pymammotion 0.5.44__py3-none-any.whl → 0.5.53__py3-none-any.whl

pymammotion/utility/map.py

@@ -1,72 +1,259 @@
 import math
 
 import numpy as np
+from numpy.typing import NDArray
 
-from pymammotion.data.model.location import Point
+from pymammotion.data.model.location import LocationPoint
 
 
 class CoordinateConverter:
-    def __init__(self, latitude_rad: float, longitude_rad: float) -> None:
-        # Initialize constants
-        self.WGS84A = 6378137.0
-        self.f_ = 3.3528106647474805e-21
-        self.b_ = (1.0 - self.f_) * self.WGS84A
-        self.e2_ = (2.0 - self.f_) * self.f_
-        self.e2m_ = (1.0 - self.f_) * (1.0 - self.f_)
-        self.ep2_ = ((self.WGS84A**2) - (self.b_**2)) / (self.b_**2)
-
-        # Initialize rotation matrix
-        self.R_ = np.zeros((3, 3))
-
-        # Variables to store initial LLA
-        self.x0_ = 0.0
-        self.y0_ = 0.0
-        self.z0_ = 0.0
-
-        # Call set_init_lla with provided lat/lon
-        self.set_init_lla(latitude_rad, longitude_rad)
-
-    def set_init_lla(self, lat_rad, lon_rad) -> None:
+    """Converts between ENU (East-North-Up) and LLA (Latitude-Longitude-Altitude) coordinate systems.
+
+    Uses WGS84 ellipsoid model for Earth coordinate transformations.
+    """
+
+    # WGS84 ellipsoid constants
+    WGS84A: float = 6378137.0  # Semi-major axis (equatorial radius) in meters
+    FLATTENING: float = 0.0033528106647474805  # WGS84 flattening factor
+
+    def __init__(self, latitude_rad: float, longitude_rad: float, yaw_rad: float = 0.0) -> None:
+        """Initialize the coordinate converter.
+
+        Args:
+            latitude_rad: Reference latitude in radians
+            longitude_rad: Reference longitude in radians
+            yaw_rad: Reference yaw angle in radians (default: 0.0)
+
+        """
+        # WGS84 ellipsoid parameters
+        self.semi_major_axis: float = self.WGS84A
+        self.flattening: float = self.FLATTENING
+        self.semi_minor_axis: float = (1.0 - self.flattening) * self.WGS84A
+
+        # Eccentricity parameters
+        self.first_eccentricity_squared: float = (2.0 - self.flattening) * self.flattening
+        self.eccentricity_ratio_squared: float = (1.0 - self.flattening) * (1.0 - self.flattening)
+        self.second_eccentricity_squared: float = (self.semi_major_axis**2 - self.semi_minor_axis**2) / (
+            self.semi_minor_axis**2
+        )
+
+        # Rotation matrix for coordinate transformation
+        self.rotation_matrix: NDArray[np.float64] = np.zeros((3, 3), dtype=np.float64)
+
+        # ECEF origin coordinates
+        self.x0: float = 0.0
+        self.y0: float = 0.0
+        self.z0: float = 0.0
+
+        # Yaw angle
+        self.yaw: float = yaw_rad
+
+        # Initialize with provided reference point
+        self.set_init_lla(latitude_rad, longitude_rad, yaw_rad)
+
+    def set_init_lla(self, latitude_rad: float, longitude_rad: float, yaw_rad: float = 0.0) -> None:
+        """Set the initial LLA reference point and yaw angle.
+
+        Args:
+            latitude_rad: Reference latitude in radians
+            longitude_rad: Reference longitude in radians
+            yaw_rad: Reference yaw angle in radians (default: 0.0)
+
+        """
+        self.yaw = yaw_rad
+
+        sin_lat = math.sin(latitude_rad)
+        cos_lat = math.cos(latitude_rad)
+        sin_lon = math.sin(longitude_rad)
+        cos_lon = math.cos(longitude_rad)
+
+        # Radius of curvature in the prime vertical
+        N = self.semi_major_axis / math.sqrt(1.0 - self.first_eccentricity_squared * (sin_lat**2))
+
+        # Calculate ECEF origin coordinates (altitude = 0)
+        horizontal_distance = N * cos_lat
+        self.x0 = horizontal_distance * cos_lon
+        self.y0 = horizontal_distance * sin_lon
+        self.z0 = self.eccentricity_ratio_squared * N * sin_lat
+
+        # Build rotation matrix (ECEF to ENU)
+        self.rotation_matrix[0, 0] = -sin_lon
+        self.rotation_matrix[0, 1] = cos_lon
+        self.rotation_matrix[0, 2] = 0.0
+
+        self.rotation_matrix[1, 0] = -cos_lon * sin_lat
+        self.rotation_matrix[1, 1] = -sin_lon * sin_lat
+        self.rotation_matrix[1, 2] = cos_lat
+
+        self.rotation_matrix[2, 0] = cos_lon * cos_lat
+        self.rotation_matrix[2, 1] = sin_lon * cos_lat
+        self.rotation_matrix[2, 2] = sin_lat
+
+    def enu_to_lla(self, east: float, north: float) -> LocationPoint:
+        """Convert ENU (East-North-Up) coordinates to LLA (Latitude-Longitude-Altitude).
+
+        Args:
+            east: East coordinate in meters
+            north: North coordinate in meters
+
+        Returns:
+            Point with latitude and longitude in degrees
+
+        """
+        # Transform ENU to ECEF (Earth-Centered, Earth-Fixed) coordinates
+        # using rotation matrix and origin offset
+        ecef_x = self.rotation_matrix[0, 0] * north + self.rotation_matrix[1, 0] * east + self.x0
+        ecef_y = self.rotation_matrix[0, 1] * north + self.rotation_matrix[1, 1] * east + self.y0
+        ecef_z = self.rotation_matrix[0, 2] * north + self.rotation_matrix[1, 2] * east + self.z0
+
+        # Calculate horizontal distance from Earth's axis
+        horizontal_distance = math.hypot(ecef_x, ecef_y)
+
+        # Initial latitude estimate using simplified formula
+        initial_latitude = math.atan2(self.semi_major_axis * ecef_z, self.semi_minor_axis * horizontal_distance)
+
+        sin_initial_lat = math.sin(initial_latitude)
+        cos_initial_lat = math.cos(initial_latitude)
+
+        # Calculate longitude (straightforward conversion from ECEF)
+        longitude_deg = math.degrees(math.atan2(ecef_y, ecef_x))
+
+        # Calculate precise latitude using iterative correction
+        # This accounts for Earth's ellipsoidal shape
+        latitude_rad = math.atan2(
+            ecef_z + self.second_eccentricity_squared * self.semi_minor_axis * (sin_initial_lat**3),
+            horizontal_distance - self.first_eccentricity_squared * self.semi_major_axis * (cos_initial_lat**3),
+        )
+        latitude_deg = math.degrees(latitude_rad)
+
+        return LocationPoint(latitude=latitude_deg, longitude=longitude_deg)
+
+    def lla_to_enu(self, longitude_deg: float, latitude_deg: float) -> list[float]:
+        """Convert LLA (Latitude-Longitude-Altitude) to ENU (East-North-Up) coordinates.
+
+        Args:
+            longitude_deg: Longitude in degrees
+            latitude_deg: Latitude in degrees
+
+        Returns:
+            List of [east, north] coordinates in meters
+
+        """
+        # Convert to radians
+        lat_rad = math.radians(latitude_deg)
+        lon_rad = math.radians(longitude_deg)
+
         sin_lat = math.sin(lat_rad)
         cos_lat = math.cos(lat_rad)
         sin_lon = math.sin(lon_rad)
         cos_lon = math.cos(lon_rad)
 
-        sqrt = self.WGS84A / math.sqrt(1.0 - (self.e2_ * (sin_lat**2)))
-        d3 = sqrt * cos_lat
+        # Calculate radius of curvature
+        N = self.semi_major_axis / math.sqrt(1.0 - self.first_eccentricity_squared * (sin_lat**2))
 
-        self.x0_ = d3 * cos_lon
-        self.y0_ = d3 * sin_lon
-        self.z0_ = self.e2m_ * sqrt * sin_lat
+        # Convert to ECEF (altitude = 0)
+        horizontal = N * cos_lat
+        ecef_x = horizontal * cos_lon
+        ecef_y = horizontal * sin_lon
+        ecef_z = self.eccentricity_ratio_squared * N * sin_lat
 
-        self.R_[0][0] = -sin_lon
-        self.R_[0][1] = cos_lon
-        self.R_[0][2] = 0.0
+        # Translate to origin
+        dx = ecef_x - self.x0
+        dy = ecef_y - self.y0
+        dz = ecef_z - self.z0
 
-        self.R_[1][0] = -cos_lon * sin_lat
-        self.R_[1][1] = -sin_lon * sin_lat
-        self.R_[1][2] = cos_lat
+        # Rotate to ENU frame
+        east = self.rotation_matrix[0, 0] * dx + self.rotation_matrix[0, 1] * dy + self.rotation_matrix[0, 2] * dz
+        north = self.rotation_matrix[1, 0] * dx + self.rotation_matrix[1, 1] * dy + self.rotation_matrix[1, 2] * dz
 
-        self.R_[2][0] = cos_lon * cos_lat
-        self.R_[2][1] = sin_lon * cos_lat
-        self.R_[2][2] = sin_lat
+        # Apply yaw rotation (inverse)
+        rotated_east = math.cos(-self.yaw) * east - math.sin(-self.yaw) * north
+        rotated_north = math.sin(-self.yaw) * east + math.cos(-self.yaw) * north
 
-    def enu_to_lla(self, e, n) -> Point:
-        d3 = self.R_[0][0] * n + self.R_[1][0] * e + self.x0_
-        d4 = self.R_[0][1] * n + self.R_[1][1] * e + self.y0_
-        d5 = self.R_[0][2] * n + self.R_[1][2] * e + self.z0_
+        return [round(rotated_east, 3), round(rotated_north, 3)]
 
-        hypot = math.hypot(d3, d4)
-        atan2_lat = math.atan2(self.WGS84A * d5, self.b_ * hypot)
+    def get_transform_yaw_with_yaw(self, yaw_degrees: float) -> float:
+        """Transform a yaw angle from global coordinates to local coordinates.
 
-        sin_lat = math.sin(atan2_lat)
-        cos_lat = math.cos(atan2_lat)
+        This applies the inverse of the reference yaw rotation to convert a global
+        heading angle into the local coordinate frame.
 
-        lon = math.atan2(d4, d3) * 180.0 / math.pi
-        lat = (
-            math.atan2(d5 + self.ep2_ * self.b_ * (sin_lat**3), hypot - self.e2_ * self.WGS84A * (cos_lat**3))
-            * 180.0
-            / math.pi
-        )
+        Args:
+            yaw_degrees: Input yaw angle in degrees
+
+        Returns:
+            Transformed yaw angle in degrees
+
+        """
+        # Convert input angle to radians
+        yaw_rad = math.radians(yaw_degrees)
+
+        # Apply inverse rotation: -self.yaw
+        inverse_yaw = -self.yaw
+
+        # Using angle addition formula: atan2(sin(a+b), cos(a+b))
+        # where a = inverse_yaw, b = yaw_rad
+        sin_sum = math.sin(inverse_yaw) * math.cos(yaw_rad) + math.cos(inverse_yaw) * math.sin(yaw_rad)
+        cos_sum = math.cos(inverse_yaw) * math.cos(yaw_rad) - math.sin(inverse_yaw) * math.sin(yaw_rad)
+
+        # Calculate resulting angle and convert back to degrees
+        result_rad = math.atan2(sin_sum, cos_sum)
+        result_degrees = math.degrees(result_rad)
+
+        return result_degrees
+
+    def get_angle_yaw(self) -> float:
+        """Get the current yaw angle in degrees.
+
+        Returns:
+            Yaw angle in degrees
+
+        """
+        return math.degrees(self.yaw)
+
+    def get_yaw(self) -> float:
+        """Get the current yaw angle in radians.
+
+        Returns:
+            Yaw angle in radians
+
+        """
+        return self.yaw
+
+    def set_yaw(self, yaw_rad: float) -> None:
+        """Set the yaw angle.
+
+        Args:
+            yaw_rad: Yaw angle in radians
+
+        """
+        self.yaw = yaw_rad
+
+    def set_yaw_degrees(self, yaw_degrees: float) -> None:
+        """Set the yaw angle from degrees.
+
+        Args:
+            yaw_degrees: Yaw angle in degrees
+
+        """
+        self.yaw = math.radians(yaw_degrees)
+
+
+# Usage example
+if __name__ == "__main__":
+    # Initialize converter with reference point
+    converter = CoordinateConverter(
+        latitude_rad=math.radians(40.0), longitude_rad=math.radians(-105.0), yaw_rad=math.radians(45.0)
+    )
+
+    # Convert ENU to LLA
+    point = converter.enu_to_lla(east=100.0, north=200.0)
+    print(f"Latitude: {point.latitude}, Longitude: {point.longitude}")
+
+    # Convert LLA to ENU
+    enu = converter.lla_to_enu(longitude_deg=-105.0, latitude_deg=40.0)
+    print(f"East: {enu[0]}, North: {enu[1]}")
 
-        return Point(latitude=lat, longitude=lon)
+    # Transform yaw angle
+    transformed_yaw = converter.get_transform_yaw_with_yaw(90.0)
+    print(f"Transformed yaw: {transformed_yaw}°")

pymammotion/utility/mur_mur_hash.py

@@ -124,7 +124,7 @@ class MurMurHashUtil:
         return value & 0x7FFFFFFFFFFFFFFF
 
     @staticmethod
-    def hash_unsigned(data) -> int:
+    def hash_unsigned(data: str | bytes) -> int:
         """Get unsigned hash value
         Can accept bytes or string
         """

{pymammotion-0.5.44.dist-info → pymammotion-0.5.53.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: pymammotion
-Version: 0.5.44
+Version: 0.5.53
 Author: jLynx
 Author-email: Michael Arthur <michael@jumblesoft.co.nz>
 License-Expression: GPL-3.0
@@ -11,7 +11,7 @@ Requires-Dist: alibabacloud-apigateway-util<0.0.3,>=0.0.2
 Requires-Dist: alibabacloud-iot-api-gateway<0.0.5,>=0.0.4
 Requires-Dist: alicloud-gateway-iot<2,>=1.0.0
 Requires-Dist: async-timeout<5,>=4.0.3
-Requires-Dist: betterproto2<0.9,>=0.8.0
+Requires-Dist: betterproto2>=0.9.1
 Requires-Dist: bleak-retry-connector>=3.5.0
 Requires-Dist: bleak>=0.21.0
 Requires-Dist: crcmod~=1.7
@@ -24,6 +24,7 @@ Requires-Dist: paho-mqtt<3,>=2.1.0
 Requires-Dist: protobuf>=4.23.1
 Requires-Dist: py-jsonic<0.0.3,>=0.0.2
 Requires-Dist: pyjwt>=2.10.1
+Requires-Dist: shapely>=2.1.2
 Description-Content-Type: text/markdown
 
 # PyMammotion - Python API for Mammotion Mowers [![Discord](https://img.shields.io/discord/1247286396297678879)](https://discord.gg/vpZdWhJX8x)

{pymammotion-0.5.44.dist-info → pymammotion-0.5.53.dist-info}/RECORD

@@ -8,7 +8,7 @@ pymammotion/aliyun/regions.py,sha256=ctlRGrmdE4-xgItl9slCANYOV502qVN5lkAU4lj92sk
 pymammotion/aliyun/tmp_constant.py,sha256=M4Hq_lrGB3LZdX6R2XohRPFoK1NDnNV-pTJwJcJ9838,6650
 pymammotion/aliyun/model/aep_response.py,sha256=EY4uMTJ4F9rvbcXnAOc5YKi7q__9kIVgfDwfyr65Gk0,421
 pymammotion/aliyun/model/connect_response.py,sha256=Yz-fEbDzgGPTo5Of2oAjmFkSv08T7ze80pQU4k-gKIU,824
-pymammotion/aliyun/model/dev_by_account_response.py,sha256=9L-ST-U64gYh0FtmXO94ArMgsnB3vdMmq2w20tF4hrQ,7051
+pymammotion/aliyun/model/dev_by_account_response.py,sha256=PTkHRJQzEdqJRIGKEaU_4Q45O2KdupxRjZGR757xzvw,6788
 pymammotion/aliyun/model/login_by_oauth_response.py,sha256=g7JnvEjoa3SplHd-UqCuK6x0qtODpHlDyJCHRz7tfDI,1228
 pymammotion/aliyun/model/regions_response.py,sha256=HSnpPcgpjr6VNXBQHw__gn-xWCkQ-MZ-Tmus9_va9mI,635
 pymammotion/aliyun/model/session_by_authcode_response.py,sha256=0owdNcGFIP7rsVqLIf9rT-iOtvWmKCt2AW0cUUXwFiQ,427
@@ -25,25 +25,27 @@ pymammotion/bluetooth/data/notifydata.py,sha256=jeROpoFmaZfNTidkLLm5VYeFbeIgDSi8
 pymammotion/bluetooth/model/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 pymammotion/bluetooth/model/atomic_integer.py,sha256=jtSqeqd6It3TvzZN7TJyYHQNRuItuw0Bg-cL0AUEBhY,1666
 pymammotion/data/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-pymammotion/data/mower_state_manager.py,sha256=-iLTn6zrnhQYzKCto-SoLeu9OpIxa_YQ_7V8mLf3g4A,14390
+pymammotion/data/mower_state_manager.py,sha256=2E77AM0nF-2pPNW1_s7Z96dxPOBsKOe9-or-n9ahUE8,16979
 pymammotion/data/model/__init__.py,sha256=UVRbSXGOjYnWv30ZEvzT5QRpdVqAbyeToo-t0QBWyi4,292
 pymammotion/data/model/account.py,sha256=vJM-KTf2q6eBfVC-UlNHBSmJvqHiCawZ40vnuhXhaz8,140
-pymammotion/data/model/device.py,sha256=MeaB0ucFuNU5E4RAQ6qC8sTqdPJMw3lsMXR_YmYvqEM,8350
+pymammotion/data/model/device.py,sha256=B9hJfNII239vBd8ghvcDKjT84NY-WdRQIuysZUm50RM,8781
 pymammotion/data/model/device_config.py,sha256=cLfvO_xs8GhEQbhTZLOfhYK5OX4T337M9OZkyQ_GNWQ,2652
-pymammotion/data/model/device_info.py,sha256=vjqHlRbHOyEkkaIoTwAp14CZMY5R5o609SbThfOO-gg,1390
+pymammotion/data/model/device_info.py,sha256=YRs-7kcnzS5qNeZTvLTNewv8RZ_Qx51pXrebSKYj7Ks,1411
 pymammotion/data/model/device_limits.py,sha256=m8HdxD-RaAkPm7jHYb9GLxMEH9IfzBPz0ZypmsLnId4,1946
 pymammotion/data/model/enums.py,sha256=LVLP-9ypW0NxwyTeizxPVFNX3INWGfhSR9obM_vl0-M,1782
 pymammotion/data/model/errors.py,sha256=lBHq2cE8P5fc6Q4JXgrkJXzFKTWgxsoPOyMlTaJWbWk,396
+pymammotion/data/model/events.py,sha256=fa8xG6kB2NgZKzpd-T9TKRcVEme_fdB5VnHuF2Qa62s,392
 pymammotion/data/model/excute_boarder_params.py,sha256=9CpUqrygcle1C_1hDW-riLmm4map4ZbE842NXjcomEI,1394
 pymammotion/data/model/execute_boarder.py,sha256=9rd_h4fbcsXxgnLOd2rO2hWyD1abnTGc47QTEpp8DD0,1103
+pymammotion/data/model/generate_geojson.py,sha256=jGDdj5q6RdWyNtWFFLhtOHmEISY4-pngXFKCEwCf9WI,19360
 pymammotion/data/model/generate_route_information.py,sha256=-_c8pk10zwRh-O2vJ0i3DDCOQbv9CRJ7YNWpfsIpajI,807
-pymammotion/data/model/hash_list.py,sha256=jikG45FlsIBXaPzFN84WVN7Mn-c1yi3BmMC46aw2c3k,14817
-pymammotion/data/model/location.py,sha256=PwmITejfI4pm7PI4rzqSuuHetwle6IJr_CV95435s2M,871
+pymammotion/data/model/hash_list.py,sha256=rRH7p6WlFC7n9uNwlDfd9TxaYK0zvSMX2OQtIxyNmQA,15373
+pymammotion/data/model/location.py,sha256=BirPRZDjZEi_pEg2RquCOfCRR8cV4THuWyHoJM8gAAg,919
 pymammotion/data/model/mowing_modes.py,sha256=4rMn1H8w2iU2aBwpmAhPh_sT81yqrocrWWUIaU7DCIc,1171
 pymammotion/data/model/rapid_state.py,sha256=mIdhAG_LZXpVcybxqTLgLXkNOmVmDTn04B9PGIDA8Ls,1251
 pymammotion/data/model/raw_data.py,sha256=x2xuqVC8CQuV3ui3QK4G5EqRET9EsNljHLHR11ByYgo,6471
 pymammotion/data/model/region_data.py,sha256=OP4hXYX2U1gNxU7VFsHQfQbE1Bze_nvVFQ0ZT7XZJsg,2909
-pymammotion/data/model/report_info.py,sha256=3nXBFRfdKWnZj4YfBcrPwhBRpq58ICMQlrESfI1tTMg,3808
+pymammotion/data/model/report_info.py,sha256=Dr5lKUZSbyaNs44PyLRuKin2KVmPvup-XXPkZ5IzIWo,3989
 pymammotion/data/model/work.py,sha256=AfKMItFqnRtAlVHzKCfYY-BQy-WFDYZBzdj-9Yc03bo,655
 pymammotion/data/mqtt/__init__.py,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
 pymammotion/data/mqtt/event.py,sha256=JPzu2XCgyLwcdKsN9vqg94WMvHtsGH6vHHSFGstILjo,6911
@@ -51,13 +53,13 @@ pymammotion/data/mqtt/mammotion_properties.py,sha256=oMsHkMJQxLjiUu8wXtWiLV7cmUP
 pymammotion/data/mqtt/properties.py,sha256=40r6rW7bL1R4v1PFEhBMF7Z45UfpgafhsAou5JyB6NU,5152
 pymammotion/data/mqtt/status.py,sha256=jZ1Qx8tRhtBOguL7MOtR0jhsA1cRmVKoPJszho5A2Bs,1644
 pymammotion/event/__init__.py,sha256=mgATR6vPHACNQ-0zH5fi7NdzeTCDV1CZyaWPmtUusi8,115
-pymammotion/event/event.py,sha256=Z8WYxv_-5khEqKjL1w4c_Et24G1Kdm8QFuIBylD3h3U,3021
+pymammotion/event/event.py,sha256=P2yphZfJwMCefVE4h4hLTDPqCCVd63tSUo667gWF72c,3153
 pymammotion/homeassistant/__init__.py,sha256=j0aQZKWR41pCDR3g1y2p_zfp033pESECcqXiefRg1DQ,107
-pymammotion/homeassistant/mower_api.py,sha256=bQPCAre0tD3dO4vr07vfKOENmnA8Fv0NVMMq_fkt0ik,19207
-pymammotion/homeassistant/rtk_api.py,sha256=YyTF_14cWvvT31H-LYD715W82KsWfkV1nwXsJcHfQ7I,2445
+pymammotion/homeassistant/mower_api.py,sha256=75spHV7tlduFBN_JGe3VWojLXQ8kBzOZLQlg8YPaU-w,20836
+pymammotion/homeassistant/rtk_api.py,sha256=XVc6S0zN2dl2PWXGJ3bAFRba4AICofg1hYCUE84czTw,2516
 pymammotion/http/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 pymammotion/http/encryption.py,sha256=lzXu3WwBdQlzjXxWnlJuRgkCrKdPbxx5drhMitVKIEk,8287
-pymammotion/http/http.py,sha256=kFHvHV73zeTaRvdi-GbWD59YdXrszPTQI24I7EljDT4,29372
+pymammotion/http/http.py,sha256=OKJMDmWvp0T7Er9zgpdx4fGAk8GkJHplo-r9xLdl3GE,29674
 pymammotion/http/model/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 pymammotion/http/model/camera_stream.py,sha256=ilxQNny_w9Frwt-m8kbHinvyjDv4Bx8C2swfZ2lTEDE,600
 pymammotion/http/model/http.py,sha256=PymW658jcAxYNmO3l3NBXMATc8WK_lZuZfj_9seMbBQ,6433
@@ -71,7 +73,7 @@ pymammotion/mammotion/commands/messages/__init__.py,sha256=47DEQpj8HBSa-_TImW-5J
 pymammotion/mammotion/commands/messages/basestation.py,sha256=a1LEF4C25ynILeQLx-FOOU4d-N_vMkXSh_etojJjIDM,1442
 pymammotion/mammotion/commands/messages/driver.py,sha256=tJUM1WhlWFs92PbZW5QSG-TMo6nemAUkcUDzI_6gETU,4695
 pymammotion/mammotion/commands/messages/media.py,sha256=KJyMzSZkwQrHWjAWfAI88Y7-jmfN3-WYtY193KaomT4,2930
-pymammotion/mammotion/commands/messages/navigation.py,sha256=iirpqbbLqGWafwK5AB_xXyUvytZ-sAxrTYEqXI14Flg,23424
+pymammotion/mammotion/commands/messages/navigation.py,sha256=QO6MNLB-nu1G2kDIOu6eFu6oCtGwM-bA6TsVLBiY670,24806
 pymammotion/mammotion/commands/messages/network.py,sha256=7K6aqt29ymTSUG0iEv4kIRD0Dv6rfHNctE00UvuMpG4,7264
 pymammotion/mammotion/commands/messages/ota.py,sha256=Nk3Tlp6n7hkbkuy355BlqbozHIHzsYnrH2cDO8QGaLk,1446
 pymammotion/mammotion/commands/messages/system.py,sha256=1Xchdx7Y0-kbrM-knSEUhwELu9PyF7DjtsCFt7_BCXw,13343
@@ -80,12 +82,12 @@ pymammotion/mammotion/control/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5N
 pymammotion/mammotion/control/joystick.py,sha256=QfBVxM_gxpWsZAGO90whtgxCI2tIZ3TTad9wHIPsU9s,5640
 pymammotion/mammotion/devices/__init__.py,sha256=YYphpxf0zr1Xc_dOBKsCzcO5zSwlewuhZNjAbmy6cHI,1012
 pymammotion/mammotion/devices/base.py,sha256=MLLup0ZQI1GvyEF980BTtIeuayRZJijR1kvk77U1DS0,6518
-pymammotion/mammotion/devices/mammotion.py,sha256=bI86oDE3wRAaq01xLTxDqCwdlle3oAHWJy1xfQvIl58,23827
+pymammotion/mammotion/devices/mammotion.py,sha256=3Scbn8qZhJixy9qkxZ59bZrZv47ECSdUVlUnl0kmMR8,24282
 pymammotion/mammotion/devices/mammotion_bluetooth.py,sha256=bwl1wphx2ev3iuDBTFTJbeujtll0L2ZBYDRzTcKBZes,19203
 pymammotion/mammotion/devices/mammotion_cloud.py,sha256=8MosSefZtymgHhKxkp7nSHq7b5D6sNPobxoKYVMBy-I,15139
 pymammotion/mammotion/devices/mammotion_mower_ble.py,sha256=GLc-f9TFhpGp2OYnVestzFqPSyGBMHX2YmrAnnmYu0I,1947
 pymammotion/mammotion/devices/mammotion_mower_cloud.py,sha256=JwCQICv8S31c1ll23JIWFFJEwzbTss182MvE4ZiQxWs,1877
-pymammotion/mammotion/devices/mower_device.py,sha256=VUgoJYlMKMOuy9j6MzxDmOIe6y7ziG-O-gUdDQPhkUM,5627
+pymammotion/mammotion/devices/mower_device.py,sha256=UYsYSZoyzs_2aiKTkSamQAgbPdxnPmza3gcsOTQfVh8,5782
 pymammotion/mammotion/devices/mower_manager.py,sha256=m2U90ZlNgSmdPAh8BtKtyMVt5ZTBpfxNs5RT_lsUTls,4280
 pymammotion/mammotion/devices/rtk_ble.py,sha256=egZo4VJYS1_9r7e8f8FA21tD-bVthc-YgJbTtf0cNSI,3601
 pymammotion/mammotion/devices/rtk_cloud.py,sha256=gFzcnlSyWnyFLTYR-WOLpjIQD8Y1k844ZTkd-gdyIIk,4816
@@ -100,7 +102,7 @@ pymammotion/mqtt/mqtt_models.py,sha256=3JXP9Nals-3f27pYUqxD9WrfQHf5tpnal1j4R6vr-
 pymammotion/mqtt/linkkit/__init__.py,sha256=ENgc3ynd2kd9gMQR3-kgmCu6Ed9Y6XCIzU0zFReUlkk,80
 pymammotion/mqtt/linkkit/h2client.py,sha256=w9Nvi_nY4CLD_fw-pHtYChwQf7e2TiAGeqkY_sF4cf0,19659
 pymammotion/mqtt/linkkit/linkkit.py,sha256=SGWny2_LKa8qg8RD0Bgd3a4S_fMqpYxJ7a9eFRvgcN0,132923
-pymammotion/proto/__init__.py,sha256=COJw6Gq52RGTIqyWZNz_emMIg4nC2lQ9aDxq1xEtQP8,151189
+pymammotion/proto/__init__.py,sha256=tiNljAXKL-CkTfIgnJ0dzXhMTHuprHL9xThyNqoVR88,151190
 pymammotion/proto/basestation.proto,sha256=YiSsDmT0DY_ep6DHay13SbhxGMhentYt0BmJrVQrwLQ,1198
 pymammotion/proto/basestation_pb2.py,sha256=suenbpMz9JZCXdGJGdiPaapppRz9Cf4IDzAXUfdIG3w,3083
 pymammotion/proto/basestation_pb2.pyi,sha256=lGcTPlGaLdHEQ1A39YITbMG_vs1cVaqHAg5TsPvzexc,4652
@@ -129,7 +131,7 @@ pymammotion/proto/mctrl_pept.proto,sha256=E-kp3dLPTbnrnRz4x1hFHfIbv4IYs2lHL8Nhs7
 pymammotion/proto/mctrl_pept_pb2.py,sha256=7rM3ZSn2XyPD0k2FUhL0zDrHmyC15ZUJgMXqx0biptg,2436
 pymammotion/proto/mctrl_pept_pb2.pyi,sha256=rYmmllXOmHqz7PRn7IWGSkGjKmJRHI4HNA7ZkYipK_g,3308
 pymammotion/proto/mctrl_sys.proto,sha256=XdmmJTkVmy7M93--tQIhM7w2B0YZdsTjSXqmD6kbd1g,15938
-pymammotion/proto/mctrl_sys_pb2.py,sha256=HujvgOTzE4PKct_-fdaXXwnt5E_HqLMH4WOEQ0zDZO8,33160
+pymammotion/proto/mctrl_sys_pb2.py,sha256=N12eEXmpJZh5VvjN7QdNZAwWLABKtfHR5VGTzA-kxDY,33162
 pymammotion/proto/mctrl_sys_pb2.pyi,sha256=N1sJJMx7qWsj1kKYoQJ4JEZanZetLZ5JThs1IXCChUE,61557
 pymammotion/proto/message_pool.py,sha256=4-cRhhiM6bmfpUJZ8qxc8LEyqHBHpLCcotjbyZxl7JM,71
 pymammotion/proto/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -137,14 +139,14 @@ pymammotion/utility/conversions.py,sha256=v3YICy0zZwwBBzrUZgabI7GRfiDBnkiAX2qdtk
 pymammotion/utility/datatype_converter.py,sha256=A9qHBTbnq2PniAyBKxx3Qrk08aF5SIXGK1lDIY1siPU,4424
 pymammotion/utility/device_config.py,sha256=65Jl73-dQDs4yMXwYXZW_bsgSvnwpFBZDu8OQPEIgx8,27877
 pymammotion/utility/device_type.py,sha256=RdxBdkqzd03Q0MCCkbfqLj_CKrks8nNV4ji50UvJbH8,17024
-pymammotion/utility/map.py,sha256=GYscVMg2cX3IPlNpCBNHDW0S55yS1WGRf1iHnNZ7TfQ,2227
+pymammotion/utility/map.py,sha256=1SdHmysJPSsQPd69QHm-xPkkN452iBF4TRZa2FAtyro,9372
 pymammotion/utility/movement.py,sha256=N75oAoAgFydqoaOedYIxGUHmuTCtPzAOtb-d_29tpfI,615
-pymammotion/utility/mur_mur_hash.py,sha256=nurSJKhLVvysNjXy9X4JYsEVOwEc-dElp3Oo0_ZWoSA,5851
+pymammotion/utility/mur_mur_hash.py,sha256=5h2qew1eY3a1PrCzgQLsHeo_Q33ropgG1E23uzmZ72o,5864
 pymammotion/utility/periodic.py,sha256=MbeSb9cfhxzYmdT_RiE0dZe3H9IfbQW_zSqhmSX2RUc,3321
 pymammotion/utility/rocker_util.py,sha256=6tX7sS87qoQC_tsxbx3NLL-HgS08wtzXiZkhDiz7uo0,7179
 pymammotion/utility/constant/__init__.py,sha256=tcY0LDeD-qDDHx2LKt55KOyv9ZI0UfCNM6fknLCmm8s,110
-pymammotion/utility/constant/device_constant.py,sha256=MJE1DEOg86oWNSXYGx3xxJ542KEuSJNZ0VJLN4eHbUg,8237
-pymammotion-0.5.44.dist-info/METADATA,sha256=j5hdf_HwYZX4m0Xonw8HbB4ni588m89hKvKPGFmijNw,3575
-pymammotion-0.5.44.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
-pymammotion-0.5.44.dist-info/licenses/LICENSE,sha256=OXLcl0T2SZ8Pmy2_dmlvKuetivmyPd5m1q-Gyd-zaYY,35149
-pymammotion-0.5.44.dist-info/RECORD,,
+pymammotion/utility/constant/device_constant.py,sha256=X27pgHJaz9ljhepz-m0p6Dvpylg6ASB8om2PlFOd_nU,8250
+pymammotion-0.5.53.dist-info/METADATA,sha256=oZidy-rbvALypkgwv1TEInZqcOGqzhnMFsE37J5UYAM,3600
+pymammotion-0.5.53.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
+pymammotion-0.5.53.dist-info/licenses/LICENSE,sha256=OXLcl0T2SZ8Pmy2_dmlvKuetivmyPd5m1q-Gyd-zaYY,35149
+pymammotion-0.5.53.dist-info/RECORD,,