pymammotion 0.5.69__py3-none-any.whl

pymammotion/mammotion/devices/mammotion_cloud.py

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+import asyncio
+from asyncio import InvalidStateError
+import base64
+from collections import deque
+from collections.abc import Awaitable, Callable
+import json
+import logging
+import time
+from typing import Any
+
+import betterproto2
+from Tea.exceptions import UnretryableException
+
+from pymammotion import AliyunMQTT, CloudIOTGateway, MammotionMQTT
+from pymammotion.aliyun.cloud_gateway import DeviceOfflineException
+from pymammotion.aliyun.model.dev_by_account_response import Device
+from pymammotion.data.mower_state_manager import MowerStateManager
+from pymammotion.data.mqtt.event import MammotionEventMessage, ThingEventMessage
+from pymammotion.data.mqtt.properties import MammotionPropertiesMessage, ThingPropertiesMessage
+from pymammotion.data.mqtt.status import ThingStatusMessage
+from pymammotion.event.event import DataEvent
+from pymammotion.mammotion.commands.mammotion_command import MammotionCommand
+from pymammotion.mammotion.devices.base import MammotionBaseDevice
+from pymammotion.proto import LubaMsg
+
+_LOGGER = logging.getLogger(__name__)
+
+
+class MammotionCloud:
+    """Per account MQTT cloud."""
+
+    def __init__(self, mqtt_client: AliyunMQTT | MammotionMQTT, cloud_client: CloudIOTGateway) -> None:
+        """Initialize MammotionCloud."""
+        self.cloud_client = cloud_client
+        self.command_sent_time = 0
+        self.loop = asyncio.get_event_loop()
+        self.is_ready = False
+        self.command_queue = asyncio.Queue()
+        self._waiting_queue = deque()
+        self.mqtt_message_event = DataEvent()
+        self.mqtt_properties_event = DataEvent()
+        self.mqtt_status_event = DataEvent()
+        self.mqtt_device_event = DataEvent()
+        self.on_ready_event = DataEvent()
+        self.on_disconnected_event = DataEvent()
+        self.on_connected_event = DataEvent()
+        self._operation_lock = asyncio.Lock()
+        self._mqtt_client = mqtt_client
+        self._mqtt_client.on_connected = self.on_connected
+        self._mqtt_client.on_disconnected = self.on_disconnected
+        self._mqtt_client.on_message = self._on_mqtt_message
+        self._mqtt_client.on_ready = self.on_ready
+
+    async def on_ready(self) -> None:
+        """Starts processing the queue and emits the ready event."""
+        loop = asyncio.get_event_loop()
+        loop.create_task(self.process_queue())
+        await self.on_ready_event.data_event(None)
+
+    def is_connected(self) -> bool:
+        return self._mqtt_client.is_connected
+
+    def disconnect(self) -> None:
+        """Disconnect the MQTT client."""
+        if self.is_connected:
+            self._mqtt_client.disconnect()
+
+    def connect_async(self) -> None:
+        self._mqtt_client.connect_async()
+
+    async def send_command(self, iot_id: str, command: bytes) -> None:
+        await self._mqtt_client.send_cloud_command(iot_id, command)
+
+    async def on_connected(self) -> None:
+        """Callback for when MQTT connects."""
+        await self.on_connected_event.data_event(None)
+
+    async def on_disconnected(self) -> None:
+        """Callback for when MQTT disconnects."""
+        await self.on_disconnected_event.data_event(None)
+
+    async def process_queue(self) -> None:
+        while True:
+            # Get the next item from the queue
+            iot_id, key, command, future = await self.command_queue.get()
+            try:
+                # Process the command using _execute_command_locked
+                result = await self._execute_command_locked(iot_id, key, command)
+                # Set the result on the future
+                future.set_result(result)
+            except Exception as ex:
+                # Set the exception on the future if something goes wrong
+                try:
+                    future.set_exception(ex)
+                except InvalidStateError:
+                    """Dead end, log an error."""
+                    _LOGGER.exception("InvalidStateError while trying to bubble up exception")
+            finally:
+                # Mark the task as done
+                self.command_queue.task_done()
+
+    async def _execute_command_locked(self, iot_id: str, key: str, command: bytes) -> None:
+        """Execute command and read response."""
+        assert self._mqtt_client is not None
+        self._key = key
+        _LOGGER.debug("Sending command: %s", key)
+        self.command_sent_time = time.time()
+        await self._mqtt_client.send_cloud_command(iot_id, command)
+
+    async def _on_mqtt_message(self, topic: str, payload: bytes, iot_id: str) -> None:
+        """Handle incoming MQTT messages."""
+        # _LOGGER.debug("MQTT message received on topic %s: %s, iot_id: %s", topic, payload, iot_id)
+        json_str = payload.decode("utf-8")
+        dict_payload = json.loads(json_str)
+        await self._parse_mqtt_response(topic, dict_payload, iot_id)
+
+    async def _parse_mqtt_response(self, topic: str, payload: dict, iot_id: str) -> None:
+        """Parse and handle MQTT responses based on the topic.
+
+        This function processes different types of MQTT messages received from various
+        topics. It logs debug information and calls appropriate callback methods for
+        each event type.
+
+        Args:
+            topic (str): The MQTT topic from which the message was received.
+            payload (dict): The payload data of the MQTT message.
+
+        """
+        if topic.endswith("/app/down/account/bind_reply"):
+            code = payload.get("code", 0)
+            if code != 200:
+                _LOGGER.error("Failed to bind account: %s", payload)
+                # TODO send message to re login to aliyun mqtt
+                self._disconnect_error = payload
+                return
+
+        if topic.endswith("/app/down/thing/events"):
+            _LOGGER.debug("Thing event received")
+            event = ThingEventMessage.from_dicts(payload)
+            params = event.params
+            if isinstance(params, dict) or params.identifier is None:
+                _LOGGER.debug("Received dict params: %s", params)
+                return
+            if params.identifier == "device_protobuf_msg_event" and event.method == "thing.events":
+                _LOGGER.debug("Protobuf event")
+                # Call the callbacks for each cloudDevice
+                await self.mqtt_message_event.data_event(event)
+            if event.method == "thing.events":
+                await self.mqtt_device_event.data_event(event)
+            if event.method == "thing.properties":
+                await self.mqtt_properties_event.data_event(event)
+                _LOGGER.debug(event)
+        elif topic.endswith("/app/down/thing/status"):
+            status = ThingStatusMessage.from_dict(payload)
+            await self.mqtt_status_event.data_event(status)
+        elif topic.endswith("app/down/thing/properties"):
+            property_event = ThingPropertiesMessage.from_dict(payload)
+            await self.mqtt_properties_event.data_event(property_event)
+
+        if topic.endswith("/thing/event/device_protobuf_msg_event/post"):
+            _LOGGER.debug("Mammotion Thing event received")
+            mammotion_event = MammotionEventMessage.from_dict(payload)
+            mammotion_event.params.iot_id = iot_id
+            await self.mqtt_message_event.data_event(mammotion_event)
+        elif topic.endswith("/thing/event/property/post"):
+            _LOGGER.debug("Mammotion Property event received")
+            mammotion_property_event = MammotionPropertiesMessage.from_dict(payload)
+            mammotion_property_event.params.iot_id = iot_id
+            await self.mqtt_properties_event.data_event(mammotion_property_event)
+
+    def _disconnect(self) -> None:
+        """Disconnect the MQTT client."""
+        self._mqtt_client.disconnect()
+
+    @property
+    def waiting_queue(self) -> deque:
+        return self._waiting_queue
+
+
+class MammotionBaseCloudDevice(MammotionBaseDevice):
+    """Base class for Mammotion Cloud devices."""
+
+    def __init__(self, mqtt: MammotionCloud, cloud_device: Device, state_manager: MowerStateManager) -> None:
+        """Initialize MammotionBaseCloudDevice."""
+        super().__init__(state_manager, cloud_device)
+        self.stopped = False
+        self.on_ready_callback: Callable[[], Awaitable[None]] | None = None
+        self.loop = asyncio.get_event_loop()
+        self._mqtt = mqtt
+        self.iot_id = cloud_device.iot_id
+        self.device = cloud_device
+        self._command_futures = {}
+        self._commands: MammotionCommand = MammotionCommand(
+            cloud_device.device_name,
+            int(mqtt.cloud_client.mammotion_http.response.data.userInformation.userAccount),
+        )
+        self.currentID = ""
+        self._mqtt.mqtt_message_event.add_subscribers(self._parse_message_for_device)
+        self._mqtt.mqtt_properties_event.add_subscribers(self._parse_message_properties_for_device)
+        self._mqtt.mqtt_status_event.add_subscribers(self._parse_message_status_for_device)
+        self._mqtt.mqtt_device_event.add_subscribers(self._parse_device_event_for_device)
+        self._mqtt.on_ready_event.add_subscribers(self.on_ready)
+        self._mqtt.on_disconnected_event.add_subscribers(self.on_disconnect)
+        self._mqtt.on_connected_event.add_subscribers(self.on_connect)
+        self.set_queue_callback(self.queue_command)
+
+    def __del__(self) -> None:
+        """Cleanup subscriptions."""
+        self._mqtt.on_ready_event.remove_subscribers(self.on_ready)
+        self._mqtt.on_disconnected_event.remove_subscribers(self.on_disconnect)
+        self._mqtt.on_connected_event.remove_subscribers(self.on_connect)
+        self._mqtt.mqtt_message_event.remove_subscribers(self._parse_message_for_device)
+        self._mqtt.mqtt_properties_event.remove_subscribers(self._parse_message_properties_for_device)
+        self._mqtt.mqtt_status_event.remove_subscribers(self._parse_message_status_for_device)
+        self._mqtt.mqtt_device_event.remove_subscribers(self._parse_device_event_for_device)
+        self._state_manager.cloud_queue_command_callback.remove_subscribers(self.queue_command)
+
+    @property
+    def command_sent_time(self) -> float:
+        return self._mqtt.command_sent_time
+
+    def set_notification_callback(self, func: Callable[[tuple[str, Any | None]], Awaitable[None]]) -> None:
+        self._state_manager.cloud_on_notification_callback.add_subscribers(func)
+
+    def set_queue_callback(self, func: Callable[[str, dict[str, Any]], Awaitable[None]]) -> None:
+        self._state_manager.cloud_queue_command_callback.add_subscribers(func)
+
+    async def on_ready(self) -> None:
+        """Callback for when MQTT is subscribed to events."""
+        if self.stopped:
+            return
+        try:
+            if self.on_ready_callback:
+                await self.on_ready_callback()
+        except (DeviceOfflineException, UnretryableException):
+            _LOGGER.debug("Device is offline")
+
+    async def on_disconnect(self) -> None:
+        self._mqtt.disconnect()
+
+    async def on_connect(self) -> None:
+        """On connect callback"""
+
+    def stop(self) -> None:
+        """Stop all tasks and disconnect."""
+        # self._mqtt._mqtt_client.unsubscribe()
+        if self.mqtt.is_connected():
+            self._mqtt.disconnect()
+        self.stopped = True
+
+    async def start(self) -> None:
+        """Start the device connection."""
+        self.stopped = False
+        if not self.mqtt.is_connected():
+            loop = asyncio.get_running_loop()
+            await loop.run_in_executor(None, self.mqtt.connect_async)
+        # else:
+        #     self.mqtt._mqtt_client.thing_on_thing_enable(None)
+
+    async def _ble_sync(self) -> None:
+        pass
+
+    async def queue_command(self, key: str, **kwargs: Any) -> None:
+        # Create a future to hold the result
+        _LOGGER.debug("Queueing command: %s", key)
+        future = asyncio.Future()
+        # Put the command in the queue as a tuple (key, command, future)
+        command_bytes = getattr(self._commands, key)(**kwargs)
+        await self._mqtt.command_queue.put((self.iot_id, key, command_bytes, future))
+        # Wait for the future to be resolved
+        try:
+            await future
+            return
+        except asyncio.CancelledError:
+            """Try again once."""
+            future = asyncio.Future()
+            await self._mqtt.command_queue.put((self.iot_id, key, command_bytes, future))
+
+    def _extract_message_id(self, payload: dict) -> str:
+        """Extract the message ID from the payload."""
+        return payload.get("id", "")
+
+    def _extract_encoded_message(self, payload: dict) -> str:
+        """Extract the encoded message from the payload."""
+        try:
+            content = payload.get("data", {}).get("data", {}).get("params", {}).get("content", "")
+            return str(content)
+        except AttributeError:
+            _LOGGER.error("Error extracting encoded message. Payload: %s", payload)
+            return ""
+
+    @staticmethod
+    def dequeue_by_iot_id(queue, iot_id):
+        for item in queue:
+            if item.iot_id == iot_id:
+                queue.remove(item)
+                return item
+        return None
+
+    async def _parse_message_properties_for_device(self, event: ThingPropertiesMessage) -> None:
+        if event.params.iot_id != self.iot_id:
+            return
+        await self.state_manager.properties(event)
+
+    async def _parse_message_status_for_device(self, status: ThingStatusMessage) -> None:
+        if status.params.iot_id != self.iot_id:
+            return
+        await self.state_manager.status(status)
+
+    async def _parse_device_event_for_device(self, status: ThingStatusMessage) -> None:
+        """Process device event if it matches the device's IoT ID."""
+        if status.params.iot_id != self.iot_id:
+            return
+        await self.state_manager.device_event(status)
+
+    async def _parse_message_for_device(self, event: ThingEventMessage) -> None:
+        """Parses a message received from a device and updates internal state.
+
+        This function processes an incoming `ThingEventMessage`, checks if the message
+        is intended for this device, decodes the binary data, and updates raw data. It
+        then attempts to parse the binary data into a `LubaMsg`. If parsing fails, it
+        logs the exception. The function also handles setting the device product key if
+        not already set and processes specific sub-messages based on their types.
+
+        Args:
+            event (ThingEventMessage): The event message received from the device.
+
+        """
+        params = event.params
+        new_msg = LubaMsg()
+        if event.params.iot_id != self.iot_id:
+            return
+        binary_data = base64.b64decode(params.value.content)
+        try:
+            self._update_raw_data(binary_data)
+            new_msg = LubaMsg().parse(binary_data)
+        except (KeyError, ValueError, IndexError, UnicodeDecodeError):
+            _LOGGER.exception("Error parsing message %s", binary_data)
+
+        if (
+            self._commands.get_device_product_key() == ""
+            and self._commands.get_device_name() == event.params.device_name
+        ):
+            self._commands.set_device_product_key(event.params.product_key)
+
+        res = betterproto2.which_one_of(new_msg, "LubaSubMsg")
+        if res[0] == "net":
+            if new_msg.net.todev_ble_sync != 0 or new_msg.net.toapp_wifi_iot_status is not None:
+                return
+
+        await self._state_manager.notification(new_msg)
+
+    @property
+    def mqtt(self):
+        return self._mqtt

pymammotion/mammotion/devices/mammotion_mower_ble.py

@@ -0,0 +1,48 @@
+"""Mower device with Bluetooth LE connectivity."""
+
+import logging
+from typing import Any
+
+from bleak import BLEDevice
+
+from pymammotion.aliyun.model.dev_by_account_response import Device
+from pymammotion.data.mower_state_manager import MowerStateManager
+from pymammotion.mammotion.devices.mammotion_bluetooth import MammotionBaseBLEDevice
+from pymammotion.mammotion.devices.mower_device import MammotionMowerDevice
+
+_LOGGER = logging.getLogger(__name__)
+
+
+class MammotionMowerBLEDevice(MammotionBaseBLEDevice, MammotionMowerDevice):
+    """Mower device with BLE connectivity and map synchronization."""
+
+    def __init__(
+        self,
+        state_manager: MowerStateManager,
+        cloud_device: Device,
+        device: BLEDevice,
+        interface: int = 0,
+        **kwargs: Any,
+    ) -> None:
+        """Initialize MammotionMowerBLEDevice.
+
+        Uses multiple inheritance to combine:
+        - MammotionBaseBLEDevice: BLE communication
+        - MammotionMowerDevice: Map sync callbacks
+        """
+        # Initialize base BLE device (which also initializes MammotionBaseDevice)
+        MammotionBaseBLEDevice.__init__(self, state_manager, cloud_device, device, interface, **kwargs)
+        # Set up mower-specific BLE callbacks
+        self._state_manager.ble_gethash_ack_callback = self.datahash_response
+        self._state_manager.ble_get_commondata_ack_callback = self.commdata_response
+        self._state_manager.ble_get_plan_callback = self.plan_callback
+
+    def __del__(self) -> None:
+        """Cleanup subscriptions and callbacks."""
+        # Clean up mower-specific callbacks
+        if hasattr(self, "_state_manager"):
+            self._state_manager.ble_gethash_ack_callback = None
+            self._state_manager.ble_get_commondata_ack_callback = None
+            self._state_manager.ble_get_plan_callback = None
+        # Call parent cleanup
+        super().__del__()

pymammotion/mammotion/devices/mammotion_mower_cloud.py

@@ -0,0 +1,39 @@
+"""Mower device with cloud MQTT connectivity."""
+
+import logging
+
+from pymammotion.aliyun.model.dev_by_account_response import Device
+from pymammotion.data.mower_state_manager import MowerStateManager
+from pymammotion.mammotion.devices.mammotion_cloud import MammotionBaseCloudDevice, MammotionCloud
+from pymammotion.mammotion.devices.mower_device import MammotionMowerDevice
+
+_LOGGER = logging.getLogger(__name__)
+
+
+class MammotionMowerCloudDevice(MammotionBaseCloudDevice, MammotionMowerDevice):
+    """Mower device with cloud connectivity and map synchronization."""
+
+    def __init__(self, mqtt: MammotionCloud, cloud_device: Device, state_manager: MowerStateManager) -> None:
+        """Initialize MammotionMowerCloudDevice.
+
+        Uses multiple inheritance to combine:
+        - MammotionBaseCloudDevice: MQTT communication
+        - MammotionMowerDevice: Map sync callbacks
+        """
+        # Initialize base cloud device (which also initializes MammotionBaseDevice)
+        super().__init__(mqtt, cloud_device, state_manager)
+        # Initialize mower device callbacks (but skip base device init as it's already done)
+        # We manually set the callbacks that MammotionMowerDevice would set
+        self._state_manager.cloud_gethash_ack_callback = self.datahash_response
+        self._state_manager.cloud_get_commondata_ack_callback = self.commdata_response
+        self._state_manager.cloud_get_plan_callback = self.plan_callback
+
+    def __del__(self) -> None:
+        """Cleanup subscriptions and callbacks."""
+        # Clean up mower-specific callbacks
+        if hasattr(self, "_state_manager"):
+            self._state_manager.cloud_gethash_ack_callback = None
+            self._state_manager.cloud_get_commondata_ack_callback = None
+            self._state_manager.cloud_get_plan_callback = None
+        # Call parent cleanup
+        super().__del__()

pymammotion/mammotion/devices/managers/managers.py

@@ -0,0 +1,81 @@
+from abc import ABC, abstractmethod
+from typing import Any
+
+from bleak import BLEDevice
+
+from pymammotion import CloudIOTGateway
+from pymammotion.aliyun.model.dev_by_account_response import Device
+from pymammotion.data.model.device import MowingDevice, RTKDevice
+from pymammotion.data.model.enums import ConnectionPreference
+from pymammotion.mammotion.devices.mammotion_cloud import MammotionCloud
+
+
+class AbstractDeviceManager(ABC):
+    """Abstract base class for device managers."""
+
+    def __init__(
+        self,
+        name: str,
+        iot_id: str,
+        cloud_client: CloudIOTGateway,
+        cloud_device: Device,
+        preference: ConnectionPreference = ConnectionPreference.BLUETOOTH,
+    ) -> None:
+        self.name = name
+        self.iot_id = iot_id
+        self.cloud_client = cloud_client
+        self._device: Device = cloud_device
+        self.mammotion_http = cloud_client.mammotion_http
+        self.preference = preference
+
+    @property
+    @abstractmethod
+    def state(self) -> MowingDevice | RTKDevice:
+        """Return the state of the device."""
+
+    @state.setter
+    @abstractmethod
+    def state(self, value: MowingDevice | RTKDevice) -> None:
+        """Set the device state."""
+
+    @property
+    @abstractmethod
+    def ble(self) -> Any | None:
+        """Return BLE device interface."""
+
+    @property
+    @abstractmethod
+    def cloud(self) -> Any | None:
+        """Return cloud device interface."""
+
+    @abstractmethod
+    def has_queued_commands(self) -> bool:
+        """Check if there are queued commands."""
+
+    @abstractmethod
+    def add_ble(self, ble_device: BLEDevice) -> Any:
+        """Add BLE device."""
+
+    @abstractmethod
+    def add_cloud(self, mqtt: MammotionCloud) -> Any:
+        """Add cloud device."""
+
+    @abstractmethod
+    def replace_cloud(self, cloud_device: Any) -> None:
+        """Replace cloud device."""
+
+    @abstractmethod
+    def remove_cloud(self) -> None:
+        """Remove cloud device."""
+
+    @abstractmethod
+    def replace_ble(self, ble_device: Any) -> None:
+        """Replace BLE device."""
+
+    @abstractmethod
+    def remove_ble(self) -> None:
+        """Remove BLE device."""
+
+    @abstractmethod
+    def replace_mqtt(self, mqtt: MammotionCloud) -> None:
+        """Replace MQTT connection."""

pymammotion/mammotion/devices/mower_device.py

@@ -0,0 +1,120 @@
+"""Mower-specific device class with map synchronization callbacks."""
+
+from abc import ABC
+import logging
+
+from pymammotion.aliyun.model.dev_by_account_response import Device
+from pymammotion.data.model import RegionData
+from pymammotion.data.mower_state_manager import MowerStateManager
+from pymammotion.mammotion.devices.base import MammotionBaseDevice
+from pymammotion.proto import NavGetCommDataAck, NavGetHashListAck, NavPlanJobSet, SvgMessageAckT
+from pymammotion.utility.device_type import DeviceType
+
+_LOGGER = logging.getLogger(__name__)
+
+
+def find_next_integer(lst: list[int], current_hash: int) -> int | None:
+    """Find the next integer in a list after the current hash."""
+    try:
+        current_index = lst.index(current_hash)
+        if current_index + 1 < len(lst):
+            return lst[current_index + 1]
+        else:
+            return None
+    except ValueError:
+        return None
+
+
+class MammotionMowerDevice(MammotionBaseDevice, ABC):
+    """Mower device with map synchronization support."""
+
+    def __init__(self, state_manager: MowerStateManager, cloud_device: Device) -> None:
+        """Initialize MammotionMowerDevice."""
+        super().__init__(state_manager, cloud_device)
+
+    async def datahash_response(self, hash_ack: NavGetHashListAck) -> None:
+        """Handle datahash responses for root level hashs."""
+        current_frame = hash_ack.current_frame
+
+        missing_frames = self.mower.map.missing_root_hash_frame(hash_ack)
+        if len(missing_frames) == 0:
+            if len(self.mower.map.missing_hashlist(hash_ack.sub_cmd)) > 0:
+                data_hash = self.mower.map.missing_hashlist(hash_ack.sub_cmd).pop(0)
+                await self.queue_command("synchronize_hash_data", hash_num=data_hash)
+            return
+
+        if current_frame != missing_frames[0] - 1:
+            current_frame = missing_frames[0] - 1
+        await self.queue_command("get_hash_response", total_frame=hash_ack.total_frame, current_frame=current_frame)
+
+    async def commdata_response(self, common_data: NavGetCommDataAck | SvgMessageAckT) -> None:
+        """Handle common data responses."""
+        total_frame = common_data.total_frame
+        current_frame = common_data.current_frame
+
+        missing_frames = self.mower.map.missing_frame(common_data)
+        if len(missing_frames) == 0:
+            # get next in hash ack list
+            data_hash = (
+                self.mower.map.missing_hashlist(common_data.sub_cmd).pop(0)
+                if len(self.mower.map.missing_hashlist(common_data.sub_cmd)) > 0
+                else None
+            )
+            if data_hash is None:
+                return
+
+            await self.queue_command("synchronize_hash_data", hash_num=data_hash)
+        else:
+            if current_frame != missing_frames[0] - 1:
+                current_frame = missing_frames[0] - 1
+
+            region_data = RegionData()
+            region_data.hash = common_data.data_hash if isinstance(common_data, SvgMessageAckT) else common_data.hash
+            region_data.action = common_data.action if isinstance(common_data, NavGetCommDataAck) else 0
+            region_data.type = common_data.type
+            region_data.sub_cmd = common_data.sub_cmd
+            region_data.total_frame = total_frame
+            region_data.current_frame = current_frame
+            await self.queue_command("get_regional_data", regional_data=region_data)
+
+    async def plan_callback(self, plan: NavPlanJobSet) -> None:
+        """Handle plan job responses."""
+        if plan.plan_index < plan.total_plan_num - 1:
+            index = plan.plan_index + 1
+            await self.queue_command("read_plan", sub_cmd=2, plan_index=index)
+
+    async def start_schedule_sync(self) -> None:
+        """Start sync of schedule data."""
+        if len(self.mower.map.plan) == 0 or list(self.mower.map.plan.values())[0].total_plan_num != len(
+            self.mower.map.plan
+        ):
+            await self.queue_command("read_plan", sub_cmd=2, plan_index=0)
+
+    async def start_map_sync(self) -> None:
+        """Start sync of map data."""
+        if location := next((loc for loc in self.mower.report_data.locations if loc.pos_type == 5), None):
+            self.mower.map.update_hash_lists(self.mower.map.hashlist, location.bol_hash)
+
+        await self.queue_command("send_todev_ble_sync", sync_type=3)
+
+        # TODO correctly check if area names exist for a zone.
+        if self._cloud_device and len(self.mower.map.area_name) == 0 and not DeviceType.is_luba1(self.mower.name):
+            await self.queue_command("get_area_name_list", device_id=self._cloud_device.iot_id)
+
+        if len(self.mower.map.root_hash_lists) == 0 or len(self.mower.map.missing_hashlist()) > 0:
+            await self.queue_command("get_all_boundary_hash_list", sub_cmd=0)
+
+        for hash_id, frame in list(self.mower.map.area.items()):
+            missing_frames = self.mower.map.find_missing_frames(frame)
+            if len(missing_frames) > 0:
+                del self.mower.map.area[hash_id]
+
+        for hash_id, frame in list(self.mower.map.path.items()):
+            missing_frames = self.mower.map.find_missing_frames(frame)
+            if len(missing_frames) > 0:
+                del self.mower.map.path[hash_id]
+
+        for hash_id, frame in list(self.mower.map.obstacle.items()):
+            missing_frames = self.mower.map.find_missing_frames(frame)
+            if len(missing_frames) > 0:
+                del self.mower.map.obstacle[hash_id]