work towards graceful stopping and adding additional topics

pymammotion/aliyun/cloud_gateway.py

@@ -436,6 +436,49 @@ def session_by_auth_code(self):
 
         return response.body
 
+    def sign_out(self) -> None:
+        config = Config(
+            app_key=self._app_key,
+            app_secret=self._app_secret,
+            domain=self._region_response.data.apiGatewayEndpoint,
+        )
+        client = Client(config)
+
+        # build request
+        request = CommonParams(api_ver="1.0.4", language="en-US")
+        body = IoTApiRequest(
+            id=str(uuid.uuid4()),
+            params={
+                "request": {
+                    "refreshToken": self._session_by_authcode_response.data.refreshToken,
+                    "identityId": self._session_by_authcode_response.data.identityId,
+                }
+            },
+            request=request,
+            version="1.0",
+        )
+
+        # send request
+        # possibly need to do this ourselves
+        response = client.do_request(
+            "/iotx/account/invalidSession",
+            "https",
+            "POST",
+            None,
+            body,
+            RuntimeOptions(),
+        )
+        logger.debug(response.status_message)
+        logger.debug(response.headers)
+        logger.debug(response.status_code)
+        logger.debug(response.body)
+
+        # Decode the response body
+        response_body_str = response.body.decode("utf-8")
+
+        # Load the JSON string into a dictionary
+        response_body_dict = json.loads(response_body_str)
+
     def check_or_refresh_session(self):
         """Check or refresh the session."""
         logger.debug("Try to refresh token")
@@ -628,7 +671,6 @@ def send_cloud_command(self, iot_id: str, command: bytes) -> str:
             version="1.0",
         )
         logger.debug(self.converter.printBase64Binary(command))
-
         # send request
         response = client.do_request("/thing/service/invoke", "https", "POST", None, body, RuntimeOptions())
         logger.debug(response.status_message)

pymammotion/bluetooth/ble_message.py

@@ -16,7 +16,6 @@
 from pymammotion.bluetooth.data.framectrldata import FrameCtrlData
 from pymammotion.bluetooth.data.notifydata import BlufiNotifyData
 from pymammotion.data.model.execute_boarder import ExecuteBorder
-from pymammotion.mammotion.commands.messages.navigation import MessageNavigation
 from pymammotion.proto import (
     dev_net_pb2,
     luba_msg_pb2,
@@ -49,7 +48,6 @@ class BleMessage:
     mReadSequence: iter
     mAck: queue
     notification: BlufiNotifyData
-    messageNavigation: MessageNavigation = MessageNavigation()
 
     def __init__(self, client: BleakClient) -> None:
         self.client = client
@@ -123,9 +121,9 @@ async def send_device_info(self) -> None:
 
     async def requestDeviceStatus(self) -> None:
         request = False
-        type = self.messageNavigation.getTypeValue(0, 5)
+        type = self.getTypeValue(0, 5)
         try:
-            request = await self.messageNavigation.post(BleMessage.mEncrypted, BleMessage.mChecksum, False, type, None)
+            request = await self.post(BleMessage.mEncrypted, BleMessage.mChecksum, False, type, None)
             # _LOGGER.debug(request)
         except Exception as err:
             # Log.w(TAG, "post requestDeviceStatus interrupted")
@@ -137,17 +135,17 @@ async def requestDeviceStatus(self) -> None:
 
     async def requestDeviceVersion(self) -> None:
         request = False
-        type = self.messageNavigation.getTypeValue(0, 7)
+        type = self.getTypeValue(0, 7)
         try:
-            request = await self.messageNavigation.post(BleMessage.mEncrypted, BleMessage.mChecksum, False, type, None)
+            request = await self.post(BleMessage.mEncrypted, BleMessage.mChecksum, False, type, None)
             # _LOGGER.debug(request)
         except Exception as err:
             # Log.w(TAG, "post requestDeviceStatus interrupted")
             request = False
             _LOGGER.error(err)
 
     async def sendBorderPackage(self, executeBorder: ExecuteBorder) -> None:
-        await self.messageNavigation.post_custom_data(serialize(executeBorder))
+        await self.post_custom_data(serialize(executeBorder))
 
     async def gatt_write(self, data: bytes) -> None:
         await self.client.write_gatt_char(UUID_WRITE_CHARACTERISTIC, data, True)
@@ -340,6 +338,10 @@ async def post_custom_data(self, data_str: str) -> None:
             # onPostCustomDataResult(status, data)
         except Exception as err:
             _LOGGER.debug(err)
+            # we might be constantly connected and in a bad state
+            self.mSendSequence = itertools.count()
+            self.mReadSequence = itertools.count()
+            await self.client.disconnect()
 
     async def post(
         self,

pymammotion/data/model/device.py

@@ -112,7 +112,17 @@ def update_report_data(self, toapp_report_data: ReportInfoData) -> None:
         self.report_data = self.report_data.from_dict(toapp_report_data.to_dict(casing=betterproto.Casing.SNAKE))
 
     def run_state_update(self, rapid_state: SystemRapidStateTunnelMsg) -> None:
+        coordinate_converter = CoordinateConverter(self.location.RTK.latitude, self.location.RTK.longitude)
         self.mowing_state = RapidState().from_raw(rapid_state.rapid_state_data)
+        self.location.position_type = self.mowing_state.pos_type
+        self.location.orientation = self.mowing_state.toward / 10000
+        self.location.device = coordinate_converter.enu_to_lla(
+            parse_double(self.mowing_state.pos_y, 4.0), parse_double(self.mowing_state.pos_x, 4.0)
+        )
+        if self.mowing_state.zone_hash:
+            self.location.work_zone = (
+                self.mowing_state.zone_hash if self.report_data.dev.sys_status == WorkMode.MODE_WORKING else 0
+            )
 
     def mow_info(self, toapp_mow_info: MowToAppInfoT) -> None:
         pass

pymammotion/data/state_manager.py

@@ -1,5 +1,6 @@
 """Manage state from notifications into MowingDevice."""
 
+from datetime import datetime
 from typing import Any, Awaitable, Callable, Optional
 
 import betterproto
@@ -8,19 +9,22 @@
 from pymammotion.data.model.hash_list import AreaHashNameList
 from pymammotion.proto.luba_msg import LubaMsg
 from pymammotion.proto.mctrl_nav import AppGetAllAreaHashName, NavGetCommDataAck, NavGetHashListAck
+from pymammotion.utility.constant import WorkMode
 
 
 class StateManager:
     """Manage state."""
 
     _device: MowingDevice
+    last_updated_at: datetime = datetime.now()
 
     def __init__(self, device: MowingDevice) -> None:
         self._device = device
         self.gethash_ack_callback: Optional[Callable[[NavGetHashListAck], Awaitable[None]]] = None
         self.get_commondata_ack_callback: Optional[Callable[[NavGetCommDataAck], Awaitable[None]]] = None
         self.on_notification_callback: Optional[Callable[[], Awaitable[None]]] = None
         self.queue_command_callback: Optional[Callable[[str, dict[str, Any]], Awaitable[bytes]]] = None
+        self.last_updated_at = datetime.now()
 
     def get_device(self) -> MowingDevice:
         """Get device."""
@@ -33,6 +37,7 @@ def set_device(self, device: MowingDevice) -> None:
     async def notification(self, message: LubaMsg) -> None:
         """Handle protobuf notifications."""
         res = betterproto.which_one_of(message, "LubaSubMsg")
+        self.last_updated_at = datetime.now()
 
         match res[0]:
             case "nav":
@@ -78,7 +83,8 @@ async def _update_sys_data(self, message) -> None:
             case "toapp_report_data":
                 self._device.update_report_data(sys_msg[1])
                 if self.queue_command_callback:
-                    await self.queue_command_callback("get_report_cfg", stop=True)
+                    if self._device.sys.toapp_report_data.dev.sys_status != WorkMode.MODE_WORKING:
+                        await self.queue_command_callback("get_report_cfg_stop")
             case "mow_to_app_info":
                 self._device.mow_info(sys_msg[1])
             case "system_tard_state_tunnel":

pymammotion/mammotion/commands/messages/network.py

@@ -1,5 +1,5 @@
 # === sendOrderMsg_Net  ===
-
+from pymammotion import logger
 from pymammotion.mammotion.commands.messages.navigation import MessageNavigation
 from pymammotion.proto import dev_net_pb2, luba_msg_pb2
 
@@ -34,12 +34,12 @@ def get_device_base_info(self):
 
     def get_4g_module_info(self) -> bytes:
         build = dev_net_pb2.DevNet(todev_get_mnet_cfg_req=dev_net_pb2.DevNet().todev_get_mnet_cfg_req)
-        print("Send command -- Get device 4G network module information")
+        logger.debug("Send command -- Get device 4G network module information")
         return self.send_order_msg_net(build)
 
     def get_4g_info(self) -> bytes:
         build = dev_net_pb2.DevNet(todev_mnet_info_req=dev_net_pb2.DevNet().todev_mnet_info_req)
-        print("Send command -- Get device 4G network information")
+        logger.debug("Send command -- Get device 4G network information")
         return self.send_order_msg_net(build)
 
     def set_zmq_enable(self) -> bytes:
@@ -50,12 +50,12 @@ def set_zmq_enable(self) -> bytes:
                 tx_zmq_url="tcp://0.0.0.0:5555",
             )
         )
-        print("Send command -- Set vision ZMQ to enable")
+        logger.debug("Send command -- Set vision ZMQ to enable")
         return self.send_order_msg_net(build)
 
     def set_iot_setting(self, iot_control_type: dev_net_pb2.iot_conctrl_type) -> bytes:
         build = dev_net_pb2.DevNet(todev_set_iot_offline_req=iot_control_type)
-        print("Send command -- Device re-online")
+        logger.debug("Send command -- Device re-online")
         return self.send_order_msg_net(build)
 
     def set_device_log_upload(
@@ -75,7 +75,7 @@ def set_device_log_upload(
             num=number,
             type=type,
         )
-        print(
+        logger.debug(
             f"Send log====Feedback====Command======requestID:{request_id} operation:{operation} serverIp:{server_ip} type:{type}"
         )
         return self.send_order_msg_net(dev_net_pb2.DevNet(todev_ble_sync=1, todev_uploadfile_req=build))
@@ -98,7 +98,7 @@ def set_device_socket_request(
             num=number,
             type=type,
         )
-        print(
+        logger.debug(
             f"Send log====Feedback====Command======requestID:{request_id}  operation:{operation} serverIp:{server_ip}  type:{type}"
         )
         return self.send_order_msg_net(dev_net_pb2.DevNet(todev_ble_sync=1, todev_uploadfile_req=build))
@@ -126,7 +126,7 @@ def cancel_log_update(self, biz_id: str) -> bytes:
 
     def get_device_network_info(self) -> bytes:
         build = dev_net_pb2.DevNet(todev_networkinfo_req=dev_net_pb2.GetNetworkInfoReq(req_ids=1))
-        print("Send command - get device network information")
+        logger.debug("Send command - get device network information")
         return self.send_order_msg_net(build)
 
     def set_device_4g_enable_status(self, new_4g_status: bool) -> bytes:
@@ -141,27 +141,27 @@ def set_device_4g_enable_status(self, new_4g_status: bool) -> bytes:
             ),
         )
 
-        print(f"Send command - set 4G (on/off status). newWifiStatus={new_4g_status}")
+        logger.debug(f"Send command - set 4G (on/off status). newWifiStatus={new_4g_status}")
         return self.send_order_msg_net(build)
 
     def set_device_wifi_enable_status(self, new_wifi_status: bool) -> bytes:
         build = dev_net_pb2.DevNet(
             todev_ble_sync=1,
             todev_Wifi_Configuration=dev_net_pb2.DrvWifiSet(configParam=4, wifi_enable=new_wifi_status),
         )
-        print(f"szNetwork: Send command - set network (on/off status). newWifiStatus={new_wifi_status}")
+        logger.debug(f"szNetwork: Send command - set network (on/off status). newWifiStatus={new_wifi_status}")
         return self.send_order_msg_net(build)
 
     def wifi_connectinfo_update(self, device_name: str, is_binary: bool) -> bytes:
-        print(
+        logger.debug(
             f"Send command - get Wifi connection information.wifiConnectinfoUpdate().deviceName={device_name}.isBinary={is_binary}"
         )
         if is_binary:
             build = dev_net_pb2.DevNet(
                 todev_ble_sync=1,
                 todev_WifiMsgUpload=dev_net_pb2.DrvWifiUpload(wifi_msg_upload=1),
             )
-            print("Send command - get Wifi connection information")
+            logger.debug("Send command - get Wifi connection information")
             return self.send_order_msg_net(build)
         self.wifi_connectinfo_update2()
 
@@ -171,10 +171,10 @@ def wifi_connectinfo_update2(self) -> None:
         #     68, hash_map))  # ToDo: Fix this
 
     def get_record_wifi_list(self, is_binary: bool) -> bytes:
-        print(f"getRecordWifiList().isBinary={is_binary}")
+        logger.debug(f"getRecordWifiList().isBinary={is_binary}")
         if is_binary:
             build = dev_net_pb2.DevNet(todev_ble_sync=1, todev_WifiListUpload=dev_net_pb2.DrvWifiList())
-            print("Send command - get memorized WiFi list upload command")
+            logger.debug("Send command - get memorized WiFi list upload command")
             return self.send_order_msg_net(build)
         self.get_record_wifi_list2()
 
@@ -189,7 +189,7 @@ def close_clear_connect_current_wifi(self, ssid: str, status: int, is_binary: bo
                 todev_ble_sync=1,
                 todev_Wifi_Configuration=dev_net_pb2.DrvWifiSet(configParam=status, Confssid=ssid),
             )
-            print(
+            logger.debug(
                 f"Send command - set network (disconnect, direct connect, forget, no operation reconnect) operation command (downlink ssid={ssid}, status={status})"
             )
             return self.send_order_msg_net(build)