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Ardumower / Sunray

Ardumower Sunray
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Add AT+Rx commands to read out the actual waypoint configuration from the mower #129

Open SirVival71 opened 1 year ago

SirVival71 commented 1 year ago

AT+RN command added to read out the WayCount values AT+RNX command added to read out the Exclusion[0-n]Count values AT+RP or AT+RP,StartIdx,NumberOfPoints,ChkSum command added to read out the perimeter point position values AT+RD or AT+RD,StartIdx,NumberOfPoints,ChkSum commands added to read out the dock point position values AT+RM or AT+RM,StartIdx,NumberOfPoints,ChkSum commands added to read out the mow point position values AT+RX,ExclusionIdx,ChkSum or AT+RX,ExclusionIdx,StartIdx,NumberOfPoints,ChkSum command added to read out the Exclusion point position values for exclusion ExclusionIdx [0-n] AT+RF or AT+RF,StartIdx,NumberOfPoints,ChkSum commands added to read out the free point position values

Target: Handling for apps to read out to actual used perimeter, exclusion, docking, waypoint values from mower to be able to use the same configuration in several app devices without needed internet server copy process

Handling:

  1. request output of waypoints count: AT+RN returns RN,#peri,#excl,#dock,#mow,#free (,chksum)
  2. request output of exclusion count: AT+RNX returns RNX,cntExclusions,cntPointsExclusion1,cntPointsExclusion2,cntPointsExclusion3,cntPointsExclusion4,... (,chksum)
  3. request output of perimeter points: AT+RP or AT+RP,StartIdx,NumberOfPoints,ChkSum (value of ChkSum is not important; important is the presence of the comma) returns RP,x,y,x,y,x,y,x,y,... (,chksum)
  4. request output of dock points: AT+RD or AT+RD,StartIdx,NumberOfPoints,ChkSum (value of ChkSum is not important; important is the presence of the comma) returns RD,x,y,x,y,x,y,x,y,... (,chksum)
  5. request output of mow points: AT+RM or AT+RM,StartIdx,NumberOfPoints,ChkSum (value of ChkSum is not important; important is the presence of the comma) returns RM,x,y,x,y,x,y,x,y,... (,chksum)
  6. request output of free points: AT+RF or AT+RF,StartIdx,NumberOfPoints,ChkSum (value of ChkSum is not important; important is the presence of the comma) returns RF,x,y,x,y,x,y,x,y,... (,chksum)
  7. request output of exclusion points: AT+RX,ExclusionIdx,ChkSum or AT+RX,ExclusionIdx,StartIdx,NumberOfPoints,ChkSum ExclusionIdx [0-n] (value of ChkSum is not important; important is the presence of the comma) returns RX,x,y,x,y,x,y,x,y,... (,chksum)

Using the read point commands without StartIdx and NumberOfPoints returns all points of the category. This is not possible at big numbers of points. Using the read point commands with StartIdx and NumberOfPoints returns at maximum NumberOfPoints points starting with the StartIdx. It returns less points if there are less points available. All used indexes start with 0 and end with available count - 1

Examples:

CON:AT+RN
RN,13,0,0,97,0,0xe0

CON:AT+RP
RP,1.88,-4.19,2.17,-5.18,6.17,-9.33,7.20,-8.68,8.56,-8.39,8.59,-7.43,8.29,-5.44,7.67,-3.23,7.22,-3.28,6.27,-2.96,4.76,-2.85,4.25,-2.63,3.82,-2.34,0x2d

CON:AT+RM
RM,1.88,-4.19,2.17,-5.18,6.17,-9.33,7.20,-8.68,8.56,-8.39,8.59,-7.43,8.29,-5.44,7.67,-3.23,7.22,-3.28,6.27,-2.96,4.76,-2.85,4.25,-2.63,3.82,-2.34,1.88,-4.19,1.88,-4.19,2.08,-4.17,6.63,-8.89,6.63,-8.89,6.79,-8.79,2.21,-4.06,2.21,-4.06,2.33,-3.93,6.94,-8.70,6.94,-8.70,7.10,-8.60,2.48,-3.81,2.48,-3.81,2.61,-3.69,7.29,-8.54,7.29,-8.54,7.50,-8.49,2.74,-3.56,2.74,-3.56,2.87,-3.44,7.71,-8.45,7.71,-8.45,7.91,-8.39,3.00,-3.31,3.00,-3.31,3.13,-3.19,8.12,-8.35,8.12,-8.35,8.33,-8.31,3.26,-3.07,3.26,-3.07,3.39,-2.94,8.43,-8.17,8.43,-8.17,8.43,-7.92,3.52,-2.82,3.52,-2.82,3.65,-2.70,8.45,-7.67,8.45,-7.67,8.46,-7.41,3.78,-2.57,3.78,-2.57,4.21,-2.75,8.41,-7.10,8.41,-7.10,8.35,-6.80,4.63,-2.93,4.63,-2.93,4.94,-2.99,8.32,-6.49,8.32,-6.49,8.27,-6.18,5.21,-3.01,5.21,-3.01,5.48,-3.03,8.22,-5.88,8.22,-5.88,8.18,-5.57,5.75,-3.05,5.75,-3.05,6.02,-3.07,8.09,-5.22,8.09,-5.22,7.99,-4.86,6.30,-3.11,6.30,-3.11,6.67,-3.23,7.89,-4.48,7.89,-4.48,7.78,-4.12,7.04,-3.35,7.04,-3.35,7.33,-3.40,7.68,-3.76,7.68,-3.76,7.58,-3.39,7.58,-3.39,2.20,-4.82,6.32,-9.08,6.32,-9.08,6.47,-8.99,2.09,-4.44,0xa4

-------

CON:AT+RN
RN,107,167,4,1605,0,0xe2

CON:AT+RNX
RNX,16,10,10,10,10,13,14,10,10,10,10,10,10,10,10,10,10,0x62

CON:AT+RP
RP,-1.04,-1.57,-2.51,-3.25,-2.70,-3.16,-3.03,-3.11,-3.30,-3.03,-3.57,-2.88,-3.76,-2.66,-4.26,-2.20,-6.02,-0.65,-6.09,-0.34,-5.42,0.39,-5.17,0.41,-3.42,-1.12,-2.06,0.32,-1.56,0.30,-1.38,0.21,-1.11,0.49,0.81,-0.95,0.29,-1.56,1.34,-2.34,1.65,-2.20,1.82,-2.32,2.25,-2.00,3.71,-3.29,7.31,0.69,7.43,0.86,10.52,-2.16,10.47,-2.60,9.74,-3.75,10.24,-5.46,11.71,-7.08,12.78,-8.14,13.08,-8.63,13.43,-9.13,13.43,-9.49,11.00,-13.00,8.39,-15.70,8.05,-15.67,7.66,-15.76,7.31,-16.01,7.05,-16.14,6.86,-16.11,6.68,-15.95,6.49,-15.82,6.19,-15.63,5.98,-15.47,5.69,-15.32,5.19,-15.13,4.77,-15.04,4.05,-15.00,3.28,-14.94,2.61,-14.77,1.58,-14.33,0.82,-14.06,-0.17,-13.81,-1.04,-13.62,-2.07,-13.55,-3.18,-13.57,-4.36,-13.62,-5.79,-13.62,-6.43,-13.60,-6.95,-13.64,-7.31,-13.68,-7.68,-13.62,-7.99,-13.41,-8.30,-13.28,-8.64,-13.32,-9.05,-13.51,-9.80,-14.25,-10.14,-14.23,-17.98,-5.21,-18.01,-4.94,-16.04,-3.18,-14.14,-1.35,-13.46,-1.36,-11.21,0.67,-10.64,0.56,-8.18,-2.15,-8.13,-2.40,-8.22,-2.70,-8.28,-2.97,-8.26,-3.34,-8.16,-3.66,-8.00,-3.99,-7.64,-4.56,-7.10,-5.38,-6.93,-5.67,-6.53,-6.15,-5.26,-7.52,-4.91,-7.86,-4.78,-8.08,-4.69,-8.34,-4.65,-8.63,-4.57,-8.97,-4.40,-9.30,-3.87,-10.08,-2.91,-11.19,-1.05,-9.80,-2.21,-8.26,-2.24,-7.99,-1.78,-7.27,-1.46,-6.65,-1.22,-5.94,-1.05,-5.44,-0.93,-5.14,-0.66,-4.75,0.77,-3.19,0x08

CON:AT+RD
RD,-9.89,-1.09,-10.60,-0.32,-11.27,-0.12,-12.14,0.90,0x00

CON:AT+RF
RF,0x98

CON:AT+RX,0,
RX,7.14,-1.40,7.26,-1.83,7.61,-2.15,8.07,-2.16,8.47,-1.96,8.64,-1.51,8.52,-1.04,8.14,-0.74,7.67,-0.76,7.29,-1.03,0xad

CON:AT+RX,1,
RX,5.55,-1.99,5.13,-2.18,4.92,-2.60,4.98,-2.99,5.29,-3.30,5.74,-3.38,6.15,-3.13,6.32,-2.76,6.22,-2.33,5.96,-2.08,0xbb

CON:AT+RX,2,
RX,8.89,-5.24,8.97,-4.88,8.84,-4.48,8.46,-4.19,8.01,-4.23,7.66,-4.51,7.57,-4.96,7.74,-5.38,8.17,-5.60,8.62,-5.52,0xf6

CON:AT+RX,3,
RX,5.43,-7.26,5.00,-7.11,4.56,-7.24,4.28,-7.56,4.23,-7.99,4.48,-8.34,4.86,-8.51,5.31,-8.45,5.61,-8.09,5.63,-7.63,0xcf

CON:AT+RX,4,
RX,2.03,-6.69,1.93,-6.24,1.62,-5.97,1.20,-5.84,0.83,-5.94,0.46,-6.22,0.30,-6.61,0.35,-7.02,0.56,-7.33,0.91,-7.54,1.36,-7.55,1.74,-7.36,1.96,-7.03,0xf1

CON:AT+RX,5,
RX,2.00,-8.95,1.63,-8.78,1.22,-8.78,0.83,-8.97,0.58,-9.28,0.48,-9.66,0.62,-10.09,0.85,-10.37,1.21,-10.54,1.61,-10.53,1.93,-10.40,2.21,-10.13,2.33,-9.64,2.22,-9.28,0x2a

...

CON:AT+RX,15,
RX,-11.31,-2.40,-10.96,-2.42,-10.52,-2.25,-10.32,-1.77,-10.47,-1.28,-10.84,-1.03,-11.26,-1.05,-11.61,-1.35,-11.71,-1.73,-11.63,-2.11,0x0e

CON:AT+RM,0,100,
RM,-0.22,-0.67,0.15,-1.11,0.24,-1.01,0.24,-1.01,0.02,-1.26,-0.92,-0.15,-1.05,-0.04,-1.17,-0.15,-0.11,-1.42,-0.11,-1.42,0.00,-1.59,0.52,-0.98,-1.08,0.22,-1.34,-0.04,-1.60,0.10,-1.98,0.12,-3.41,-1.40,-5.23,0.20,-5.32,0.20,-5.87,-0.41,-5.85,-0.52,-4.13,-2.05,-3.61,-2.52,-3.45,-2.72,-3.20,-2.86,-3.00,-2.91,-2.64,-2.97,-2.56,-3.01,-1.09,-1.35,1.01,-3.21,-0.51,-4.88,-0.75,-5.22,-0.87,-5.50,-1.03,-6.01,-1.28,-6.72,-1.60,-7.38,-2.03,-8.03,-2.01,-8.18,-0.78,-9.84,-2.95,-11.47,-4.04,-10.20,-4.57,-9.41,-4.76,-9.05,-4.85,-8.66,-4.89,-8.38,-4.96,-8.17,-5.07,-7.97,-5.40,-7.66,-6.69,-6.28,-7.09,-5.78,-7.27,-5.49,-7.81,-4.66,-8.18,-4.08,-8.34,-3.73,-8.47,-3.38,-8.47,-2.95,-8.42,-2.65,-8.34,-2.39,-8.37,-2.23,-10.75,0.38,-11.15,0.46,-13.39,-1.56,-14.06,-1.56,-15.90,-3.33,-15.95,-3.37,-16.11,-3.40,-16.58,-3.91,-16.59,-3.94,-17.79,-5.04,-17.79,-5.12,-10.04,-14.03,-9.89,-14.04,-9.17,-13.34,-8.71,-13.12,-8.26,-13.07,-7.89,-13.24,-7.61,-13.43,-7.33,-13.48,-6.97,-13.44,-6.44,-13.41,-5.79,-13.42,-4.35,-13.42,-3.18,-13.37,-2.07,-13.35,-1.01,-13.42,-0.13,-13.62,0.87,-13.86,1.66,-14.14,2.68,-14.59,3.32,-14.74,4.06,-14.80,4.81,-14.84,5.25,-14.93,5.77,-15.13,6.09,-15.30,6.30,-15.46,6.59,-15.65,6.80,-15.79,6.95,-15.93,7.01,-15.93,0x4a

CON:AT+RM,100,100,
RM,7.20,-15.84,7.57,-15.58,8.02,-15.46,8.31,-15.49,10.86,-12.86,13.24,-9.43,13.23,-9.20,12.91,-8.75,12.62,-8.27,11.57,-7.22,10.06,-5.56,9.52,-3.72,10.27,-2.55,10.31,-2.24,8.88,-0.84,8.87,-0.80,8.68,-0.67,7.45,0.55,5.53,-1.58,5.51,-1.58,5.10,-1.75,5.09,-1.77,7.31,0.69,7.43,0.85,10.52,-2.16,10.47,-2.60,9.74,-3.75,10.22,-5.46,11.71,-7.08,12.78,-8.14,13.08,-8.63,13.43,-9.13,13.43,-9.49,11.00,-13.00,8.39,-15.70,8.04,-15.67,7.66,-15.76,7.31,-16.01,7.06,-16.14,6.86,-16.11,6.67,-15.95,6.49,-15.82,6.19,-15.63,5.98,-15.46,5.69,-15.32,5.19,-15.13,4.77,-15.04,4.05,-15.00,3.28,-14.94,2.60,-14.77,1.59,-14.33,0.81,-14.05,-0.17,-13.81,-1.04,-13.62,-2.07,-13.55,-3.18,-13.57,-4.36,-13.62,-5.79,-13.62,-6.43,-13.61,-6.95,-13.64,-7.31,-13.68,-7.68,-13.62,-7.99,-13.41,-8.30,-13.28,-8.64,-13.32,-9.05,-13.51,-9.81,-14.25,-10.14,-14.22,-17.98,-5.21,-18.01,-4.94,-16.04,-3.18,-14.14,-1.35,-13.46,-1.36,-11.21,0.67,-10.64,0.56,-8.18,-2.14,-8.13,-2.40,-8.22,-2.69,-8.28,-2.97,-8.26,-3.34,-8.16,-3.66,-8.00,-3.98,-7.64,-4.56,-7.10,-5.38,-6.93,-5.67,-6.54,-6.15,-5.26,-7.52,-4.91,-7.85,-4.77,-8.08,-4.69,-8.33,-4.65,-8.63,-4.57,-8.97,-4.40,-9.30,-3.88,-10.08,-2.92,-11.19,-1.05,-9.80,-2.21,-8.25,-2.24,-7.99,-1.78,-7.28,-1.46,-6.64,0xf2

CON:AT+RM,200,100,
RM,-1.22,-5.95,-1.05,-5.44,-0.93,-5.14,-0.66,-4.75,0.73,-3.23,-1.07,-1.63,-2.51,-3.25,-2.70,-3.16,-3.03,-3.11,-3.30,-3.03,-3.57,-2.88,-3.76,-2.66,-4.26,-2.20,-6.03,-0.64,-6.08,-0.34,-5.42,0.39,-5.17,0.42,-3.42,-1.12,-2.06,0.32,-1.56,0.30,-1.37,0.21,-1.11,0.48,0.81,-0.95,0.29,-1.56,1.34,-2.34,1.65,-2.20,1.83,-2.32,2.25,-2.00,3.72,-3.29,4.63,-2.27,4.51,-2.54,4.53,-2.69,3.73,-3.58,2.24,-2.26,1.83,-2.56,1.63,-2.43,1.31,-2.58,0.00,-1.59,0.00,-1.59,-0.07,-1.78,0.58,-2.56,-0.44,-1.65,-1.75,-0.10,-1.65,-0.10,-1.35,-0.26,-0.24,-1.58,-0.28,-1.62,-0.28,-1.62,0.64,-2.32,4.44,-6.85,4.65,-6.79,1.31,-2.80,1.29,-2.81,1.29,-2.81,1.49,-2.71,4.86,-6.73,5.01,-6.68,5.12,-6.72,1.81,-2.79,1.61,-2.65,1.61,-2.65,1.99,-2.69,5.49,-6.85,5.70,-6.93,6.00,-7.47,7.18,-8.87,7.32,-8.72,2.15,-2.57,2.15,-2.57,2.81,-3.04,7.46,-8.58,7.55,-8.49,7.63,-8.47,3.76,-3.86,3.75,-3.86,3.75,-3.86,3.89,-3.71,7.84,-8.41,8.05,-8.35,4.03,-3.55,4.03,-3.55,4.16,-3.40,8.33,-8.37,8.82,-8.64,4.30,-3.26,4.30,-3.26,4.42,-3.11,11.52,-11.56,11.64,-11.38,5.19,-3.70,5.09,-3.68,4.62,-3.17,4.59,-2.98,4.57,-2.95,4.57,-2.95,4.81,-3.08,5.19,-3.49,5.78,-3.59,6.31,-3.27,6.53,-2.77,0x0f

...

CON:AT+RM,1600,100,
RM,7.32,-1.89,6.13,-1.71,5.92,-1.45,5.79,-1.61,5.81,-1.64,0x25
SirVival71 commented 11 months ago

Conflict to Master 1.0.309 solved

SirVival71 commented 9 months ago

Updated to 1.0.314