pymammotion 0.5.69__py3-none-any.whl

pymammotion/mammotion/commands/messages/media.py

@@ -0,0 +1,87 @@
+# === sendOrderMsg_Media ===
+from abc import ABC
+
+from pymammotion.mammotion.commands.abstract_message import AbstractMessage
+from pymammotion.proto import (
+    GetHeadlamp,
+    LampCtrlSta,
+    LampManualCtrlSta,
+    LubaMsg,
+    MsgAttr,
+    MsgCmdType,
+    MsgDevice,
+    MulLanguage,
+    MulSetAudio,
+    MulSetWiper,
+    MulSex,
+    SetHeadlamp,
+    SocMul,
+)
+
+
+class MessageMedia(AbstractMessage, ABC):
+    def send_order_msg_media(self, mul):
+        luba_msg = LubaMsg(
+            msgtype=MsgCmdType.MUL,
+            sender=MsgDevice.DEV_MOBILEAPP,
+            rcver=self.get_msg_device(MsgCmdType.MUL, MsgDevice.SOC_MODULE_MULTIMEDIA),
+            msgattr=MsgAttr.REQ,
+            seqs=self.seqs.increment_and_get() & 255,
+            version=1,
+            subtype=self.user_account,
+            mul=mul,
+        )
+
+        return luba_msg.SerializeToString()
+
+    def set_car_volume(self, volume: int):
+        """Set the car volume. 0 - 100"""
+        return self.send_order_msg_media(SocMul(set_audio=MulSetAudio(at_switch=volume)))
+
+    def set_car_voice_language(self, language_type: MulLanguage | str | None):
+        return self.send_order_msg_media(SocMul(set_audio=MulSetAudio(au_language=language_type)))
+
+    def set_car_volume_sex(self, sex: MulSex):
+        return self.send_order_msg_media(SocMul(set_audio=MulSetAudio(sex=sex)))
+
+    def set_car_wiper(self, round_num: int):
+        """Set mower wiper."""
+        # 2
+        return self.send_order_msg_media(SocMul(set_wiper=MulSetWiper(round=round_num)))
+
+    def get_car_light(self, ids: int):
+        """Get mower light settings.
+        1126 for manual
+        1123 for night time settings
+        """
+        return self.send_order_msg_media(SocMul(get_lamp=GetHeadlamp(get_ids=ids)))
+
+    def set_car_light(self, on_off: bool = False):
+        """Set mower light.
+
+        set whether light is on during the night during mowing
+        auto night on true, id=1121, power_ctrl=1
+        auto night off false, id=1121, power_ctrl=1
+        """
+
+        ctrl_state = LampCtrlSta.power_ctrl_on if on_off else LampCtrlSta.power_off
+        return self.send_order_msg_media(
+            SocMul(
+                set_lamp=SetHeadlamp(
+                    set_ids=1121, lamp_power_ctrl=1, lamp_ctrl=ctrl_state, ctrl_lamp_bright=False, lamp_bright=0
+                )
+            )
+        )
+
+    def set_car_manual_light(self, manual_ctrl: bool = False):
+        """Set mower light.
+
+        set whether light is on manually
+        manual on: true, id=1125, power_ctrl=2
+        manual off: false, id=1127, power_ctrl=2
+        """
+        ids = 1125 if manual_ctrl else 1127
+        manual_light_ctrl = LampManualCtrlSta.manual_power_on if manual_ctrl else LampManualCtrlSta.manual_power_off
+        return self.send_order_msg_media(
+            SocMul(set_lamp=SetHeadlamp(set_ids=ids, lamp_power_ctrl=2, lamp_manual_ctrl=manual_light_ctrl))
+        )

pymammotion/mammotion/commands/messages/navigation.py

@@ -0,0 +1,564 @@
+# === sendOrderMsg_Nav ===
+from abc import ABC
+import logging
+import time
+
+from pymammotion.data.model import GenerateRouteInformation
+from pymammotion.data.model.hash_list import Plan, SvgMessage
+from pymammotion.data.model.region_data import RegionData
+from pymammotion.mammotion.commands.abstract_message import AbstractMessage
+from pymammotion.proto import (
+    AppRequestCoverPathsT,
+    LubaMsg,
+    MctlNav,
+    MsgAttr,
+    MsgCmdType,
+    MsgDevice,
+    NavGetCommData,
+    NavGetHashList,
+    NavMapNameMsg,
+    NavPlanJobSet,
+    NavPlanTaskExecute,
+    NavReqCoverPath,
+    NavSysParamMsg,
+    NavTaskCtrl,
+    NavUnableTimeSet,
+    NavUploadZigZagResultAck,
+    SimulationCmdData,
+    SvgMessageAckT,
+    SvgMessageT,
+    WorkReportCmdData,
+    WorkReportUpdateCmd,
+)
+
+logger = logging.getLogger(__name__)
+
+
+class MessageNavigation(AbstractMessage, ABC):
+    def send_order_msg_nav(self, build: MctlNav) -> bytes:
+        luba_msg = LubaMsg(
+            msgtype=MsgCmdType.NAV,
+            sender=MsgDevice.DEV_MOBILEAPP,
+            rcver=self.get_msg_device(MsgCmdType.NAV, MsgDevice.DEV_MAINCTL),
+            msgattr=MsgAttr.REQ,
+            seqs=self.seqs.increment_and_get() & 255,
+            version=1,
+            subtype=self.user_account,
+            nav=build,
+            timestamp=round(time.time() * 1000),
+        )
+
+        return luba_msg.SerializeToString()
+
+    def allpowerfull_rw_adapter_x3(self, rw_id: int, context: int, rw: int) -> bytes:
+        build = MctlNav(nav_sys_param_cmd=NavSysParamMsg(id=rw_id, context=context, rw=rw))
+        logger.debug(f"Send command--x3 general read and write command id={rw_id}, context={context}, rw={rw}")
+        return self.send_order_msg_nav(build)
+
+    def along_border(self) -> bytes:
+        build = MctlNav(todev_edgecmd=1)
+        logger.debug("Send command--along the edge command")
+        return self.send_order_msg_nav(build)
+
+    def start_draw_border(self) -> bytes:
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=0, type=0))
+        logger.debug("Send command--Start drawing boundary command")
+        return self.send_order_msg_nav(build)
+
+    def enter_dumping_status(self) -> bytes:
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=14, type=12))
+        logger.debug("Send command--Enter grass collection status")
+        return self.send_order_msg_nav(build)
+
+    def add_dump_point(self) -> bytes:
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=0, type=12))
+        logger.debug("Send command--Add grass collection point")
+        return self.send_order_msg_nav(build)
+
+    def revoke_dump_point(self) -> bytes:
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=6, type=12))
+        logger.debug("Send command--Revoke grass collection point")
+        return self.send_order_msg_nav(build)
+
+    def exit_dumping_status(self) -> bytes:
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=1, type=12))
+        logger.debug("Send command--Exit grass collection setting status")
+        return self.send_order_msg_nav(build)
+
+    def out_drop_dumping_add(self) -> bytes:
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=15, type=12))
+        logger.debug("Send command--Complete external grass collection point marking operation")
+        return self.send_order_msg_nav(build)
+
+    def recover_dumping(self) -> bytes:
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=12, type=12))
+        logger.debug("Send command--Recover grass collection operation")
+        return self.send_order_msg_nav(build)
+
+    def start_draw_barrier(self) -> bytes:
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=0, type=1))
+        logger.debug("Sending command - Draw obstacle command")
+        return self.send_order_msg_nav(build)
+
+    def start_erase(self) -> bytes:
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=4, type=0))
+        logger.debug("Sending command - Start erase command - Bluetooth")
+        return self.send_order_msg_nav(build)
+
+    def end_erase(self) -> bytes:
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=5, type=0))
+        logger.debug("Sending command - End erase command")
+        return self.send_order_msg_nav(build)
+
+    def cancel_erase(self) -> bytes:
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=7, type=0))
+        logger.debug("Sending command - Cancel erase command")
+        return self.send_order_msg_nav(build)
+
+    def start_channel_line(self) -> bytes:
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=0, type=2))
+        logger.debug("Sending command - Start drawing channel line command")
+        return self.send_order_msg_nav(build)
+
+    def save_task(self) -> bytes:
+        build = MctlNav(todev_save_task=1)
+        logger.debug("Sending command - Save task command")
+        return self.send_order_msg_nav(build)
+
+    def set_edit_boundary(self, action: int) -> bytes:
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=action, type=0))
+        logger.debug(f"Sending secondary editing command action={action}")
+        return self.send_order_msg_nav(build)
+
+    def set_data_synchronization(self, type: int) -> bytes:
+        logger.debug(f"Sync data ==================== Sending ============ Restore command: {type}")
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=12, type=type))
+        logger.debug("Sync data ==================== Sending ============ Restore command")
+        return self.send_order_msg_nav(build)
+
+    def send_plan(self, plan_bean: Plan) -> bytes:
+        build = MctlNav(
+            todev_planjob_set=NavPlanJobSet(
+                pver=plan_bean.pver,
+                sub_cmd=plan_bean.sub_cmd,
+                area=plan_bean.area,
+                work_time=plan_bean.work_time,
+                version=plan_bean.version,
+                id=plan_bean.id,
+                user_id=plan_bean.user_id,
+                device_id=plan_bean.device_id,
+                plan_id=plan_bean.plan_id,
+                task_id=plan_bean.task_id,
+                job_id=plan_bean.job_id,
+                start_time=plan_bean.start_time,
+                end_time=plan_bean.end_time,
+                week=plan_bean.week,
+                knife_height=plan_bean.knife_height,
+                model=plan_bean.model,
+                edge_mode=plan_bean.edge_mode,
+                required_time=plan_bean.required_time,
+                route_angle=plan_bean.route_angle,
+                route_model=plan_bean.route_model,
+                route_spacing=plan_bean.route_spacing,
+                ultrasonic_barrier=plan_bean.ultrasonic_barrier,
+                total_plan_num=plan_bean.total_plan_num,
+                plan_index=plan_bean.plan_index,
+                result=plan_bean.result,
+                speed=plan_bean.speed,
+                task_name=plan_bean.task_name,
+                job_name=plan_bean.job_name,
+                zone_hashs=plan_bean.zone_hashs,
+                reserved=plan_bean.reserved,
+            )
+        )
+        logger.debug(f"Send read job plan command planBean={plan_bean}")
+        return self.send_order_msg_nav(build)
+
+    def send_schedule(self, plan_bean: Plan) -> bytes:
+        build = NavPlanJobSet(
+            pver=plan_bean.pver,
+            sub_cmd=plan_bean.sub_cmd,
+            area=plan_bean.area,
+            device_id=plan_bean.device_id,
+            work_time=plan_bean.work_time,
+            version=plan_bean.version,
+            id=plan_bean.id,
+            user_id=plan_bean.user_id,
+            plan_id=plan_bean.plan_id,
+            task_id=plan_bean.task_id,
+            job_id=plan_bean.job_id,
+            start_time=plan_bean.start_time,
+            end_time=plan_bean.end_time,
+            week=plan_bean.week,
+            knife_height=plan_bean.knife_height,
+            model=plan_bean.model,
+            edge_mode=plan_bean.edge_mode,
+            required_time=plan_bean.required_time,
+            route_angle=plan_bean.route_angle,
+            route_model=plan_bean.route_model,
+            route_spacing=plan_bean.route_spacing,
+            ultrasonic_barrier=plan_bean.ultrasonic_barrier,
+            total_plan_num=plan_bean.total_plan_num,
+            plan_index=plan_bean.plan_index,
+            result=plan_bean.result,
+            speed=plan_bean.speed,
+            task_name=plan_bean.task_name,
+            job_name=plan_bean.job_name,
+            zone_hashs=plan_bean.zone_hashs,
+            reserved=plan_bean.reserved,
+            weeks=plan_bean.weeks,
+            start_date=plan_bean.start_date,
+            trigger_type=plan_bean.trigger_type,
+            day=plan_bean.day,
+            toward_included_angle=plan_bean.toward_included_angle,
+            toward_mode=0,
+        )
+        logger.debug(f"Send read job plan command planBean={plan_bean}")
+        return self.send_order_msg_nav(MctlNav(todev_planjob_set=build))
+
+    def single_schedule(self, plan_id: str) -> bytes:
+        return self.send_order_msg_nav(MctlNav(plan_task_execute=NavPlanTaskExecute(sub_cmd=1, id=plan_id)))
+
+    def read_plan(self, sub_cmd: int, plan_index: int = 0) -> bytes:
+        build = MctlNav(todev_planjob_set=NavPlanJobSet(sub_cmd=sub_cmd, plan_index=plan_index))
+        logger.debug(f"Send read job plan command cmd={sub_cmd} PlanIndex = {plan_index}")
+        return self.send_order_msg_nav(build)
+
+    def delete_plan(self, sub_cmd: int, plan_id: str) -> bytes:
+        build = MctlNav(todev_planjob_set=NavPlanJobSet(sub_cmd=sub_cmd, plan_id=plan_id))
+        logger.debug(f"Send command--Send delete job plan command cmd={sub_cmd} planId = {plan_id}")
+        return self.send_order_msg_nav(build)
+
+    def set_plan_unable_time(self, sub_cmd: int, device_id: str, unable_end_time: str, unable_start_time: str) -> bytes:
+        build = NavUnableTimeSet(
+            sub_cmd=sub_cmd,
+            device_id=device_id,
+            unable_end_time=unable_end_time,
+            result=0,
+            reserved="0",
+            unable_start_time=unable_start_time,
+        )
+        logger.debug(f"{self.get_device_name()} Set forbidden time===={build}")
+        return self.send_order_msg_nav(MctlNav(todev_unable_time_set=build))
+
+    def read_plan_unable_time(self, sub_cmd: int) -> bytes:
+        build = NavUnableTimeSet(sub_cmd=sub_cmd)
+        build2 = MctlNav(todev_unable_time_set=build)
+        logger.debug(f"Send command--Read plan time {sub_cmd}")
+        return self.send_order_msg_nav(build2)
+
+    def read_job_not_not_disturb(self) -> bytes:
+        build = NavUnableTimeSet(sub_cmd=2)
+        build2 = MctlNav(todev_unable_time_set=build)
+        logger.debug(f"Send command--Read job dnd {2}")
+        return self.send_order_msg_nav(build2)
+
+    def job_animal_protect_read(self) -> bytes:
+        """Read animal protection settings."""
+        build = NavUnableTimeSet(sub_cmd=2, trigger=99)
+        build2 = MctlNav(todev_unable_time_set=build)
+        logger.debug(f"Send command - Read job do not disturb time subCmd2 {build}")
+        return self.send_order_msg_nav(build2)
+
+    def job_do_not_disturb(self, unable_start_time: str, unable_end_time: str) -> bytes:
+        """Set do not disturb time period."""
+        build = MctlNav(
+            todev_unable_time_set=NavUnableTimeSet(
+                sub_cmd=1, trigger=1, unable_start_time=unable_start_time, unable_end_time=unable_end_time
+            )
+        )
+        logger.debug(f"Send command - Set job do not disturb time: {unable_start_time} - {unable_end_time}")
+        return self.send_order_msg_nav(build)
+
+    def job_do_not_disturb_del(self) -> bytes:
+        """Delete do not disturb settings."""
+        build = MctlNav(todev_unable_time_set=NavUnableTimeSet(sub_cmd=1, trigger=0))
+        logger.debug("Send command - Turn off do not disturb time")
+        return self.send_order_msg_nav(build)
+
+    def query_job_history(self) -> bytes:
+        return self.send_order_msg_nav(MctlNav(todev_work_report_update_cmd=WorkReportUpdateCmd(sub_cmd=1)))
+
+    def request_job_history(self, num: int) -> bytes:
+        return self.send_order_msg_nav(MctlNav(todev_work_report_cmd=WorkReportCmdData(sub_cmd=1, get_info_num=num)))
+
+    def leave_dock(self) -> bytes:
+        build = MctlNav(todev_one_touch_leave_pile=1)
+        logger.debug("Send command--One-click automatic undocking")
+        return self.send_order_msg_nav(build)
+
+    def get_area_name_list(self, device_id: str) -> bytes:
+        # Build the NavMapNameMsg with the specified parameters
+        mctl_nav = MctlNav(
+            toapp_map_name_msg=NavMapNameMsg(
+                hash=0,
+                result=0,
+                device_id=device_id,  # iot_id
+                rw=0,
+            )
+        )
+
+        # Send the message with the specified ID and acknowledge flag
+        logger.debug("Send command--Get area name list")
+        return self.send_order_msg_nav(mctl_nav)
+
+    def set_area_name(self, device_id: str, hash_id: int, name: str) -> bytes:
+        # Build the NavMapNameMsg with the specified parameters
+        mctl_nav = MctlNav(
+            toapp_map_name_msg=NavMapNameMsg(hash=hash_id, name=name, result=0, device_id=device_id, rw=1)
+        )
+
+        # Send the message with the specified ID and acknowledge flag
+        logger.debug("Send command--Get area name list")
+        return self.send_order_msg_nav(mctl_nav)
+
+    def get_all_boundary_hash_list(self, sub_cmd: int) -> bytes:
+        build = MctlNav(todev_gethash=NavGetHashList(pver=1, sub_cmd=sub_cmd))
+        logger.debug(f"Area loading=====================:Get area hash list:{sub_cmd}")
+        return self.send_order_msg_nav(build)
+
+    def get_hash_response(self, total_frame: int, current_frame: int) -> bytes:
+        build = MctlNav(
+            todev_gethash=NavGetHashList(pver=1, sub_cmd=2, current_frame=current_frame, total_frame=total_frame)
+        )
+        logger.debug(
+            f"Send command--208 Response hash list command totalFrame={total_frame},currentFrame={current_frame}"
+        )
+        return self.send_order_msg_nav(build)
+
+    def synchronize_hash_data(self, hash_num: int) -> bytes:
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=8, hash=hash_num, sub_cmd=1))
+        logger.debug(f"Send command--209,hash synchronize area data hash:{hash_num}")
+        return self.send_order_msg_nav(build)
+
+    def get_area_to_be_transferred(self) -> bytes:
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=8, sub_cmd=1, type=3))
+        logger.debug("Send command--Get transfer area before charging pile")
+        return self.send_order_msg_nav(build)
+
+    def get_regional_data(self, regional_data: RegionData) -> bytes:
+        build = MctlNav(
+            todev_get_commondata=NavGetCommData(
+                pver=1,
+                action=regional_data.action,
+                type=regional_data.type,
+                hash=regional_data.hash,
+                total_frame=regional_data.total_frame,
+                current_frame=regional_data.current_frame,
+                sub_cmd=2,
+            )
+        )
+        logger.debug("Area loading=====================:Response area data")
+        return self.send_order_msg_nav(build)
+
+    def indoor_simulation(self, flag: int) -> bytes:
+        build = MctlNav(simulation_cmd=SimulationCmdData(sub_cmd=flag))
+        logger.debug(f"Send command--Send indoor simulation command flag={flag}")
+        return self.send_order_msg_nav(build)
+
+    def send_tools_order(self, param_id: int, values: list[int]) -> bytes:
+        build = MctlNav(simulation_cmd=SimulationCmdData(sub_cmd=2, param_id=param_id, param_value=values))
+        logger.debug(f"Send command--Send tool command id={param_id},values={values}")
+        return self.send_order_msg_nav(build)
+
+    def end_draw_border(self, type: int) -> bytes | None:
+        if type == -1:
+            return None
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=1, type=type))
+        logger.debug(f"Send command--End drawing boundary, obstacle, channel command type={type}")
+        return self.send_order_msg_nav(build)
+
+    def cancel_current_record(self) -> bytes:
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=7, sub_cmd=0))
+        logger.debug("Send command--Cancel current recording (boundary, obstacle)")
+        return self.send_order_msg_nav(build)
+
+    def delete_map_elements(self, type: int, hash_num: int) -> bytes | None:
+        if type == -1:
+            return None
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=6, type=type, hash=hash_num))
+        logger.debug(f"Send command--Delete boundary or obstacle or channel command type={type},hash={hash}")
+        return self.send_order_msg_nav(build)
+
+    def delete_charge_point(self) -> bytes:
+        logger.debug("Delete charging pile")
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=6, type=5))
+        logger.debug("Send command--Delete charging pile location and reset")
+        return self.send_order_msg_nav(build)
+
+    def confirm_base_station(self) -> bytes:
+        logger.debug("Reset base station")
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=2, type=7))
+        logger.debug("Send command--Confirm no modification to base station")
+        return self.send_order_msg_nav(build)
+
+    def delete_all(self) -> bytes:
+        build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=6, type=6))
+        logger.debug("Send command--Clear job data")
+        return self.send_order_msg_nav(build)
+
+    def generate_route_information(self, generate_route_information: GenerateRouteInformation) -> bytes:
+        logger.debug(f"Generate route data source:{generate_route_information}")
+
+        build = NavReqCoverPath(
+            pver=1,
+            sub_cmd=0,
+            zone_hashs=generate_route_information.one_hashs,
+            job_mode=int(generate_route_information.job_mode),
+            edge_mode=int(generate_route_information.edge_mode),
+            knife_height=int(generate_route_information.blade_height),
+            speed=float(generate_route_information.speed),
+            ultra_wave=int(generate_route_information.ultra_wave),
+            channel_width=int(generate_route_information.channel_width),
+            channel_mode=int(generate_route_information.channel_mode),
+            toward=int(generate_route_information.toward),
+            toward_included_angle=int(generate_route_information.toward_included_angle),  # luba 2 yuka only
+            toward_mode=int(generate_route_information.toward_mode),  # luba 2 yuka only
+            reserved=generate_route_information.path_order,
+        )
+        logger.debug(f"{self.get_device_name()}Generate route====={build}")
+        logger.debug(f"Send command--Generate route information generateRouteInformation={
+        generate_route_information}")
+        return self.send_order_msg_nav(MctlNav(bidire_reqconver_path=build))
+
+    def modify_route_information(self, generate_route_information: GenerateRouteInformation) -> bytes:
+        logger.debug(f"Generate route data source: {generate_route_information}")
+        build = NavReqCoverPath(
+            pver=1,
+            sub_cmd=3,
+            zone_hashs=generate_route_information.one_hashs,
+            job_mode=int(generate_route_information.job_mode),
+            edge_mode=int(generate_route_information.edge_mode),
+            knife_height=int(generate_route_information.blade_height),
+            speed=float(generate_route_information.speed),
+            ultra_wave=int(generate_route_information.ultra_wave),
+            channel_width=int(generate_route_information.channel_width),
+            channel_mode=int(generate_route_information.channel_mode),
+            toward=int(generate_route_information.toward),
+            reserved=generate_route_information.path_order,
+        )
+        logger.debug(f"{self.get_device_name()} Generate route ===== {build}")
+        logger.debug(f"Send command -- Modify route parameters generate_route_information={
+        generate_route_information}")
+        return self.send_order_msg_nav(MctlNav(bidire_reqconver_path=build))
+
+    def end_generate_route_information(self) -> bytes:
+        build = NavReqCoverPath(pver=1, sub_cmd=9)
+        logger.debug(f"{self.get_device_name()} Generate route ===== {build}")
+        build2 = MctlNav(bidire_reqconver_path=build)
+        logger.debug("Send command -- End generating route information generate_route_information=")
+        return self.send_order_msg_nav(build2)
+
+    def query_generate_route_information(self) -> bytes:
+        build = NavReqCoverPath(pver=1, sub_cmd=2)
+        logger.debug(f"{self.get_device_name(
+        )} Send command -- Get route configuration information generate_route_information={build}")
+        build2 = MctlNav(bidire_reqconver_path=build)
+        return self.send_order_msg_nav(build2)
+
+    def get_line_info(self, current_hash: int) -> bytes:
+        logger.debug(f"Sending==========Get route command: {current_hash}")
+        build = MctlNav(todev_zigzag_ack=NavUploadZigZagResultAck(pver=1, current_hash=current_hash, sub_cmd=0))
+        logger.debug(f"Sending command--Get route data corresponding to hash={current_hash}")
+        return self.send_order_msg_nav(build)
+
+    def get_line_info_list(self, hash_list: list[int], transaction_id: int) -> bytes:
+        """Get route information (mow path) corresponding to the specified hash list based on time.
+        e.g transaction_id = int(time.time() * 1000)
+        """
+        logger.debug(f"Sending==========Get route command: {hash_list}")
+
+        build = MctlNav(
+            app_request_cover_paths=AppRequestCoverPathsT(
+                pver=1, hash_list=hash_list, transaction_id=transaction_id, sub_cmd=0
+            )
+        )
+        logger.debug(f"Sending command--Get route data corresponding to hash={hash_list}")
+        return self.send_order_msg_nav(build)
+
+    def start_job(self) -> bytes:
+        logger.debug("Sending==========Start job command")
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=1, result=0))
+        logger.debug("Sending command--Start job")
+        return self.send_order_msg_nav(build)
+
+    def cancel_return_to_dock(self) -> bytes:
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=12, result=0))
+        logger.debug("Send command - Cancel return to charge")
+        return self.send_order_msg_nav(build)
+
+    def cancel_job(self) -> bytes:
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=4, result=0))
+        logger.debug("Send command - End job")
+        return self.send_order_msg_nav(build)
+
+    def return_to_dock(self) -> bytes:
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=5, result=0))
+        logger.debug("Send command - Return to charge command")
+        return self.send_order_msg_nav(build)
+
+    def pause_execute_task(self) -> bytes:
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=2, result=0))
+        logger.debug("Send command - Pause command")
+        return self.send_order_msg_nav(build)
+
+    def re_charge_test(self) -> bytes:
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=10, result=0))
+        logger.debug("Send command - Return to charge test command")
+        return self.send_order_msg_nav(build)
+
+    def fast_aotu_test(self, action: int) -> bytes:
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=action, result=0))
+        logger.debug("Send command - One-click automation test")
+        return self.send_order_msg_nav(build)
+
+    def resume_execute_task(self) -> bytes:
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=3, result=0))
+        logger.debug("Send command - Cancel pause command")
+        return self.send_order_msg_nav(build)
+
+    def break_point_continue(self) -> bytes:
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=7, result=0))
+        logger.debug("Send command - Continue from breakpoint")
+        return self.send_order_msg_nav(build)
+
+    def break_point_anywhere_continue(self) -> bytes:
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=1, action=9, result=0))
+        logger.debug("Send command - Continue from current vehicle position")
+        return self.send_order_msg_nav(build)
+
+    def reset_base_station(self) -> bytes:
+        build = MctlNav(todev_taskctrl=NavTaskCtrl(type=3, action=1, result=0))
+        logger.debug("Send command - Reset charging pile, base station position")
+        return self.send_order_msg_nav(build)
+
+    def send_svg_data(self, svg_message: SvgMessage) -> bytes:
+        """Send SVG data to the device."""
+        build = MctlNav(
+            todev_svg_msg=SvgMessageAckT(
+                pver=1,
+                sub_cmd=svg_message.sub_cmd,
+                total_frame=svg_message.total_frame,
+                current_frame=svg_message.current_frame,
+                data_hash=svg_message.data_hash,
+                paternal_hash_a=svg_message.paternal_hash_a,
+                result=svg_message.result,
+                svg_message=SvgMessageT(
+                    hide_svg=svg_message.svg_message.hide_svg,
+                    svg_file_data=svg_message.svg_message.svg_file_data,
+                    svg_file_name=svg_message.svg_message.svg_file_name,
+                    data_count=svg_message.svg_message.data_count,
+                    name_count=svg_message.svg_message.name_count,
+                    base_height_m=svg_message.svg_message.base_height_m,
+                    base_width_m=svg_message.svg_message.base_width_m,
+                    base_width_pix=svg_message.svg_message.base_width_pix,
+                    base_height_pix=svg_message.svg_message.base_height_pix,
+                    x_move=svg_message.svg_message.x_move,
+                    y_move=svg_message.svg_message.y_move,
+                    scale=svg_message.svg_message.scale,
+                    rotate=svg_message.svg_message.rotate,
+                ),
+            )
+        )
+
+        return self.send_order_msg_nav(build)