Status Reports¶

Status reports are unsolicited messages sent periodically by devices. They are NOT responses to commands.

Charger Reports¶

up_status_info¶

Main status update from the charger. Published every ~2 seconds.

Topic: Dart/Receive_mqtt/LFIC1230700XXX Encryption: None (plain JSON)

Payload

{
  "type": "up_status_info",
  "message": {
    "charger_status": 285212929,
    "mower_status": 0,
    "mower_x": 0,
    "mower_y": 0,
    "mower_z": 0,
    "mower_info": 0,
    "mower_info1": 0,
    "mower_error": 0,
    "battery_capacity": 100
  }
}

charger_status Bitfield¶

Bit(s)	Mask	Source	Meaning
Bit 0	`0x00000001`	GPS NMEA parser	GPS valid (< 5 consecutive GNGGA parse failures)
Bit 8	`0x00000100`	RTK quality check	RTK quality OK (< 5 consecutive altitude deviations)
Middle bits	`DAT_420013b8`	LoRa RSSI	OR'd when LoRa RSSI in valid range (1-145)
Bits 24-31	`0xFF000000`	GNGGA field 8	GPS satellite count (shifted << 24)

Example values:

Value (hex)	Byte 3 (sats)	Bits	Meaning
`0x00000000`	0 sats	none	No GPS, no RTK, no LoRa
`0x0E000101`	14 sats	GPS + RTK	14 satellites, GPS and RTK OK
`0x10000101`	16 sats	GPS + RTK	16 satellites, GPS and RTK OK
`0x11000101`	17 sats	GPS + RTK	17 satellites, GPS and RTK OK

mower_error Field¶

Not an error counter from the mower

mower_error is a LoRa heartbeat failure counter on the charger:

Charger polls mower with LoRa [0x34, 0x01] every ~1.5 seconds
Mower responds → counter resets to 0
No response → counter increments by 1
Only reported when counter >= 2 (filters brief interruptions)

Mower Position Fields¶

Mower position is received via LoRa from the mower's status report (19 bytes):

Field	LoRa Bytes	Encoding	Description
`mower_status`	[7-10]	uint32 LE	Operational status
`mower_info`	[11-14]	uint32 LE	Info field 1
`mower_x`	[15-17]	uint24 LE	X position (local meters)
`mower_y`	[18-20]	uint24 LE	Y position (local meters)
`mower_z`	[21-23]	uint24 LE	Z / heading
`mower_info1`	[24-25]	uint16 LE	Info field 2

Mower Reports¶

The mower sends 3 JSON messages per cycle (~5 second interval), all AES-128-CBC encrypted.

report_state_robot¶

Main status report (~750B JSON, 800B encrypted).

Topic: Dart/Receive_mqtt/LFIN2230700XXX Encryption: AES-128-CBC

Decrypted payload

{
  "type": "report_state_robot",
  "message": {
    "battery_power": 100,
    "battery_state": "CHARGING",
    "work_status": 0,
    "error_status": 132,
    "error_msg": "",
    "cpu_temperature": 35,
    "x": 0,
    "y": 0,
    "z": 0,
    "loc_quality": 100,
    "current_map_id": "",
    "prev_state": 0,
    "work_mode": 0,
    "task_mode": 0,
    "recharge_status": 0,
    "charger_status": 0,
    "mow_blade_work_time": 72720,
    "working_hours": 0,
    "ota_state": 0,
    "mowing_progress": 0,
    "covering_area": 0,
    "finished_area": 0,
    "sw_version": "v0.3.25",
    "mow_speed": 0.0,
    "cpu_usage": 45,
    "memory_remaining": 512,
    "disk_remaining": 2048,
    "theta": 1.57,
    "perception_level": 1,
    "pipe_charge_status": 0,
    "cov_area": 75.5,
    "cov_ratio": 0.45,
    "cov_estimate_time": 30.0,
    "cov_remaining_area": 50.2,
    "cov_work_time": 25.0,
    "cov_direction": 90,
    "cov_map_path": "map0",
    "current_map_ids": 0,
    "target_height": 5,
    "map_num": 2,
    "finished_num": 1,
    "working_time": 120,
    "gps_status": 1,
    "light": 3,
    "cmd_num": 42
  }
}

Field	Type	Description
`battery_power`	number	Battery percentage (0-100)
`battery_state`	string	`"CHARGING"`, `"DISCHARGING"`, `"NOT_INITIALIZED"`
`work_status`	number	Work status (0=idle, see ROS Status Enums)
`error_status`	number	Error code (see Error Codes)
`error_msg`	string	Error message text
`cpu_temperature`	number	CPU temperature (°C)
`cpu_usage`	number	CPU usage percentage
`memory_remaining`	number	Remaining memory (MB)
`disk_remaining`	number	Remaining disk space (MB)
`x`, `y`	number	Local position coordinates (meters)
`z`	number	Heading / orientation
`theta`	number	Robot heading angle (radians)
`loc_quality`	number	Localization quality (0-100%)
`current_map_id`	string	Active map ID
`current_map_ids`	number	Current mowing map ID (numeric)
`prev_state`	number	Previous state
`work_mode`	number	Work mode
`task_mode`	number	Task mode (cover/mapping/patrol/control)
`recharge_status`	number	Recharge status
`charger_status`	number	Charger connection status
`pipe_charge_status`	number	Charging pipe/station status
`gps_status`	number	GPS status
`mow_blade_work_time`	number	Total blade work time (seconds)
`working_hours`	number	Current session work hours
`working_time`	number	Software runtime (minutes)
`ota_state`	number	OTA update state
`mowing_progress`	number	Mowing progress (0-100%)
`covering_area`	number	Current coverage area
`finished_area`	number	Completed area
`sw_version`	string	Firmware version
`mow_speed`	number	Current mowing speed
`perception_level`	number	AI perception: 0=off, 1=detection, 2=segmentation, 3=sensitive
`light`	number	LED brightness level
`cmd_num`	number	Command sequence number

Coverage Fields (during mowing)¶

Field	Type	Description
`cov_area`	number	Total covered area (m²)
`cov_ratio`	number	Coverage ratio (0.0-1.0)
`cov_estimate_time`	number	Estimated remaining time (minutes)
`cov_remaining_area`	number	Remaining area to mow (m²)
`cov_work_time`	number	Coverage work time elapsed (minutes)
`cov_direction`	number	Coverage mowing direction (0-180°)
`cov_map_path`	string	Map path being covered
`target_height`	number	Target cutting height (0-7 levels)
`map_num`	number	Total map count in current task
`finished_num`	number	Finished map count

report_exception_state¶

Exception/sensor status (~100B JSON, 144B encrypted).

Decrypted payload

{
  "type": "report_exception_state",
  "message": {
    "button_stop": false,
    "chassis_err": 0,
    "pin_code": "",
    "rtk_sat": 29,
    "wifi_rssi": 55
  }
}

Field	Type	Description
`button_stop`	boolean	Emergency stop pressed
`chassis_err`	number	Chassis error code
`pin_code`	string	PIN code status
`rtk_sat`	number	RTK GPS satellite count
`wifi_rssi`	number	WiFi signal strength

report_state_timer_data¶

Battery, GPS position, localization, and timer tasks (~440B JSON, 480-496B encrypted).

Decrypted payload

{
  "type": "report_state_timer_data",
  "message": {
    "battery_capacity": 100,
    "battery_state": "CHARGING",
    "latitude": 52.1409,
    "longitude": 6.2310,
    "orient_flag": 0,
    "localization_state": "NOT_INITIALIZED",
    "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
      }
    ]
  }
}

Field	Type	Description
`battery_capacity`	number	Battery percentage
`battery_state`	string	Charge state
`latitude`	number	GPS latitude
`longitude`	number	GPS longitude
`orient_flag`	number	Orientation flag
`localization_state`	string	`"NOT_INITIALIZED"`, `"INITIALIZED"`, etc.
`timer_task`	array	Scheduled task list

report_state_map_outline¶

Map boundary data (sent after get_map_outline request or after mapping).

Payload

{
  "type": "report_state_map_outline",
  "message": {
    "map_id": 0,
    "map_name": "map0_work",
    "map_type": 0,
    "map_position": [
      {"latitude": 52.1409, "longitude": 6.2310},
      {"latitude": 52.1412, "longitude": 6.2310},
      {"latitude": 52.1412, "longitude": 6.2315}
    ]
  }
}

report_state_map_path_list¶

Map path list data (sent by mower).

Payload

{
  "type": "report_state_map_path_list",
  "message": {
    "map_paths": []
  }
}

report_state_unbind¶

Device unbind notification (sent by mower when factory reset or unbind occurs).

Payload

{
  "type": "report_state_unbind",
  "message": {}
}

report_state_all_by_ble / report2_state_all_by_ble¶

Full state dump sent via BLE. These are comprehensive status messages used during BLE provisioning or diagnostics.

Payload

{
  "type": "report_state_all_by_ble",
  "message": { ... }
}

BLE-specific

These reports contain the same fields as report_state_robot + report_exception_state combined, used when the mower communicates via BLE instead of MQTT.

Server-Specific Reports¶

Published on Dart/Receive_server_mqtt/<SN>

These reports use a separate MQTT topic from the standard app-facing reports. They are intended for the server and include acknowledge responses.

report_state_to_server_exception¶

Exception report sent to the server (with server-side acknowledge).

Topic: Dart/Receive_server_mqtt/LFIN2230700XXX

Payload

{
  "type": "report_state_to_server_exception",
  "message": {
    "error_status": 132,
    "error_msg": "Data transmission loss"
  }
}

Server acknowledge

{
  "type": "report_state_to_server_exception_respond",
  "message": { "result": 0 }
}

report_state_to_server_work¶

Work result report sent to the server (with server-side acknowledge).

Topic: Dart/Receive_server_mqtt/LFIN2230700XXX

Payload

{
  "type": "report_state_to_server_work",
  "message": {
    "work_status": 9,
    "cov_area": 150.0,
    "cov_work_time": 45.0,
    "map_ids": 0,
    "target_height": 5
  }
}

Server acknowledge

{
  "type": "report_state_to_server_work_respond",
  "message": { "result": 0 }
}

report_state_battery¶

Battery status report.

Payload

{
  "type": "report_state_battery",
  "message": {
    "battery_capacity": 85,
    "battery_state": "DISCHARGING"
  }
}

report_state_work¶

Work/mowing status report.

Payload

{
  "type": "report_state_work",
  "message": {
    "work_status": 1,
    "work_mode": 0,
    "mowing_progress": 45,
    "covering_area": 75.5,
    "finished_area": 34.0
  }
}

report_exception_state¶

See above (sent by mower).

Error Codes¶

Selected error codes from mower_error_text.dart:

Category	Examples
Motor/Hardware	Blade motor stalled, wheel motor overcurrent, emergency stop, lifted, tilted, turned over
Physical	Collided, wheels slipping, outside map
Battery	Out of power, low battery
Sensors	TOF hardware malfunction, front camera malfunction, chassis error
Mapping	Mapping module error, mapping failed, map upload failed
Charging	Failed to obtain charging location, QR code not found, unable to leave station
GPS	GPS signal weak, poor location quality
Network	Network configuration error, WiFi connection failed, Bluetooth disconnected

Error code 132

Error status 132 = "Data transmission loss" — commonly seen when LoRa connection between charger and mower is interrupted.

ROS Status Enums¶

From RobotStatus.msg:

merged_work_status¶

Value	Constant	Description
0	`FREE`	Idle/standby
1	`COVER`	Coverage mowing
2	`RECHARING`	Returning to charger
3	`MAPPING`	Building a map
4	`CHARGING`	Charging
5	`STOP`	Stopped

task_mode Values¶

Mode	Description
cover	Coverage mowing task
mapping	Map building task
patrol	Patrol task
control	Manual control
other	Other tasks

CovTaskResult work_status¶

Value	Meaning
1	Failed
2	Cancelled
9	Complete

Report Timing¶

gantt
    title Mower Report Cycle (~5 seconds)
    dateFormat X
    axisFormat %L

    section Mower → MQTT
    report_state_robot (800B enc)     :0, 100
    report_exception_state (144B enc) :200, 50
    report_state_timer_data (480B enc):400, 100

    section Charger → MQTT
    up_status_info (plain JSON)       :0, 50
    up_status_info                    :2000, 50
    up_status_info                    :4000, 50