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nanomadnanomad
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Add XML Map commands
1 parent cab2f1b commit a4fd6db

3 files changed

Lines changed: 293 additions & 1 deletion

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‎.pre-commit-config.yaml‎

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@@ -32,7 +32,7 @@ repos:
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hooks:
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- id: codespell
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args:
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- --ignore-words-list=deebot
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- --ignore-words-list=deebot,MapP
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- --skip="./.*,*.csv,*.json"
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- --quiet-level=2
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- --exclude-file=deebot_client/util/continents.py

‎deebot_client/commands/xml/__init__.py‎

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@@ -11,6 +11,7 @@
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from .error import GetError
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from .fan_speed import GetFanSpeed
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from .life_span import GetLifeSpan
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from .map import GetMapM, GetMapSet, GetMapSt, GetTrM, PullM, PullMP
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from .play_sound import PlaySound
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from .pos import GetPos
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from .stats import GetCleanSum
@@ -25,16 +26,28 @@
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"GetError",
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"GetFanSpeed",
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"GetLifeSpan",
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"GetMapM",
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"GetMapSet",
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"GetMapSt",
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"GetPos",
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"GetTrM",
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"PlaySound",
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"PullM",
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"PullMP",
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]
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# fmt: off
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# ordered by file asc
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_COMMANDS: list[type[XmlCommand]] = [
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GetError,
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GetLifeSpan,
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GetMapM,
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GetMapSet,
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GetMapSt,
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GetTrM,
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PlaySound,
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PullM,
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PullMP
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]
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# fmt: on
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‎deebot_client/commands/xml/map.py‎

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@@ -0,0 +1,279 @@
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"""Map commands."""
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from __future__ import annotations
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from typing import TYPE_CHECKING
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from deebot_client.command import Command, CommandResult
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from deebot_client.events import MajorMapEvent, MapSetEvent, MapSetType, MinorMapEvent
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from deebot_client.events.map import CachedMapInfoEvent, MapSubsetEvent
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from deebot_client.logging_filter import get_logger
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from deebot_client.message import HandlingResult, HandlingState
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from .common import XmlCommandWithMessageHandling
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if TYPE_CHECKING:
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from typing import Any
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from xml.etree.ElementTree import Element
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from deebot_client.event_bus import EventBus
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_LOGGER = get_logger(__name__)
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class GetMapSt(XmlCommandWithMessageHandling):
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"""GetMapSt command.
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This command checks whether the current map has been built successfully or not.
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"""
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NAME = "GetMapSt"
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@classmethod
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def _handle_xml(cls, event_bus: EventBus, xml: Element) -> HandlingResult:
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"""Handle xml message and notify the correct event subscribers.
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Sample message response:
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"<ctl ret='ok' st='built' method='auto'/>"
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:return: A message response
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"""
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if xml.attrib.get("ret") != "ok" or not (st := xml.attrib.get("st")):
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return HandlingResult.analyse()
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built = st == "built"
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event_bus.notify(CachedMapInfoEvent(name="", active=built))
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return HandlingResult.success()
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class GetMapSet(XmlCommandWithMessageHandling):
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"""GetMapSet command.
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This commands gets the list of logical pieces each map is composed of.
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XML robots do not support multiple maps, so the mid parameter is ignored.
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"""
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_ARGS_MSID = "msid"
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_ARGS_TYPE = "type"
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_ARGS_SUBSETS = "subsets"
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NAME = "GetMapSet"
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def __init__(
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self,
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# pylint: disable=unused-argument
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mid: str, # noqa: ARG002
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# pylint: disable=redefined-builtin
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type: (MapSetType | str) = MapSetType.VIRTUAL_WALLS,
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) -> None:
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if isinstance(type, MapSetType):
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type = type.value
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super().__init__({"tp": type})
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@classmethod
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def _find_subsets(cls, maps: list[Element]) -> list[int]:
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return [int(mid) for map in maps if (mid := map.attrib.get("mid")) is not None]
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@classmethod
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def _handle_xml(cls, event_bus: EventBus, xml: Element) -> HandlingResult:
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"""Handle xml message and notify the correct event subscribers.
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Sample message response:
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b'<ctl ret="ok" tp="vw" msid="1"><m mid="1" p="1" /><m mid="2" p="1" /></ctl>'
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:return: A message response
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"""
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if (
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xml.attrib.get("ret") != "ok"
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or not (msid := xml.attrib.get("msid"))
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or not (area_type := xml.attrib.get("tp"))
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or not (m := xml.findall("m"))
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):
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return HandlingResult.analyse()
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subsets = cls._find_subsets(m)
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event_bus.notify(MapSetEvent(MapSetType(area_type), subsets=subsets))
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args = {
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cls._ARGS_MSID: msid,
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cls._ARGS_TYPE: area_type,
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cls._ARGS_SUBSETS: subsets,
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}
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return HandlingResult(HandlingState.SUCCESS, args)
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def _handle_response(
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self, event_bus: EventBus, response: dict[str, Any]
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) -> CommandResult:
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"""Handle response from a command.
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:return: A message response
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"""
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result = super()._handle_response(event_bus, response)
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if result.state == HandlingState.SUCCESS and result.args:
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commands: list[Command] = [
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PullM(
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mid=subset,
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msid=result.args[self._ARGS_MSID],
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type=result.args[self._ARGS_TYPE],
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)
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for subset in result.args[self._ARGS_SUBSETS]
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]
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return CommandResult(result.state, result.args, commands)
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return result
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class GetMapM(XmlCommandWithMessageHandling):
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"""GetMapM command."""
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NAME = "GetMapM"
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@classmethod
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def _handle_xml(cls, event_bus: EventBus, xml: Element) -> HandlingResult:
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"""Handle xml message and notify the correct event subscribers.
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Sample message response:
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b'<ctl i="1245233875" w="100" h="100" r="8" c="8" p="50" m="1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1233223751,1788503751,4083617034,1295764014,1295764014,1295764014,1295764014,1295764014,315201502,2976702022,2972256573,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014,1295764014" />'
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:return: A message response
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"""
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if not (map_hashes := xml.attrib.get("m")) or not (idx := xml.attrib.get("i")):
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return HandlingResult.analyse()
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event_bus.notify(
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MajorMapEvent(
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idx,
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values=[int(map_hash.strip()) for map_hash in map_hashes.split(",")],
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requested=True,
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)
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)
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return HandlingResult.success()
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class PullM(XmlCommandWithMessageHandling):
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"""PullM command.
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Pulls map subset coordinates
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"""
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_ARG_COORDS = "coordinates"
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NAME = "PullM"
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def __init__(
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self,
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*,
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mid: str | int,
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msid: str | int,
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# pylint: disable=redefined-builtin
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type: (MapSetType | str) = MapSetType.ROOMS,
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) -> None:
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if isinstance(type, MapSetType):
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type = type.value
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self._map_type = type
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self._map_subset_id = int(mid)
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super().__init__(
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{
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"mid": str(mid),
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"msid": str(msid),
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"tp": type,
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"seq": "0",
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},
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)
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@classmethod
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def _handle_xml(cls, _event_bus: EventBus, xml: Element) -> HandlingResult:
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"""Handle xml message and notify the correct event subscribers.
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Sample message responses:
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<ctl ret='ok' m='[751,-960,751,-1242,1118,-1242,1118,-960]'/>
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<ctl ret='ok' m='-3000,-4400;-3000,-3650;-2450,-3500;-2450,-2400;-2350,-2300;-2350,-1500;-1750,-1500;-1650,-1600;-1250,-1550;-1250,-2300;-1350,-2300;-1600,-2550;-1500,-2750;-1500,-3850;-1750,-3850;-2100,-4200;-2100,-4450;-2150,-4400;-3000,-4400'/>
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:return: A message response
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"""
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if xml.attrib.get("ret") != "ok" or not (coords := xml.attrib.get("m")):
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return HandlingResult.analyse()
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args = {cls._ARG_COORDS: coords}
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return HandlingResult(HandlingState.SUCCESS, args)
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def _handle_response(
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self, event_bus: EventBus, response: dict[str, Any]
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) -> CommandResult:
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"""Handle response from a command.
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:return: A message response
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"""
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result = super()._handle_response(event_bus, response)
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if result.state == HandlingState.SUCCESS and result.args:
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coords = result.args[self._ARG_COORDS]
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event_bus.notify(
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MapSubsetEvent(
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id=self._map_subset_id,
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type=MapSetType(self._map_type),
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coordinates=coords,
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)
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)
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return CommandResult(result.state, result.args)
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return result
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class PullMP(XmlCommandWithMessageHandling):
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"""PullMP command."""
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_ARG_PIECE = "piece"
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NAME = "PullMP"
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def __init__(self, *, piece_index: int) -> None:
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self._piece_index = piece_index
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super().__init__({"pid": str(piece_index)})
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@classmethod
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def _handle_xml(cls, _event_bus: EventBus, xml: Element) -> HandlingResult:
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"""Handle xml message and notify the correct event subscribers.
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Sample message response:
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b{'ret': 'ok', 'i': '1839263381', 'p': 'x_q_a_a_b_a_a_q_jw_a_a_a_a_bv/f//o7f/_rz5_i_f_x_i5_y_v_g4kijmo4_y_h+e7k_ho_l_t_l8_u6_p_a_f_ls_x7_jhrz0_kg_a=', 'event': 'pull_m_p'}
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:return: A message response
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"""
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if xml.attrib.get("ret") != "ok" or not (piece := xml.attrib.get("p")):
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return HandlingResult.analyse()
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args = {cls._ARG_PIECE: piece}
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return HandlingResult(HandlingState.SUCCESS, args)
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def _handle_response(
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self, event_bus: EventBus, response: dict[str, Any]
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) -> CommandResult:
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"""Handle response from a command.
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:return: A message response
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"""
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result = super()._handle_response(event_bus, response)
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if result.state == HandlingState.SUCCESS and result.args:
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piece = result.args[self._ARG_PIECE]
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event_bus.notify(MinorMapEvent(index=self._piece_index, value=piece))
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return CommandResult(result.state, result.args)
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return result
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class GetTrM(XmlCommandWithMessageHandling):
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"""GetTrM command.
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Enables trace reporting from the bot.
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"""
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NAME = "GetTrM"
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@classmethod
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def _handle_xml(cls, _event_bus: EventBus, xml: Element) -> HandlingResult:
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"""Handle xml message and notify the correct event subscribers.
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:return: A message response
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"""
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if xml.attrib.get("ret") != "ok":
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return HandlingResult.analyse()
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return HandlingResult(HandlingState.SUCCESS)

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