diff --git a/README.md b/README.md
index d90329d..9b59799 100644
--- a/README.md
+++ b/README.md
@@ -4,7 +4,7 @@
 [![PyPI Releases][img_pypi]][url_pypi]
 [![Supported Python Versions][img_pyversions]][url_pyversions]
 
-[img_version]: https://img.shields.io/static/v1.svg?label=SemVer&message=0.0.1&color=blue
+[img_version]: https://img.shields.io/static/v1.svg?label=SemVer&message=0.4.0&color=blue
 [url_version]: https://pypi.org/project/pymammotion/
 
 [img_pypi]: https://img.shields.io/badge/PyPI-wheels-green.svg
diff --git a/poetry.lock b/poetry.lock
index 2ed9f17..50f0bd7 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
@@ -242,12 +242,12 @@ requests = ">=2.21.0,<3.0.0"
 
 [[package]]
 name = "alibabacloud-tea-util"
-version = "0.3.12"
+version = "0.3.13"
 description = "The tea-util module of alibabaCloud Python SDK."
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "alibabacloud_tea_util-0.3.12.tar.gz", hash = "sha256:72a2f5a046e5b977ade4202eb4f65b3d70ad707a548e29aacd4a572c2d18d06b"},
+    {file = "alibabacloud_tea_util-0.3.13.tar.gz", hash = "sha256:8cbdfd2a03fbbf622f901439fa08643898290dd40e1d928347f6346e43f63c90"},
 ]
 
 [package.dependencies]
@@ -331,13 +331,13 @@ aliyun-python-sdk-core = ">=2.11.5"
 
 [[package]]
 name = "astroid"
-version = "3.2.2"
+version = "3.2.4"
 description = "An abstract syntax tree for Python with inference support."
 optional = false
 python-versions = ">=3.8.0"
 files = [
-    {file = "astroid-3.2.2-py3-none-any.whl", hash = "sha256:e8a0083b4bb28fcffb6207a3bfc9e5d0a68be951dd7e336d5dcf639c682388c0"},
-    {file = "astroid-3.2.2.tar.gz", hash = "sha256:8ead48e31b92b2e217b6c9733a21afafe479d52d6e164dd25fb1a770c7c3cf94"},
+    {file = "astroid-3.2.4-py3-none-any.whl", hash = "sha256:413658a61eeca6202a59231abb473f932038fbcbf1666587f66d482083413a25"},
+    {file = "astroid-3.2.4.tar.gz", hash = "sha256:0e14202810b30da1b735827f78f5157be2bbd4a7a59b7707ca0bfc2fb4c0063a"},
 ]
 
 [[package]]
@@ -725,43 +725,38 @@ files = [
 
 [[package]]
 name = "cryptography"
-version = "42.0.8"
+version = "43.0.0"
 description = "cryptography is a package which provides cryptographic recipes and primitives to Python developers."
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -774,7 +769,7 @@ nox = ["nox"]
 pep8test = ["check-sdist", "click", "mypy", "ruff"]
 sdist = ["build"]
 ssh = ["bcrypt (>=3.1.5)"]
-test = ["certifi", "pretend", "pytest (>=6.2.0)", "pytest-benchmark", "pytest-cov", "pytest-xdist"]
+test = ["certifi", "cryptography-vectors (==43.0.0)", "pretend", "pytest (>=6.2.0)", "pytest-benchmark", "pytest-cov", "pytest-xdist"]
 test-randomorder = ["pytest-randomly"]
 
 [[package]]
@@ -869,34 +864,34 @@ typing = ["typing-extensions (>=4.8)"]
 
 [[package]]
 name = "frida"
-version = "16.4.2"
+version = "16.4.5"
 description = "Dynamic instrumentation toolkit for developers, reverse-engineers, and security researchers"
 optional = false
 python-versions = ">=3.7"
 files = [
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 [package.dependencies]
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 protobuf = ">=5.26.1,<6.0dev"
 setuptools = "*"
 
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 ]
 
 [package.dependencies]
 mypy-extensions = ">=1.0.0"
-typing-extensions = ">=4.1.0"
+typing-extensions = ">=4.6.0"
 
 [package.extras]
 dmypy = ["psutil (>=4.0)"]
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 [[package]]
 name = "pylint"
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+version = "3.2.6"
 description = "python code static checker"
 optional = false
 python-versions = ">=3.8.0"
 files = [
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 [package.dependencies]
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 colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
 dill = {version = ">=0.3.7", markers = "python_version >= \"3.12\""}
 isort = ">=4.2.5,<5.13.0 || >5.13.0,<6"
@@ -2070,6 +2065,45 @@ files = [
 pyobjc-core = ">=10.3.1"
 pyobjc-framework-Cocoa = ">=10.3.1"
 
+[[package]]
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+version = "3.6.1"
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+    {file = "pyproj-3.6.1-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:fd93c1a0c6c4aedc77c0fe275a9f2aba4d59b8acf88cebfc19fe3c430cfabf4f"},
+    {file = "pyproj-3.6.1-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6420ea8e7d2a88cb148b124429fba8cd2e0fae700a2d96eab7083c0928a85110"},
+    {file = "pyproj-3.6.1.tar.gz", hash = "sha256:44aa7c704c2b7d8fb3d483bbf75af6cb2350d30a63b144279a09b75fead501bf"},
+]
+
+[package.dependencies]
+certifi = "*"
+
 [[package]]
 name = "pysdl2"
 version = "0.9.16"
@@ -2294,18 +2328,19 @@ jeepney = ">=0.6"
 
 [[package]]
 name = "setuptools"
-version = "70.3.0"
+version = "71.1.0"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "setuptools-70.3.0-py3-none-any.whl", hash = "sha256:fe384da74336c398e0d956d1cae0669bc02eed936cdb1d49b57de1990dc11ffc"},
-    {file = "setuptools-70.3.0.tar.gz", hash = "sha256:f171bab1dfbc86b132997f26a119f6056a57950d058587841a0082e8830f9dc5"},
+    {file = "setuptools-71.1.0-py3-none-any.whl", hash = "sha256:33874fdc59b3188304b2e7c80d9029097ea31627180896fb549c578ceb8a0855"},
+    {file = "setuptools-71.1.0.tar.gz", hash = "sha256:032d42ee9fb536e33087fb66cac5f840eb9391ed05637b3f2a76a7c8fb477936"},
 ]
 
 [package.extras]
+core = ["importlib-metadata (>=6)", "importlib-resources (>=5.10.2)", "jaraco.text (>=3.7)", "more-itertools (>=8.8)", "ordered-set (>=3.1.1)", "packaging (>=24)", "platformdirs (>=2.6.2)", "tomli (>=2.0.1)", "wheel (>=0.43.0)"]
 doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
-test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "importlib-metadata", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test", "mypy (==1.10.0)", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy", "pytest-perf", "pytest-ruff (>=0.3.2)", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
+test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "importlib-metadata", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test", "mypy (==1.11.*)", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy", "pytest-perf", "pytest-ruff (<0.4)", "pytest-ruff (>=0.2.1)", "pytest-ruff (>=0.3.2)", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
 
 [[package]]
 name = "six"
@@ -2341,13 +2376,13 @@ files = [
 
 [[package]]
 name = "tomlkit"
-version = "0.12.5"
+version = "0.13.0"
 description = "Style preserving TOML library"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "tomlkit-0.12.5-py3-none-any.whl", hash = "sha256:af914f5a9c59ed9d0762c7b64d3b5d5df007448eb9cd2edc8a46b1eafead172f"},
-    {file = "tomlkit-0.12.5.tar.gz", hash = "sha256:eef34fba39834d4d6b73c9ba7f3e4d1c417a4e56f89a7e96e090dd0d24b8fb3c"},
+    {file = "tomlkit-0.13.0-py3-none-any.whl", hash = "sha256:7075d3042d03b80f603482d69bf0c8f345c2b30e41699fd8883227f89972b264"},
+    {file = "tomlkit-0.13.0.tar.gz", hash = "sha256:08ad192699734149f5b97b45f1f18dad7eb1b6d16bc72ad0c2335772650d7b72"},
 ]
 
 [[package]]
@@ -2802,5 +2837,5 @@ test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools",
 
 [metadata]
 lock-version = "2.0"
-python-versions = ">=3.12,<3.13"
-content-hash = "1482869ccae06d9a6bedac2644c08fc5169214a9d73cf7f9a65c7e8cfb84b474"
+python-versions = "~3.12.0"
+content-hash = "9962c10a2ae8e45f7b476b3c033d3fe5a75843230de808f0ad417447261acec9"
diff --git a/pymammotion/__init__.py b/pymammotion/__init__.py
index 140c1e0..fb60bb8 100644
--- a/pymammotion/__init__.py
+++ b/pymammotion/__init__.py
@@ -14,7 +14,19 @@
 
 # TODO make a working device that will work outside HA too.
 from pymammotion.mammotion.devices import MammotionBaseBLEDevice
-from pymammotion.mqtt.mqtt import LubaMQTT, logger
+from pymammotion.mqtt import MammotionMQTT
+
+
+
+__all__ = [
+    'LubaBLE',
+    'LubaHTTP',
+    'connect_http',
+    'MammotionBaseBLEDevice',
+    'MammotionMQTT'
+]
+
+logger = logging.getLogger(__name__)
 
 # TODO provide interface to pick between mqtt/cloud/bluetooth
 
@@ -28,7 +40,7 @@
     CLIENT_ID = os.environ.get("CLIENT_ID")
     IOT_TOKEN = os.environ.get("IOT_TOKEN")
     REGION = os.environ.get("REGION")
-    luba = LubaMQTT(
+    luba = MammotionMQTT(
         iot_token=IOT_TOKEN,
         region_id=REGION,
         product_key=PRODUCT_KEY,
diff --git a/pymammotion/aliyun/cloud_gateway.py b/pymammotion/aliyun/cloud_gateway.py
index 9b3e54c..bc32676 100644
--- a/pymammotion/aliyun/cloud_gateway.py
+++ b/pymammotion/aliyun/cloud_gateway.py
@@ -121,9 +121,7 @@ def get_region(self, country_code: str, auth_code: str):
         )
 
         # send request
-        response = client.do_request(
-            "/living/account/region/get", "https", "POST", None, body, RuntimeOptions()
-        )
+        response = client.do_request("/living/account/region/get", "https", "POST", None, body, RuntimeOptions())
         logger.debug(response.status_message)
         logger.debug(response.headers)
         logger.debug(response.status_code)
@@ -182,9 +180,7 @@ def aep_handle(self):
         )
 
         # send request
-        response = client.do_request(
-            "/app/aepauth/handle", "https", "POST", None, body, RuntimeOptions()
-        )
+        response = client.do_request("/app/aepauth/handle", "https", "POST", None, body, RuntimeOptions())
         logger.debug(response.status_message)
         logger.debug(response.headers)
         logger.debug(response.status_code)
@@ -195,9 +191,7 @@ def aep_handle(self):
         response_body_dict = json.loads(response_body_str)
 
         if int(response_body_dict.get("code")) != 200:
-            raise Exception(
-                "Error in getting mqtt credentials: " + response_body_dict["msg"]
-            )
+            raise Exception("Error in getting mqtt credentials: " + response_body_dict["msg"])
 
         self._aep_response = AepResponse.from_dict(response_body_dict)
 
@@ -250,14 +244,12 @@ async def connect(self):
             header = "".join(f"{k}:{dic[k]}\n" for k in keys).strip()
 
             headers["x-ca-signature-headers"] = sign_headers
-            string_to_sign = (
-                "POST\n{}\n\n{}\n{}\n{}\n/api/prd/connect.json?request={}".format(
-                    headers["accept"],
-                    headers["content-type"],
-                    headers["date"],
-                    header,
-                    json.dumps(_bodyParam, separators=(",", ":")),
-                )
+            string_to_sign = "POST\n{}\n\n{}\n{}\n{}\n/api/prd/connect.json?request={}".format(
+                headers["accept"],
+                headers["content-type"],
+                headers["date"],
+                header,
+                json.dumps(_bodyParam, separators=(",", ":")),
             )
 
             hash_val = hmac.new(
@@ -339,9 +331,7 @@ async def login_by_oauth(self, country_code: str, auth_code: str):
             async with session.post(
                 f"https://{region_url}/api/prd/loginbyoauth.json",
                 headers=headers,
-                params={
-                    "loginByOauthRequest": json.dumps(_bodyParam, separators=(",", ":"))
-                },
+                params={"loginByOauthRequest": json.dumps(_bodyParam, separators=(",", ":"))},
             ) as resp:
                 data = await resp.json()
                 logger.debug(data)
@@ -395,9 +385,7 @@ def session_by_auth_code(self):
         if int(response_body_dict.get("code")) != 200:
             raise Exception("Error in creating session: " + response_body_dict["msg"])
 
-        self._session_by_authcode_response = SessionByAuthCodeResponse.from_dict(
-            response_body_dict
-        )
+        self._session_by_authcode_response = SessionByAuthCodeResponse.from_dict(response_body_dict)
 
         return response.body
 
@@ -472,9 +460,7 @@ def list_binding_by_account(self):
         )
 
         # send request
-        response = client.do_request(
-            "/uc/listBindingByAccount", "https", "POST", None, body, RuntimeOptions()
-        )
+        response = client.do_request("/uc/listBindingByAccount", "https", "POST", None, body, RuntimeOptions())
         logger.debug(response.status_message)
         logger.debug(response.headers)
         logger.debug(response.status_code)
@@ -489,9 +475,7 @@ def list_binding_by_account(self):
         if int(response_body_dict.get("code")) != 200:
             raise Exception("Error in creating session: " + response_body_dict["msg"])
 
-        self._listing_dev_by_account_response = ListingDevByAccountResponse.from_dict(
-            response_body_dict
-        )
+        self._listing_dev_by_account_response = ListingDevByAccountResponse.from_dict(response_body_dict)
 
     def send_cloud_command(self, iot_id: str, command: bytes) -> str:
         """Send a cloud command to the specified IoT device."""
@@ -526,9 +510,7 @@ def send_cloud_command(self, iot_id: str, command: bytes) -> str:
         )
 
         # send request
-        response = client.do_request(
-            "/thing/service/invoke", "https", "POST", None, body, RuntimeOptions()
-        )
+        response = client.do_request("/thing/service/invoke", "https", "POST", None, body, RuntimeOptions())
         logger.debug(response.status_message)
         logger.debug(response.headers)
         logger.debug(response.status_code)
diff --git a/pymammotion/aliyun/tmp_constant.py b/pymammotion/aliyun/tmp_constant.py
index 6e6925e..589349c 100644
--- a/pymammotion/aliyun/tmp_constant.py
+++ b/pymammotion/aliyun/tmp_constant.py
@@ -143,9 +143,7 @@ class tmp_constant:
     URI_ALINK_SERVICE = "alink/service"  # deprecated
     URI_AUTH = "/auth"  # deprecated
     URI_AUTHEN_REGISTER = "/sys/{productKey}/{deviceName}/thing/authen/sub/register"
-    URI_AUTHEN_REGISTER_REPLY = (
-        "/sys/{productKey}/{deviceName}/thing/authen/sub/register_reply"
-    )
+    URI_AUTHEN_REGISTER_REPLY = "/sys/{productKey}/{deviceName}/thing/authen/sub/register_reply"
     URI_BLACKLIST_UPDATE_POST = "/thing/lan/blacklist/update"
     URI_BLACKLIST_UPDATE_REPLY_POST = "/thing/lan/blacklist/update_reply"
     URI_DEVICE = "/device/core/dev"
@@ -165,9 +163,7 @@ class tmp_constant:
     URI_TOPIC_LOCALDEVICE_STATECHANGE = "group/localstatechange"
     URI_TOPIC_REPLY_POST = "_reply"
     URI_UPDATE_DEVICE_INFO = "/sys/{productKey}/{deviceName}/thing/deviceinfo/update"
-    URI_UPDATE_DEVICE_INFO_REPLY = (
-        "/sys/{productKey}/{deviceName}/thing/deviceinfo/update_reply"
-    )
+    URI_UPDATE_DEVICE_INFO_REPLY = "/sys/{productKey}/{deviceName}/thing/deviceinfo/update_reply"
     URI_USER = "/user"
     VALUE_SHA256 = "sha256"
     VERSION = "1.0"
diff --git a/pymammotion/bluetooth/ble.py b/pymammotion/bluetooth/ble.py
index 065cad2..a494d51 100644
--- a/pymammotion/bluetooth/ble.py
+++ b/pymammotion/bluetooth/ble.py
@@ -46,15 +46,11 @@ async def disconnect(self) -> bool:
         if self.client is not None:
             return await self.client.disconnect()
 
-    async def notification_handler(
-        self, _characteristic: BleakGATTCharacteristic, data: bytearray
-    ):
+    async def notification_handler(self, _characteristic: BleakGATTCharacteristic, data: bytearray):
         """Simple notification handler which prints the data received."""
         await self._bleEvt.BleNotification(data)
 
-    def service_changed_handler(
-        self, characteristic: BleakGATTCharacteristic, data: bytearray
-    ):
+    def service_changed_handler(self, characteristic: BleakGATTCharacteristic, data: bytearray):
         """Simple notification handler which prints the data received."""
         print(f"Response 2 {characteristic.description}: {data}")
         print(data.decode("utf-8"))
@@ -63,12 +59,8 @@ def service_changed_handler(
 
     async def notifications(self):
         if self.client.is_connected:
-            await self.client.start_notify(
-                UUID_NOTIFICATION_CHARACTERISTIC, self.notification_handler
-            )
-            await self.client.start_notify(
-                SERVICE_CHANGED_CHARACTERISTIC, self.service_changed_handler
-            )
+            await self.client.start_notify(UUID_NOTIFICATION_CHARACTERISTIC, self.notification_handler)
+            await self.client.start_notify(SERVICE_CHANGED_CHARACTERISTIC, self.service_changed_handler)
 
     def getClient(self):
         return self.client
diff --git a/pymammotion/bluetooth/ble_message.py b/pymammotion/bluetooth/ble_message.py
index 7ee910b..1ebde2e 100644
--- a/pymammotion/bluetooth/ble_message.py
+++ b/pymammotion/bluetooth/ble_message.py
@@ -79,15 +79,11 @@ async def get_device_version_main(self):
 
     async def get_task(self):
         hash_map = {"pver": 1, "subCmd": 2, "result": 0}
-        await self.messageNavigation.post_custom_data(
-            self.get_json_string(bleOrderCmd.task, hash_map)
-        )
+        await self.messageNavigation.post_custom_data(self.get_json_string(bleOrderCmd.task, hash_map))
 
     async def send_ble_alive(self):
         hash_map = {"ctrl": 1}
-        await self.messageNavigation.post_custom_data(
-            self.get_json_string(bleOrderCmd.bleAlive, hash_map)
-        )
+        await self.messageNavigation.post_custom_data(self.get_json_string(bleOrderCmd.bleAlive, hash_map))
 
     def clearNotification(self):
         self.notification = None
@@ -106,9 +102,7 @@ async def send_device_info(self):
             seqs=1,
             version=1,
             subtype=1,
-            net=dev_net_pb2.DevNet(
-                todev_ble_sync=1, todev_devinfo_req=dev_net_pb2.DrvDevInfoReq()
-            ),
+            net=dev_net_pb2.DevNet(todev_ble_sync=1, todev_devinfo_req=dev_net_pb2.DrvDevInfoReq()),
         )
         byte_arr = luba_msg.SerializeToString()
         await self.post_custom_data_bytes(byte_arr)
@@ -117,9 +111,7 @@ async def requestDeviceStatus(self):
         request = False
         type = self.messageNavigation.getTypeValue(0, 5)
         try:
-            request = await self.messageNavigation.post(
-                BleMessage.mEncrypted, BleMessage.mChecksum, False, type, None
-            )
+            request = await self.messageNavigation.post(BleMessage.mEncrypted, BleMessage.mChecksum, False, type, None)
             # print(request)
         except Exception as err:
             # Log.w(TAG, "post requestDeviceStatus interrupted")
@@ -133,9 +125,7 @@ async def requestDeviceVersion(self):
         request = False
         type = self.messageNavigation.getTypeValue(0, 7)
         try:
-            request = await self.messageNavigation.post(
-                BleMessage.mEncrypted, BleMessage.mChecksum, False, type, None
-            )
+            request = await self.messageNavigation.post(BleMessage.mEncrypted, BleMessage.mChecksum, False, type, None)
             # print(request)
         except Exception as err:
             # Log.w(TAG, "post requestDeviceStatus interrupted")
@@ -318,9 +308,7 @@ async def post_custom_data_bytes(self, data: bytes):
             return
         type_val = self.getTypeValue(1, 19)
         try:
-            suc = await self.post(
-                self.mEncrypted, self.mChecksum, self.mRequireAck, type_val, data
-            )
+            suc = await self.post(self.mEncrypted, self.mChecksum, self.mRequireAck, type_val, data)
             # int status = suc ? 0 : BlufiCallback.CODE_WRITE_DATA_FAILED
             # onPostCustomDataResult(status, data)
             # print(suc)
@@ -333,9 +321,7 @@ async def post_custom_data(self, data_str: str):
             return
         type_val = self.getTypeValue(1, 19)
         try:
-            suc = await self.post(
-                self.mEncrypted, self.mChecksum, self.mRequireAck, type_val, data
-            )
+            suc = await self.post(self.mEncrypted, self.mChecksum, self.mRequireAck, type_val, data)
             # int status = suc ? 0 : BlufiCallback.CODE_WRITE_DATA_FAILED
             # onPostCustomDataResult(status, data)
         except Exception as err:
@@ -352,17 +338,11 @@ async def post(
         if data is None:
             return await self.post_non_data(encrypt, checksum, require_ack, type_of)
 
-        return await self.post_contains_data(
-            encrypt, checksum, require_ack, type_of, data
-        )
+        return await self.post_contains_data(encrypt, checksum, require_ack, type_of, data)
 
-    async def post_non_data(
-        self, encrypt: bool, checksum: bool, require_ack: bool, type_of: int
-    ) -> bool:
+    async def post_non_data(self, encrypt: bool, checksum: bool, require_ack: bool, type_of: int) -> bool:
         sequence = self.generateSendSequence()
-        postBytes = self.getPostBytes(
-            type_of, encrypt, checksum, require_ack, False, sequence, None
-        )
+        postBytes = self.getPostBytes(type_of, encrypt, checksum, require_ack, False, sequence, None)
         posted = await self.gatt_write(postBytes)
         return posted and (not require_ack or self.receiveAck(sequence))
 
@@ -385,9 +365,7 @@ async def post_contains_data(
         for index, chunk in enumerate(chunks):
             frag = index != len(chunks) - 1
             sequence = self.generateSendSequence()
-            postBytes = self.getPostBytes(
-                type_of, encrypt, checksum, require_ack, frag, sequence, chunk
-            )
+            postBytes = self.getPostBytes(type_of, encrypt, checksum, require_ack, frag, sequence, chunk)
             # print("sequence")
             # print(sequence)
             posted = await self.gatt_write(postBytes)
@@ -415,9 +393,7 @@ def getPostBytes(
     ) -> bytes:
         byteOS = BytesIO()
         dataLength = 0 if data == None else len(data)
-        frameCtrl = FrameCtrlData.getFrameCTRLValue(
-            encrypt, checksum, 0, require_ack, hasFrag
-        )
+        frameCtrl = FrameCtrlData.getFrameCTRLValue(encrypt, checksum, 0, require_ack, hasFrag)
         byteOS.write(type.to_bytes(1, sys.byteorder))
         byteOS.write(frameCtrl.to_bytes(1, sys.byteorder))
         byteOS.write(sequence.to_bytes(1, sys.byteorder))
diff --git a/pymammotion/bluetooth/data/convert.py b/pymammotion/bluetooth/data/convert.py
index 127c9d1..c25be18 100644
--- a/pymammotion/bluetooth/data/convert.py
+++ b/pymammotion/bluetooth/data/convert.py
@@ -19,9 +19,7 @@ def store_sys_data(sys):
         tard_state_data_list = sys.systemTardStateTunnel.tard_state_data
         longValue8 = tard_state_data_list[0]
         longValue9 = tard_state_data_list[1]
-        print(
-            "Device status report,deviceState:", longValue8, ",deviceName:", "Luba..."
-        )
+        print("Device status report,deviceState:", longValue8, ",deviceName:", "Luba...")
         chargeStateTemp = longValue9
         longValue10 = tard_state_data_list[6]
         longValue11 = tard_state_data_list[7]
diff --git a/pymammotion/bluetooth/data/notifydata.py b/pymammotion/bluetooth/data/notifydata.py
index b164376..1e11e53 100644
--- a/pymammotion/bluetooth/data/notifydata.py
+++ b/pymammotion/bluetooth/data/notifydata.py
@@ -59,5 +59,4 @@ def addData(self, bArr, i):
     #  JADX INFO: Access modifiers changed from: package-private
     def getDataArray(self):
         """Generated source for method getDataArray"""
-        print("data Array")
         return self.mDataOS.getvalue()
diff --git a/pymammotion/data/model/device.py b/pymammotion/data/model/device.py
index 4d8d0b7..e2e556b 100644
--- a/pymammotion/data/model/device.py
+++ b/pymammotion/data/model/device.py
@@ -2,6 +2,8 @@
 
 from dataclasses import dataclass
 
+from pymammotion.data.model import HashList
+from pymammotion.data.model.location import Location
 from pymammotion.proto.dev_net import DevNet
 from pymammotion.proto.luba_msg import LubaMsg
 from pymammotion.proto.luba_mul import SocMul
@@ -9,19 +11,76 @@
 from pymammotion.proto.mctrl_nav import MctlNav
 from pymammotion.proto.mctrl_ota import MctlOta
 from pymammotion.proto.mctrl_pept import MctlPept
-from pymammotion.proto.mctrl_sys import MctlSys
+from pymammotion.proto.mctrl_sys import MctlSys, SystemUpdateBufMsg
 
 
 @dataclass
 class MowingDevice:
-    """Wraps the betterproto dataclasses so we can bypass the groups for keeping all data."""
+    """Wraps the betterproto dataclasses, so we can bypass the groups for keeping all data."""
 
     device: LubaMsg
+    map: HashList
+    location: Location
+
+    def __init__(self):
+        self.device = LubaMsg()
+        self.map = HashList(area={}, path={}, obstacle={})
+        self.location = Location()
+        self.err_code_list = []
+        self.err_code_list_time = []
 
     @classmethod
     def from_raw(cls, raw: dict) -> "MowingDevice":
         """Take in raw data to hold in the betterproto dataclass."""
-        return MowingDevice(device=LubaMsg(**raw))
+        mowing_device = MowingDevice()
+        mowing_device.device = LubaMsg(**raw)
+        return mowing_device
+
+    def update_raw(self, raw: dict) -> None:
+        """Update the raw LubaMsg data."""
+        self.device = LubaMsg(**raw)
+
+    def buffer(self, buffer_list: SystemUpdateBufMsg):
+        """Update the device based on which buffer we are reading from."""
+        match buffer_list.update_buf_data[0]:
+            case 1:
+                # 4 speed
+                self.location.RTK.latitude = buffer_list.update_buf_data[5]
+                self.location.RTK.longitude = buffer_list.update_buf_data[6]
+                self.location.dock.latitude = buffer_list.update_buf_data[7]
+                self.location.dock.longitude = buffer_list.update_buf_data[8]
+                self.location.dock.rotation = buffer_list.update_buf_data[3] + 180
+            case 2:
+                self.err_code_list.clear()
+                self.err_code_list_time.clear()
+                self.err_code_list.extend(
+                    [
+                        buffer_list.update_buf_data[3],
+                        buffer_list.update_buf_data[5],
+                        buffer_list.update_buf_data[7],
+                        buffer_list.update_buf_data[9],
+                        buffer_list.update_buf_data[11],
+                        buffer_list.update_buf_data[13],
+                        buffer_list.update_buf_data[15],
+                        buffer_list.update_buf_data[17],
+                        buffer_list.update_buf_data[19],
+                        buffer_list.update_buf_data[21],
+                    ]
+                )
+                self.err_code_list_time.extend(
+                    [
+                        buffer_list.update_buf_data[4],
+                        buffer_list.update_buf_data[6],
+                        buffer_list.update_buf_data[8],
+                        buffer_list.update_buf_data[10],
+                        buffer_list.update_buf_data[12],
+                        buffer_list.update_buf_data[14],
+                        buffer_list.update_buf_data[16],
+                        buffer_list.update_buf_data[18],
+                        buffer_list.update_buf_data[20],
+                        buffer_list.update_buf_data[22],
+                    ]
+                )
 
     @property
     def net(self):
diff --git a/pymammotion/data/model/hash_list.py b/pymammotion/data/model/hash_list.py
index 51170c2..2d7743a 100644
--- a/pymammotion/data/model/hash_list.py
+++ b/pymammotion/data/model/hash_list.py
@@ -1,17 +1,37 @@
-import typing
+from dataclasses import dataclass
 
+from pymammotion.proto.mctrl_nav import NavGetCommDataAck
 
+
+@dataclass
+class FrameList:
+    total_frame: int
+    data: list[NavGetCommDataAck]
+
+
+@dataclass
 class HashList:
-    def __init__(self):
-        self.pver: int = 0
-        self.subCmd: int = 0
-        self.totalFrame: int = 0
-        self.currentFrame: int = 0
-        self.dataHash: int = 0
-        self.path: typing.List[int] = []
-
-    def __str__(self) -> str:
-        return (
-            f"HashBean{{pver={self.pver}, subCmd={self.subCmd}, totalFrame={self.totalFrame}, "
-            + f"currentFrame={self.currentFrame}, dataHash={self.dataHash}, path={self.path}}}"
-        )
+    """stores our map data.
+    [hashID, FrameList].
+    """
+
+    area: dict  # type 0
+    path: dict  # type 2
+    obstacle: dict  # type 1
+
+    def update(self, hash_data: NavGetCommDataAck):
+        """Update the map data."""
+        if hash_data.type == 0:
+            if self.area.get(hash_data.hash) is None:
+                self.area[hash_data.hash] = FrameList(total_frame=hash_data.total_frame, data=[hash_data])
+            self.area[hash_data.hash].data.append(hash_data)
+
+        if hash_data.type == 1:
+            if self.obstacle.get(hash_data.hash) is None:
+                self.obstacle[hash_data.hash] = FrameList(total_frame=hash_data.total_frame, data=[hash_data])
+            self.obstacle[hash_data.hash].data.append(hash_data)
+
+        if hash_data.type == 2:
+            if self.path.get(hash_data.hash) is None:
+                self.path[hash_data.hash] = FrameList(total_frame=hash_data.total_frame, data=[hash_data])
+            self.path[hash_data.hash].data.append(hash_data)
diff --git a/pymammotion/data/model/location.py b/pymammotion/data/model/location.py
new file mode 100644
index 0000000..a53fc1d
--- /dev/null
+++ b/pymammotion/data/model/location.py
@@ -0,0 +1,40 @@
+"""Contains RTK models for robot location and RTK positions."""
+
+from dataclasses import dataclass
+
+
+@dataclass
+class Point:
+    """Returns a lat long."""
+
+    latitude: float
+    longitude: float
+
+    def __init__(self):
+        self.latitude = 0
+        self.longitude = 0
+
+
+@dataclass
+class Dock(Point):
+    """Stores robot dock position."""
+
+    rotation: int
+
+    def __init__(self):
+        super().__init__()
+        self.rotation = 0
+
+
+@dataclass
+class Location:
+    """Stores/retrieves RTK GPS data."""
+
+    device: Point
+    RTK: Point
+    dock: Dock
+
+    def __init__(self):
+        self.device = Point()
+        self.RTK = Point()
+        self.dock = Dock()
diff --git a/pymammotion/data/model/rapid_state.py b/pymammotion/data/model/rapid_state.py
index 63c44a7..51ca219 100644
--- a/pymammotion/data/model/rapid_state.py
+++ b/pymammotion/data/model/rapid_state.py
@@ -26,11 +26,7 @@ class RapidState:
     @classmethod
     def from_raw(cls, raw: list[int]) -> "RapidState":
         return RapidState(
-            rtk_status=RTKStatus.FINE
-            if raw[0] == 4
-            else RTKStatus.BAD
-            if raw[0] in (1, 5)
-            else RTKStatus.NONE,
+            rtk_status=RTKStatus.FINE if raw[0] == 4 else RTKStatus.BAD if raw[0] in (1, 5) else RTKStatus.NONE,
             pos_level=raw[1],
             satellites_total=raw[2],
             rtk_age=raw[3] / 10000,
diff --git a/pymammotion/data/state_manager.py b/pymammotion/data/state_manager.py
new file mode 100644
index 0000000..5abae6a
--- /dev/null
+++ b/pymammotion/data/state_manager.py
@@ -0,0 +1,84 @@
+"""Manage state from notifications into MowingDevice."""
+
+import betterproto
+
+from pymammotion.data.model.device import MowingDevice
+from pymammotion.event.event import DataEvent
+from pymammotion.proto.luba_msg import LubaMsg
+
+
+class StateManager:
+    """Manage state."""
+
+    _device: MowingDevice
+    gethash_ack_callback: DataEvent
+    get_commondata_ack_callback: DataEvent
+
+    def __init__(self, device: MowingDevice):
+        self._device = device
+        self.gethash_ack_callback = DataEvent()
+        self.get_commondata_ack_callback = DataEvent()
+
+    def get_device(self) -> MowingDevice:
+        """Get device."""
+        return self._device
+
+    def set_device(self, device: MowingDevice):
+        """Set device."""
+        self._device = device
+
+    async def notification(self, message: LubaMsg):
+        """Handle protobuf notifications."""
+        res = betterproto.which_one_of(message, "LubaSubMsg")
+
+        match res[0]:
+            case "nav":
+                await self._update_nav_data(message)
+            case "sys":
+                self._update_sys_data(message)
+            case "driver":
+                self._update_driver_data(message)
+            case "net":
+                self._update_net_data(message)
+            case "mul":
+                self._update_mul_data(message)
+            case "ota":
+                self._update_ota_data(message)
+
+    async def _update_nav_data(self, message):
+        """Update nav data."""
+        nav_msg = betterproto.which_one_of(message.nav, "SubNavMsg")
+        match nav_msg[0]:
+            case "toapp_gethash_ack":
+                # call callback to handle this data
+                print(nav_msg[1])
+                await self.gethash_ack_callback.data_event(nav_msg[1])
+            case "toapp_get_commondata_ack":
+                # callback to additional method
+                print(nav_msg[1])
+                self._device.map.update(nav_msg[1])
+                await self.get_commondata_ack_callback.data_event(nav_msg[1])
+
+    def _update_sys_data(self, message):
+        """Update system."""
+        sys_msg = betterproto.which_one_of(message.sys, "SubSysMsg")
+        match sys_msg[0]:
+            case "system_update_buf":
+                # call callback to handle this data
+                print(sys_msg[1])
+                self._device.buffer(sys_msg[1])
+            case "toapp_report_data":
+                # data for sensors
+                pass
+
+    def _update_driver_data(self, message):
+        pass
+
+    def _update_net_data(self, message):
+        pass
+
+    def _update_mul_data(self, message):
+        pass
+
+    def _update_ota_data(self, message):
+        pass
diff --git a/pymammotion/event/event.py b/pymammotion/event/event.py
index e235aa7..1ba0e38 100644
--- a/pymammotion/event/event.py
+++ b/pymammotion/event/event.py
@@ -14,9 +14,7 @@ def __isub__(self, handler):
         return self
 
     async def __call__(self, *args, **kwargs):
-        await asyncio.gather(
-            *[handler(*args, **kwargs) for handler in self.__eventhandlers]
-        )
+        await asyncio.gather(*[handler(*args, **kwargs) for handler in self.__eventhandlers])
 
 
 class MoveEvent:
@@ -48,3 +46,20 @@ def AddSubscribersForBleNotificationEvent(self, objMethod):
 
     def RemoveSubscribersForBleNotificationEvent(self, objMethod):
         self.OnBleNotification -= objMethod
+
+
+class DataEvent:
+    """Callbacks for data events."""
+
+    def __init__(self):
+        self.on_data_event = Event()
+
+    async def data_event(self, data):
+        # This function will be executed when data is received.
+        await self.on_data_event(data)
+
+    def add_subscribers(self, obj_method):
+        self.on_data_event += obj_method
+
+    def remove_subscribers(self, obj_method):
+        self.on_data_event -= obj_method
diff --git a/pymammotion/http/http.py b/pymammotion/http/http.py
index 255a3d7..932cb15 100644
--- a/pymammotion/http/http.py
+++ b/pymammotion/http/http.py
@@ -51,9 +51,7 @@ def __init__(self, session: ClientSession, login: LoginResponseData):
         self._login = login
 
     @classmethod
-    async def login(
-        cls, session: ClientSession, username: str, password: str
-    ) -> Response[LoginResponseData]:
+    async def login(cls, session: ClientSession, username: str, password: str) -> Response[LoginResponseData]:
         async with session.post(
             "/user-server/v1/user/oauth/token",
             params=dict(
@@ -69,9 +67,7 @@ async def login(
             # TODO catch errors from mismatch user / password
             # Assuming the data format matches the expected structure
             login_response_data = LoginResponseData.from_dict(data["data"])
-            return Response(
-                data=login_response_data, code=data["code"], msg=data["msg"]
-            )
+            return Response(data=login_response_data, code=data["code"], msg=data["msg"])
 
 
 async def connect_http(username: str, password: str) -> LubaHTTP:
diff --git a/pymammotion/mammotion/commands/mammotion_command.py b/pymammotion/mammotion/commands/mammotion_command.py
index 8bd7ff4..534746e 100644
--- a/pymammotion/mammotion/commands/mammotion_command.py
+++ b/pymammotion/mammotion/commands/mammotion_command.py
@@ -6,9 +6,7 @@
 from pymammotion.proto import dev_net_pb2, luba_msg_pb2
 
 
-class MammotionCommand(
-    MessageSystem, MessageNavigation, MessageNetwork, MessageOta, MessageVideo
-):
+class MammotionCommand(MessageSystem, MessageNavigation, MessageNetwork, MessageOta, MessageVideo):
     """MQTT commands for Luba."""
 
     def __init__(self, device_name: str) -> None:
diff --git a/pymammotion/mammotion/commands/messages/driver.py b/pymammotion/mammotion/commands/messages/driver.py
index 7c472ac..34eb9b9 100644
--- a/pymammotion/mammotion/commands/messages/driver.py
+++ b/pymammotion/mammotion/commands/messages/driver.py
@@ -28,49 +28,35 @@ def send_order_msg_driver(driver):
 
     def set_blade_height(self, height: int):
         logger.debug(f"Send knife height height={height}")
-        build = mctrl_driver_pb2.MctlDriver(
-            todev_knife_height_set=mctrl_driver_pb2.DrvKnifeHeight(knifeHeight=height)
-        )
+        build = mctrl_driver_pb2.MctlDriver(todev_knife_height_set=mctrl_driver_pb2.DrvKnifeHeight(knifeHeight=height))
         logger.debug(f"Send command--Knife motor height setting height={height}")
         return self.send_order_msg_driver(build)
 
     def set_speed(self, speed: float):
         logger.debug(f"{self.get_device_name()} set speed, {speed}")
-        build = mctrl_driver_pb2.MctlDriver(
-            bidire_speed_read_set=mctrl_driver_pb2.DrvSrSpeed(speed=speed, rw=1)
-        )
+        build = mctrl_driver_pb2.MctlDriver(bidire_speed_read_set=mctrl_driver_pb2.DrvSrSpeed(speed=speed, rw=1))
         logger.debug(f"Send command--Speed setting speed={speed}")
         return self.send_order_msg_driver(build)
 
     def syn_nav_star_point_data(self, sat_system: int):
         build = mctrl_driver_pb2.MctlDriver(
-            rtk_sys_mask_query=mctrl_driver_pb2.rtk_sys_mask_query_t(
-                sat_system=sat_system
-            )
-        )
-        logger.debug(
-            f"Send command--Navigation satellite frequency point synchronization={sat_system}"
+            rtk_sys_mask_query=mctrl_driver_pb2.rtk_sys_mask_query_t(sat_system=sat_system)
         )
+        logger.debug(f"Send command--Navigation satellite frequency point synchronization={sat_system}")
         return self.send_order_msg_driver(build)
 
     def set_nav_star_point(self, cmd_req: str):
         build = mctrl_driver_pb2.MctlDriver(
-            rtk_cfg_req=mctrl_driver_pb2.rtk_cfg_req_t(
-                cmd_req=cmd_req, cmd_length=len(cmd_req) - 1
-            )
-        )
-        logger.debug(
-            f"Send command--Navigation satellite frequency point setting={cmd_req}"
+            rtk_cfg_req=mctrl_driver_pb2.rtk_cfg_req_t(cmd_req=cmd_req, cmd_length=len(cmd_req) - 1)
         )
+        logger.debug(f"Send command--Navigation satellite frequency point setting={cmd_req}")
         logger.debug(
             f"Navigation satellite setting, Send command--Navigation satellite frequency point setting={cmd_req}"
         )
         return self.send_order_msg_driver(build)
 
     def get_speed(self):
-        build = mctrl_driver_pb2.MctlDriver(
-            bidire_speed_read_set=mctrl_driver_pb2.DrvSrSpeed(rw=0)
-        )
+        build = mctrl_driver_pb2.MctlDriver(bidire_speed_read_set=mctrl_driver_pb2.DrvSrSpeed(rw=0))
         logger.debug("Send command--Get speed value")
         return self.send_order_msg_driver(build)
 
diff --git a/pymammotion/mammotion/commands/messages/media.py b/pymammotion/mammotion/commands/messages/media.py
index d7d97bf..51b52fb 100644
--- a/pymammotion/mammotion/commands/messages/media.py
+++ b/pymammotion/mammotion/commands/messages/media.py
@@ -4,6 +4,7 @@
 
 
 class MessageMedia:
+    @staticmethod
     def send_order_msg_media(self, mul):
         luba_msg = luba_msg_pb2.LubaMsg(
             msgtype=luba_msg_pb2.MSG_CMD_TYPE_MUL,
@@ -19,18 +20,12 @@ def send_order_msg_media(self, mul):
         return luba_msg.SerializeToString()
 
     def set_car_volume(self, volume: int):
-        return self.send_order_msg_media(
-            luba_mul_pb2.SocMul(set_audio=luba_mul_pb2.MulSetAudio(at_switch=volume))
-        )
+        return self.send_order_msg_media(luba_mul_pb2.SocMul(set_audio=luba_mul_pb2.MulSetAudio(at_switch=volume)))
 
     def set_car_voice_language(self, language_type: MUL_LANGUAGE | str | None):
         return self.send_order_msg_media(
-            luba_mul_pb2.SocMul(
-                set_audio=luba_mul_pb2.MulSetAudio(au_language=language_type)
-            )
+            luba_mul_pb2.SocMul(set_audio=luba_mul_pb2.MulSetAudio(au_language=language_type))
         )
 
     def set_car_wiper(self, round_num: int):
-        return self.send_order_msg_media(
-            luba_mul_pb2.SocMul(set_wiper=luba_mul_pb2.MulSetWiper(round=round_num))
-        )
+        return self.send_order_msg_media(luba_mul_pb2.SocMul(set_wiper=luba_mul_pb2.MulSetWiper(round=round_num)))
diff --git a/pymammotion/mammotion/commands/messages/navigation.py b/pymammotion/mammotion/commands/messages/navigation.py
index e521f1e..c0c353f 100644
--- a/pymammotion/mammotion/commands/messages/navigation.py
+++ b/pymammotion/mammotion/commands/messages/navigation.py
@@ -1,5 +1,6 @@
 # === sendOrderMsg_Nav ===
 import logging
+import time
 from abc import ABC
 from typing import List
 
@@ -40,15 +41,14 @@ def send_order_msg_nav(build) -> bytes:
             version=1,
             subtype=1,
             nav=build,
+            timestamp=round(time.time() * 1000),
         )
 
         return luba_msg.SerializeToString()
 
     def allpowerfull_rw_adapter_x3(self, id: int, context: int, rw: int) -> bytes:
         build = MctlNav(nav_sys_param_cmd=NavSysParamMsg(id=id, context=context, rw=rw))
-        logger.debug(
-            f"Send command--9 general read and write command id={id}, context={context}, rw={rw}"
-        )
+        logger.debug(f"Send command--9 general read and write command id={id}, context={context}, rw={rw}")
         return self.send_order_msg_nav(build)
 
     def along_border(self):
@@ -83,9 +83,7 @@ def exit_dumping_status(self):
 
     def out_drop_dumping_add(self):
         build = MctlNav(todev_get_commondata=NavGetCommData(pver=1, action=15, type=12))
-        logger.debug(
-            "Send command--Complete external grass collection point marking operation"
-        )
+        logger.debug("Send command--Complete external grass collection point marking operation")
         return self.send_order_msg_nav(build)
 
     def recover_dumping(self):
@@ -124,22 +122,14 @@ def save_task(self):
         return self.send_order_msg_nav(build)
 
     def set_edit_boundary(self, action: int):
-        build = MctlNav(
-            todev_get_commondata=NavGetCommData(pver=1, action=action, type=0)
-        )
+        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):
-        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"
-        )
+        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:
@@ -223,30 +213,19 @@ def send_schedule(self, plan_bean: Plan) -> bytes:
         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))
-        )
+        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) -> 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}")
+    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}"
-        )
+        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:
+    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,
@@ -265,16 +244,10 @@ def read_plan_unable_time(self, sub_cmd: int) -> bytes:
         return self.send_order_msg_nav(build2)
 
     def query_job_history(self) -> bytes:
-        return self.send_order_msg_nav(
-            MctlNav(todev_work_report_update_cmd=WorkReportUpdateCmd(sub_cmd=1))
-        )
+        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)
-            )
-        )
+        return self.send_order_msg_nav(MctlNav(todev_work_report_cmd=WorkReportCmdData(sub_cmd=1, get_info_num=num)))
 
     def leave_dock(self):
         build = MctlNav(todev_one_touch_leave_pile=1)
@@ -283,45 +256,37 @@ def leave_dock(self):
 
     def get_all_boundary_hash_list(self, sub_cmd: int):
         build = MctlNav(todev_gethash=NavGetHashList(pver=1, sub_cmd=sub_cmd))
-        logger.debug(f"Area loading=====================:Get area hash list++Bluetooth:{
-        sub_cmd}")
+        logger.debug(f"Area loading=====================:Get area hash list++Bluetooth:{sub_cmd}")
         return self.send_order_msg_nav(build)
 
     def get_hash_response(self, total_frame: int, current_frame: int):
         build = MctlNav(
-            todev_gethash=NavGetHashList(
-                pver=1, sub_cmd=2, current_frame=current_frame, total_frame=total_frame
-            )
+            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}"
         )
-        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):
-        build = MctlNav(
-            todev_get_commondata=NavGetCommData(
-                pver=1, action=8, data_hash=hash_num, sub_cmd=1
-            )
-        )
+        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}")
         return self.send_order_msg_nav(build)
 
     def get_area_to_be_transferred(self):
-        build = MctlNav(
-            todev_get_commondata=NavGetCommData(pver=1, action=8, sub_cmd=1, type=3)
-        )
+        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_bean: RegionData):
+    def get_regional_data(self, regional_data: RegionData):
         build = MctlNav(
             todev_get_commondata=NavGetCommData(
                 pver=1,
-                action=regional_data_bean.action,
-                type=regional_data_bean.type,
-                data_hash=regional_data_bean.hash,
-                total_frame=regional_data_bean.total_frame,
-                current_frame=regional_data_bean.current_frame,
+                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,
             )
         )
@@ -334,43 +299,27 @@ def indoor_simulation(self, flag: int):
         return self.send_order_msg_nav(build)
 
     def send_tools_order(self, param_id: int, values: List[int]):
-        build = MctlNav(
-            simulation_cmd=SimulationCmdData(
-                sub_cmd=2, param_id=param_id, param_value=values
-            )
-        )
+        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):
         if type == -1:
             return
-        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}"
-        )
+        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):
-        build = MctlNav(
-            todev_get_commondata=NavGetCommData(pver=1, action=7, sub_cmd=0)
-        )
+        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):
         if type == -1:
             return
-        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}"
-        )
+        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):
@@ -390,9 +339,7 @@ def delete_all(self):
         logger.debug("Send command--Clear job data")
         return self.send_order_msg_nav(build)
 
-    def generate_route_information(
-        self, generate_route_information: GenerateRouteInformation
-    ):
+    def generate_route_information(self, generate_route_information: GenerateRouteInformation):
         logger.debug(f"Generate route data source:{generate_route_information}")
         build = NavReqCoverPath(
             pver=1,
@@ -415,9 +362,7 @@ def generate_route_information(
         generate_route_information}")
         return self.send_order_msg_nav(MctlNav(bidire_reqconver_path=build))
 
-    def modify_generate_route_information(
-        self, generate_route_information: GenerateRouteInformation
-    ):
+    def modify_generate_route_information(self, generate_route_information: GenerateRouteInformation):
         logger.debug(f"Generate route data source: {generate_route_information}")
         build = NavReqCoverPath(
             pver=1,
@@ -442,9 +387,7 @@ def end_generate_route_information(self):
         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="
-        )
+        logger.debug("Send command -- End generating route information generate_route_information=")
         return self.send_order_msg_nav(build2)
 
     def query_generate_route_information(self):
@@ -456,14 +399,8 @@ def query_generate_route_information(self):
 
     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}"
-        )
+        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:
@@ -473,9 +410,7 @@ def get_line_info_list(self, hash_list: List[int], transaction_id: int) -> bytes
                 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}"
-        )
+        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:
diff --git a/pymammotion/mammotion/commands/messages/network.py b/pymammotion/mammotion/commands/messages/network.py
index 571600a..3a13e83 100644
--- a/pymammotion/mammotion/commands/messages/network.py
+++ b/pymammotion/mammotion/commands/messages/network.py
@@ -33,16 +33,12 @@ def get_device_base_info(self):
         return self.send_order_msg_net(net)
 
     def get_4g_module_info(self):
-        build = dev_net_pb2.DevNet(
-            todev_get_mnet_cfg_req=dev_net_pb2.DevNet().todev_get_mnet_cfg_req
-        )
+        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")
         return self.send_order_msg_net(build)
 
     def get_4g_info(self):
-        build = dev_net_pb2.DevNet(
-            todev_mnet_info_req=dev_net_pb2.DevNet().todev_mnet_info_req
-        )
+        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")
         return self.send_order_msg_net(build)
 
@@ -82,9 +78,7 @@ def set_device_log_upload(
         print(
             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)
-        )
+        return self.send_order_msg_net(dev_net_pb2.DevNet(todev_ble_sync=1, todev_uploadfile_req=build))
 
     def set_device_socket_request(
         self,
@@ -107,9 +101,7 @@ def set_device_socket_request(
         print(
             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)
-        )
+        return self.send_order_msg_net(dev_net_pb2.DevNet(todev_ble_sync=1, todev_uploadfile_req=build))
 
     def get_device_log_info(self, biz_id: str, type: int, log_url: str) -> bytes:
         """Get device log info (bluetooth only)."""
@@ -129,15 +121,11 @@ def get_device_log_info(self, biz_id: str, type: int, log_url: str) -> bytes:
     def cancel_log_update(self, biz_id: str):
         """Cancel log update (bluetooth only)."""
         return self.send_order_msg_net(
-            dev_net_pb2.DevNet(
-                todev_log_data_cancel=dev_net_pb2.DrvUploadFileCancel(bizId=biz_id)
-            )
+            dev_net_pb2.DevNet(todev_log_data_cancel=dev_net_pb2.DrvUploadFileCancel(bizId=biz_id))
         )
 
     def get_device_network_info(self):
-        build = dev_net_pb2.DevNet(
-            todev_networkinfo_req=dev_net_pb2.GetNetworkInfoReq(req_ids=1)
-        )
+        build = dev_net_pb2.DevNet(todev_networkinfo_req=dev_net_pb2.GetNetworkInfoReq(req_ids=1))
         print("Send command - get device network information")
         return self.send_order_msg_net(build)
 
@@ -159,13 +147,9 @@ def set_device_4g_enable_status(self, new_4g_status: bool):
     def set_device_wifi_enable_status(self, new_wifi_status: bool):
         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}"
+            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}")
         return self.send_order_msg_net(build)
 
     def wifi_connectinfo_update(self, device_name: str, is_binary: bool):
@@ -189,9 +173,7 @@ def wifi_connectinfo_update2(self):
     def get_record_wifi_list(self, is_binary: bool):
         print(f"getRecordWifiList().isBinary={is_binary}")
         if is_binary:
-            build = dev_net_pb2.DevNet(
-                todev_ble_sync=1, todev_WifiListUpload=dev_net_pb2.DrvWifiList()
-            )
+            build = dev_net_pb2.DevNet(todev_ble_sync=1, todev_WifiListUpload=dev_net_pb2.DrvWifiList())
             print("Send command - get memorized WiFi list upload command")
             return self.send_order_msg_net(build)
         self.get_record_wifi_list2()
@@ -205,9 +187,7 @@ def close_clear_connect_current_wifi(self, ssid: str, status: int, is_binary: bo
         if is_binary:
             build = dev_net_pb2.DevNet(
                 todev_ble_sync=1,
-                todev_Wifi_Configuration=dev_net_pb2.DrvWifiSet(
-                    configParam=status, Confssid=ssid
-                ),
+                todev_Wifi_Configuration=dev_net_pb2.DrvWifiSet(configParam=status, Confssid=ssid),
             )
             print(
                 f"Send command - set network (disconnect, direct connect, forget, no operation reconnect) operation command (downlink ssid={ssid}, status={status})"
diff --git a/pymammotion/mammotion/commands/messages/system.py b/pymammotion/mammotion/commands/messages/system.py
index 4b8524b..e6e3554 100644
--- a/pymammotion/mammotion/commands/messages/system.py
+++ b/pymammotion/mammotion/commands/messages/system.py
@@ -1,5 +1,6 @@
 # === sendOrderMsg_Sys ===
 import datetime
+from abc import ABC
 from typing import List
 
 from pymammotion.mammotion.commands.abstract_message import AbstractMessage
@@ -9,7 +10,7 @@
 from pymammotion.utility.device_type import DeviceType
 
 
-class MessageSystem(AbstractMessage):
+class MessageSystem(AbstractMessage, ABC):
     messageNavigation: MessageNavigation = MessageNavigation()
 
     def send_order_msg_sys(self, sys):
@@ -37,9 +38,7 @@ async def set_blade_control(self, on_off: int):
 
     def get_device_product_model(self):
         return self.send_order_msg_sys(
-            mctrl_sys_pb2.MctlSys(
-                device_product_type_info=mctrl_sys_pb2.device_product_type_info_t()
-            ),
+            mctrl_sys_pb2.MctlSys(device_product_type_info=mctrl_sys_pb2.device_product_type_info_t()),
             12,
             True,
         )
@@ -72,12 +71,8 @@ def read_and_set_sidelight(self, is_sidelight: bool, operate: int):
             is_sidelight}, operate:{operate}, timeCtrlLight:{build}")
         return self.send_order_msg_sys(build2)
 
-    def test_tool_order_to_sys(
-        self, sub_cmd: int, param_id: int, param_value: List[int]
-    ):
-        build = mctrl_sys_pb2.mCtrlSimulationCmdData(
-            sub_cmd=sub_cmd, param_id=param_id, param_value=param_value
-        )
+    def test_tool_order_to_sys(self, sub_cmd: int, param_id: int, param_value: List[int]):
+        build = mctrl_sys_pb2.mCtrlSimulationCmdData(sub_cmd=sub_cmd, param_id=param_id, param_value=param_value)
         print(f"Send tool test command: subCmd={sub_cmd}, param_id:{
             param_id}, param_value={param_value}")
         build2 = mctrl_sys_pb2.MctlSys(simulation_cmd=build)
@@ -89,23 +84,15 @@ def read_and_set_rt_k_paring_code(self, op: int, cgf: str):
         print(f"Send read and write base station configuration quality op:{
             op}, cgf:{cgf}")
         return self.send_order_msg_sys(
-            mctrl_sys_pb2.MctlSys(
-                todev_lora_cfg_req=mctrl_sys_pb2.LoraCfgReq(op=op, cfg=cgf)
-            )
+            mctrl_sys_pb2.MctlSys(todev_lora_cfg_req=mctrl_sys_pb2.LoraCfgReq(op=op, cfg=cgf))
         )
 
     def allpowerfull_rw(self, id: int, context: int, rw: int):
-        if (id == 6 or id == 3 or id == 7) and DeviceType.is_luba_2(
-            self.get_device_name()
-        ):
+        if (id == 6 or id == 3 or id == 7) and DeviceType.is_luba_2(self.get_device_name()):
             self.messageNavigation.allpowerfull_rw_adapter_x3(id, context, rw)
             return
-        build = mctrl_sys_pb2.MctlSys(
-            bidire_comm_cmd=mctrl_sys_pb2.SysCommCmd(id=id, context=context, rw=rw)
-        )
-        print(
-            f"Send command - 9 general read and write command id={id}, context={context}, rw={rw}"
-        )
+        build = mctrl_sys_pb2.MctlSys(bidire_comm_cmd=mctrl_sys_pb2.SysCommCmd(id=id, context=context, rw=rw))
+        print(f"Send command - 9 general read and write command id={id}, context={context}, rw={rw}")
         if id == 5:
             # This logic doesnt make snese, but its what they had so..
             return self.send_order_msg_sys(build)
@@ -218,7 +205,7 @@ def request_iot_sys(
         period: int,
         no_change_period: int,
         count: int,
-    ) -> None:
+    ) -> bytes:
         build = mctrl_sys_pb2.MctlSys(
             todev_report_cfg=mctrl_sys_pb2.report_info_cfg(
                 act=rpt_act,
@@ -233,9 +220,7 @@ def request_iot_sys(
             build.todev_report_cfg.act} {build}")
         return self.send_order_msg_sys(build)
 
-    def get_report_cfg(
-        self, timeout: int = 10000, period: int = 1000, no_change_period: int = 2000
-    ):
+    def get_report_cfg(self, timeout: int = 10000, period: int = 1000, no_change_period: int = 2000):
         mctlsys = mctrl_sys_pb2.MctlSys(
             todev_report_cfg=mctrl_sys_pb2.report_info_cfg(
                 timeout=timeout,
diff --git a/pymammotion/mammotion/commands/messages/video.py b/pymammotion/mammotion/commands/messages/video.py
index 5e6ccd7..807ccd3 100644
--- a/pymammotion/mammotion/commands/messages/video.py
+++ b/pymammotion/mammotion/commands/messages/video.py
@@ -21,7 +21,5 @@ def device_agora_join_channel_with_position(self, enter_state: int):
             if DeviceType.is_yuka(self.get_device_name())
             else luba_mul_pb2.MUL_CAMERA_POSITION.LEFT
         )
-        mctl_sys = luba_mul_pb2.SocMul(
-            set_video=luba_mul_pb2.MulSetVideo(position=position, vi_switch=enter_state)
-        )
+        mctl_sys = luba_mul_pb2.SocMul(set_video=luba_mul_pb2.MulSetVideo(position=position, vi_switch=enter_state))
         return self.send_order_msg_video(mctl_sys)
diff --git a/pymammotion/mammotion/control/joystick.py b/pymammotion/mammotion/control/joystick.py
index c8e1bb9..232dbec 100644
--- a/pymammotion/mammotion/control/joystick.py
+++ b/pymammotion/mammotion/control/joystick.py
@@ -31,9 +31,7 @@ def __init__(self, luba_ble: MammotionBaseBLEDevice):
         self._curr_time = timer()
         self.stopped = False
 
-        repeater = pyjoystick.HatRepeater(
-            first_repeat_timeout=0.2, repeat_timeout=0.03, check_timeout=0.01
-        )
+        repeater = pyjoystick.HatRepeater(first_repeat_timeout=0.2, repeat_timeout=0.03, check_timeout=0.01)
 
         self.mngr = pyjoystick.ThreadEventManager(
             event_loop=run_event_loop,
@@ -43,9 +41,7 @@ def __init__(self, luba_ble: MammotionBaseBLEDevice):
             button_repeater=repeater,
         )
 
-        self.worker = PeriodicThread(
-            0.2, self.run_movement, name="luba-process_movements"
-        )
+        self.worker = PeriodicThread(0.2, self.run_movement, name="luba-process_movements")
         self.worker.alive = self.mngr.alive  # stop when this event stops
         self.worker.daemon = True
 
@@ -64,11 +60,7 @@ def run_movement(self):
             self.linear_percent,
             self.angular_percent,
         )
-        asyncio.run(
-            self._client.command(
-                "send_movement", linear_speed=linear_speed, angular_speed=angular_speed
-            )
-        )
+        asyncio.run(self._client.command("send_movement", linear_speed=linear_speed, angular_speed=angular_speed))
 
     def print_add(self, joy):
         print("Added", joy)
@@ -90,13 +82,9 @@ def get_percent(self, percent: float):
         return percent - 15.0
 
     @staticmethod
-    def transform_both_speeds(
-        linear: float, angular: float, linear_percent: float, angular_percent: float
-    ):
+    def transform_both_speeds(linear: float, angular: float, linear_percent: float, angular_percent: float):
         transfrom3 = RockerControlUtil.getInstance().transfrom3(linear, linear_percent)
-        transform4 = RockerControlUtil.getInstance().transfrom3(
-            angular, angular_percent
-        )
+        transform4 = RockerControlUtil.getInstance().transfrom3(angular, angular_percent)
 
         if transfrom3 is not None and len(transfrom3) > 0:
             linear_speed = transfrom3[0] * 10
@@ -121,20 +109,12 @@ def handle_key_received(self, key):
                 # lower knife height
                 if self._blade_height > 25:
                     self._blade_height -= 5
-                    asyncio.run(
-                        self._client.command(
-                            "set_blade_height", height=self._blade_height
-                        )
-                    )
+                    asyncio.run(self._client.command("set_blade_height", height=self._blade_height))
             if key.number == 10:
                 # raise knife height
                 if self._blade_height < 60:
                     self._blade_height += 5
-                    asyncio.run(
-                        self._client.command(
-                            "set_blade_height", height=self._blade_height
-                        )
-                    )
+                    asyncio.run(self._client.command("set_blade_height", height=self._blade_height))
 
         if key.keytype is Key.AXIS:
             # print(key, "-", key.keytype, "-", key.number, "-", key.value)
@@ -163,16 +143,12 @@ def handle_key_received(self, key):
                         # angular_speed==450
                         if key.value > 0:
                             self.angular_speed = 0.0
-                            self.angular_percent = self.get_percent(
-                                abs(key.value * 100)
-                            )
+                            self.angular_percent = self.get_percent(abs(key.value * 100))
                         else:
                             # angle=180.0
                             # linear_speed=0//angular_speed=-450
                             self.angular_speed = 180.0
-                            self.angular_percent = self.get_percent(
-                                abs(key.value * 100)
-                            )
+                            self.angular_percent = self.get_percent(abs(key.value * 100))
 
             else:
                 match key.number:
diff --git a/pymammotion/mammotion/devices/mammotion.py b/pymammotion/mammotion/devices/mammotion.py
index dde51a1..6031fce 100644
--- a/pymammotion/mammotion/devices/mammotion.py
+++ b/pymammotion/mammotion/devices/mammotion.py
@@ -24,11 +24,14 @@
 )
 
 from pymammotion.bluetooth import BleMessage
+from pymammotion.data.model import RegionData
 from pymammotion.data.model.device import MowingDevice
 from pymammotion.data.mqtt.event import ThingEventMessage
+from pymammotion.data.state_manager import StateManager
 from pymammotion.mammotion.commands.mammotion_command import MammotionCommand
 from pymammotion.mqtt import MammotionMQTT
 from pymammotion.proto.luba_msg import LubaMsg
+from pymammotion.proto.mctrl_nav import NavGetCommDataAck, NavGetHashListAck
 
 
 class CharacteristicMissingError(Exception):
@@ -82,6 +85,12 @@ def _handle_timeout(fut: asyncio.Future[None]) -> None:
         fut.set_exception(asyncio.TimeoutError)
 
 
+async def _handle_retry(fut: asyncio.Future[None], func, command: bytes) -> None:
+    """Handle a retry."""
+    if not fut.done():
+        await func(command)
+
+
 class ConnectionPreference(Enum):
     """Enum for connection preference."""
 
@@ -118,13 +127,47 @@ def has_field(message: betterproto.Message) -> bool:
 class MammotionBaseDevice:
     """Base class for Mammotion devices."""
 
+    _luba_msg: MowingDevice
+    _state_manager: StateManager
+
     def __init__(self) -> None:
         """Initialize MammotionBaseDevice."""
         self.loop = asyncio.get_event_loop()
         self._raw_data = LubaMsg().to_dict(casing=betterproto.Casing.SNAKE)
-        self._luba_msg = LubaMsg()
+        self._luba_msg = MowingDevice()
+        self._state_manager = StateManager(self._luba_msg)
+
+        self._state_manager.gethash_ack_callback.add_subscribers(self.datahash_response)
+        self._state_manager.get_commondata_ack_callback.add_subscribers(self.commdata_response)
         self._notify_future: asyncio.Future[bytes] | None = None
 
+    async def datahash_response(self, hash_ack: NavGetHashListAck):
+        """Handle datahash responses."""
+        for data_hash in hash_ack.data_couple:
+            result_hash = 0
+            while data_hash != result_hash:
+                data = await self._send_command_with_args("synchronize_hash_data", hash_num=data_hash)
+                msg = LubaMsg().parse(data)
+                if betterproto.serialized_on_wire(msg.nav.toapp_get_commondata_ack):
+                    result_hash = msg.nav.toapp_get_commondata_ack.hash
+                else:
+                    await asyncio.sleep(0.5)
+
+    async def commdata_response(self, common_data: NavGetCommDataAck):
+        """Handle common data responses."""
+        # TODO check if the hash exists and whether or not to call get regional
+        total_frame = common_data.total_frame
+        current_frame = 1
+        while current_frame <= total_frame:
+            region_data = RegionData()
+            region_data.hash = common_data.data_hash
+            region_data.action = common_data.action
+            region_data.type = common_data.type
+            region_data.total_frame = total_frame
+            region_data.current_frame = current_frame
+            await self._send_command_with_args("get_regional_data", regional_data=region_data)
+            current_frame += 1
+
     def _update_raw_data(self, data: bytes) -> None:
         """Update raw and model data from notifications."""
         tmp_msg = LubaMsg().parse(data)
@@ -143,7 +186,7 @@ def _update_raw_data(self, data: bytes) -> None:
             case "ota":
                 self._update_ota_data(tmp_msg)
 
-        self._luba_msg = MowingDevice.from_raw(self._raw_data)
+        self._luba_msg.update_raw(self._raw_data)
 
     def _update_nav_data(self, tmp_msg):
         """Update navigation data."""
@@ -152,9 +195,7 @@ def _update_nav_data(self, tmp_msg):
         if isinstance(nav_sub_msg[1], int):
             nav[nav_sub_msg[0]] = nav_sub_msg[1]
         else:
-            nav[nav_sub_msg[0]] = nav_sub_msg[1].to_dict(
-                casing=betterproto.Casing.SNAKE
-            )
+            nav[nav_sub_msg[0]] = nav_sub_msg[1].to_dict(casing=betterproto.Casing.SNAKE)
         self._raw_data["nav"] = nav
 
     def _update_sys_data(self, tmp_msg):
@@ -178,9 +219,7 @@ def _update_net_data(self, tmp_msg):
         if isinstance(net_sub_msg[1], int):
             net[net_sub_msg[0]] = net_sub_msg[1]
         else:
-            net[net_sub_msg[0]] = net_sub_msg[1].to_dict(
-                casing=betterproto.Casing.SNAKE
-            )
+            net[net_sub_msg[0]] = net_sub_msg[1].to_dict(casing=betterproto.Casing.SNAKE)
         self._raw_data["net"] = net
 
     def _update_mul_data(self, tmp_msg):
@@ -215,12 +254,32 @@ async def _send_command(self, key: str, retry: int | None = None) -> bytes | Non
     async def _send_command_with_args(self, key: str, **kwargs: any) -> bytes | None:
         """Send command to device and read response."""
 
+    @abstractmethod
+    async def _ble_sync(self):
+        """Send ble sync command every 3 seconds or sooner."""
+
     async def start_sync(self, retry: int):
         """Start synchronization with the device."""
         await self._send_command("get_device_base_info", retry)
         await self._send_command("get_report_cfg", retry)
+        """RTK and dock location."""
+        await self._send_command_with_args("allpowerfull_rw", id=5, rw=1, context=1)
+        """Error codes."""
+        await self._send_command_with_args("allpowerfull_rw", id=5, rw=1, context=2)
+        await self._send_command_with_args("allpowerfull_rw", id=5, rw=1, context=3)
+
+    async def start_map_sync(self):
+        """Start sync of map data."""
         await self._send_command_with_args("read_plan", sub_cmd=2, plan_index=0)
-        await self._send_command_with_args("allpowerfull_rw", id=5, context=1, rw=1)
+
+        await self._send_command_with_args("get_all_boundary_hash_list", sub_cmd=0)
+
+        await self._send_command_with_args("get_hash_response", total_frame=1, current_frame=1)
+
+        # sub_cmd 3 is job hashes??
+        # sub_cmd 4 is dump location (yuka)
+        # jobs list
+        # hash_list_result = await self._send_command_with_args("get_all_boundary_hash_list", sub_cmd=3)
 
     async def command(self, key: str, **kwargs):
         """Send a command to the device."""
@@ -233,6 +292,9 @@ class MammotionBaseBLEDevice(MammotionBaseDevice):
     def __init__(self, device: BLEDevice, interface: int = 0, **kwargs: Any) -> None:
         """Initialize MammotionBaseBLEDevice."""
         super().__init__()
+        self._pong_count = None
+        self._ble_sync_task = None
+        self._prev_notification = None
         self._interface = f"hci{interface}"
         self._device = device
         self._client: BleakClientWithServiceCache | None = None
@@ -250,6 +312,24 @@ def update_device(self, device: BLEDevice) -> None:
         """Update the BLE device."""
         self._device = device
 
+    async def _ble_sync(self):
+        command_bytes = self._commands.send_todev_ble_sync(2)
+        await self._message.post_custom_data_bytes(command_bytes)
+
+    async def run_periodic_sync_task(self) -> None:
+        """Send ble sync to robot."""
+        try:
+            await self._ble_sync()
+        finally:
+            self.schedule_ble_sync()
+
+    def schedule_ble_sync(self):
+        """Periodically sync to keep connection alive."""
+        if self._client.is_connected:
+            self._ble_sync_task = self.loop.call_later(
+                130, lambda: asyncio.ensure_future(self.run_periodic_sync_task())
+            )
+
     async def _send_command_with_args(self, key: str, **kwargs) -> bytes | None:
         """Send command to device and read response."""
         if self._operation_lock.locked():
@@ -278,9 +358,7 @@ async def _send_command_with_args(self, key: str, **kwargs) -> bytes | None:
                     exc_info=True,
                 )
             except BLEAK_RETRY_EXCEPTIONS:
-                _LOGGER.debug(
-                    "%s: communication failed with:", self.name, exc_info=True
-                )
+                _LOGGER.debug("%s: communication failed with:", self.name, exc_info=True)
 
     async def _send_command(self, key: str, retry: int | None = None) -> bytes | None:
         """Send command to device and read response."""
@@ -310,9 +388,7 @@ async def _send_command(self, key: str, retry: int | None = None) -> bytes | Non
                     exc_info=True,
                 )
             except BLEAK_RETRY_EXCEPTIONS:
-                _LOGGER.debug(
-                    "%s: communication failed with:", self.name, exc_info=True
-                )
+                _LOGGER.debug("%s: communication failed with:", self.name, exc_info=True)
 
     @property
     def name(self) -> str:
@@ -386,9 +462,7 @@ async def _ensure_connected(self):
             )
             self._reset_disconnect_timer()
             await self._start_notify()
-
-            command_bytes = self._commands.send_todev_ble_sync(2)
-            await self._message.post_custom_data_bytes(command_bytes)
+            self.schedule_ble_sync()
 
     async def _send_command_locked(self, key: str, command: bytes) -> bytes:
         """Send command to device and read response."""
@@ -409,15 +483,11 @@ async def _send_command_locked(self, key: str, command: bytes) -> bytes:
             raise
         except BLEAK_RETRY_EXCEPTIONS as ex:
             # Disconnect so we can reset state and try again
-            _LOGGER.debug(
-                "%s: RSSI: %s; Disconnecting due to error: %s", self.name, self.rssi, ex
-            )
+            _LOGGER.debug("%s: RSSI: %s; Disconnecting due to error: %s", self.name, self.rssi, ex)
             await self._execute_forced_disconnect()
             raise
 
-    async def _notification_handler(
-        self, _sender: BleakGATTCharacteristic, data: bytearray
-    ) -> None:
+    async def _notification_handler(self, _sender: BleakGATTCharacteristic, data: bytearray) -> None:
         """Handle notification responses."""
         _LOGGER.debug("%s: Received notification: %s", self.name, data)
         result = self._message.parseNotification(data)
@@ -429,15 +499,18 @@ async def _notification_handler(
             return
         new_msg = LubaMsg().parse(data)
         if betterproto.serialized_on_wire(new_msg.net):
-            if new_msg.net.todev_ble_sync != 0 or has_field(
-                new_msg.net.toapp_wifi_iot_status
-            ):
-                # TODO occasionally respond with ble sync
-                return
+            if new_msg.net.todev_ble_sync != 0 or has_field(new_msg.net.toapp_wifi_iot_status):
+                self._pong_count += 1
+
+                if self._pong_count < 3:
+                    return
 
+        # may or may not be correct, some work could be done here to correctly match responses
         if self._notify_future and not self._notify_future.done():
+            self._pong_count = 0
             self._notify_future.set_result(data)
-            return
+
+        await self._state_manager.notification(new_msg)
 
     async def _start_notify(self) -> None:
         """Start notification."""
@@ -454,10 +527,14 @@ async def _execute_command_locked(self, key: str, command: bytes) -> bytes:
         _LOGGER.debug("%s: Sending command: %s", self.name, key)
         await self._message.post_custom_data_bytes(command)
 
-        timeout = 5
-        timeout_handle = self.loop.call_at(
-            self.loop.time() + timeout, _handle_timeout, self._notify_future
+        retry_handle = self.loop.call_at(
+            self.loop.time() + 2,
+            lambda: asyncio.ensure_future(
+                _handle_retry(self._notify_future, self._message.post_custom_data_bytes, command)
+            ),
         )
+        timeout = 5
+        timeout_handle = self.loop.call_at(self.loop.time() + timeout, _handle_timeout, self._notify_future)
         timeout_expired = False
         try:
             notify_msg = await self._notify_future
@@ -467,6 +544,7 @@ async def _execute_command_locked(self, key: str, command: bytes) -> bytes:
         finally:
             if not timeout_expired:
                 timeout_handle.cancel()
+                retry_handle.cancel()
             self._notify_future = None
 
         _LOGGER.debug("%s: Notification received: %s", self.name, notify_msg.hex())
@@ -480,25 +558,23 @@ def _resolve_characteristics(self, services: BleakGATTServiceCollection) -> None
         """Resolve characteristics."""
         self._read_char = services.get_characteristic(READ_CHAR_UUID)
         if not self._read_char:
-            raise CharacteristicMissingError(READ_CHAR_UUID)
+            self._read_char = READ_CHAR_UUID
+            _LOGGER.error(CharacteristicMissingError(READ_CHAR_UUID))
         self._write_char = services.get_characteristic(WRITE_CHAR_UUID)
         if not self._write_char:
-            raise CharacteristicMissingError(WRITE_CHAR_UUID)
+            self._write_char = WRITE_CHAR_UUID
+            _LOGGER.error(CharacteristicMissingError(WRITE_CHAR_UUID))
 
     def _reset_disconnect_timer(self):
         """Reset disconnect timer."""
         self._cancel_disconnect_timer()
         self._expected_disconnect = False
-        self._disconnect_timer = self.loop.call_later(
-            DISCONNECT_DELAY, self._disconnect_from_timer
-        )
+        self._disconnect_timer = self.loop.call_later(DISCONNECT_DELAY, self._disconnect_from_timer)
 
     def _disconnected(self, client: BleakClientWithServiceCache) -> None:
         """Disconnected callback."""
         if self._expected_disconnect:
-            _LOGGER.debug(
-                "%s: Disconnected from device; RSSI: %s", self.name, self.rssi
-            )
+            _LOGGER.debug("%s: Disconnected from device; RSSI: %s", self.name, self.rssi)
             return
         _LOGGER.warning(
             "%s: Device unexpectedly disconnected; RSSI: %s",
@@ -518,9 +594,7 @@ def _disconnect_from_timer(self):
             self._reset_disconnect_timer()
             return
         self._cancel_disconnect_timer()
-        self._timed_disconnect_task = asyncio.create_task(
-            self._execute_timed_disconnect()
-        )
+        self._timed_disconnect_task = asyncio.create_task(self._execute_timed_disconnect())
 
     def _cancel_disconnect_timer(self):
         """Cancel disconnect timer."""
@@ -568,10 +642,11 @@ async def _execute_disconnect_with_lock(self) -> None:
         _LOGGER.debug("%s: Disconnecting", self.name)
         try:
             """We reset what command the robot last heard before disconnecting."""
-            command_bytes = self._commands.send_todev_ble_sync(2)
-            await self._message.post_custom_data_bytes(command_bytes)
-            await client.stop_notify(self._read_char)
-            await client.disconnect()
+            if client.is_connected:
+                command_bytes = self._commands.send_todev_ble_sync(2)
+                await self._message.post_custom_data_bytes(command_bytes)
+                await client.stop_notify(self._read_char)
+                await client.disconnect()
         except BLEAK_RETRY_EXCEPTIONS as ex:
             _LOGGER.warning(
                 "%s: Error disconnecting: %s; RSSI: %s",
@@ -605,6 +680,7 @@ def __init__(
         self.iot_id = iot_id
         self.nick_name = nick_name
         self._command_futures = {}
+        self._commands: MammotionCommand = MammotionCommand(device_name)
         self.loop = asyncio.get_event_loop()
 
     def _on_mqtt_message(self, topic: str, payload: str) -> None:
@@ -621,9 +697,8 @@ def _on_mqtt_message(self, topic: str, payload: str) -> None:
     async def _send_command(self, key: str, retry: int | None = None) -> bytes | None:
         """Send command to device via MQTT and read response."""
         future = self.loop.create_future()
-        message_id = self._mqtt_client.get_cloud_client().send_cloud_command(
-            self.iot_id, key
-        )
+        command_bytes = getattr(self._commands, key)()
+        message_id = self._mqtt_client.get_cloud_client().send_cloud_command(self.iot_id, command_bytes)
         if message_id != "":
             self._command_futures[message_id] = future
             try:
@@ -634,6 +709,16 @@ async def _send_command(self, key: str, retry: int | None = None) -> bytes | Non
 
     async def _send_command_with_args(self, key: str, **kwargs: any) -> bytes | None:
         """Send command with arguments to device via MQTT and read response."""
+        future = self.loop.create_future()
+        command_bytes = getattr(self._commands, key)(**kwargs)
+        message_id = self._mqtt_client.get_cloud_client().send_cloud_command(self.iot_id, command_bytes)
+        if message_id != "":
+            self._command_futures[message_id] = future
+            try:
+                return await asyncio.wait_for(future, timeout=TIMEOUT_CLOUD_RESPONSE)
+            except asyncio.TimeoutError:
+                _LOGGER.error("Command '%s' timed out", key)
+        return None
 
     def _extract_message_id(self, payload: dict) -> str:
         """Extract the message ID from the payload."""
@@ -642,12 +727,7 @@ def _extract_message_id(self, payload: dict) -> str:
     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", "")
-            )
+            content = payload.get("data", {}).get("data", {}).get("params", {}).get("content", "")
             return str(content)
         except AttributeError:
             _LOGGER.error("Error extracting encoded message. Payload: %s", payload)
diff --git a/pymammotion/mqtt/mammotion_mqtt.py b/pymammotion/mqtt/mammotion_mqtt.py
index bdc476b..f5531ff 100644
--- a/pymammotion/mqtt/mammotion_mqtt.py
+++ b/pymammotion/mqtt/mammotion_mqtt.py
@@ -50,9 +50,7 @@ def __init__(
         if client_id is None:
             client_id = f"python-{device_name}"
         self._mqtt_client_id = f"{client_id}|securemode=2,signmethod=hmacsha1|"
-        sign_content = (
-            f"clientId{client_id}deviceName{device_name}productKey{product_key}"
-        )
+        sign_content = f"clientId{client_id}deviceName{device_name}productKey{product_key}"
         self._mqtt_password = hmac.new(
             device_secret.encode("utf-8"), sign_content.encode("utf-8"), hashlib.sha1
         ).hexdigest()
@@ -122,15 +120,9 @@ def _thing_on_thing_enable(self, user_data):
         self._linkkit_client.subscribe_topic(
             f"/sys/{self._product_key}/{self._device_name}/app/down/thing/event/property/post_reply"
         )
-        self._linkkit_client.subscribe_topic(
-            f"/sys/{self._product_key}/{self._device_name}/app/down/thing/events"
-        )
-        self._linkkit_client.subscribe_topic(
-            f"/sys/{self._product_key}/{self._device_name}/app/down/thing/status"
-        )
-        self._linkkit_client.subscribe_topic(
-            f"/sys/{self._product_key}/{self._device_name}/app/down/thing/properties"
-        )
+        self._linkkit_client.subscribe_topic(f"/sys/{self._product_key}/{self._device_name}/app/down/thing/events")
+        self._linkkit_client.subscribe_topic(f"/sys/{self._product_key}/{self._device_name}/app/down/thing/status")
+        self._linkkit_client.subscribe_topic(f"/sys/{self._product_key}/{self._device_name}/app/down/thing/properties")
         self._linkkit_client.subscribe_topic(
             f"/sys/{self._product_key}/{self._device_name}/app/down/thing/model/down_raw"
         )
@@ -175,9 +167,7 @@ def _on_connect(self, _client, _userdata, _flags: dict, rc: int):
         if rc == 0:
             logger.debug("Connected")
             self._client.subscribe(f"/sys/{self._product_key}/{self._device_name}/#")
-            self._client.subscribe(
-                f"/sys/{self._product_key}/{self._device_name}/app/down/account/bind_reply"
-            )
+            self._client.subscribe(f"/sys/{self._product_key}/{self._device_name}/app/down/account/bind_reply")
 
             self._client.publish(
                 f"/sys/{self._product_key}/{self._device_name}/app/up/account/bind",
@@ -216,9 +206,7 @@ def _on_message(self, _client, _userdata, message: MQTTMessage):
             if params.identifier == "device_protobuf_msg_event":
                 content = cast(luba_msg_pb2, params.value.content)
 
-                logger.info(
-                    "Unhandled protobuf event: %s", content.WhichOneof("subMsg")
-                )
+                logger.info("Unhandled protobuf event: %s", content.WhichOneof("subMsg"))
             elif params.identifier == "device_warning_event":
                 logger.debug("identifier event: %s", params.identifier)
             else:
@@ -233,6 +221,6 @@ def _on_message(self, _client, _userdata, message: MQTTMessage):
             logger.debug("Unhandled topic: %s", message.topic)
             logger.debug(payload)
 
-    def _get_cloud_client(self) -> Optional[CloudIOTGateway]:
+    def get_cloud_client(self) -> Optional[CloudIOTGateway]:
         """Return internal cloud client."""
         return self._cloud_client
diff --git a/pymammotion/utility/datatype_converter.py b/pymammotion/utility/datatype_converter.py
index d9335d0..76ccda1 100644
--- a/pymammotion/utility/datatype_converter.py
+++ b/pymammotion/utility/datatype_converter.py
@@ -93,12 +93,8 @@ def _printBase64Binary_core(bArr, i, i2, cArr, i3):
         DatatypeConverter.init_encode_map()  # Ensure encode_map is initialized
         while i2 >= 3:
             cArr[i3] = DatatypeConverter.encode(bArr[i] >> 2)
-            cArr[i3 + 1] = DatatypeConverter.encode(
-                ((bArr[i] & 3) << 4) | ((bArr[i + 1] >> 4) & 15)
-            )
-            cArr[i3 + 2] = DatatypeConverter.encode(
-                ((bArr[i + 1] & 15) << 2) | ((bArr[i + 2] >> 6) & 3)
-            )
+            cArr[i3 + 1] = DatatypeConverter.encode(((bArr[i] & 3) << 4) | ((bArr[i + 1] >> 4) & 15))
+            cArr[i3 + 2] = DatatypeConverter.encode(((bArr[i + 1] & 15) << 2) | ((bArr[i + 2] >> 6) & 3))
             cArr[i3 + 3] = DatatypeConverter.encode(bArr[i + 2] & 63)
             i2 -= 3
             i += 3
@@ -112,9 +108,7 @@ def _printBase64Binary_core(bArr, i, i2, cArr, i3):
 
         if i2 == 2:
             cArr[i3] = DatatypeConverter.encode(bArr[i] >> 2)
-            cArr[i3 + 1] = DatatypeConverter.encode(
-                ((bArr[i] & 3) << 4) | ((bArr[i + 1] >> 4) & 15)
-            )
+            cArr[i3 + 1] = DatatypeConverter.encode(((bArr[i] & 3) << 4) | ((bArr[i + 1] >> 4) & 15))
             cArr[i3 + 2] = DatatypeConverter.encode((bArr[i + 1] & 15) << 2)
             cArr[i3 + 3] = "="
 
diff --git a/pymammotion/utility/device_type.py b/pymammotion/utility/device_type.py
index d6aaca1..676bbf9 100644
--- a/pymammotion/utility/device_type.py
+++ b/pymammotion/utility/device_type.py
@@ -75,21 +75,13 @@ def value_of_str(device_name, product_key=""):
             substring = device_name[:3]
             substring2 = device_name[:7]
 
-            if DeviceType.RTK.name in substring or DeviceType.contain_rtk_product_key(
-                product_key
-            ):
+            if DeviceType.RTK.name in substring or DeviceType.contain_rtk_product_key(product_key):
                 return DeviceType.RTK
-            elif (
-                DeviceType.LUBA_2.name in substring2
-                or DeviceType.contain_luba_2_product_key(product_key)
-            ):
+            elif DeviceType.LUBA_2.name in substring2 or DeviceType.contain_luba_2_product_key(product_key):
                 return DeviceType.LUBA_2
             elif DeviceType.LUBA_YUKA.name in substring2:
                 return DeviceType.LUBA_YUKA
-            elif (
-                DeviceType.LUBA.name in substring2
-                or DeviceType.contain_luba_product_key(product_key)
-            ):
+            elif DeviceType.LUBA.name in substring2 or DeviceType.contain_luba_product_key(product_key):
                 return DeviceType.LUBA
             else:
                 return DeviceType.UNKNOWN
@@ -178,10 +170,7 @@ def is_yuka(device_name):
 
         """
 
-        return (
-            DeviceType.value_of_str(device_name).get_value()
-            == DeviceType.LUBA_YUKA.get_value()
-        )
+        return DeviceType.value_of_str(device_name).get_value() == DeviceType.LUBA_YUKA.get_value()
 
     @staticmethod
     def is_rtk(device_name, product_key=""):
@@ -205,11 +194,7 @@ def is_rtk(device_name, product_key=""):
         else:
             device_type = DeviceType.value_of_str(device_name, product_key)
 
-        return (
-            DeviceType.RTK.get_value()
-            <= device_type.get_value()
-            < DeviceType.LUBA.get_value()
-        )
+        return DeviceType.RTK.get_value() <= device_type.get_value() < DeviceType.LUBA.get_value()
 
     @staticmethod
     def contain_rtk_product_key(product_key):
diff --git a/pyproject.toml b/pyproject.toml
index c3f6af4..25a74cb 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -13,7 +13,7 @@ packages = [{include = "pymammotion"}]
 
 
 [tool.poetry.dependencies]
-python = ">=3.12,<3.13"
+python = "~3.12.0"
 bleak = ">=0.21.0"
 protobuf = ">=4.23.1"
 py-jsonic = "^0.0.2"
@@ -31,6 +31,7 @@ orjson = "^3.9.15"
 betterproto = "^1.2.5"
 pyjoystick = "^1.2.4"
 nest-asyncio = "^1.6.0"
+pyproj = "^3.6.1"
 
 
 [tool.poetry.group.dev.dependencies]
@@ -48,7 +49,7 @@ pre-commit = "^3.7.1"
 
 
 [tool.bumpver]
-current_version = "0.0.1"
+current_version = "0.0.40"
 version_pattern = "MAJOR.MINOR.PATCH"
 commit_message  = "Bump version {old_version} -> {new_version}"
 commit          = true
@@ -368,12 +369,13 @@ overgeneral-exceptions = [
 runtime-typing = false
 
 [tool.pylint.CODE_STYLE]
-max-line-length-suggestions = 72
+max-line-length-suggestions = 120
 
 
 [tool.ruff]
 required-version = ">=0.4.3"
 exclude = ['pymammotion/proto/*', 'tests/*']
+line-length = 120
 
 [tool.ruff.lint]
 select = [
diff --git a/tests/fixtures.py b/tests/fixtures.py
index 0856751..8ae46f7 100644
--- a/tests/fixtures.py
+++ b/tests/fixtures.py
@@ -7,60 +7,6 @@
 
 systemTardStateTunnel = b'\x08\xf4\x01\x10\x01\x18\x07(\xbf\x96\x0b0\x01R`\xd2\x01]\n[\x0b\x01d<\x00\x00\xbc\xda\xcf\xf6\xf9\x98\xc2\xa8h\xb3\xe7\xcc\x90\xc3\x8e\x89\xbbm\xe1\x80\x84\x03\x00\x00\xba\xf3\xfe\xf1\xd6\x96\x91\xf2\x15\x81\xb2\xff\xff\xff\xff\xff\xff\xff\x01\xcc\x98\xfc\xff\xff\xff\xff\xff\xff\x01\x00\x00\x00\x89\xaf\xb7\xe7\xf7\x84\xc6\xd3L\x00\xb9\x95\x8c\xf6\xe6\xeb\xc1\xe1Y\xde\xd9\xd2\xfc\xab\xc2\x9b\x903\x00'
 
-
-"""
-esp {
-  toapp_wifi_iot_status {
-    wifi_connected: true
-    iot_connected: true
-    productkey: "a1BmXWlsdbA"
-    devicename: "Luba-MTAJTZ7T"
-  }
-}
-
-"""
-esp_device = b'\x08\xf8\x01\x10\x01\x18\x070\x01B"r \x08\x01\x10\x01\x1a\x0ba1BmXWlsdbA"\rLuba-MTAJTZ7T'
-
-
-#await luba_client.get_all_boundary_hash_list(3) lineHashList
-
-toapp_gethash_ack = b'\x08\xf0\x01\x10\x01\x18\x07(\x84\xab\x0b0\x01Z\x85\x01\xfa\x01\x81\x01\x08\x01\x10\x03\x18\x01 \x010hju\x9f\xc8\x83\xbc\xac\xe0\x9f\xda\x1c\xb4\xe4\xa9\x8e\xb2\xeb\x9f\xbeU\xe5\xad\xe1\x85\x98\xaa\x92\xfc\x11\x90\xee\xe7\x9b\xf3\xe3\xf7\xe8,\xbd\x81\xe3\xd2\x93\xab\xb6\xe5t\x98\xa1\xb3\xc1\xfe\xfe\xce\xc3\x04\x8b\xf5\x9c\x92\xbf\xef\xc3\xbf^\x97\xb3\xe4\xd6\xab\xdc\x81\xcbA\x9f\x8e\xd1\xa9\x81\xc3\xe2\xd4P\x81\xc1\xc4\xe2\xd7\xf5\x99\xc1\x02\xfd\x8b\x9f\xa2\x80\xa6\x91\x9a\x07\xef\xcd\xd1\xe4\xce\x99\xd5\xb6\x11\x82\x8c\xa1\x91\xe1\xa8\x92\x9a%'
-
-"""
-toapp_gethash_ack {
-    pver: 1
-    totalFrame: 1
-    currentFrame: 1
-    hashLen: 152
-    dataCouple: 8656065632562971511
-    dataCouple: 5326333396143256633
-    dataCouple: 541647029314729441
-    dataCouple: 4870790062671685143
-    dataCouple: 6316048569363781876
-    dataCouple: 8693838767690150729
-    dataCouple: 5386431019338482578
-    dataCouple: 2719756689538040248
-    dataCouple: 52888279395493412
-    dataCouple: 3326491527753915659
-    dataCouple: 4337736833720920333
-    dataCouple: 1827638544161716385
-    dataCouple: 1577461315515955642
-    dataCouple: 6863400705154845420
-    dataCouple: 8809571020336040838
-    dataCouple: 1070358128924616908
-    dataCouple: 7279593094795908334
-    dataCouple: 989182222171962820
-    dataCouple: 5490038377814536159
-  }
-
-"""
-# await luba_client.get_all_boundary_hash_list(0) hashList
-toapp_gethash_ack2 = b'\x08\xf0\x01\x10\x01\x18\x07(\x9a\xad\x0b0\x01Z\xba\x01\xfa\x01\xb6\x01\x08\x01\x18\x01 \x010\x98\x01j\xaa\x01\xf7\x86\x88\xeb\xcb\xba\xa1\x90x\xb9\xe8\xac\x83\x8f\x80\xbc\xf5I\xe1\xeb\xcc\xbf\xa7\xa3\x94\xc2\x07\x97\xcc\xb1\xa8\x96\xb8\xa1\xccC\xf4\xb1\xab\x88\xdc\x96\xc7\xd3W\xc9\xe6\xc3\xd5\xc1\x89\xae\xd3x\x92\x87\xc3\xd6\x93\xcf\x9c\xe0J\xb8\x83\xa1\xdb\xc9\x89\xa1\xdf%\xa4\xcc\x99\x91\xc2\xb3\xf9]\x8b\xba\xf9\xa0\xb8\xcd\x84\x95.\x8d\xd2\xc0\xf8\xaf\x95\xaf\x99<\xa1\xf1\xc8\xd4\xa9\xf2\xc4\xae\x19\xba\xf3\xfe\xf1\xd6\x96\x91\xf2\x15\xec\x95\xae\xaf\xbd\xd2\xec\x9f_\x86\x97\xd2\xd5\xaf\xc5\xf8\xa0z\xcc\xd1\x83\xc8\xc1\xa1\xab\xed\x0e\xee\xa9\xc9\xe5\x9c\xeb\x93\x83e\xc4\xfb\xc3\xd5\xd7\xff\x91\xdd\r\xdf\xdf\x96\x87\x93\x9a\xa2\x98L'
-
-# 8656065632562971511
-toapp_get_commondata_ack = b'\x18\x01\x08\xf0\x01\x10\x01\x18\x07(\xdc\xda\x0c0\x01Z\x88\x02\x8a\x02\x84\x02\x08\x01 \x081w\x03b\xbd\xd4\x85 xH\x02P\x01`\xa0\x01j\n\r\xef\xabY\xc1\x15;\x9d\n@j\n\r\xc0\x08<\xc1\x15\xd9\xfcW@j\n\r\xff\xa98\xc1\x15\xe2\x96\xaf@j\n\r}\xd83\xc1\x15\xe5\x83\xdb@j\n\r\x10*<\xc1\x15@\x97\xda@j\n\r"^a\xc1\x15-g\xc6@j\n\r\xdc\x13\x82\xc1\x154n\xad@j\n\r)\xd4\x82\xc1\x15R\r\x9e@j\n\r\x02k\x85\xc1\x15\x91K\x8b@j\n\r\xc0\xeb\x8a\xc1\x15\x15\xbdm@j\n\rQP\x92\xc1\x15z\xe0)@j\n\rQ\xc2\x95\xc1\x15\x1f\x18)@j\n\rW\xb2\x95\xc1\x15\xd8\x82\x17@j\n\r{\xc5\x8d\xc1\x15G\x82\xa6\xbfj\n\rW\xbb\x8b\xc1\x15;\xec\xa9\xbfj\n\r\x94\xd0\x88\xc1\x15t9\x90\xbfj\n\r5{\x80\xc1\x15z\xc6\xb8\xbej\n\rT\xb9}\xc1\x15Ip\xcc\xbdj\n\r\xd1\x8a{\xc1\x15^\xbb\x14?j\n\r\x15\x95t\xc1\x15\xef\xa1S?'
-
-
 single_hash_result = b'\x00\x01\x08\xf0\x01\x10\x01\x18\x07(\xe8\xda\x0c0\x01Z\xf0\x01\x8a\x02\xec\x01\x08\x01 \x08194k\xf0\x00\xf0\xeaIH\x01P\x01`\x90\x01j\n\r\x0cg\x9c\xc1\x15,\x00\x92@j\n\r\x860\x9f\xc1\x15:R\x8b@j\n\r^\xb7\xa0\xc1\x15\x06\xa0z@j\n\r\xf6\xa7\x9e\xc1\x15%\xfe\n@j\n\r\xc0\x06\x96\xc1\x15Jb\xd2\xbfj\n\ry\xd4\x9a\xc1\x15\xcbs\xf3\xbfj\n\r\x1a\xbd\xa3\xc1\x151\x9b\x08\xc0j\n\r\xe5B\xa5\xc1\x15\x88\xc7\xfb\xbfj\n\rR;\xa7\xc1\x15\x96\xce\xb3\xbfj\n\r\\\xa3\xa7\xc1\x15\x9e\x86}\xbfj\n\r\xc3\xaa\xa9\xc1\x15N;\x07\xbfj\n\rb\x91\xad\xc1\x15\xb9\xe6>?j\n\r\xf1\xdc\xb4\xc1\x15\x1e\xba`@j\n\rBZ\xb8\xc1\x15\x17Jl@j\n\rL"\xb9\xc1\x15i\xda\x82@j\n\r\xa5\x06\xa2\xc1\x15%\x96\x99@j\n\r-\x8e\x9d\xc1\x15\x113\x9d@j\n\r\x0cg\x9c\xc1\x15,\x00\x92@'
 
 # working
@@ -114,20 +60,6 @@
 }
 
 
-# sync 2
-
-msgtype: MSG_CMD_TYPE_ESP
-sender: DEV_MOBILEAPP
-msgattr: MSG_ATTR_REQ
-seqs: 1
-version: 1
-subtype: 1
-net {
-  todev_ble_sync: 2
-}
-
-
-
 msgtype: MSG_CMD_TYPE_EMBED_SYS
 sender: DEV_MOBILEAPP
 rcver: DEV_MAINCTL
@@ -213,53 +145,6 @@
   }
 }
 
-# get_all_boundary_hash_list 3
-msgtype: MSG_CMD_TYPE_NAV
-sender: DEV_MOBILEAPP
-rcver: DEV_MAINCTL
-msgattr: MSG_ATTR_REQ
-seqs: 1
-version: 1
-subtype: 1
-nav {
-  todev_gethash {
-    pver: 1
-    subCmd: 3
-  }
-}
-
-# all powerful RW //allpowerfullRWAdapterX3 for yuka
-msgtype: MSG_CMD_TYPE_EMBED_SYS
-sender: DEV_MOBILEAPP
-rcver: DEV_MAINCTL
-msgattr: MSG_ATTR_REQ
-seqs: 1
-version: 1
-subtype: 1
-sys {
-  bidire_comm_cmd {
-    rw: 1
-    id: 5
-    context: 1
-  }
-}
-
-# returns update buf
-msgtype: MSG_CMD_TYPE_EMBED_SYS
-sender: DEV_MOBILEAPP
-rcver: DEV_MAINCTL
-msgattr: MSG_ATTR_REQ
-seqs: 1
-version: 1
-subtype: 1
-sys {
-  bidire_comm_cmd {
-    rw: 1
-    id: 5
-    context: 2
-  }
-}
-
 # more update buf data
 
 system_update_buf {
@@ -304,23 +189,6 @@
 }
 
 
-# get hash total frame
-msgtype: MSG_CMD_TYPE_NAV
-sender: DEV_MOBILEAPP
-rcver: DEV_MAINCTL
-msgattr: MSG_ATTR_REQ
-seqs: 1
-version: 1
-subtype: 1
-nav {
-  todev_gethash {
-    pver: 1
-    subCmd: 2
-    totalFrame: 2
-    currentFrame: 1
-  }
-}
-
 # synchronize_hash_data 3 or get_area_tobe_transferred
 
 msgtype: MSG_CMD_TYPE_NAV
@@ -339,50 +207,11 @@
   }
 }
 
-# get_hash_response total 2 current 2
-
-msgtype: MSG_CMD_TYPE_NAV
-sender: DEV_MOBILEAPP
-rcver: DEV_MAINCTL
-msgattr: MSG_ATTR_REQ
-seqs: 1
-version: 1
-subtype: 1
-nav {
-  todev_gethash {
-    pver: 1
-    subCmd: 2
-    totalFrame: 2
-    currentFrame: 2
-  }
-}
-
-# unknown large thing
 
 
-# get_hash_response total 1 current 1
-
-msgtype: MSG_CMD_TYPE_NAV
-sender: DEV_MOBILEAPP
-rcver: DEV_MAINCTL
-msgattr: MSG_ATTR_REQ
-seqs: 1
-version: 1
-subtype: 1
-nav {
-  todev_get_commondata {
-    pver: 1
-    subCmd: 2
-    action: 8
-    type: 3
-    totalFrame: 1
-    currentFrame: 1
-  }
-}
-
 
 # get all the hash data
-
+# getLineInfoList
 msgtype: MSG_CMD_TYPE_NAV
 sender: DEV_MOBILEAPP
 rcver: DEV_MAINCTL
@@ -500,24 +329,6 @@
   }
 }
 
-
-msgtype: MSG_CMD_TYPE_EMBED_SYS
-sender: DEV_MOBILEAPP
-rcver: DEV_MAINCTL
-msgattr: MSG_ATTR_REQ
-seqs: 1
-version: 1
-subtype: 1
-sys {
-  bidire_comm_cmd {
-    rw: 1
-    id: 5
-    context: 3
-  }
-}
-
-
-
 # just have to call ble sync and get all this data back :)
 toapp_report_data = '\x08\xf4\x01\x10\x01\x18\x07(\xc170\x01R\xb8\x01\xba\x02\xb4\x01\n\x18\x08\x01\x10\xb8\xff\xff\xff\xff\xff\xff\xff\xff\x01\x18\xcf\xff\xff\xff\xff\xff\xff\xff\xff\x01\x12\x0e\x08\x0b\x10\x02\x18d(\x0e0\x95\xaf\xe5\xb1\x06\x1a\x13\x08\x04\x10\x02\x18 @\x80\x80\xb4\xf9\x91\x80\x80\x80\x03P\x980"-\x08\xa0\xab\xf7\xff\xff\xff\xff\xff\xff\x01\x10\xe4\xe0\xfc\xff\xff\xff\xff\xff\xff\x01\x18\xe7\xc8\xf8\xff\xff\xff\xff\xff\xff\x01 \x050\xe5\xa7\xe3\xd2\x93\xd2\xd5\x98**D\x10\xcf\xd6\xfa\xf5\xb5\xc1\xef\x9eC\x18\xd6\x80\xd8\x02 n0\xf0\xe0\x81\xc0\xa4\xe5\x81\xc5G8\x84\xa4\x07@\xfd\xf6\x07`\x99\xf0\x9b\xe0\xce\x88\xe2\x96Gp\xe2\xa5\xde\xf0\xe3\xbc\xaf\x8aQx\xfc\xb5\xf4\xf2\x8d\xa5\x80\xe7q\xa0\x01<'
 
diff --git a/tests/test2_instance.py b/tests/test2_instance.py
index 4b6b01a..88f2ab6 100644
--- a/tests/test2_instance.py
+++ b/tests/test2_instance.py
@@ -11,7 +11,8 @@
 bleNotificationEvt = BleNotificationEvent()
 
 logging.basicConfig()
-logging.getLogger().setLevel(logging.DEBUG)
+logging.getLogger().setLevel(logging.INFO)
+
 
 async def ble_heartbeat(luba_client):
     while True:
@@ -62,12 +63,12 @@ async def run(loop):
     await asyncio.sleep(2)
     await luba_ble.start_sync(0)
     await asyncio.sleep(2)
-    print(luba_ble.luba_msg.sys.toapp_report_data.dev)
+    # print(luba_ble.luba_msg.sys.toapp_report_data.dev)
     # if has_field(luba_ble.luba_msg.sys.toapp_report_data.dev):
     #     dev = luba_ble.luba_msg.sys.toapp_report_data.dev
     #     if dev.sys_status == 11:
     #         await luba_ble.command("start_job")
-    await luba_ble.command("get_report_cfg")
+    # await luba_ble.command("get_report_cfg")
 
     print(luba_ble.luba_msg.sys.toapp_report_data.dev.charge_state)
     await asyncio.sleep(5)
@@ -84,7 +85,7 @@ async def run(loop):
     # await luba_ble.command("return_to_dock")
     # await luba_ble.command("get_hash_response", total_frame=1, current_frame=1)
     counter = 30
-    while(counter > 0):
+    while (counter > 0):
         luba_device = await scan_for_luba()
         if luba_device is not None:
             luba_ble.update_device(luba_device)
@@ -93,8 +94,9 @@ async def run(loop):
         # await luba_ble._execute_disconnect_with_lock()
         await asyncio.sleep(60)
 
-        counter-=1
+        counter -= 1
 
+    # app_request_cover_paths_t use hashlist from ??
 
     # asyncio.run(await ble_heartbeat(luba_ble))
     print("end run?")
diff --git a/tests/test_bytes.py b/tests/test_bytes.py
deleted file mode 100644
index d1b6494..0000000
--- a/tests/test_bytes.py
+++ /dev/null
@@ -1,18 +0,0 @@
-
-test = b'M\x04\x00\xdf\x08\xf8\x01\x10\x01\x18\x07 \x02(\x010\x018\x80\x80 B\xcb\x01b\xc8\x01\n\x12\x08\x01\x10\x06\x18\x01"\n1.10.5.237\n\x1e\x08\x01\x10\x03\x18\x01"\x161.6.22.2040 (3be066bf)\n\x1c\x08\x02\x10\x03\x18\x01"\x141.1.1.622 (a993d995)\n\x1b\x08\x03\x10\x03\x18\x01"\x132.2.0.150 (2cf62fc)\n\x1b\x08\x04\x10\x03\x18\x01"\x132.2.0.150 (2cf62fc)\n\x0c\x08\x05\x10\x03\x18\x01"\x047361\n\x1e\x08\x06\x10\x03\x18\x01"\x161.6.22.2040 (3be066bf)\n\x0c\x08\x07\x10\x03\x18\x01"\x041.28'
-
-sys_rapid_state_tunnel = b'\x08\xf4\x01\x10\x01\x18\x07(\xfc\xed\x0e0\x01R&\xca\x01#\n!\x04\x02+\xb4\xbf\x01IL\x1b\xea\xbe\xf6\xff\xff\xff\xff\xff\xff\x01\x9a$\xfe\x96\xda\xff\xff\xff\xff\xff\xff\x01\x05\x00'
-
-systemTardStateTunnel = b'\x08\xf4\x01\x10\x01\x18\x07(\xbf\x96\x0b0\x01R`\xd2\x01]\n[\x0b\x01d<\x00\x00\xbc\xda\xcf\xf6\xf9\x98\xc2\xa8h\xb3\xe7\xcc\x90\xc3\x8e\x89\xbbm\xe1\x80\x84\x03\x00\x00\xba\xf3\xfe\xf1\xd6\x96\x91\xf2\x15\x81\xb2\xff\xff\xff\xff\xff\xff\xff\x01\xcc\x98\xfc\xff\xff\xff\xff\xff\xff\x01\x00\x00\x00\x89\xaf\xb7\xe7\xf7\x84\xc6\xd3L\x00\xb9\x95\x8c\xf6\xe6\xeb\xc1\xe1Y\xde\xd9\xd2\xfc\xab\xc2\x9b\x903\x00'
-
-get_base_info = b'M\x04\x00%\x08\xf8\x01\x10\x01\x18\x07 \x02(\x010\x01B\x16b\x14\n\x12\x08\x01\x10\x06\x18\x01"\n1.10.5.242'
-
-# print(systemTardStateTunnel.hex())
-
-thing = b'M\x00\x06\x1c\x08\xf0\x01\x10\x07\x18\x01 \x01(\x010\x018\x01Z\x0b\xf2\x01\x08\x08\x01\x10\x02\x18\x01 \x01'
-print(thing.hex())
-# print(get_base_info.hex())
-#
-# message = BleMessage(None)
-#
-# message.parseNotification()