feat: add GOAT A3000 LiDAR support (cr0e4u / 51rcxt)

deebot_client/commands/json/__init__.py

@@ -13,7 +13,7 @@
 from .charge import Charge
 from .charge_state import GetChargeState
 from .child_lock import GetChildLock, SetChildLock
-from .clean import Clean, CleanArea, CleanV2, GetCleanInfo, GetCleanInfoV2
+from .clean import Clean, CleanArea, CleanMower, CleanV2, GetCleanInfo, GetCleanInfoV2
 from .clean_count import GetCleanCount, SetCleanCount
 from .clean_logs import GetCleanLogs
 from .clean_preference import GetCleanPreference, SetCleanPreference
@@ -38,6 +38,7 @@
 )
 from .mop_auto_wash_frequency import GetMopAutoWashFrequency, SetMopAutoWashFrequency
 from .moveup_warning import GetMoveUpWarning, SetMoveUpWarning
+from .mow import CleanMowerArea, GetMI
 from .multimap_state import GetMultimapState, SetMultimapState
 from .network import GetNetInfo, GetNetInfoLegacy
 from .ota import GetOta, SetOta
@@ -62,6 +63,8 @@
     "Charge",
     "Clean",
     "CleanArea",
+    "CleanMower",
+    "CleanMowerArea",
     "CleanV2",
     "ClearMap",
     "GetAdvancedMode",
@@ -84,6 +87,7 @@
     "GetError",
     "GetFanSpeed",
     "GetLifeSpan",
+    "GetMI",
     "GetMajorMap",
     "GetMapInfoV2",
     "GetMapSet",
@@ -254,7 +258,10 @@
     SetWaterInfo,
 
     GetWorkMode,
-    SetWorkMode
+    SetWorkMode,
+
+    # GOAT A3000 LiDAR mower commands
+    GetMI,
 ]
 # fmt: on
 

deebot_client/commands/json/clean.py

@@ -108,6 +108,29 @@ def _get_args(self, action: CleanAction) -> dict[str, Any]:
         return args
 
 
+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
+
+
 class GetCleanInfo(JsonCommandWithMessageHandling, MessageBodyDataDict):
     """Get clean info command."""
 

deebot_client/commands/json/mow.py

@@ -0,0 +1,78 @@
+"""Mow commands for GOAT A3000 LiDAR mower (cr0e4u).
+
+This module contributes:
+
+* :class:`CleanMowerArea` — zone/area mowing targeting a specific set of zone IDs
+* :class:`GetMI` — triggers the mower to stream zone-map chunks via ``onMI``
+
+:class:`CleanMower` (the auto-mow base command) lives in
+:mod:`deebot_client.commands.json.clean` and is imported from there.
+
+All payloads confirmed via traffic analysis of the Ecovacs GOAT A3000 (cr0e4u).
+"""
+
+from __future__ import annotations
+
+from typing import Any
+
+from deebot_client.commands.json.common import ExecuteCommand
+from deebot_client.models import CleanAction, CleanMode
+
+from .clean import CleanMower
+
+
+class CleanMowerArea(CleanMower):
+    """Zone / area mow command for GOAT mower devices.
+
+    Extends :class:`CleanMower` to target a specific zone or set of zones::
+
+        {"act": "start", "content": {"type": "spotArea", "value": "0,1"}}
+
+    ``mode`` is typically ``CleanMode.SPOT_AREA`` for standard zone mowing.
+    ``area`` is the list of integer zone IDs to mow (0-indexed).
+    """
+
+    def __init__(
+        self,
+        mode: CleanMode,
+        area: list[int | float],
+        _cleanings: int = 1,
+    ) -> None:
+        self._additional_content: dict[str, str] = {
+            "type": mode.value,
+            "value": ",".join(str(i) for i in area),
+        }
+        super().__init__(CleanAction.START)
+
+    def _get_args(self, action: CleanAction) -> dict[str, Any]:
+        args = super()._get_args(action)
+        if action == CleanAction.START:
+            args["content"].update(self._additional_content)
+        return args
+
+
+class GetMI(ExecuteCommand):
+    """Request the mower to push zone-map chunks via ``onMI``.
+
+    Sending ``getMI`` causes the robot to re-stream all ``onMI`` chunks
+    from index 0, equivalent to what the Ecovacs app does on every connect.
+    The resulting push messages are handled by :class:`OnMI` in
+    ``deebot_client.messages.json.mow``.
+
+    Confirmed via traffic analysis of the GOAT A3000 (cr0e4u):
+
+    .. code-block:: json
+
+        {"body": {"data": {"type": "ar"}}}
+
+    Args:
+        area_type: Map data type to request.
+            ``"ar"`` — zone polygons (default, used for initial map load)
+            ``"vw"`` — virtual walls
+            ``"nc"`` — navigation coordinates
+    """
+
+    NAME = "getMI"
+
+    def __init__(self, area_type: str = "ar") -> None:
+        super().__init__({"type": area_type})

deebot_client/hardware/51rcxt.py

@@ -1,141 +1,21 @@
-"""GOAT A3000 LiDAR Pro."""
+"""Ecovacs GOAT A3000 LiDAR Pro (51rcxt) capabilities.
+
+The GOAT A3000 LiDAR Pro shares the same firmware stack, protocol and
+capabilities as the GOAT A3000 LiDAR (cr0e4u).  Both models use the
+``cleanMower`` command format, the ``onMI``/``onArI`` zone-map protocol,
+and identical mower settings.
+
+This module delegates to the cr0e4u definition so both device classes
+share a single source of truth.
+"""
 
 from __future__ import annotations
 
-from deebot_client.capabilities import (
-    Capabilities,
-    CapabilityClean,
-    CapabilityCleanAction,
-    CapabilityCustomCommand,
-    CapabilityEvent,
-    CapabilityExecute,
-    CapabilityLifeSpan,
-    CapabilitySet,
-    CapabilitySetEnable,
-    CapabilitySettings,
-    CapabilityStats,
-    DeviceType,
-)
-from deebot_client.commands.json import (
-    GetBorderSwitch,
-    GetChildLock,
-    GetCrossMapBorderWarning,
-    GetCutDirection,
-    GetMoveUpWarning,
-    GetSafeProtect,
-    SetBorderSwitch,
-    SetChildLock,
-    SetCrossMapBorderWarning,
-    SetCutDirection,
-    SetMoveUpWarning,
-    SetSafeProtect,
-)
-from deebot_client.commands.json.advanced_mode import GetAdvancedMode, SetAdvancedMode
-from deebot_client.commands.json.battery import GetBattery
-from deebot_client.commands.json.charge import Charge
-from deebot_client.commands.json.charge_state import GetChargeState
-from deebot_client.commands.json.clean import CleanV2, GetCleanInfoV2
-from deebot_client.commands.json.custom import CustomCommand
-from deebot_client.commands.json.error import GetError
-from deebot_client.commands.json.life_span import GetLifeSpan, ResetLifeSpan
-from deebot_client.commands.json.network import GetNetInfo
-from deebot_client.commands.json.play_sound import PlaySound
-from deebot_client.commands.json.stats import GetStats, GetTotalStats
-from deebot_client.commands.json.true_detect import GetTrueDetect, SetTrueDetect
-from deebot_client.commands.json.volume import GetVolume, SetVolume
-from deebot_client.const import DataType
-from deebot_client.events import (
-    AdvancedModeEvent,
-    AvailabilityEvent,
-    BatteryEvent,
-    BorderSwitchEvent,
-    ChildLockEvent,
-    CrossMapBorderWarningEvent,
-    CustomCommandEvent,
-    CutDirectionEvent,
-    ErrorEvent,
-    LifeSpan,
-    LifeSpanEvent,
-    MoveUpWarningEvent,
-    NetworkInfoEvent,
-    ReportStatsEvent,
-    SafeProtectEvent,
-    StateEvent,
-    StatsEvent,
-    TotalStatsEvent,
-    TrueDetectEvent,
-    VolumeEvent,
-)
 from deebot_client.models import StaticDeviceInfo
 
+from .cr0e4u import get_device_info as _cr0e4u_get_device_info
+
 
 def get_device_info() -> StaticDeviceInfo:
-    """Get device info for this model."""
-    return StaticDeviceInfo(
-        DataType.JSON,
-        Capabilities(
-            device_type=DeviceType.MOWER,
-            availability=CapabilityEvent(
-                AvailabilityEvent, [GetBattery(is_available_check=True)]
-            ),
-            battery=CapabilityEvent(BatteryEvent, [GetBattery()]),
-            charge=CapabilityExecute(Charge),
-            clean=CapabilityClean(
-                action=CapabilityCleanAction(command=CleanV2),
-            ),
-            custom=CapabilityCustomCommand(
-                event=CustomCommandEvent, get=[], set=CustomCommand
-            ),
-            error=CapabilityEvent(ErrorEvent, [GetError()]),
-            life_span=CapabilityLifeSpan(
-                types=(LifeSpan.BLADE, LifeSpan.LENS_BRUSH),
-                event=LifeSpanEvent,
-                get=[
-                    GetLifeSpan(
-                        [
-                            LifeSpan.BLADE,
-                            LifeSpan.LENS_BRUSH,
-                        ]
-                    )
-                ],
-                reset=ResetLifeSpan,
-            ),
-            network=CapabilityEvent(NetworkInfoEvent, [GetNetInfo()]),
-            play_sound=CapabilityExecute(PlaySound),
-            settings=CapabilitySettings(
-                advanced_mode=CapabilitySetEnable(
-                    AdvancedModeEvent, [GetAdvancedMode()], SetAdvancedMode
-                ),
-                border_switch=CapabilitySetEnable(
-                    BorderSwitchEvent, [GetBorderSwitch()], SetBorderSwitch
-                ),
-                cut_direction=CapabilitySet(
-                    CutDirectionEvent, [GetCutDirection()], SetCutDirection
-                ),
-                child_lock=CapabilitySetEnable(
-                    ChildLockEvent, [GetChildLock()], SetChildLock
-                ),
-                moveup_warning=CapabilitySetEnable(
-                    MoveUpWarningEvent, [GetMoveUpWarning()], SetMoveUpWarning
-                ),
-                cross_map_border_warning=CapabilitySetEnable(
-                    CrossMapBorderWarningEvent,
-                    [GetCrossMapBorderWarning()],
-                    SetCrossMapBorderWarning,
-                ),
-                safe_protect=CapabilitySetEnable(
-                    SafeProtectEvent, [GetSafeProtect()], SetSafeProtect
-                ),
-                true_detect=CapabilitySetEnable(
-                    TrueDetectEvent, [GetTrueDetect()], SetTrueDetect
-                ),
-                volume=CapabilitySet(VolumeEvent, [GetVolume()], SetVolume),
-            ),
-            state=CapabilityEvent(StateEvent, [GetChargeState(), GetCleanInfoV2()]),
-            stats=CapabilityStats(
-                clean=CapabilityEvent(StatsEvent, [GetStats()]),
-                report=CapabilityEvent(ReportStatsEvent, []),
-                total=CapabilityEvent(TotalStatsEvent, [GetTotalStats()]),
-            ),
-        ),
-    )
+    """Get device info for the GOAT A3000 LiDAR Pro (51rcxt)."""
+    return _cr0e4u_get_device_info()