roomba-iot – Rev 2
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#!/usr/bin/env nodejs
///////////////////////////////////////////////////////////////////////////
// Copyright (C) Wizardry and Steamworks 2018 - License: GNU GPLv3 //
// Please see: http://www.gnu.org/licenses/gpl.html for legal details, //
// rights of fair usage, the disclaimer and warranty conditions. //
///////////////////////////////////////////////////////////////////////////
const SENSOR_PACKET_SIZE = 80;
const PACKET_DECODE_MASKS = {
BUMP_WHEELDROP: {
BUMP_RIGHT: 0x01,
BUMP_LEFT: 0x02,
WHEELDROP_RIGHT: 0x04,
WHEELDROP_LEFT: 0x08
},
WHEEL_OVERCURRENT: {
SIDEBRUSH: 0x01,
RESERVED: 0x02,
MAINBRUSH: 0x04,
RIGHT_WHEEL: 0x08,
LEFT_WHEEL: 0x10
},
BUTTONS: {
CLEAN: 0x01,
SPOT: 0x02,
DOCK: 0x03,
MINUTE: 0x04,
HOUR: 0x05,
DAY: 0x06,
SCHEDULE: 0x07,
CLOCK: 0x08
},
LIGHT_BUMPER: {
LIGHT_BUMPER_LEFT: 0x01,
LIGHT_BUMPER_FRONT_LEFT: 0x02,
LIGHT_BUMPER_CENTER_LEFT: 0x03,
LIGHT_BUMPER_CENTER_RIGHT: 0x04,
LIGHT_BUMPER_FRONT_RIGHT: 0x05,
LIGHT_BUMPER_RIGHT: 0x06
},
CHARGING_SOURCES: {
INTERNAL_CHARGER: 0x01,
HOME_BASE: 0x02
}
}
/*
* Decode sensor data for packet group 100 (all sensors).
*/
const decode_all_sensors = function(packetBuffer, callback) {
if (packetBuffer.length != SENSOR_PACKET_SIZE) {
callback(null, 0, 'Invalid packet size')
return
}
var packet = {}
var pos = 0
var byte = 0x00
var mask = {}
// Bumps and Wheel Drops (Packet ID: 7, Data Bytes: 1, unsigned)
byte = packetBuffer.readUInt8(pos++)
mask = PACKET_DECODE_MASKS.BUMP_WHEELDROP
packet.bump = {}
packet.bump.right = byte & mask.BUMP_RIGHT
packet.bump.left = byte & mask.BUMP_LEFT
packet.wheeldrop = {}
packet.wheeldrop.right = byte & mask.WHEELDROP_RIGHT
packet.wheeldrop.left = byte & mask.WHEELDROP_LEFT
// Wall (Packet ID: 8, Data Bytes: 1, unsigned)
packet.wall = packetBuffer.readUInt8(pos++) == 1
// Cliff Sensors (Packet ID: 9 - 12)
packet.cliff = {}
packet.cliff.left = packetBuffer.readUInt8(pos++) == 1
packet.cliff.front_left = packetBuffer.readUInt8(pos++) == 1
packet.cliff.front_right = packetBuffer.readUInt8(pos++) == 1
packet.cliff.right = packetBuffer.readUInt8(pos++) == 1
// Virtual Wall (Packet ID: 13, Data Bytes: 1, unsigned)
packet.virtual_wall = packetBuffer.readUInt8(pos++) == 1
// Wheel Overcurrents (Packet ID: 14, Data Bytes: 1, unsigned)
byte = packetBuffer.readUInt8(pos++)
mask = PACKET_DECODE_MASKS.WHEEL_OVERCURRENT
packet.wheel_overcurrent = {}
packet.wheel_overcurrent.side_brush = byte & mask.SIDEBRUSH
packet.wheel_overcurrent.main_brush = byte & mask.MAINBRUSH
packet.wheel_overcurrent.right_wheel = byte & mask.RIGHT_WHEEL
packet.wheel_overcurrent.left_wheel = byte & mask.LEFT_WHEEL
// Dirt Detect (Packet ID: 15, Data Bytes: 1)
packet.dirt_level = packetBuffer.readInt8(pos++)
// For Packet IDs: 0 1 or 6, 1 unused byte (Packet ID: 16, Data Bytes: 1)
// Apparently also for 100
++pos
// Infrared Character Omni (Packet ID: 17, Data Bytes: 1, unsigned)
packet.remote = packetBuffer.readUInt8(pos++)
// Buttons (Packet ID: 18, Data Bytes: 1, unsigned)
// These toggle only when the button is held down!
byte = packetBuffer.readUInt8(pos++)
mask = PACKET_DECODE_MASKS.BUTTONS
packet.buttons = {}
packet.buttons.clean = byte & mask.CLEAN
packet.buttons.spot = byte & mask.SPOT
packet.buttons.dock = byte & mask.DOCK
packet.buttons.minute = byte & mask.MINUTE
packet.buttons.hour = byte & mask.HOUR
packet.buttons.day = byte & mask.DAY
packet.buttons.schedule = byte & mask.SCHEDULE
packet.buttons.clock = byte & mask.CLOCK
// Distance (Packet ID: 19, Data Bytes: 2, signed)
packet.distance = packetBuffer.readInt16BE(pos)
pos += 2
// Angle (Packet ID: 20, Data Bytes: 2, signed)
packet.angle = packetBuffer.readInt16BE(pos)
pos += 2
// Charging State (Packet ID: 21, Data Bytes: 1, unsigned)
packet.battery = {}
packet.battery.charging_state = packetBuffer.readUInt8(pos++)
// Voltage (Packet ID: 22, Data Bytes: 2, unsigned)
packet.battery.voltage = packetBuffer.readUInt16BE(pos)
pos += 2
// Current (Packet ID: 23, Data Bytes: 2, signed)
packet.battery.current = packetBuffer.readInt16BE(pos)
pos += 2
// Temperature (Packet ID: 24, Data Bytes: 1, signed)
packet.battery.temp = packetBuffer.readInt8(pos++)
// Battery Charge (Packet ID: 25, Data Bytes: 2, unsigned)
packet.battery.charge = packetBuffer.readUInt16BE(pos)
pos += 2
// Battery Capacity (Packet ID: 26, Data Bytes: 2, unsigned)
packet.battery.capacity = packetBuffer.readUInt16BE(pos)
pos += 2
// Wall Signal (Packet ID: 27, Data Bytes: 2, unsigned)
packet.wall_signal = packetBuffer.readUInt16BE(pos)
pos += 2
// cliff signals (Packet IDs: 28-31, Data Bytes: 2, unsigned)
packet.cliff_signal = {}
packet.cliff_signal.left = packetBuffer.readUInt16BE(pos)
pos += 2
packet.cliff_signal.front_left = packetBuffer.readUInt16BE(pos)
pos += 2
packet.cliff_signal.front_right = packetBuffer.readUInt16BE(pos)
pos += 2
packet.cliff_signal.right = packetBuffer.readUInt16BE(pos)
pos += 2
// Unused (Packet IDs: 32 - 33, Data Bytes: 3)
pos += 3
// Charging Sources Available (Packet ID: 34, Data Bytes: 1, unsigned)
byte = packetBuffer.readUInt8(pos++)
mask = PACKET_DECODE_MASKS.CHARGING_SOURCES
packet.charging_source = {}
packet.charging_source.internal_charger = byte & mask.INTERNAL_CHARGER
packet.charging_source.home_base = byte & mask.HOME_BASE
// OI Mode (Packet ID: 35, Data Bytes 1, unsigned)
packet.oi_mode = packetBuffer.readUInt8(pos++)
// Song Number (Packet ID: 36, Data Bytes: 1, unsigned)
packet.song = {}
packet.song.number = packetBuffer.readUInt8(pos++)
// Song Playing (Packet ID: 37, Data Bytes: 1, unsigned)
packet.song.playing = packetBuffer.readUInt8(pos++)
// Number of Stream Packets (Packet ID: 38, Data Bytes: 1, unsigned)
packet.stream_packets = packetBuffer.readUInt8(pos++)
// Requested Velocity (Packet ID: 39, Data Bytes: 2, signed)
packet.last_requested_velocity = {}
packet.last_requested_velocity.general = packetBuffer.readInt16BE(pos)
pos += 2
// Requested Radius (Packet ID: 40, Data Bytes: 2, signed)
packet.requested_radius = packetBuffer.readInt16BE(pos)
pos += 2
// Requested Right Velocity (Packet ID: 41, Data Bytes: 2, signed)
packet.last_requested_velocity.right = packetBuffer.readInt16BE(pos)
pos += 2
// Requested Left Velocity (Packet ID: 42, Data Bytes: 2, signed)
packet.last_requested_velocity.left = packetBuffer.readInt16BE(pos)
pos += 2
// Left Encoder Counts (Packet ID: 43, Data Bytes: 2, signed)
packet.encoder = {}
packet.encoder.left = packetBuffer.readInt16BE(pos)
pos += 2
// Right Encoder Counts (Packet ID: 44, Data Bytes: 2, signed)
packet.encoder.right = packetBuffer.readInt16BE(pos)
pos += 2
// Light Bumper (Packet ID: 45, Data Bytes: 1, unsigned)
byte = packetBuffer.readUInt8(pos++)
mask = PACKET_DECODE_MASKS.LIGHT_BUMPER
packet.light_bumper = {}
packet.light_bumper.left = byte & mask.LIGHT_BUMPER_LEFT
packet.light_bumper.front_left = byte & mask.LIGHT_BUMPER_FRONT_LEFT
packet.light_bumper.center_left = byte & mask.LIGHT_BUMPER_CENTER_LEFT
packet.light_bumper.center_right = byte & mask.LIGHT_BUMPER_CENTER_RIGHT
packet.light_bumper.front_right = byte & mask.LIGHT_BUMPER_FRONT_RIGHT
packet.light_bumper.right = byte & mask.LIGHT_BUMPER_RIGHT
// Light Bump Left Signal (Packet ID: 46, Data Bytes: 2, unsigned)
packet.light_bump_signal = {}
packet.light_bump_signal.left = packetBuffer.readUInt16BE(pos)
pos += 2
// Light Bump Front Left Signal (Packet ID: 47, Data Bytes: 2, unsigned)
packet.light_bump_signal.front_left = packetBuffer.readUInt16BE(pos)
pos += 2
// Light Bump Center Left Signal (Packet ID: 48, Data Bytes: 2, unsigned)
packet.light_bump_signal.center_left = packetBuffer.readUInt16BE(pos)
pos += 2
// Light Bump Center Right Signal (Packet ID: 49, Data Bytes: 2, unsigned)
packet.light_bump_signal.center_right = packetBuffer.readUInt16BE(pos)
pos += 2
// Light Bump Front Right Signal (Packet ID: 50, Data Bytes: 2, unsigned)
packet.light_bump_signal.front_right = packetBuffer.readUInt16BE(pos)
pos += 2
// Light Bump Right Signal (Packet ID: 51, Data Bytes: 2, unsigned)
packet.light_bump_signal.right = packetBuffer.readUInt16BE(pos)
pos += 2
// Infrared Character Left (Packet ID: 52, Data Bytes: 1, unsigned)
packet.infrared = {}
packet.infrared.character = {}
packet.infrared.character.left = packetBuffer.readUInt8(pos++)
// Infrared Character Left (Packet ID: 53, Data Bytes: 1, unsigned)
packet.infrared.character.right = packetBuffer.readUInt8(pos++)
// Left Motor Current (Packet IDs: 54 - 57, Data Bytes: 2, signed)
packet.motor_current = {}
packet.motor_current.left = packetBuffer.readInt16BE(pos)
pos += 2
packet.motor_current.right = packetBuffer.readInt16BE(pos)
pos += 2
packet.motor_current.main_brush = packetBuffer.readInt16BE(pos)
pos += 2
packet.motor_current.side_brush = packetBuffer.readInt16BE(pos)
pos += 2
// Stasis (Packet ID: 58, Data Bytes: 1)
packet.stasis = packetBuffer.readUInt8(pos++)
// Check whether the complete packet has been consumed.
if (pos != SENSOR_PACKET_SIZE) {
callback(null, pos, 'Insuficient data to assemble a complete packet')
return
}
// Return the data
callback(packet, pos, null)
}
module.exports = {
PACKET_DECODE_MASKS: PACKET_DECODE_MASKS,
SENSOR_PACKET_SIZE: SENSOR_PACKET_SIZE,
decode_all_sensors: decode_all_sensors
}