pymammotion 0.5.34__py3-none-any.whl → 0.5.41__py3-none-any.whl

pymammotion/data/model/hash_list.py

@@ -4,6 +4,7 @@ from enum import IntEnum
 from mashumaro.mixins.orjson import DataClassORJSONMixin
 
 from pymammotion.proto import NavGetCommDataAck, NavGetHashListAck, SvgMessageAckT
+from pymammotion.utility.mur_mur_hash import MurMurHashUtil
 
 
 class PathType(IntEnum):
@@ -28,6 +29,13 @@ class AreaLabelName(DataClassORJSONMixin):
     label: str = ""
 
 
+@dataclass
+class NavNameTime(DataClassORJSONMixin):
+    name: str = ""
+    create_time: int = 0
+    modify_time: int = 0
+
+
 @dataclass
 class NavGetCommData(DataClassORJSONMixin):
     pver: int = 0
@@ -44,7 +52,35 @@ class NavGetCommData(DataClassORJSONMixin):
     data_len: int = 0
     data_couple: list["CommDataCouple"] = field(default_factory=list)
     reserved: str = ""
-    area_label: "AreaLabelName" = field(default_factory=AreaLabelName)
+    name_time: NavNameTime = field(default_factory=NavNameTime)
+
+
+@dataclass
+class MowPathPacket(DataClassORJSONMixin):
+    path_hash: int = 0
+    path_type: int = 0
+    path_total: int = 0
+    path_cur: int = 0
+    zone_hash: int = 0
+    data_couple: list["CommDataCouple"] = field(default_factory=list)
+
+
+@dataclass
+class MowPath(DataClassORJSONMixin):
+    pver: int = 0
+    sub_cmd: int = 0
+    result: int = 0
+    area: int = 0
+    time: int = 0
+    total_frame: int = 0
+    current_frame: int = 0
+    total_path_num: int = 0
+    valid_path_num: int = 0
+    data_hash: int = 0
+    transaction_id: int = 0
+    reserved: list[int] = field(default_factory=list)
+    data_len: int = 0
+    path_packets: list[MowPathPacket] = field(default_factory=list)
 
 
 @dataclass
@@ -172,13 +208,24 @@ class HashList(DataClassORJSONMixin):
     line: dict[int, FrameList] = field(default_factory=dict)  # type 10 possibly breakpoint? / sub cmd 3
     plan: dict[str, Plan] = field(default_factory=dict)
     area_name: list[AreaHashNameList] = field(default_factory=list)
+    current_mow_path: dict[int, MowPath] = field(default_factory=dict)
 
-    def update_hash_lists(self, hashlist: list[int]) -> None:
+    def update_hash_lists(self, hashlist: list[int], bol_hash: str | None = None) -> None:
+        if bol_hash:
+            self.invalidate_maps(int(bol_hash))
         self.area = {hash_id: frames for hash_id, frames in self.area.items() if hash_id in hashlist}
         self.path = {hash_id: frames for hash_id, frames in self.path.items() if hash_id in hashlist}
         self.obstacle = {hash_id: frames for hash_id, frames in self.obstacle.items() if hash_id in hashlist}
         self.dump = {hash_id: frames for hash_id, frames in self.dump.items() if hash_id in hashlist}
         self.svg = {hash_id: frames for hash_id, frames in self.svg.items() if hash_id in hashlist}
+
+        area_hashes = list(self.area.keys())
+        for hash_id, plan_task in self.plan.items():
+            for item in plan_task.zone_hashs:
+                if item not in area_hashes:
+                    self.plan.pop(hash_id)
+                    break
+
         self.area_name = [
             area_item
             for area_item in self.area_name
@@ -259,61 +306,90 @@ class HashList(DataClassORJSONMixin):
         return missing_frames
 
     def missing_frame(self, hash_data: NavGetCommDataAck | SvgMessageAckT) -> list[int]:
-        if hash_data.type == PathType.AREA:
-            return self.find_missing_frames(self.area.get(hash_data.hash))
-
-        if hash_data.type == PathType.OBSTACLE:
-            return self.find_missing_frames(self.obstacle.get(hash_data.hash))
+        frame_list = self._get_frame_list_by_type_and_hash(hash_data)
+        return self.find_missing_frames(frame_list)
 
-        if hash_data.type == PathType.PATH:
-            return self.find_missing_frames(self.path.get(hash_data.hash))
+    def _get_frame_list_by_type_and_hash(self, hash_data: NavGetCommDataAck | SvgMessageAckT) -> FrameList | None:
+        """Get the appropriate FrameList based on hash_data type and hash."""
+        path_type_mapping = self._get_path_type_mapping()
+        target_dict = path_type_mapping.get(hash_data.type)
 
-        if hash_data.type == PathType.LINE:
-            return self.find_missing_frames(self.line.get(hash_data.hash))
+        if target_dict is None:
+            return None
 
-        if hash_data.type == PathType.DUMP:
-            return self.find_missing_frames(self.dump.get(hash_data.hash))
+        # Handle SvgMessage with data_hash attribute
+        if isinstance(hash_data, SvgMessageAckT):
+            return target_dict.get(hash_data.data_hash)
 
-        if hash_data.type == PathType.SVG:
-            return self.find_missing_frames(self.svg.get(hash_data.data_hash))
-
-        return []
+        # Handle NavGetCommDataAck with hash attribute
+        return target_dict.get(hash_data.hash)
 
     def update_plan(self, plan: Plan) -> None:
         if plan.total_plan_num != 0:
             self.plan[plan.plan_id] = plan
 
+    def _get_path_type_mapping(self) -> dict[int, dict[int, FrameList]]:
+        """Return mapping of PathType to corresponding hash dictionary."""
+        return {
+            PathType.AREA: self.area,
+            PathType.OBSTACLE: self.obstacle,
+            PathType.PATH: self.path,
+            PathType.LINE: self.line,
+            PathType.DUMP: self.dump,
+            PathType.SVG: self.svg,
+        }
+
     def update(self, hash_data: NavGetCommData | SvgMessage) -> bool:
         """Update the map data."""
 
-        if hash_data.type == PathType.AREA:
+        if hash_data.type == PathType.AREA and isinstance(hash_data, NavGetCommData):
             existing_name = next((area for area in self.area_name if area.hash == hash_data.hash), None)
             if not existing_name:
-                name = f"area {len(self.area_name)+1}" if hash_data.area_label is None else hash_data.area_label.label
+                name = f"area {len(self.area_name)+1}"
                 self.area_name.append(AreaHashNameList(name=name, hash=hash_data.hash))
             result = self._add_hash_data(self.area, hash_data)
             self.update_hash_lists(self.hashlist)
             return result
 
-        if hash_data.type == PathType.OBSTACLE:
-            return self._add_hash_data(self.obstacle, hash_data)
+        path_type_mapping = self._get_path_type_mapping()
+        target_dict = path_type_mapping.get(hash_data.type)
 
-        if hash_data.type == PathType.PATH:
-            return self._add_hash_data(self.path, hash_data)
+        if target_dict is not None:
+            return self._add_hash_data(target_dict, hash_data)
 
-        if hash_data.type == PathType.LINE:
-            return self._add_hash_data(self.line, hash_data)
+        return False
 
-        if hash_data.type == PathType.DUMP:
-            return self._add_hash_data(self.dump, hash_data)
+    def find_missing_mow_path_frames(self) -> list[int]:
+        """Find missing frames in current_mow_path based on total_frame."""
+        if not self.current_mow_path:
+            return []
 
-        if hash_data.type == PathType.SVG:
-            return self._add_hash_data(self.svg, hash_data)
+        # Get total_frame from any MowPath object (they should all have the same total_frame)
+        total_frame = next(iter(self.current_mow_path.values())).total_frame
 
-        return False
+        if total_frame == 0:
+            return []
+
+        if total_frame == len(self.current_mow_path):
+            return []
+
+        # Generate list of expected frame numbers (1 to total_frame)
+        expected_frames = set(range(1, total_frame + 1))
+
+        # Get current frame numbers from dictionary keys
+        current_frames = set(self.current_mow_path.keys())
+
+        # Return sorted list of missing frames
+        missing_frames = sorted(expected_frames - current_frames)
+        return missing_frames
+
+    def update_mow_path(self, path: MowPath) -> None:
+        """Update the current_mow_path with the latest MowPath data."""
+        # TODO check if we need to clear the current_mow_path first
+        self.current_mow_path[path.current_frame] = path
 
     @staticmethod
-    def find_missing_frames(frame_list: FrameList | RootHashList) -> list[int]:
+    def find_missing_frames(frame_list: FrameList | RootHashList | None) -> list[int]:
         if frame_list is None:
             return []
 
@@ -328,7 +404,7 @@ class HashList(DataClassORJSONMixin):
     @staticmethod
     def _add_hash_data(hash_dict: dict[int, FrameList], hash_data: NavGetCommData | SvgMessage) -> bool:
         if isinstance(hash_data, SvgMessage):
-            if hash_dict.get(hash_data.data_hash) is None:
+            if hash_dict.get(hash_data.data_hash, None) is None:
                 hash_dict[hash_data.data_hash] = FrameList(total_frame=hash_data.total_frame, data=[hash_data])
                 return True
 
@@ -347,7 +423,7 @@ class HashList(DataClassORJSONMixin):
                 return True
             return False
 
-        if hash_dict.get(hash_data.hash) is None:
+        if hash_dict.get(hash_data.hash, None) is None:
             hash_dict[hash_data.hash] = FrameList(total_frame=hash_data.total_frame, data=[hash_data])
             return True
 
@@ -361,3 +437,7 @@ class HashList(DataClassORJSONMixin):
             hash_dict[hash_data.hash].data.append(hash_data)
             return True
         return False
+
+    def invalidate_maps(self, bol_hash: int) -> None:
+        if MurMurHashUtil.hash_unsigned_list(self.hashlist) != bol_hash:
+            self.root_hash_lists = []

pymammotion/data/model/region_data.py

@@ -6,13 +6,13 @@ from mashumaro.mixins.orjson import DataClassORJSONMixin
 @dataclass
 class RegionData(DataClassORJSONMixin):
     def __init__(self) -> None:
-        self.hash: int | None = None
+        self.hash: int = 0
         self.action: int = 0
         self.current_frame: int = 0
-        self.data_hash: int | None = None
+        self.data_hash: int = 0
         self.data_len: int = 0
-        self.p_hash_a: int | None = None
-        self.p_hash_b: int | None = None
+        self.p_hash_a: int = 0
+        self.p_hash_b: int = 0
         self.path: list[list[float]] | None = None
         self.pver: int = 0
         self.result: int = 0

pymammotion/data/{state_manager.py → mower_state_manager.py}

@@ -9,8 +9,14 @@ import betterproto2
 
 from pymammotion.data.model.device import MowingDevice
 from pymammotion.data.model.device_info import SideLight
-from pymammotion.data.model.enums import ConnectionPreference
-from pymammotion.data.model.hash_list import AreaHashNameList, NavGetCommData, NavGetHashListData, Plan, SvgMessage
+from pymammotion.data.model.hash_list import (
+    AreaHashNameList,
+    MowPath,
+    NavGetCommData,
+    NavGetHashListData,
+    Plan,
+    SvgMessage,
+)
 from pymammotion.data.model.work import CurrentTaskSettings
 from pymammotion.data.mqtt.event import ThingEventMessage
 from pymammotion.data.mqtt.properties import ThingPropertiesMessage
@@ -20,6 +26,7 @@ from pymammotion.proto import (
     AppGetAllAreaHashName,
     AppGetCutterWorkMode,
     AppSetCutterWorkMode,
+    CoverPathUploadT,
     DeviceFwInfo,
     DeviceProductTypeInfoT,
     DrvDevInfoResp,
@@ -41,14 +48,13 @@ from pymammotion.proto import (
 logger = logging.getLogger(__name__)
 
 
-class StateManager:
+class MowerStateManager:
     """Manage state."""
 
     def __init__(self, device: MowingDevice) -> None:
         """Initialize state manager with a device."""
         self._device: MowingDevice = device
         self.last_updated_at = datetime.now(UTC)
-        self.preference = ConnectionPreference.WIFI
         self.cloud_gethash_ack_callback: Callable[[NavGetHashListAck], Awaitable[None]] | None = None
         self.cloud_get_commondata_ack_callback: (
             Callable[[NavGetCommDataAck | SvgMessageAckT], Awaitable[None]] | None
@@ -132,7 +138,7 @@ class StateManager:
             await self.status_callback.data_event(thing_status)
 
     async def on_device_event_callback(self, device_event: ThingEventMessage) -> None:
-        """Executes the status callback if it is set."""
+        """Executes the event callback if it is set."""
         if self.device_event_callback:
             await self.device_event_callback.data_event(device_event)
 
@@ -191,6 +197,10 @@ class StateManager:
                 )
                 if updated:
                     await self.get_commondata_ack_callback(common_data)
+            case "cover_path_upload":
+                mow_path: CoverPathUploadT = nav_msg[1]
+                self._device.map.update_mow_path(MowPath.from_dict(mow_path.to_dict(casing=betterproto2.Casing.SNAKE)))
+
             case "todev_planjob_set":
                 planjob: NavPlanJobSet = nav_msg[1]
                 self._device.map.update_plan(Plan.from_dict(planjob.to_dict(casing=betterproto2.Casing.SNAKE)))
@@ -263,8 +273,8 @@ class StateManager:
                 self._device.mower_state.cutter_mode = cutter_work_mode.current_cutter_mode
                 self._device.mower_state.cutter_rpm = cutter_work_mode.current_cutter_rpm
             case "cutter_mode_ctrl_by_hand":
-                cutter_work_mode: AppSetCutterWorkMode = driver_msg[1]
-                self._device.mower_state.cutter_mode = cutter_work_mode.cutter_mode
+                cutter_work_mode_set: AppSetCutterWorkMode = driver_msg[1]
+                self._device.mower_state.cutter_mode = cutter_work_mode_set.cutter_mode
 
     def _update_net_data(self, message) -> None:
         """Update network data."""

pymammotion/homeassistant/__init__.py

@@ -0,0 +1,3 @@
+from pymammotion.homeassistant.mower_api import HomeAssistantMowerApi
+
+__all__ = ["HomeAssistantMowerApi"]