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Mowing Commands

All mowing commands are sent to Dart/Send_mqtt/<SN>.

start_run

Start a mowing session.

Direction: App → Charger (via MQTT) → Mower (via LoRa) LoRa mapping: Queue 0x20, payload [0x35, 0x01, mapName, area, cutterHeight] ROS service: /robot_decision/start_cov_task → StartCoverageTask.srv

Command
{
  "start_run": {
    "mapName": "map0",
    "cutGrassHeight": 5,
    "workArea": "map0",
    "startWay": "app",
    "schedule": false,
    "scheduleId": "",
    "mapNames": ["map0"]
  }
}
Field Type Description
mapName string Map to mow
cutGrassHeight number Blade height (0-7, height = (level+2)×10 mm)
workArea string Working area name
startWay string Trigger source: "app" or "schedule"
schedule boolean Is this a scheduled mow?
scheduleId string Schedule UUID if scheduled
mapNames string[] List of map names to mow
Response
{
  "type": "start_run_respond",
  "message": {
    "result": 0,
    "value": null
  }
}

ROS Service: StartCoverageTask.srv

The mower's mqtt_node translates this to a ROS 2 service call:

uint8 NORMAL=0              # Mow saved map
uint8 SPECIFIED_AREA=1      # Mow within provided polygon (GPS points)
uint8 BOUNDARY_COV=2        # Boundary-only mowing

uint8 cov_mode              # Mowing mode (0/1/2)
uint8 request_type          # Source: 11=app, 12=schedule, 21=MCU, 22=MCU schedule
uint32 map_ids              # Map ID (priority over map_names if > 0)
string[] map_names          # Map names to mow
geometry_msgs/Point[] polygon_area  # GPS polygon (for SPECIFIED_AREA)
uint8[] blade_heights       # Blade heights (0-7)
bool specify_direction
uint8 cov_direction         # Mowing direction 0-180°
uint8 light                 # LED brightness
bool specify_perception_level
uint8 perception_level      # 0=off, 1=detection, 2=segmentation, 3=sensitive
uint8 blade_info_level      # 0=default, 1=all off, 2=buzzer, 3=LED, 4=all on
bool night_light            # Allow night LED
bool enable_loc_weak_mapping
bool enable_loc_weak_working
---
bool result

SPECIFIED_AREA mode

With cov_mode=1, the mower can mow within GPS polygon coordinates passed via polygon_area, without needing a saved map on the device.

stop_run

Stop the current mowing session.

LoRa mapping: Queue 0x23, payload [0x35, 0x07] ROS service: /robot_decision/stop_task

Command
{
  "stop_run": {}
}
Response
{
  "type": "stop_run_respond",
  "message": { "result": 0, "value": null }
}

pause_run

Pause the current mowing session.

LoRa mapping: Queue 0x21, payload [0x35, 0x03]

Command
{
  "pause_run": {}
}
Response
{
  "type": "pause_run_respond",
  "message": { "result": 0, "value": null }
}

resume_run

Resume a paused mowing session.

LoRa mapping: Queue 0x22, payload [0x35, 0x05]

Command
{
  "resume_run": {}
}
Response
{
  "type": "resume_run_respond",
  "message": { "result": 0, "value": null }
}

stop_time_run

Stop a timer/scheduled mowing task.

LoRa mapping: Queue 0x24, payload [0x35, 0x09]

Command
{
  "stop_time_run": {}
}

See also Device Management → Timer/Scheduling for timer_task, timer_task_active, and timer_task_stop.

Mowing Command Flow

sequenceDiagram
    participant App
    participant Server as MQTT Broker
    participant Charger
    participant Mower

    App->>Server: MQTT: start_run {mapName, cutGrassHeight}
    Server->>Charger: Forward on Dart/Send_mqtt/LFIC...
    Charger->>Charger: Translate to LoRa [0x35, 0x01, ...]
    Charger->>Mower: LoRa packet
    Mower->>Mower: ROS: start_cov_task
    Mower-->>Charger: LoRa ACK
    Charger-->>Server: MQTT: start_run_respond
    Server-->>App: Forward response

    loop Every ~5 seconds
        Mower->>Server: MQTT: report_state_robot (AES encrypted)
        Server->>Server: Decrypt AES-128-CBC
        Server->>App: Forward decrypted status
    end

    App->>Server: MQTT: stop_run
    Server->>Charger: Forward
    Charger->>Mower: LoRa [0x35, 0x07]
    Mower-->>Charger: LoRa ACK
    Charger-->>Server: MQTT: stop_run_respond

Complete Command Summary

Command Response LoRa Queue LoRa Payload ROS Service
start_run start_run_respond 0x20 [0x35, 0x01, mapName, area(2B), cutterHeight] /robot_decision/start_cov_task
stop_run stop_run_respond 0x23 [0x35, 0x07] /robot_decision/stop_task
pause_run pause_run_respond 0x21 [0x35, 0x03] —
resume_run resume_run_respond 0x22 [0x35, 0x05] —
stop_time_run stop_time_run_respond 0x24 [0x35, 0x09] —

LoRa ACK mechanism

For all LoRa-relayed commands, the charger:

  1. Resets ACK flag (DAT_42000c88 = 0)
  2. Sends LoRa queue byte with 1000ms timeout
  3. Polls up to 3 times (1000ms each) for ACK:
    • 0x01 = success → result: 0
    • 0x101 = failure → result: 1
  4. After 3 failures → timeout → result: 1