA_ACK_FIELD_NUMBER: _ClassVar[int]
37
67
  TOAPP_LAT_UP_FIELD_NUMBER: _ClassVar[int]
68
+ TOAPP_MANUAL_ELEMENT_FIELD_NUMBER: _ClassVar[int]
38
69
  TOAPP_MAP_NAME_MSG_FIELD_NUMBER: _ClassVar[int]
39
70
  TOAPP_OPT_BORDER_INFO_FIELD_NUMBER: _ClassVar[int]
40
71
  TOAPP_OPT_LINE_UP_FIELD_NUMBER: _ClassVar[int]
@@ -98,6 +129,7 @@ class MctlNav(_message.Message):
98
129
  toapp_get_commondata_ack: NavGetCommDataAck
99
130
  toapp_gethash_ack: NavGetHashListAck
100
131
  toapp_lat_up: NavLatLonUp
132
+ toapp_manual_element: ManualElementMessage
101
133
  toapp_map_name_msg: NavMapNameMsg
102
134
  toapp_opt_border_info: NavOptiBorderInfo
103
135
  toapp_opt_line_up: NavOptLineUp
@@ -142,7 +174,7 @@ class MctlNav(_message.Message):
142
174
  todev_zigzag_ack: NavUploadZigZagResultAck
143
175
  vision_ctrl: vision_ctrl_msg
144
176
  zone_start_precent: zone_start_precent_t
145
- 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: ...
177
+ 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: ...
146
178
 
147
179
  class NavBorderDataGet(_message.Message):
148
180
  __slots__ = ["borderLen", "currentFrame", "jobId"]
pymammotion/proto/mctrl_pept.proto CHANGED
@@ -8,7 +8,7 @@ message perception_obstacles_t {
8
8
  }
9
9
 
10
10
  message perception_obstacles_visualization_t {
11
- int32 is_heart_beat = 1;
11
+ int32 status = 1;
12
12
  int32 num = 2;
13
13
  repeated perception_obstacles_t obstacles = 3;
14
14
  double timestamp = 4;
@@ -21,9 +21,14 @@ message perception_universal_buff_t {
21
21
  repeated int64 universal_buff = 3;
22
22
  }
23
23
 
24
+ message perception_local_map_visualization_t {
25
+ bytes map = 1;
26
+ }
27
+
24
28
  message MctlPept {
25
29
  oneof SubPeptMsg {
26
30
  perception_obstacles_visualization_t perception_obstacles_visualization = 1;
27
31
  perception_universal_buff_t perception_universal_buff = 2;
32
+ perception_local_map_visualization_t perception_local_map_visualization = 3;
28
33
  }
29
34
  }
pymammotion/proto/mctrl_pept_pb2.py CHANGED
@@ -13,7 +13,7 @@ _sym_db = _symbol_database.Default()
13
13
 
14
14
 
15
15
 
16
- 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$perception_obstacles_visualization_t\x12\x15\n\ris_heart_beat\x18\x01 \x01(\x05\x12\x0b\n\x03num\x18\x02 \x01(\x05\x12*\n\tobstacles\x18\x03 \x03(\x0b\x32\x17.perception_obstacles_t\x12\x11\n\ttimestamp\x18\x04 \x01(\x01\x12\r\n\x05scale\x18\x05 \x01(\x02\"f\n\x1bperception_universal_buff_t\x12\x17\n\x0fperception_type\x18\x01 \x01(\x05\x12\x16\n\x0eperception_len\x18\x02 \x01(\x05\x12\x16\n\x0euniversal_buff\x18\x03 \x03(\x03\"\xb0\x01\n\x08MctlPept\x12S\n\"perception_obstacles_visualization\x18\x01 \x01(\x0b\x32%.perception_obstacles_visualization_tH\x00\x12\x41\n\x19perception_universal_buff\x18\x02 \x01(\x0b\x32\x1c.perception_universal_buff_tH\x00\x42\x0c\n\nSubPeptMsgb\x06proto3')
16
+ DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\"pymammotion/proto/mctrl_pept.proto\"X\n\x16perception_obstacles_t\x12\r\n\x05label\x18\x01 \x01(\x05\x12\x0b\n\x03num\x18\x02 \x01(\x05\x12\x10\n\x08points_x\x18\x03 \x03(\x11\x12\x10\n\x08points_y\x18\x04 \x03(\x11\"\x91\x01\n$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')
17
17
 
18
18
  _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
19
19
  _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'pymammotion.proto.mctrl_pept_pb2', globals())
@@ -23,9 +23,11 @@ if _descriptor._USE_C_DESCRIPTORS == False:
23
23
  _PERCEPTION_OBSTACLES_T._serialized_start=38
24
24
  _PERCEPTION_OBSTACLES_T._serialized_end=126
25
25
  _PERCEPTION_OBSTACLES_VISUALIZATION_T._serialized_start=129
26
- _PERCEPTION_OBSTACLES_VISUALIZATION_T._serialized_end=281
27
- _PERCEPTION_UNIVERSAL_BUFF_T._serialized_start=283
28
- _PERCEPTION_UNIVERSAL_BUFF_T._serialized_end=385
29
- _MCTLPEPT._serialized_start=388
30
- _MCTLPEPT._serialized_end=564
26
+ _PERCEPTION_OBSTACLES_VISUALIZATION_T._serialized_end=274
27
+ _PERCEPTION_UNIVERSAL_BUFF_T._serialized_start=276
28
+ _PERCEPTION_UNIVERSAL_BUFF_T._serialized_end=378
29
+ _PERCEPTION_LOCAL_MAP_VISUALIZATION_T._serialized_start=380
30
+ _PERCEPTION_LOCAL_MAP_VISUALIZATION_T._serialized_end=431
31
+ _MCTLPEPT._serialized_start=434
32
+ _MCTLPEPT._serialized_end=695
31
33
  # @@protoc_insertion_point(module_scope)
pymammotion/proto/mctrl_pept_pb2.pyi CHANGED
@@ -6,12 +6,20 @@ from typing import ClassVar as _ClassVar, Iterable as _Iterable, Mapping as _Map
6
6
  DESCRIPTOR: _descriptor.FileDescriptor
7
7
 
8
8
  class MctlPept(_message.Message):
9
- __slots__ = ["perception_obstacles_visualization", "perception_universal_buff"]
9
+ __slots__ = ["perception_local_map_visualization", "perception_obstacles_visualization", "perception_universal_buff"]
10
+ PERCEPTION_LOCAL_MAP_VISUALIZATION_FIELD_NUMBER: _ClassVar[int]
10
11
  PERCEPTION_OBSTACLES_VISUALIZATION_FIELD_NUMBER: _ClassVar[int]
11
12
  PERCEPTION_UNIVERSAL_BUFF_FIELD_NUMBER: _ClassVar[int]
13
+ perception_local_map_visualization: perception_local_map_visualization_t
12
14
  perception_obstacles_visualization: perception_obstacles_visualization_t
13
15
  perception_universal_buff: perception_universal_buff_t
14
- def __init__(self, perception_obstacles_visualization: _Optional[_Union[perception_obstacles_visualization_t, _Mapping]] = ..., perception_universal_buff: _Optional[_Union[perception_universal_buff_t, _Mapping]] = ...) -> None: ...
16
+ def __init__(self, perception_obstacles_visualization: _Optional[_Union[perception_obstacles_visualization_t, _Mapping]] = ..., perception_universal_buff: _Optional[_Union[perception_universal_buff_t, _Mapping]] = ..., perception_local_map_visualization: _Optional[_Union[perception_local_map_visualization_t, _Mapping]] = ...) -> None: ...
17
+
18
+ class perception_local_map_visualization_t(_message.Message):
19
+ __slots__ = ["map"]
20
+ MAP_FIELD_NUMBER: _ClassVar[int]
21
+ map: bytes
22
+ def __init__(self, map: _Optional[bytes] = ...) -> None: ...
15
23
 
16
24
  class perception_obstacles_t(_message.Message):
17
25
  __slots__ = ["label", "num", "points_x", "points_y"]
@@ -26,18 +34,18 @@ class perception_obstacles_t(_message.Message):
26
34
  def __init__(self, label: _Optional[int] = ..., num: _Optional[int] = ..., points_x: _Optional[_Iterable[int]] = ..., points_y: _Optional[_Iterable[int]] = ...) -> None: ...
27
35
 
28
36
  class perception_obstacles_visualization_t(_message.Message):
29
- __slots__ = ["is_heart_beat", "num", "obstacles", "scale", "timestamp"]
30
- IS_HEART_BEAT_FIELD_NUMBER: _ClassVar[int]
37
+ __slots__ = ["num", "obstacles", "scale", "status", "timestamp"]
31
38
  NUM_FIELD_NUMBER: _ClassVar[int]
32
39
  OBSTACLES_FIELD_NUMBER: _ClassVar[int]
33
40
  SCALE_FIELD_NUMBER: _ClassVar[int]
41
+ STATUS_FIELD_NUMBER: _ClassVar[int]
34
42
  TIMESTAMP_FIELD_NUMBER: _ClassVar[int]
35
- is_heart_beat: int
36
43
  num: int
37
44
  obstacles: _containers.RepeatedCompositeFieldContainer[perception_obstacles_t]
38
45
  scale: float
46
+ status: int
39
47
  timestamp: float
40
- def __init__(self, is_heart_beat: _Optional[int] = ..., num: _Optional[int] = ..., obstacles: _Optional[_Iterable[_Union[perception_obstacles_t, _Mapping]]] = ..., timestamp: _Optional[float] = ..., scale: _Optional[float] = ...) -> None: ...
48
+ def __init__(self, status: _Optional[int] = ..., num: _Optional[int] = ..., obstacles: _Optional[_Iterable[_Union[perception_obstacles_t, _Mapping]]] = ..., timestamp: _Optional[float] = ..., scale: _Optional[float] = ...) -> None: ...
41
49
 
42
50
  class perception_universal_buff_t(_message.Message):
43
51
  __slots__ = ["perception_len", "perception_type", "universal_buff"]
pymammotion/proto/mctrl_sys.proto CHANGED
@@ -52,7 +52,14 @@ enum QCAppTestId {
52
52
  QC_APP_TEST_CNO_REF_STATION = 26;
53
53
  QC_APP_TEST_REF_STATION_LINK_STATUS = 27;
54
54
  QC_APP_TEST_LOCATION_STATE = 28;
55
- QC_APP_TEST_MAX = 29;
55
+ QC_APP_TEST_CHARGE_STATUS = 29;
56
+ QC_APP_TEST_PPS_EXTI_COUNT = 30;
57
+ QC_APP_TEST_SAFE_KEY = 50;
58
+ QC_APP_TEST_LORA_RSSI = 60;
59
+ QC_APP_TEST_WIPER_TEST = 80;
60
+ QC_APP_TEST_HEADLAMP_TEST = 81;
61
+ QC_APP_TEST_COMPLETE_SIGNAL = 99;
62
+ QC_APP_TEST_MAX = 100;
56
63
  }
57
64
 
58
65
  enum rtk_used_type {
@@ -79,6 +86,7 @@ enum rpt_info_type {
79
86
  RIT_VIO = 8;
80
87
  RIT_VISION_STATISTIC = 9;
81
88
  RIT_BASESTATION_INFO = 10;
89
+ RIT_CUTTER_INFO = 11;
82
90
  }
83
91
 
84
92
  enum rpt_act {
@@ -87,6 +95,13 @@ enum rpt_act {
87
95
  RPT_KEEP = 2;
88
96
  }
89
97
 
98
+ enum Command_Result {
99
+ RS_OK = 0;
100
+ RS_FAIL_MAGIC = 1;
101
+ RS_FAIL_OTA = 2;
102
+ RS_FAIL_SLOPE = 3;
103
+ }
104
+
90
105
  message SysBatUp {
91
106
  int32 batVal = 1;
92
107
  }
@@ -157,8 +172,8 @@ message SysMowInfo {
157
172
  int32 deviceState = 1;
158
173
  int32 batVal = 2;
159
174
  int32 knifeHeight = 3;
160
- int32 rtk_status = 4;
161
- int32 rtk_stars = 5;
175
+ int32 RTKstatus = 4;
176
+ int32 RTKstars = 5;
162
177
  }
163
178
 
164
179
  message SysOptiLineAck {
@@ -374,6 +389,16 @@ message mqtt_rtk_connect {
374
389
  double longitude = 5;
375
390
  int32 nrtk_map_convert_status = 6;
376
391
  int32 nrtk_net_mode = 7;
392
+ int32 new_rtk_mode = 8;
393
+ }
394
+
395
+ message pos_score {
396
+ uint32 rover_score = 1;
397
+ uint32 rover_level = 2;
398
+ uint32 base_score = 3;
399
+ uint32 base_level = 4;
400
+ uint32 base_moved = 5;
401
+ uint32 base_moving = 6;
377
402
  }
378
403
 
379
404
  message rpt_rtk {
@@ -390,6 +415,7 @@ message rpt_rtk {
390
415
  int32 reset = 11;
391
416
  rpt_lora lora_info = 12;
392
417
  mqtt_rtk_connect mqtt_rtk_info = 13;
418
+ pos_score score_info = 14;
393
419
  }
394
420
 
395
421
  message rpt_dev_location {
@@ -476,6 +502,8 @@ message rpt_work {
476
502
  int32 nav_edit_status = 19;
477
503
  int32 knife_height = 20;
478
504
  nav_heading_state_t nav_heading_state = 21;
505
+ float cutter_offset = 22;
506
+ float cutter_width = 23;
479
507
  }
480
508
 
481
509
  message blade_used {
@@ -530,6 +558,7 @@ message report_info_data {
530
558
  vio_to_app_info_msg vio_to_app_info = 9;
531
559
  vision_statistic_info_msg vision_statistic_info = 10;
532
560
  rpt_basestation_info basestation_info = 11;
561
+ rpt_cutter_rpm cutter_work_mode_info = 12;
533
562
  }
534
563
 
535
564
  message debug_common_report_t {
@@ -583,6 +612,15 @@ message response_set_mode_t {
583
612
  int32 statue = 1;
584
613
  int32 set_work_mode = 2;
585
614
  int32 cur_work_mode = 3;
615
+ int64 start_work_time = 4;
616
+ int64 end_work_time = 5;
617
+ int32 interruptflag = 6;
618
+ int32 cur_work_time = 7;
619
+ }
620
+
621
+ message rpt_cutter_rpm {
622
+ int32 current_cutter_mode = 1;
623
+ int32 current_cutter_rpm = 2;
586
624
  }
587
625
 
588
626
  message dev_statue_t {
@@ -593,22 +631,51 @@ message dev_statue_t {
593
631
  int32 pump_status = 5;
594
632
  int32 work_mode = 6;
595
633
  int32 model = 7;
634
+ int32 ble_rssi = 8;
635
+ int32 wifi_rssi = 9;
636
+ int32 wifi_connect_status = 10;
637
+ int32 iot_connect_status = 11;
638
+ int32 wifi_available = 12;
596
639
  }
597
640
 
598
641
  message report_info_t {
599
642
  dev_statue_t dev_status = 1;
600
- int32 ota_status = 2;
601
- string dev_version = 3;
602
- int32 ota_progress = 4;
603
- int32 ota_fw_code = 5;
604
- int32 ota_fw_seq = 6;
605
- int32 ota_fw_downloaded = 7;
606
643
  }
607
644
 
608
645
  message work_mode_t {
609
646
  int32 work_mode = 1;
610
647
  }
611
648
 
649
+ message special_mode_t {
650
+ int32 stair_mode = 1;
651
+ int32 violent_mode = 2;
652
+ int32 berthing_mode = 3;
653
+ }
654
+
655
+ message set_peripherals_t {
656
+ int32 buzz_enable = 1;
657
+ }
658
+
659
+ message debug_sun_time_t {
660
+ int32 subCmd = 1;
661
+ int32 sunRiseTime = 2;
662
+ int32 sunSetTime = 3;
663
+ }
664
+
665
+ message remote_reset_req_t {
666
+ int32 magic = 1;
667
+ int64 bizid = 2;
668
+ int32 reset_mode = 3;
669
+ int32 force_reset = 4;
670
+ int64 account = 5;
671
+ }
672
+
673
+ message remote_reset_rsp_t {
674
+ int32 magic = 1;
675
+ int64 bizid = 2;
676
+ Command_Result result = 3;
677
+ }
678
+
612
679
  message MctlSys {
613
680
  oneof SubSysMsg {
614
681
  SysBatUp toapp_batinfo = 1;
@@ -664,5 +731,11 @@ message MctlSys {
664
731
  response_set_mode_t response_set_mode = 59;
665
732
  report_info_t report_info = 60;
666
733
  work_mode_t set_work_mode = 61;
734
+ special_mode_t set_special_mode = 62;
735
+ set_peripherals_t set_peripherals = 63;
736
+ debug_sun_time_t to_dev_set_sun_time = 64;
737
+ remote_reset_req_t to_dev_remote_reset = 65;
738
+ remote_reset_rsp_t to_app_remote_reset = 66;
739
+ rpt_cutter_rpm current_cutter_mode = 67;
667
740
  }
668
741
  }