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docs: New findings in the Viomi map format (#967)

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* Some new fields for the viomi kaitai struct

* Major restructurization of the viomi kaitai struct
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halfbakery 2021-06-18 18:59:10 +02:00 committed by GitHub
parent 39e4613787
commit 474693ad67
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 277 additions and 74 deletions
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351
assets/kaitai_structs/viomi_map_file.ksy
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@ -10,47 +10,215 @@ seq:
- id: feature_flags
type: u4
- id: map_id
type: u4
- id: robot_status
size: 0x28
type: robot_status_section
if: feature_flags & 0b000000000000001 != 0
- id: image
type: map_image_tlv
type: map_image_section
if: feature_flags & 0b000000000000010 != 0
- id: history
type: history_tlv
type: history_section
if: feature_flags & 0b000000000000100 != 0
- id: charger_pos
type: charger_position
type: charger_position_section
if: feature_flags & 0b000000000001000 != 0
- id: restrictions
type: restrictions_tlv
type: restrictions_section
if: feature_flags & 0b000000000010000 != 0
- id: areas
type: clean_areas_tlv
type: clean_areas_section
if: feature_flags & 0b000000000100000 != 0
- id: navigate_target
type: navigate_target
type: navigate_target_section
if: feature_flags & 0b000000001000000 != 0
- id: realtime_pose
type: realtime_pose
type: realtime_pose_section
if: feature_flags & 0b000000010000000 != 0
- id: rooms
type: rooms_tlv
- id: unknown_secion_0x00000100
type: unknown_section
if: feature_flags & 0b000000100000000 != 0
- id: unknown_secion_0x00000200
type: unknown_section
if: feature_flags & 0b000001000000000 != 0
- id: unknown_secion_0x00000400
type: unknown_section
if: feature_flags & 0b000010000000000 != 0
- id: unknown_secion_0x00000800
type: unknown_section
if: feature_flags & 0b000100000000000 != 0
- id: rooms
type: rooms_section
if: feature_flags & 0b001000000000000 != 0
- id: rooms_unknown1
type: rooms_unknown1_section
if: feature_flags & 0b010000000000000 != 0
- id: rooms_unknown2
type: rooms_unknown2_section
if: feature_flags & 0b100000000000000 != 0
enums:
pixel_type:
0: "outside"
1: "scan"
10: "room_10"
11: "room_11"
12: "room_12"
13: "room_13"
14: "room_14"
15: "room_15"
16: "room_16"
17: "room_17"
18: "room_18"
19: "room_19"
20: "room_20"
21: "room_21"
22: "room_22"
23: "room_23"
24: "room_24"
25: "room_25"
26: "room_26"
27: "room_27"
28: "room_28"
29: "room_29"
30: "room_30"
31: "room_31"
32: "room_32"
33: "room_33"
34: "room_34"
35: "room_35"
36: "room_36"
37: "room_37"
38: "room_38"
39: "room_39"
40: "room_40"
41: "room_41"
42: "room_42"
43: "room_43"
44: "room_44"
45: "room_45"
46: "room_46"
47: "room_47"
48: "room_48"
49: "room_49"
50: "room_50"
51: "room_51"
52: "room_52"
53: "room_53"
54: "room_54"
55: "room_55"
56: "room_56"
57: "room_57"
58: "room_58"
59: "room_59"
60: "room_10_cleaned"
61: "room_11_cleaned"
62: "room_12_cleaned"
63: "room_13_cleaned"
64: "room_14_cleaned"
65: "room_15_cleaned"
66: "room_16_cleaned"
67: "room_17_cleaned"
68: "room_18_cleaned"
69: "room_19_cleaned"
70: "room_20_cleaned"
71: "room_21_cleaned"
72: "room_22_cleaned"
73: "room_23_cleaned"
74: "room_24_cleaned"
75: "room_25_cleaned"
76: "room_26_cleaned"
77: "room_27_cleaned"
78: "room_28_cleaned"
79: "room_29_cleaned"
80: "room_30_cleaned"
81: "room_31_cleaned"
82: "room_32_cleaned"
83: "room_33_cleaned"
84: "room_34_cleaned"
85: "room_35_cleaned"
86: "room_36_cleaned"
87: "room_37_cleaned"
88: "room_38_cleaned"
89: "room_39_cleaned"
90: "room_40_cleaned"
91: "room_41_cleaned"
92: "room_42_cleaned"
93: "room_43_cleaned"
94: "room_44_cleaned"
95: "room_45_cleaned"
96: "room_46_cleaned"
97: "room_47_cleaned"
98: "room_48_cleaned"
99: "room_49_cleaned"
100: "room_50_cleaned"
101: "room_51_cleaned"
102: "room_52_cleaned"
103: "room_53_cleaned"
104: "room_54_cleaned"
105: "room_55_cleaned"
106: "room_56_cleaned"
107: "room_57_cleaned"
108: "room_58_cleaned"
109: "room_59_cleaned"
255: "wall"
history_position_mode:
0: taxiing
1: working
types:
section_header:
seq:
- id: magic
type: u4
valid: map_id
instances:
map_id:
pos: 0x4
type: u4
unknown_section:
seq:
- id: header
type: section_header
- id: unknown
type: unknown_data_skip
repeat: until
repeat-until: _.next_header == map_id
instances:
map_id:
pos: 0x4
type: u4
unknown_data_skip:
seq:
- id: unknown
type: u1
instances:
next_header:
pos: _io.pos
type: u4
tag_len:
seq:
- id: tag
@ -117,10 +285,21 @@ types:
size: len
encoding: UTF-8
map_image_tlv:
robot_status_section:
seq:
- id: tlv
type: tag_len
- id: header
type: section_header
- id: unk1
size: 0x28
map_image_section:
seq:
- id: header
type: section_header
- id: unk1
size: 8
- id: height
type: u4
@ -132,31 +311,41 @@ types:
size: 20
- id: pixels
size: height * height
type: u1
enum: pixel_type
repeat: expr
repeat-expr: height * height
if: height * height >= 0
history_position:
seq:
- id: unk1
size: 1
- id: mode
type: u1
enum: history_position_mode
- id: pos
type: coordinate
history_tlv:
history_section:
seq:
- id: tlv
type: tag_len
- id: header
type: section_header
- id: unk1
size: 4
- id: len
type: u4
- id: values
type: history_position
repeat: expr
repeat-expr: tlv.len
repeat-expr: len
charger_position:
charger_position_section:
seq:
- id: unk1
type: u4
- id: header
type: section_header
- id: position
type: coordinate
@ -190,15 +379,21 @@ types:
is_wall:
value: tlv.len == 2
restrictions_tlv:
restrictions_section:
seq:
- id: tlv
type: tag_len
- id: header
type: section_header
- id: unk1
size: 4
- id: len
type: u4
- id: restrictions
type: restriction_item_tlv
repeat: expr
repeat-expr: tlv.len
repeat-expr: len
area_tlv:
seq:
@ -211,20 +406,29 @@ types:
- id: unk1
size: 48
clean_areas_tlv:
clean_areas_section:
seq:
- id: tlv
type: tag_len
- id: header
type: section_header
- id: unk1
size: 4
- id: len
type: u4
- id: areas
type: area_tlv
repeat: expr
repeat-expr: tlv.len
repeat-expr: len
navigate_target:
navigate_target_section:
seq:
- id: header
type: section_header
- id: unk1
type: u8
size: 4
- id: target
type: coordinate
@ -233,10 +437,13 @@ types:
- id: angle
type: f4
realtime_pose:
realtime_pose_section:
seq:
- id: header
type: section_header
- id: unk1
size: 9
size: 5
- id: pose
type: coordinate
@ -269,28 +476,8 @@ types:
- id: null_term
type: u1
- id: unk1
type: u8
# TODO: reverse-engineer properly
rooms2:
seq:
- id: first_b_of_tag
type: u1
- id: rest_of_tag
size: 3
- id: tag1
type: u4
- id: len
type: u4
- id: unk_room_data
size: 92
repeat: expr
repeat-expr: len
- id: room_name_pos
type: coordinate
rooms_flag:
seq:
@ -330,11 +517,10 @@ types:
repeat: expr
repeat-expr: elements
rooms_tlv:
rooms_section:
seq:
# It actually doesn't seem to be TLV but whatever
- id: not_a_tlv
type: tag_len
- id: header
type: section_header
- id: maps
type: map
@ -352,10 +538,22 @@ types:
- id: unk1
size: 6
# TODO: reverse-engineer properly
- id: rooms2
type: rooms2
#if: rooms_len != 0
rooms_unknown1_section:
seq:
# TODO: reverse-engineer properly
- id: header
type: section_header
- id: tag1
type: u4
- id: len
type: u4
- id: unk_room_data
size: 92
repeat: expr
repeat-expr: len
- id: unk_pose_stuff_len
type: u4
@ -366,14 +564,19 @@ types:
repeat-expr: unk_pose_stuff_len
- id: unk2
type: u1
type: unknown_data_skip
repeat: until
repeat-until: _ == rooms2.first_b_of_tag
if: map_id != 0
repeat-until: _.next_header == map_id
- id: some_header_ignore
size: 3
if: map_id != 0
instances:
map_id:
pos: 0x4
type: u4
rooms_unknown2_section:
seq:
- id: header
type: section_header
- id: unk_pose_stuff
type: u8