feat: add GOAT A3000 LiDAR support (cr0e4u / 51rcxt) by adc103 · Pull Request #1641 · DeebotUniverse/client.py

adc103 · 2026-06-19T08:12:55Z

Summary

Adds support for the Ecovacs GOAT A3000 LiDAR robotic mower (hardware class cr0e4u) and its Pro variant (51rcxt).

All payloads and protocols confirmed via MITM traffic analysis of live device communication.

Note: CI will fail until #1515 / #1624 merges, as CleanMower is imported from deebot_client.commands.json.clean which those PRs add. This PR is intentionally structured to avoid duplicating that work.

Changes

New hardware definitions

deebot_client/hardware/cr0e4u.py — Full capability definition for the GOAT A3000 LiDAR:
- CleanMower for auto-mow start/stop/pause
- CleanMowerArea for zone-targeted mowing
- CapabilityMap with GetMI as the startup map-load trigger
- Blade + lens-brush life-span items
- Mower-specific settings: border switch, cut direction, safe protect, move-up warning, cross-map border warning, child lock, advanced mode, volume
deebot_client/hardware/51rcxt.py — The GOAT A3000 LiDAR Pro shares identical firmware and capabilities; delegates to cr0e4u.

New commands (`deebot_client/commands/json/mow.py`)

CleanMowerArea — Sends cleanMower with a zone type and value for targeted area mowing.
GetMI — Sends getMI to trigger the mower to stream its full zone map via chunked onMI/onArI MQTT pushes. This is what the Ecovacs app sends on every connect to load the map.

CleanMower is sourced from deebot_client.commands.json.clean (added by #1515 / #1624) — no duplication.

New message handlers

deebot_client/messages/json/mow.py — OnMI and OnArI:
- Handles the GOAT's chunked LZMA zone-polygon protocol (batid/serial/index reassembly)
- Decompresses using the LZMA1 raw filter with embedded header (no public API equivalent; lzma._decode_filter_properties used with # noqa: SLF001)
- Fires MapSubsetEvent for each zone polygon (ROOMS) and no-go zone (NO_MOP_ZONES)
- Fires MapChangedEvent when a full batch is assembled
- OnArI uses the same handler as OnMI (identical wire protocol)
deebot_client/messages/json/mower_telemetry.py — Three push telemetry handlers:
- OnPos — GPS position/heading push → PositionsEvent
- OnCleanInfo — Mow state push (working/charging/idle) → StateEvent
- OnStats — Mow progress push (area m², time s) → StatsEvent

Updated

deebot_client/messages/json/__init__.py — Registers OnMI, OnArI, OnPos, OnCleanInfo, and OnStats in the MESSAGES dispatch table.

Tests

tests/hardware/test_init.py — Adds cr0e4u to test_get_static_device_info and a full cr0e4u entry to test_capabilities_event_extraction with the complete expected event→command mapping.

Protocol notes

The GOAT A3000 uses a request-triggered push model for zone map data, distinct from both standard vacuums and the device's own auto-pushed telemetry:

Data	Protocol
Zone polygons	Integration sends `getMI` → mower streams chunked `onMI`/`onArI` LZMA pushes → `OnMI`/`OnArI` → `MapSubsetEvent`
Mow trace	Firmware auto-pushes `onMapTrace` during mowing → handled by #1567 (`OnMapTrace` → `MapTraceEvent`)
Position	Firmware auto-pushes `onPos` on each GPS fix → `OnPos` → `PositionsEvent`
Mow state	Firmware auto-pushes `onCleanInfo` on state change → `OnCleanInfo` → `StateEvent`
Progress	Firmware auto-pushes `onStats` periodically → `OnStats` → `StatsEvent`

Chunked LZMA format used by onMI/onArI:

Chunk 0: bytes 0–4 = LZMA1 filter properties, bytes 5–8 = uint32 LE uncompressed length, bytes 9+ = start of compressed data
Chunks 1+: raw continuation of the compressed stream
All chunks concatenated in index order before decompression

Related PRs

Requires: Add CleanMower command for mower devices #1515 / feat: Add CleanMower command for GOAT mower devices (broader hardware coverage) #1624 — adds CleanMower to clean.py
Complementary: feat(messages): add OnMapTrace for mower firmware (LZMA-wrapped variant) #1567 — adds OnMapTrace push handler for live mow trace data
Supersedes 51rcxt definition from Add support for GOAT A3000 LiDAR Pro (51rcxt) #1538 — replaces that minimal definition with the full mower capability set including map support

Copilot

Copilot encountered an error and was unable to review this pull request. You can try again by re-requesting a review.

Copilot

Pull request overview

Copilot reviewed 7 out of 8 changed files in this pull request and generated 11 comments.

Copilot

Pull request overview

Copilot reviewed 7 out of 8 changed files in this pull request and generated 5 comments.

Copilot

Pull request overview

Copilot reviewed 7 out of 8 changed files in this pull request and generated 5 comments.

Copilot

Pull request overview

Copilot reviewed 8 out of 9 changed files in this pull request and generated 4 comments.

Copilot

Pull request overview

Copilot reviewed 10 out of 11 changed files in this pull request and generated 8 comments.

Copilot

Pull request overview

Copilot reviewed 11 out of 12 changed files in this pull request and generated 2 comments.

Copilot

Pull request overview

Copilot reviewed 11 out of 12 changed files in this pull request and generated 3 comments.

shinerblue · 2026-06-20T18:16:26Z

Thanks for putting this together — this is the full implementation the cr0e4u/51rcxt devices have needed.

Some context that may help: I opened #1538 (the initial 51rcxt hardware definition that this supersedes) and provided the iOS MQTT captures behind the {"type": "auto"} finding in #1515. I have a live GOAT A3000 LiDAR Pro (51rcxt, TruEdge-trimmer variant) on current firmware wired into Home Assistant, so I can validate this end-to-end against real hardware.

Happy to help:

Test this branch against the live device once CI unblocks (the Add CleanMower command for mower devices #1515 / feat: Add CleanMower command for GOAT mower devices (broader hardware coverage) #1624 → CleanMower dependency) and report back on start/pause/resume/stop/dock plus the state transitions.
Capture/confirm any additional payloads you need — getMI → onMI/onArI map chunks, onPos/onCleanInfo/onStats telemetry, and the NO_MOP_ZONES no-go-zone events.

Is the #1515 merge the main thing holding this back? If a maintainer can advise on the preferred sequencing (land #1515 / #1624 first, or fold the CleanMower dependency in differently), I'm glad to do the legwork to move it along.

Add support for the Ecovacs GOAT A3000 LiDAR mower (cr0e4u) and its Pro variant (51rcxt). New hardware definitions: - deebot_client/hardware/cr0e4u.py: full capability definition for the GOAT A3000 LiDAR including CleanMower, CleanMowerArea, CapabilityMap, blade + lens-brush life-span, and all mower-specific settings - deebot_client/hardware/51rcxt.py: delegates to cr0e4u (identical FW) New command: - deebot_client/commands/json/mow.py: CleanMowerArea sends the cleanMower command with a specific zone_id for targeted area mowing New message handlers: - deebot_client/messages/json/mow.py: OnMI + OnArI handlers reassemble chunked LZMA zone-polygon payloads and fire MapSubsetEvent / MapChangedEvent so the HA integration can render the zone map - deebot_client/messages/json/mower_telemetry.py: OnPos, OnCleanInfo, and OnStats handle mower-specific push telemetry (position, mow state, and progress statistics) mapping to PositionsEvent, StateEvent, and StatsEvent respectively Updated: - deebot_client/messages/json/__init__.py: register OnMI, OnArI, OnPos, OnCleanInfo, and OnStats in the MESSAGES dispatch table

adc103 · 2026-06-20T18:36:02Z

Thanks so much for jumping in — your hardware context is exactly what we need. A few things:

Yes, the #1515 dependency is resolved in this PR. CleanMower is now defined directly in commands/json/clean.py and exported from the package, so this PR is fully self-contained and mergeable on its own.

When you get a chance to test on the live 51rcxt, the most useful things to validate would be:

getMI → onMI/onArI chunk flow: does the map actually render in HA after startup?
onPos → does the robot position update in real time during mowing?
Start / pause / resume / stop / dock: do the StateEvent transitions track correctly?
Zone mowing (CleanMowerArea): does selecting a specific zone work?
No-go zones: do they appear in HA if the GOAT has any defined?
If you can capture any onMI chunk payloads from traffic (especially multi-chunk batches) that would help validate the reassembly logic. The LZMA decode formula has been corrected and tested locally but real hardware confirmation would be ideal.

Thanks again! I am excited to get this all supported.

Copilot

Pull request overview

Copilot reviewed 11 out of 12 changed files in this pull request and generated 5 comments.

+            # deebotPos is a dict; chargePos can be a list or dict
+            if isinstance(raw, dict):
+                items: list[Any] = [raw]
+            else:
+                items = raw
+


+        serial: int = int(data.get("serial", 0))
+        index: int = int(data.get("index", 0))
+        mid: str = str(data.get("mid", "1"))
+        info: str = str(data.get("info", ""))


+            dec = lzma.LZMADecompressor(lzma.FORMAT_RAW, None, [filter_props])
+            full_bytes = dec.decompress(compressed, uncompressed_len)
+        except Exception as exc:


+class CleanMower(Clean):
+    """Auto-mow command for lawn mower devices (GOAT A3000 LiDAR and similar).
+
+    Uses the ``clean`` endpoint with a V2-style ``content`` dict, matching
+    the protocol confirmed via traffic analysis of the GOAT A3000 (cr0e4u):
+
+    .. code-block:: json
+
+        {"act": "start", "content": {"type": "auto"}}
+        {"act": "stop",  "content": {"type": ""}}
+    """
+
+    def _get_args(self, action: CleanAction) -> dict[str, Any]:
+        content: dict[str, str] = {}
+        args = {"act": action.value, "content": content}
+        match action:
+            case CleanAction.START | CleanAction.RESUME:
+                content["type"] = CleanMode.AUTO.value
+            case CleanAction.STOP | CleanAction.PAUSE:
+                content["type"] = ""
+        return args
+


+Note: ``onStats`` pushes are handled by the existing
+:class:`~deebot_client.messages.json.stats.OnStats` handler, which
+already supports the mower payload shape (``area`` + ``time`` fields).
+


Copilot AI review requested due to automatic review settings June 19, 2026 08:12

Copilot started reviewing on behalf of adc103 June 19, 2026 08:13 View session

Copilot AI reviewed Jun 19, 2026

adc103 force-pushed the feat/goat-a3000-cr0e4u branch from 6c9551e to 98dd55b Compare June 19, 2026 15:22

adc103 requested a review from Copilot June 19, 2026 15:26

Copilot started reviewing on behalf of adc103 June 19, 2026 15:26 View session