rvt-monitor 0.2.3__tar.gz → 0.2.4__tar.gz

rvt_monitor-0.2.4/PKG-INFO

@@ -0,0 +1,182 @@
+Metadata-Version: 2.4
+Name: rvt-monitor
+Version: 0.2.4
+Summary: BLE Device Monitor for Ceily/Wally
+Author-email: Rovothome <chandler.kim@rovothome.com>
+License: MIT
+Requires-Python: >=3.10
+Requires-Dist: bleak>=0.21.0
+Requires-Dist: fastapi>=0.109.0
+Requires-Dist: platformdirs>=4.0.0
+Requires-Dist: pyserial>=3.5
+Requires-Dist: uvicorn[standard]>=0.27.0
+Description-Content-Type: text/markdown
+
+# RVT-Monitor
+
+BLE Device Monitor and Control Tool for Ceily/Wally devices.
+
+## Installation
+
+```bash
+pip install rvt-monitor
+```
+
+Or install from source:
+
+```bash
+cd rvt-monitor
+pip install -e .
+```
+
+## Usage
+
+```bash
+rvt-monitor
+```
+
+Opens web UI at http://127.0.0.1:8000
+
+## BLE Protocol Reference
+
+### Device Information Service (0x180A)
+
+Standard BLE SIG service for device identification.
+
+| Characteristic | UUID | Format | Example |
+|----------------|------|--------|---------|
+| Model Number | 0x2A24 | `{device}-p{protocol}` | `ceily-p2`, `wally-p2` |
+| Hardware Revision | 0x2A27 | `v{version}` | `v0`, `v1` |
+| Firmware Revision | 0x2A26 | semver | `2.0.0` |
+
+### Custom Services
+
+| Service | UUID | Description |
+|---------|------|-------------|
+| Control | `0000ff20-...` | Motion control |
+| System Status | `501a8cf5-98a7-4370-bb97-632c84910000` | Device state |
+| Dimension | `cc9762a6-bbb7-4b21-b2e2-153059030000` | Device config |
+| LED | `07ecc81b-b952-47e6-a1f1-0999577f0000` | LED control |
+| Log | `cc9762a6-bbb7-4b21-b2e2-153059032200` | Event logs |
+
+### Motion Commands
+
+Write to `MOTION_CONTROL` characteristic (`0x0000ff21-...`):
+
+| Command | Value | Ceily | Wally |
+|---------|-------|-------|-------|
+| STOP | 0x00 | Stop | Stop |
+| UP/OPEN | 0x01 | Up | Open |
+| DOWN/CLOSE | 0x02 | Down | Close |
+
+### Motion States
+
+Read from `SYSTEM_STATUS` characteristic (byte 0):
+
+| State | Value | Description |
+|-------|-------|-------------|
+| DOWN/CLOSED | 0 | At bottom/closed position |
+| UP/OPENED | 1 | At top/opened position |
+| MOVING_DOWN | 2 | Moving down/closing |
+| MOVING_UP | 3 | Moving up/opening |
+| STOP | 4 | Stopped mid-motion |
+| EMERGENCY | 5 | Emergency stop |
+| INIT | 255 | Initializing |
+
+## Protocol Version Detection
+
+### By Device Info Service
+
+```python
+from bleak import BleakClient
+
+MODEL_NUMBER_UUID = "00002a24-0000-1000-8000-00805f9b34fb"
+
+async def detect_protocol(client: BleakClient) -> int:
+    """Detect protocol version from Model Number."""
+    try:
+        data = await client.read_gatt_char(MODEL_NUMBER_UUID)
+        model = data.decode("utf-8").rstrip("\x00")
+        # Format: "ceily-p2" or "wally-p2"
+        if "-p" in model:
+            return int(model.split("-p")[1])
+    except Exception:
+        pass
+    return 1  # Legacy fallback
+```
+
+### By Service Discovery
+
+```python
+DEVICE_INFO_SERVICE = "0000180a-0000-1000-8000-00805f9b34fb"
+
+async def detect_by_services(client: BleakClient) -> int:
+    """Detect by checking for Device Info Service."""
+    for service in client.services:
+        if service.uuid.lower() == DEVICE_INFO_SERVICE:
+            return 2
+    return 1  # Legacy (no Device Info Service)
+```
+
+## Example: Connect and Control
+
+```python
+from bleak import BleakClient
+
+MOTION_CONTROL_UUID = "0000ff21-0000-1000-8000-00805f9b34fb"
+SYSTEM_STATUS_UUID = "501a8cf5-98a7-4370-bb97-632c84910001"
+
+async def control_device(address: str):
+    async with BleakClient(address) as client:
+        # Read status
+        data = await client.read_gatt_char(SYSTEM_STATUS_UUID)
+        state = data[0]
+        print(f"Current state: {state}")
+
+        # Send UP command
+        await client.write_gatt_char(MOTION_CONTROL_UUID, bytes([0x01]))
+```
+
+## Project Structure
+
+```
+rvt-monitor/
+├── rvt_monitor/
+│   ├── ble/
+│   │   ├── manager.py     # BLE connection management
+│   │   ├── profiles.py    # Protocol version profiles
+│   │   ├── protocol.py    # UUID definitions & parsers
+│   │   └── scanner.py     # Device discovery
+│   ├── server/
+│   │   ├── app.py         # FastAPI server
+│   │   └── routes/        # API endpoints
+│   └── static/            # Web UI
+└── pyproject.toml
+```
+
+## Publishing to PyPI
+
+### Via Git Tag (Recommended)
+
+```bash
+# Update version in pyproject.toml first
+git add pyproject.toml
+git commit -m "chore(rvt-monitor): Bump version to x.y.z"
+
+# Create and push tag
+git tag rvt-monitor-vX.Y.Z
+git push origin main --tags
+```
+
+CI/CD will automatically build and publish to PyPI.
+
+### Manual Trigger
+
+1. Go to GitHub → Actions
+2. Select "Publish rvt-monitor to PyPI"
+3. Click "Run workflow"
+
+## Related
+
+- Firmware: `v1/common_components/` - Device-side BLE implementation
+- OTA Tool: `ota/ota.py` - Firmware deployment

rvt_monitor-0.2.4/README.md

@@ -0,0 +1,168 @@
+# RVT-Monitor
+
+BLE Device Monitor and Control Tool for Ceily/Wally devices.
+
+## Installation
+
+```bash
+pip install rvt-monitor
+```
+
+Or install from source:
+
+```bash
+cd rvt-monitor
+pip install -e .
+```
+
+## Usage
+
+```bash
+rvt-monitor
+```
+
+Opens web UI at http://127.0.0.1:8000
+
+## BLE Protocol Reference
+
+### Device Information Service (0x180A)
+
+Standard BLE SIG service for device identification.
+
+| Characteristic | UUID | Format | Example |
+|----------------|------|--------|---------|
+| Model Number | 0x2A24 | `{device}-p{protocol}` | `ceily-p2`, `wally-p2` |
+| Hardware Revision | 0x2A27 | `v{version}` | `v0`, `v1` |
+| Firmware Revision | 0x2A26 | semver | `2.0.0` |
+
+### Custom Services
+
+| Service | UUID | Description |
+|---------|------|-------------|
+| Control | `0000ff20-...` | Motion control |
+| System Status | `501a8cf5-98a7-4370-bb97-632c84910000` | Device state |
+| Dimension | `cc9762a6-bbb7-4b21-b2e2-153059030000` | Device config |
+| LED | `07ecc81b-b952-47e6-a1f1-0999577f0000` | LED control |
+| Log | `cc9762a6-bbb7-4b21-b2e2-153059032200` | Event logs |
+
+### Motion Commands
+
+Write to `MOTION_CONTROL` characteristic (`0x0000ff21-...`):
+
+| Command | Value | Ceily | Wally |
+|---------|-------|-------|-------|
+| STOP | 0x00 | Stop | Stop |
+| UP/OPEN | 0x01 | Up | Open |
+| DOWN/CLOSE | 0x02 | Down | Close |
+
+### Motion States
+
+Read from `SYSTEM_STATUS` characteristic (byte 0):
+
+| State | Value | Description |
+|-------|-------|-------------|
+| DOWN/CLOSED | 0 | At bottom/closed position |
+| UP/OPENED | 1 | At top/opened position |
+| MOVING_DOWN | 2 | Moving down/closing |
+| MOVING_UP | 3 | Moving up/opening |
+| STOP | 4 | Stopped mid-motion |
+| EMERGENCY | 5 | Emergency stop |
+| INIT | 255 | Initializing |
+
+## Protocol Version Detection
+
+### By Device Info Service
+
+```python
+from bleak import BleakClient
+
+MODEL_NUMBER_UUID = "00002a24-0000-1000-8000-00805f9b34fb"
+
+async def detect_protocol(client: BleakClient) -> int:
+    """Detect protocol version from Model Number."""
+    try:
+        data = await client.read_gatt_char(MODEL_NUMBER_UUID)
+        model = data.decode("utf-8").rstrip("\x00")
+        # Format: "ceily-p2" or "wally-p2"
+        if "-p" in model:
+            return int(model.split("-p")[1])
+    except Exception:
+        pass
+    return 1  # Legacy fallback
+```
+
+### By Service Discovery
+
+```python
+DEVICE_INFO_SERVICE = "0000180a-0000-1000-8000-00805f9b34fb"
+
+async def detect_by_services(client: BleakClient) -> int:
+    """Detect by checking for Device Info Service."""
+    for service in client.services:
+        if service.uuid.lower() == DEVICE_INFO_SERVICE:
+            return 2
+    return 1  # Legacy (no Device Info Service)
+```
+
+## Example: Connect and Control
+
+```python
+from bleak import BleakClient
+
+MOTION_CONTROL_UUID = "0000ff21-0000-1000-8000-00805f9b34fb"
+SYSTEM_STATUS_UUID = "501a8cf5-98a7-4370-bb97-632c84910001"
+
+async def control_device(address: str):
+    async with BleakClient(address) as client:
+        # Read status
+        data = await client.read_gatt_char(SYSTEM_STATUS_UUID)
+        state = data[0]
+        print(f"Current state: {state}")
+
+        # Send UP command
+        await client.write_gatt_char(MOTION_CONTROL_UUID, bytes([0x01]))
+```
+
+## Project Structure
+
+```
+rvt-monitor/
+├── rvt_monitor/
+│   ├── ble/
+│   │   ├── manager.py     # BLE connection management
+│   │   ├── profiles.py    # Protocol version profiles
+│   │   ├── protocol.py    # UUID definitions & parsers
+│   │   └── scanner.py     # Device discovery
+│   ├── server/
+│   │   ├── app.py         # FastAPI server
+│   │   └── routes/        # API endpoints
+│   └── static/            # Web UI
+└── pyproject.toml
+```
+
+## Publishing to PyPI
+
+### Via Git Tag (Recommended)
+
+```bash
+# Update version in pyproject.toml first
+git add pyproject.toml
+git commit -m "chore(rvt-monitor): Bump version to x.y.z"
+
+# Create and push tag
+git tag rvt-monitor-vX.Y.Z
+git push origin main --tags
+```
+
+CI/CD will automatically build and publish to PyPI.
+
+### Manual Trigger
+
+1. Go to GitHub → Actions
+2. Select "Publish rvt-monitor to PyPI"
+3. Click "Run workflow"
+
+## Related
+
+- Firmware: `v1/common_components/` - Device-side BLE implementation
+- OTA Tool: `ota/ota.py` - Firmware deployment

{rvt_monitor-0.2.3 → rvt_monitor-0.2.4}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "hatchling.build"
 
 [project]
 name = "rvt-monitor"
-version = "0.2.3"
+version = "0.2.4"
 description = "BLE Device Monitor for Ceily/Wally"
 readme = "README.md"
 requires-python = ">=3.10"

{rvt_monitor-0.2.3 → rvt_monitor-0.2.4}/rvt_monitor/ble/manager.py

@@ -18,10 +18,8 @@ from .protocol import (
     build_motion_command,
     build_led_brightness,
     build_led_color_index,
-    build_torque_command,
     build_dimension_write,
     build_wifi_config,
-    TorqueCommand,
     DimensionCommand,
     LEDTarget,
 )
@@ -102,7 +100,7 @@ class CeilyStatus:
     tof_front: TofStatus = field(default_factory=TofStatus)
     tof_left: TofStatus = field(default_factory=TofStatus)
     tof_right: TofStatus = field(default_factory=TofStatus)
-    # Limit switches (bit 0: bottom, bit 1: top)
+    # Limit switches (bit 0: top ON, bit 4: bottom ON)
     limit_switch_state: int = 0
     top_limit: bool = False
     bottom_limit: bool = False
@@ -261,8 +259,10 @@ class WallyStatus:
     # ToF sensors
     tof_left: WallyTofStatus = field(default_factory=WallyTofStatus)
     tof_right: WallyTofStatus = field(default_factory=WallyTofStatus)
-    # Limit switch
+    # Limit switch (bit 0: open ON, bit 4: close ON)
     limit_switch_state: int = 0
+    open_limit: bool = False
+    close_limit: bool = False
     photo_sensor_state: int = 0
     # Motors
     motor_left: WallyMotorStatus = field(default_factory=WallyMotorStatus)
@@ -296,6 +296,8 @@ class WallyStatus:
             "tof_left": self.tof_left.to_dict(),
             "tof_right": self.tof_right.to_dict(),
             "limit_switch_state": self.limit_switch_state,
+            "open_limit": self.open_limit,
+            "close_limit": self.close_limit,
             "photo_sensor_state": self.photo_sensor_state,
             "motor_left": self.motor_left.to_dict(),
             "motor_right": self.motor_right.to_dict(),
@@ -619,10 +621,10 @@ class BLEManager:
             status.tof_front = TofStatus.from_bytes_v2(data[17], data[18])
             status.tof_left = TofStatus.from_bytes_v2(data[19], data[20])
             status.tof_right = TofStatus.from_bytes_v2(data[21], data[22])
-            # Limit switch: bit 0 = bottom, bit 1 = top
+            # Limit switch: bit 0 = top ON, bit 4 = bottom ON
             status.limit_switch_state = data[23]
-            status.bottom_limit = bool(data[23] & 0x01)
-            status.top_limit = bool(data[23] & 0x02)
+            status.top_limit = bool(data[23] & 0x01)
+            status.bottom_limit = bool(data[23] & 0x10)
             # Motor (13 bytes, offset 24)
             # bit 0: is_connected, bit 1: is_enabled
             motor_status_byte = data[24]
@@ -645,10 +647,10 @@ class BLEManager:
             status.tof_front = TofStatus.from_bytes_v1(data[1], bool(data[2]))
             status.tof_left = TofStatus.from_bytes_v1(data[3], bool(data[4]))
             status.tof_right = TofStatus.from_bytes_v1(data[5], bool(data[6]))
-            # Limit switch: bit 0 = bottom, bit 1 = top
+            # Limit switch: bit 0 = top ON, bit 4 = bottom ON
             status.limit_switch_state = data[7]
-            status.bottom_limit = bool(data[7] & 0x01)
-            status.top_limit = bool(data[7] & 0x02)
+            status.top_limit = bool(data[7] & 0x01)
+            status.bottom_limit = bool(data[7] & 0x10)
             # Servo
             # bit 0: is_connected, bit 1: is_enabled
             motor_status_byte = data[8]
@@ -705,8 +707,10 @@ class BLEManager:
         tof_right_dist = struct.unpack("<f", data[7:11])[0]
         status.tof_right = WallyTofStatus.from_bytes_v1(tof_right_status, tof_right_dist)
 
-        # Limit switch
+        # Limit switch: bit 0 = open ON, bit 4 = close ON
         status.limit_switch_state = data[11]
+        status.open_limit = bool(data[11] & 0x01)
+        status.close_limit = bool(data[11] & 0x10)
 
         # Left motor (bytes 12-35)
         status.motor_left.current_alarm = struct.unpack("<H", data[12:14])[0]
@@ -766,7 +770,10 @@ class BLEManager:
         # Sensors (6 bytes, offset 17)
         status.tof_left = WallyTofStatus.from_bytes_v2(data[17], data[18])
         status.tof_right = WallyTofStatus.from_bytes_v2(data[19], data[20])
+        # Limit switch: bit 0 = open ON, bit 4 = close ON
         status.limit_switch_state = data[21]
+        status.open_limit = bool(data[21] & 0x01)
+        status.close_limit = bool(data[21] & 0x10)
         status.photo_sensor_state = data[22]
 
         # Left motor (13 bytes, offset 23)
@@ -926,34 +933,6 @@ class BLEManager:
             self.command_error_count += 1
             return False
 
-    async def reset_torque_model(self) -> bool:
-        """Reset torque model."""
-        if not self.connected:
-            return False
-
-        try:
-            data = build_torque_command(TorqueCommand.RESET_MODEL)
-            await self.client.write_gatt_char(CharUUID.TORQUE_CONTROL, data)
-            self.command_success_count += 1
-            return True
-        except Exception:
-            self.command_error_count += 1
-            return False
-
-    async def save_torque_model(self) -> bool:
-        """Save torque model."""
-        if not self.connected:
-            return False
-
-        try:
-            data = build_torque_command(TorqueCommand.SAVE_MODEL)
-            await self.client.write_gatt_char(CharUUID.TORQUE_CONTROL, data)
-            self.command_success_count += 1
-            return True
-        except Exception:
-            self.command_error_count += 1
-            return False
-
     async def read_dimension(self, dimension_id: int) -> Optional[int]:
         """Read dimension value."""
         if not self.connected:

{rvt_monitor-0.2.3 → rvt_monitor-0.2.4}/rvt_monitor/ble/protocol.py

@@ -19,7 +19,6 @@ class ServiceUUID:
     CONTROL = "0000ff20-0000-1000-8000-00805f9b34fb"  # 16-bit: 0xFF20
     SYSTEM_STATUS = "501a8cf5-98a7-4370-bb97-632c84910000"
     DIMENSION = "cc9762a6-bbb7-4b21-b2e2-153059030000"
-    TORQUE = "acc2a064-99f7-404e-a7df-b1714f3d0000"
     LED = "07ecc81b-b952-47e6-a1f1-0999577f0000"
     LOG = "cc9762a6-bbb7-4b21-b2e2-153059032200"
 
@@ -46,13 +45,6 @@ class CharUUID:
     # Dimension (Read/Write)
     DIMENSION = "cc9762a6-bbb7-4b21-b2e2-153059030001"
 
-    # Torque Control (Write)
-    TORQUE_CONTROL = "acc2a064-99f7-404e-a7df-b1714f3d00fd"
-    # Torque Status (Read)
-    TORQUE_STATUS_1 = "acc2a064-99f7-404e-a7df-b1714f3d0001"
-    TORQUE_STATUS_2 = "acc2a064-99f7-404e-a7df-b1714f3d0002"
-    TORQUE_GRAPH = "acc2a064-99f7-404e-a7df-b1714f3d0010"
-
     # LED Control (Write)
     LED_CONTROL = "07ecc81b-b952-47e6-a1f1-0999577f0001"
     # LED Status (Read)
@@ -115,17 +107,6 @@ class LEDTarget(IntEnum):
     MOOD = 3
 
 
-# =============================================================================
-# Torque Commands
-# =============================================================================
-
-class TorqueCommand(IntEnum):
-    """Torque model control commands."""
-    SET_SENSITIVITY = 0x11
-    RESET_MODEL = 0xA4
-    SAVE_MODEL = 0xEA
-
-
 # =============================================================================
 # Dimension Commands and IDs
 # =============================================================================
@@ -142,6 +123,15 @@ class CeilyDimensionID(IntEnum):
     STROKE_MM = 0x03
     GEAR_RATIO = 0x04
     PULLEY_RADIUS_MM = 0x05
+    TOF_ENABLED = 0x06
+    TORQUE_THRESHOLD_MNM = 0x07
+
+
+# ToF enabled bit flags
+TOF_ENABLED_FRONT = 1 << 0
+TOF_ENABLED_LEFT = 1 << 1
+TOF_ENABLED_RIGHT = 1 << 2
+TOF_ENABLED_ALL = TOF_ENABLED_FRONT | TOF_ENABLED_LEFT | TOF_ENABLED_RIGHT
 
 
 class WallyDimensionID(IntEnum):
@@ -157,6 +147,7 @@ class WallyDimensionID(IntEnum):
     GEAR_RATIO = 0x0B
     KEEP_DISTANCE_MM = 0x0C
     MISSION_SPEED = 0x0D
+    TORQUE_THRESHOLD_MNM = 0x0E
     CONTROL_BUTTON_VERSION = 0xEE
 
 
@@ -167,6 +158,8 @@ CEILY_DIMENSIONS = [
     {"id": CeilyDimensionID.STROKE_MM, "name": "Stroke", "unit": "mm", "type": "uint16"},
     {"id": CeilyDimensionID.GEAR_RATIO, "name": "Gear Ratio", "unit": "", "type": "uint8"},
     {"id": CeilyDimensionID.PULLEY_RADIUS_MM, "name": "Pulley Radius", "unit": "mm", "type": "uint8"},
+    {"id": CeilyDimensionID.TOF_ENABLED, "name": "ToF Enabled", "unit": "", "type": "uint8"},
+    {"id": CeilyDimensionID.TORQUE_THRESHOLD_MNM, "name": "Torque Threshold", "unit": "mNm", "type": "uint16"},
 ]
 
 WALLY_DIMENSIONS = [
@@ -181,6 +174,7 @@ WALLY_DIMENSIONS = [
     {"id": WallyDimensionID.GEAR_RATIO, "name": "Gear Ratio", "unit": "", "type": "uint8"},
     {"id": WallyDimensionID.KEEP_DISTANCE_MM, "name": "Keep Distance", "unit": "mm", "type": "uint8"},
     {"id": WallyDimensionID.MISSION_SPEED, "name": "Mission Speed", "unit": "", "type": "uint8", "readonly": True},
+    {"id": WallyDimensionID.TORQUE_THRESHOLD_MNM, "name": "Torque Threshold", "unit": "mNm", "type": "uint16"},
     {"id": WallyDimensionID.CONTROL_BUTTON_VERSION, "name": "Button Version", "unit": "", "type": "uint8", "readonly": True},
 ]
 
@@ -210,12 +204,6 @@ def build_led_color_rgb(r: int, g: int, b: int) -> bytes:
     return bytes([LEDCommand.CHANGE_COLOR, r, g, b])
 
 
-def build_torque_command(command: TorqueCommand, arg: int = 0) -> bytes:
-    """Build torque control command (8 bytes: 4 cmd + 4 arg)."""
-    import struct
-    return struct.pack("<II", command, arg)
-
-
 def build_dimension_write(dimension_id: int, value: int) -> bytes:
     """Build dimension write command (8 bytes: 4 id + 4 value)."""
     import struct
@@ -230,24 +218,28 @@ def build_wifi_config(ssid: str, password: str) -> bytes:
 
 
 def parse_ceily_dimensions(data: bytes) -> dict:
-    """Parse Ceily dimension data (8 bytes)."""
+    """Parse Ceily dimension data (11 bytes)."""
     import struct
     if len(data) < 8:
         return {}
     width, length, stroke = struct.unpack_from("<HHH", data, 0)
     gear_ratio = data[6]
     pulley_radius = data[7]
+    tof_enabled = data[8] if len(data) >= 9 else TOF_ENABLED_ALL
+    torque_threshold_mnm = struct.unpack_from("<H", data, 9)[0] if len(data) >= 11 else 1150
     return {
         CeilyDimensionID.WIDTH_MM: width,
         CeilyDimensionID.LENGTH_MM: length,
         CeilyDimensionID.STROKE_MM: stroke,
         CeilyDimensionID.GEAR_RATIO: gear_ratio,
         CeilyDimensionID.PULLEY_RADIUS_MM: pulley_radius,
+        CeilyDimensionID.TOF_ENABLED: tof_enabled,
+        CeilyDimensionID.TORQUE_THRESHOLD_MNM: torque_threshold_mnm,
     }
 
 
 def parse_wally_dimensions(data: bytes) -> dict:
-    """Parse Wally dimension data (22 bytes)."""
+    """Parse Wally dimension data (24 bytes)."""
     import struct
     if len(data) < 22:
         return {}
@@ -264,6 +256,7 @@ def parse_wally_dimensions(data: bytes) -> dict:
     # Byte 19: keep_distance
     # Byte 20: mission_speed
     # Byte 21: control_button_version
+    # Bytes 22-23: torque_threshold_mnm
     open_limit = struct.unpack_from("<H", data, 0)[0]
     left_wheel = struct.unpack_from("<h", data, 6)[0]
     right_wheel = struct.unpack_from("<h", data, 8)[0]
@@ -276,6 +269,7 @@ def parse_wally_dimensions(data: bytes) -> dict:
     keep_distance = data[19]
     mission_speed = data[20]
     button_version = data[21]
+    torque_threshold_mnm = struct.unpack_from("<H", data, 22)[0] if len(data) >= 24 else 1000
     return {
         WallyDimensionID.OPEN_LIMIT_DISTANCE_MM: open_limit,
         WallyDimensionID.LEFT_WHEEL_FROM_TOF_MM: left_wheel,
@@ -288,6 +282,7 @@ def parse_wally_dimensions(data: bytes) -> dict:
         WallyDimensionID.GEAR_RATIO: gear_ratio,
         WallyDimensionID.KEEP_DISTANCE_MM: keep_distance,
         WallyDimensionID.MISSION_SPEED: mission_speed,
+        WallyDimensionID.TORQUE_THRESHOLD_MNM: torque_threshold_mnm,
         WallyDimensionID.CONTROL_BUTTON_VERSION: button_version,
     }
 

{rvt_monitor-0.2.3 → rvt_monitor-0.2.4}/rvt_monitor/static/css/style.css

@@ -454,6 +454,26 @@ select:disabled {
   color: var(--color-text-secondary);
 }
 
+/* ToF Checkboxes */
+.tof-checkboxes {
+  display: flex;
+  gap: 16px;
+}
+
+.tof-checkbox-label {
+  display: flex;
+  align-items: center;
+  gap: 4px;
+  font-size: 14px;
+  cursor: pointer;
+}
+
+.tof-checkbox-label input[type="checkbox"] {
+  width: 16px;
+  height: 16px;
+  cursor: pointer;
+}
+
 #dimension-table .btn-small {
   padding: 4px 8px;
   font-size: 12px;

{rvt_monitor-0.2.3 → rvt_monitor-0.2.4}/rvt_monitor/static/js/app.js

@@ -728,23 +728,61 @@ function renderDimensionTable(data) {
     tdName.textContent = dim.name;
     tr.appendChild(tdName);
 
-    // Value (editable input)
+    // Value (editable input or checkboxes for ToF)
     const tdValue = document.createElement('td');
-    const input = document.createElement('input');
-    input.type = 'number';
-    input.value = dim.value;
-    input.dataset.dimId = dim.id;
-    input.dataset.originalValue = dim.value;
-    // Auto-apply on blur if value changed
-    input.addEventListener('blur', () => {
-      const newValue = parseInt(input.value, 10);
-      const originalValue = parseInt(input.dataset.originalValue, 10);
-      if (!isNaN(newValue) && newValue !== originalValue) {
-        sendWs('write_dimension', { id: dim.id, value: newValue });
-        input.dataset.originalValue = newValue;
-      }
-    });
-    tdValue.appendChild(input);
+
+    // Special handling for ToF Enabled (bit flags)
+    if (dim.name === 'ToF Enabled') {
+      const container = document.createElement('div');
+      container.className = 'tof-checkboxes';
+
+      const sensors = [
+        { bit: 0, label: 'Front' },
+        { bit: 1, label: 'Left' },
+        { bit: 2, label: 'Right' },
+      ];
+
+      sensors.forEach(sensor => {
+        const label = document.createElement('label');
+        label.className = 'tof-checkbox-label';
+        const checkbox = document.createElement('input');
+        checkbox.type = 'checkbox';
+        checkbox.checked = (dim.value & (1 << sensor.bit)) !== 0;
+        checkbox.dataset.bit = sensor.bit;
+        checkbox.dataset.dimId = dim.id;
+        checkbox.addEventListener('change', () => {
+          // Calculate new value from all checkboxes
+          let newValue = 0;
+          container.querySelectorAll('input[type="checkbox"]').forEach(cb => {
+            if (cb.checked) {
+              newValue |= (1 << parseInt(cb.dataset.bit, 10));
+            }
+          });
+          sendWs('write_dimension', { id: dim.id, value: newValue });
+        });
+        label.appendChild(checkbox);
+        label.appendChild(document.createTextNode(` ${sensor.label}`));
+        container.appendChild(label);
+      });
+
+      tdValue.appendChild(container);
+    } else {
+      const input = document.createElement('input');
+      input.type = 'number';
+      input.value = dim.value;
+      input.dataset.dimId = dim.id;
+      input.dataset.originalValue = dim.value;
+      // Auto-apply on blur if value changed
+      input.addEventListener('blur', () => {
+        const newValue = parseInt(input.value, 10);
+        const originalValue = parseInt(input.dataset.originalValue, 10);
+        if (!isNaN(newValue) && newValue !== originalValue) {
+          sendWs('write_dimension', { id: dim.id, value: newValue });
+          input.dataset.originalValue = newValue;
+        }
+      });
+      tdValue.appendChild(input);
+    }
     tr.appendChild(tdValue);
 
     // Unit

rvt_monitor-0.2.3/PKG-INFO

@@ -1,31 +0,0 @@
-Metadata-Version: 2.4
-Name: rvt-monitor
-Version: 0.2.3
-Summary: BLE Device Monitor for Ceily/Wally
-Author-email: Rovothome <chandler.kim@rovothome.com>
-License: MIT
-Requires-Python: >=3.10
-Requires-Dist: bleak>=0.21.0
-Requires-Dist: fastapi>=0.109.0
-Requires-Dist: platformdirs>=4.0.0
-Requires-Dist: pyserial>=3.5
-Requires-Dist: uvicorn[standard]>=0.27.0
-Description-Content-Type: text/markdown
-
-# RVT-Monitor
-
-BLE Device Monitor for Ceily/Wally
-
-## Install
-
-```bash
-pip install rvt-monitor
-```
-
-## Run
-
-```bash
-rvt-monitor
-```
-
-Opens browser at http://127.0.0.1:8000

rvt_monitor-0.2.3/README.md

@@ -1,17 +0,0 @@
-# RVT-Monitor
-
-BLE Device Monitor for Ceily/Wally
-
-## Install
-
-```bash
-pip install rvt-monitor
-```
-
-## Run
-
-```bash
-rvt-monitor
-```
-
-Opens browser at http://127.0.0.1:8000