From 474693ad675a93a6fd0f4f7ef69e69d88133e449 Mon Sep 17 00:00:00 2001
From: halfbakery <54818270+halfbakery@users.noreply.github.com>
Date: Fri, 18 Jun 2021 18:59:10 +0200
Subject: [PATCH] docs: New findings in the Viomi map format (#967)

* Some new fields for the viomi kaitai struct

* Major restructurization of the viomi kaitai struct
---
 assets/kaitai_structs/viomi_map_file.ksy | 351 ++++++++++++++++++-----
 1 file changed, 277 insertions(+), 74 deletions(-)

diff --git a/assets/kaitai_structs/viomi_map_file.ksy b/assets/kaitai_structs/viomi_map_file.ksy
index cdda5aa4..f17845fe 100644
--- a/assets/kaitai_structs/viomi_map_file.ksy
+++ b/assets/kaitai_structs/viomi_map_file.ksy
@@ -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