Device Management Commands¶

Parameters¶

get_para_info¶

Get advanced device settings.

Command

{
  "get_para_info": {}
}

Response

{
  "type": "get_para_info_respond",
  "message": {
    "result": 0,
    "value": {
      "obstacle_avoidance_sensitivity": 3,
      "target_height": 50,
      "defaultCuttingHeight": 5,
      "path_direction": 90,
      "cutGrassHeight": 5
    }
  }
}

Parameter	Description
`obstacle_avoidance_sensitivity`	Obstacle detection sensitivity (1-5)
`target_height`	Target mowing height (mm)
`defaultCuttingHeight`	Default blade height level (0-7)
`path_direction`	Mowing path direction (0-180°)
`cutGrassHeight`	Current cutting height setting

set_para_info¶

Set advanced device settings.

Command

{
  "set_para_info": {
    "obstacle_avoidance_sensitivity": 3,
    "defaultCuttingHeight": 5,
    "path_direction": 90
  }
}

Response

{
  "type": "set_para_info_respond",
  "message": { "result": 0, "value": null }
}

PIN Code¶

dev_pin_info¶

Query or set the device PIN code.

Command (query)

{
  "dev_pin_info": {
    "action": "query"
  }
}

Command (set)

{
  "dev_pin_info": {
    "action": "set",
    "pin_code": "1234"
  }
}

Response

{
  "type": "dev_pin_info_respond",
  "message": {
    "result": 0,
    "value": {
      "pin_code": "1234"
    }
  }
}

no_set_pin_code¶

Flag indicating no PIN code has been set.

OTA Firmware Update¶

ota_version_info¶

Query current firmware versions.

v0.4.0 firmware requires null value

Same as get_lora_info — charger firmware v0.4.0 uses cJSON_IsNull().

v0.4.0 (encrypted)v0.3.6 (plain JSON)

Command

{
  "ota_version_info": null
}

Command

{
  "ota_version_info": {}
}

Response

{
  "type": "ota_version_info_respond",
  "message": {
    "result": 0,
    "value": {
      "mower_version": "v5.7.1",
      "charger_version": "v0.3.6",
      "mcu_version": "v3.5.8"
    }
  }
}

Handled locally by charger

ota_version_info is handled locally by the charger firmware — it does NOT relay via LoRa.

ota_upgrade_cmd¶

Start an OTA firmware upgrade. The command contains the download URL, target version, and MD5 hash.

Command (full firmware upgrade)

{
  "ota_upgrade_cmd": {
    "type": "full",
    "content": {
      "upgradeApp": {
        "version": "v5.7.1",
        "downloadUrl": "https://<oss-host>/novabot-file/<firmware-file>.deb",
        "md5": "<md5-checksum>"
      }
    }
  }
}

Response

{
  "type": "ota_upgrade_cmd_respond",
  "message": {
    "result": 0,
    "value": null
  }
}

Upgrade types:

Type	Description
`full`	Full firmware replacement (.deb for mower, .bin for charger)
`increment`	Incremental app update
`file_update`	Individual file updates (.zip with `check.json` manifest)

| system | System upgrade via apt full-upgrade && reboot |

Security

There is no authentication on this command. Any MQTT message on Dart/Send_mqtt/<SN> with ota_upgrade_cmd triggers a firmware download and install. The download URL is not validated — it can point to any server.

Mower processing:

mqtt_node receives command, forwards JSON to ota_client_node via ROS 2 service /ota_upgrade_srv
ota_client_node waits for charging state (download only while charging)
Downloads .deb via libcurl (resume-capable, max 24h timeout)
Verifies MD5 checksum
Extracts with dpkg -x, sets upgrade flag, reboots
run_ota.sh performs atomic swap with rollback on failure

Charger processing:

Charger handles command locally (no LoRa relay)
Downloads firmware via esp_https_ota() (ESP-IDF library)
Writes to inactive OTA partition, switches boot partition, reboots

See OTA Update Flow for the complete pipeline.

ota_upgrade_state¶

Unsolicited progress updates during OTA upgrade. Published by the device continuously during download and installation.

Status (device → app)

{
  "type": "ota_upgrade_state",
  "message": {
    "progress": 45,
    "state": "downloading"
  }
}

State	Description
`downloading`	Firmware package being downloaded
`upgrading`	Installing firmware
`success`	Update completed successfully
`fail`	Update failed

Robot Diagnostics¶

New — discovered in mower firmware

These commands are handled directly by the mower's mqtt_node (not relayed via charger LoRa).

get_current_pose¶

Query the mower's current position directly.

Command

{
  "get_current_pose": {}
}

Response

{
  "type": "get_current_pose_respond",
  "message": {
    "result": 0,
    "value": {
      "x": 1.234,
      "y": -5.678,
      "theta": 1.57
    }
  }
}

get_vel_odom¶

Query velocity and odometry data.

Command

{
  "get_vel_odom": {}
}

Response

{
  "type": "get_vel_odom_respond",
  "message": { "result": 0, "value": null }
}

get_log_info¶

Query device log information.

Command

{
  "get_log_info": {}
}

Response

{
  "type": "get_log_info_respond",
  "message": { "result": 0, "value": null }
}

get_version_info¶

Get firmware version information.

Command

{
  "get_version_info": {}
}

Response

{
  "type": "get_version_info_respond",
  "message": { "result": 0, "value": null }
}

get_dev_info¶

Get device information.

Command

{
  "get_dev_info": {}
}

Response

{
  "type": "get_dev_info_respond",
  "message": { "result": 0, "value": null }
}

gbf¶

Unknown diagnostic command (short name suggests debug/factory command).

Command

{
  "gbf": {}
}

Response

{
  "type": "gbf_respond",
  "message": { "result": 0, "value": null }
}

mst¶

Unknown diagnostic command (short name suggests debug/factory command).

Command

{
  "mst": {}
}

Response

{
  "type": "mst_respond",
  "message": { "result": 0, "value": null }
}

Control Mode¶

set_control_mode¶

Switch between control modes (e.g., manual vs autonomous).

Command

{
  "set_control_mode": {
    "mode": 0
  }
}

Response

{
  "type": "set_control_mode_respond",
  "message": { "result": 0, "value": null }
}

get_control_mode¶

Get the current control mode.

Command

{
  "get_control_mode": {}
}

Response

{
  "type": "get_control_mode_respond",
  "message": {
    "result": 0,
    "value": {
      "mode": 0
    }
  }
}

System Commands¶

reset_factory¶

Trigger a factory reset on the mower. The mower subscribes to this command.

Command

{
  "reset_factory": {}
}

Destructive

This resets the mower to factory defaults. No explicit response is sent.

reset_utm_origin_info¶

Reset the UTM GPS origin reference point used by the localization module.

Command

{
  "reset_utm_origin_info": {}
}

ROS service: Uses SaveUtmOriginInfo.srv / LoadUtmOriginInfo.srv internally.

wifi_ble_active¶

Activate/reactivate the WiFi and BLE radios.

Command

{
  "wifi_ble_active": {}
}

WiFi¶

get_wifi_rssi¶

Get WiFi signal strength.

Command

{
  "get_wifi_rssi": {}
}

Response

{
  "type": "get_wifi_rssi_respond",
  "message": {
    "result": 0,
    "value": {
      "rssi": -55
    }
  }
}

Timer / Scheduling¶

timer_task¶

Push a timer/scheduled task to the mower.

Command

{
  "timer_task": {
    "task_id": "uuid",
    "start_time": "08:00",
    "end_time": "12:00",
    "map_id": 0,
    "map_name": "map0",
    "repeat_type": "weekly",
    "is_timer": true,
    "work_mode": 0,
    "task_mode": 0,
    "cov_direction": 90,
    "path_direction": 90
  }
}

No explicit response

The mower acknowledges timer updates via report_state_timer_data which includes the current timer task list.

timer_task_active¶

Activate a scheduled timer task.

Command

{
  "timer_task_active": {
    "task_id": "uuid"
  }
}

timer_task_stop¶

Stop a scheduled timer task.

Command

{
  "timer_task_stop": {
    "task_id": "uuid"
  }
}

Connection¶

auto_connect¶

Auto-connect command.

Command

{
  "auto_connect": {}
}

connection_state¶

Connection state change (unsolicited from device).

Status (device → app)

{
  "type": "connection_state",
  "message": {
    "state": "connected"
  }
}

LoRa Configuration¶

get_lora_info¶

Get LoRa module configuration. Handled locally by charger (no LoRa relay).

v0.4.0 firmware requires null value

Charger firmware v0.4.0 uses cJSON_IsNull() to validate this command. You must send null as the value, not 0 or {}.

v0.4.0 (encrypted)v0.3.6 (plain JSON)

Command

{
  "get_lora_info": null
}

Command

{
  "get_lora_info": 0
}

Response

{
  "type": "get_lora_info_respond",
  "message": {
    "result": 0,
    "value": {
      "addr": 718,
      "channel": 16,
      "hc": 20,
      "lc": 14
    }
  }
}

Complete Command Summary¶

Parameters & PIN¶

Command	Response	Handled by
`get_para_info`	`get_para_info_respond`	Mower (direct MQTT)
`set_para_info`	`set_para_info_respond`	Mower (direct MQTT)
`dev_pin_info`	`dev_pin_info_respond`	Mower (direct MQTT)
`no_set_pin_code`	— (flag)	Mower

OTA Firmware¶

Command	Response	Handled by
`ota_version_info`	`ota_version_info_respond`	Charger (local) or Mower (direct MQTT)
`ota_upgrade_cmd`	`ota_upgrade_cmd_respond`	Charger (local) or Mower (direct MQTT, via ota_client_node)
`ota_upgrade_state`	— (unsolicited)	Charger or Mower (progress updates during OTA)

Timer / Scheduling¶

Command	Response	Handled by
`timer_task`	via `report_state_timer_data`	Mower
`timer_task_active`	—	Mower
`timer_task_stop`	—	Mower

Diagnostics (mower only)¶

Command	Response	Description
`get_current_pose`	`get_current_pose_respond`	Current position (x, y, theta)
`get_vel_odom`	`get_vel_odom_respond`	Velocity/odometry
`get_log_info`	`get_log_info_respond`	Device logs
`get_version_info`	`get_version_info_respond`	Firmware versions
`get_dev_info`	`get_dev_info_respond`	Device info
`get_wifi_rssi`	`get_wifi_rssi_respond`	WiFi signal strength
`gbf`	`gbf_respond`	Unknown (debug/factory)
`mst`	`mst_respond`	Unknown (debug/factory)

Control Mode (mower only)¶

Command	Response	Description
`set_control_mode`	`set_control_mode_respond`	Switch control mode
`get_control_mode`	`get_control_mode_respond`	Query control mode

System (mower only)¶

Command	Response	Description
`reset_factory`	—	Factory reset
`reset_utm_origin_info`	—	Reset GPS origin
`wifi_ble_active`	—	Reactivate radios

Connection & LoRa¶

Command	Response	Handled by
`auto_connect`	—	—
`get_lora_info`	`get_lora_info_respond`	Charger (local, no LoRa)