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protocol_declaration.py
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protocol_declaration.py
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"""
Cozmo protocol abstract syntax tree (AST) declaration.
"""
from .protocol_ast import *
__all__ = [
"FRAME_ID",
"MIN_FRAME_SIZE",
"MAX_FRAME_PAYLOAD_SIZE",
"FIRST_ROBOT_PACKET_ID",
"FIRMWARE_VERSION",
"MAX_SEQ",
"OOB_SEQ",
"PROTOCOL",
]
FRAME_ID = b"COZ\x03RE\x01"
MIN_FRAME_SIZE = len(FRAME_ID) + 1 + 2 + 2 + 2
MAX_FRAME_SIZE = 1051
# The robot drops frames with payload size, larger than 1037 B.
MAX_FRAME_PAYLOAD_SIZE = MAX_FRAME_SIZE - MIN_FRAME_SIZE
FIRST_ROBOT_PACKET_ID = 0xb0
FIRMWARE_VERSION = 2381
# Maximum used sequence ID.
MAX_SEQ = 0xfffe
# Sequence ID used for out-of-band packets.
OOB_SEQ = 0xffff
BODY_COLOR = Enum("BodyColor", members=[
EnumMember("UNKNOWN", -1),
EnumMember("WHITE_v10", 0),
EnumMember("RESERVED", 1),
EnumMember("WHITE_v15", 2, description="White."),
EnumMember("CE_LM_v15", 3, description="Collectors edition, liquid metal."),
EnumMember("LE_BL_v16", 4, description="Limited edition, blue."),
EnumMember("DEV", 5, description="Development unit."),
])
NV_ENTRY_TAG = Enum("NvEntryTag", base=16, members=[
EnumMember("NVEntry_Invalid", 0xffffffff),
EnumMember("NVEntry_GameSkillLevels", 0x180000),
EnumMember("NVEntry_OnboardingData", 0x181000),
EnumMember("NVEntry_GameUnlocks", 0x182000),
EnumMember("NVEntry_FaceEnrollData", 0x183000),
EnumMember("NVEntry_FaceAlbumData", 0x184000),
EnumMember("NVEntry_NurtureGameData", 0x194000),
EnumMember("NVEntry_InventoryData", 0x195000),
EnumMember("NVEntry_LabAssignments", 0x196000),
EnumMember("NVEntry_SavedCubeIDs", 0x197000),
EnumMember("NVEntry_NEXT_SLOT", 0x198000),
EnumMember("NVEntry_FACTORY_RESERVED1", 0x1c0000),
EnumMember("NVEntry_FACTORY_RESERVED2", 0x1de000),
EnumMember("NVEntry_BirthCertificate", 0x80000000),
EnumMember("NVEntry_CameraCalib", 0x80000001),
EnumMember("NVEntry_ToolCodeInfo", 0x80000002),
EnumMember("NVEntry_CalibPose", 0x80000003),
EnumMember("NVEntry_CalibMetaInfo", 0x80000004),
EnumMember("NVEntry_ObservedCubePose", 0x80000005),
EnumMember("NVEntry_IMUInfo", 0x80000006),
EnumMember("NVEntry_CliffValOnDrop", 0x80000007),
EnumMember("NVEntry_CliffValOnGround", 0x80000008),
EnumMember("NVEntry_PlaypenTestResults", 0x80000010),
EnumMember("NVEntry_FactoryLock", 0x80000011),
EnumMember("NVEntry_VersionMagic", 0x80000012),
EnumMember("NVEntry_CalibImage1", 0x80010000),
EnumMember("NVEntry_CalibImage2", 0x80020000),
EnumMember("NVEntry_CalibImage3", 0x80030000),
EnumMember("NVEntry_CalibImage4", 0x80040000),
EnumMember("NVEntry_CalibImage5", 0x80050000),
EnumMember("NVEntry_CalibImage6", 0x80060000),
EnumMember("NVEntry_ToolCodeImageLeft", 0x80100000),
EnumMember("NVEntry_ToolCodeImageRight", 0x80110000),
EnumMember("NVEntry_PrePlaypenResults", 0xc0000000),
EnumMember("NVEntry_PrePlaypenCentroids", 0xc0000001),
EnumMember("NVEntry_IMUAverages", 0xc0000004),
EnumMember("NVEntry_FactoryBaseTag", 0xde000),
EnumMember("NVEntry_FactoryBaseTagWithBCOffset", 0xde030),
])
NV_OPERATION = Enum("NvOperation", members=[
EnumMember("NVOP_READ", 0),
EnumMember("NVOP_WRITE", 1),
EnumMember("NVOP_ERASE", 2),
EnumMember("NVOP_WIPEALL", 3),
])
NV_RESULT = Enum("NvResult", members=[
EnumMember("NV_OKAY", 0),
EnumMember("NV_SCHEDULED", 1),
EnumMember("NV_NO_DO", 2),
EnumMember("NV_MORE", 3),
EnumMember("NV_UNKNOWN_4", 4),
EnumMember("NV_UNKNOWN_5", 5),
EnumMember("NV_UNKNOWN_6", 6),
EnumMember("NV_UNKNOWN_7", 7),
EnumMember("NV_UNKNOWN_8", 8),
EnumMember("NV_NOT_FOUND", -1),
EnumMember("NV_NO_ROOM", -2),
EnumMember("NV_ERROR", -3),
EnumMember("NV_TIMEOUT", -4),
EnumMember("NV_BUSY", -5),
EnumMember("NV_BAD_ARGS", -6),
EnumMember("NV_NO_MEM", -7),
EnumMember("NV_LOOP", -8),
EnumMember("NV_CORRUPT", -9),
])
UP_AXIS = Enum("UpAxis", members=[
EnumMember("XNegative", 0),
EnumMember("XPositive", 1),
EnumMember("YNegative", 2),
EnumMember("YPositive", 3),
EnumMember("ZNegative", 4),
EnumMember("ZPositive", 5),
EnumMember("NumAxes", 6),
EnumMember("UnknownAxis", 7),
])
OBJECT_TYPE = Enum("ObjectType", members=[
EnumMember("InvalidObject", -1),
EnumMember("UnknownObject", 0),
EnumMember("Block_LIGHTCUBE1", 1),
EnumMember("Block_LIGHTCUBE2", 2),
EnumMember("Block_LIGHTCUBE3", 3),
EnumMember("Block_LIGHTCUBE_GHOST", 4),
EnumMember("FlatMat_GEARS_4x4", 5),
EnumMember("FlatMat_LETTERS_4x4", 6),
EnumMember("FlatMat_ANKI_LOGO_8BIT", 7),
EnumMember("FlatMat_LAVA_PLAYTEST", 8),
EnumMember("Platform_LARGE", 9),
EnumMember("Bridge_LONG", 10),
EnumMember("Bridge_SHORT", 11),
EnumMember("Ramp_Basic", 12),
EnumMember("Charger_Basic", 13),
EnumMember("ProxObstacle", 14),
EnumMember("CliffDetection", 15),
EnumMember("CollisionObstacle", 16),
EnumMember("CustomType00", 17),
EnumMember("CustomType01", 18),
EnumMember("CustomType02", 19),
EnumMember("CustomType03", 20),
EnumMember("CustomType04", 21),
EnumMember("CustomType05", 22),
EnumMember("CustomType06", 23),
EnumMember("CustomType07", 24),
EnumMember("CustomType08", 25),
EnumMember("CustomType09", 26),
EnumMember("CustomType10", 27),
EnumMember("CustomType11", 28),
EnumMember("CustomType12", 29),
EnumMember("CustomType13", 30),
EnumMember("CustomType14", 31),
EnumMember("CustomType15", 32),
EnumMember("CustomType16", 33),
EnumMember("CustomType17", 34),
EnumMember("CustomType18", 35),
EnumMember("CustomType19", 36),
EnumMember("CustomFixedObstacle", 37),
])
IMAGE_ENCODING = Enum("ImageEncoding", members=[
EnumMember("NoneImageEncoding", 0),
EnumMember("RawGray", 1),
EnumMember("RawRGB", 2),
EnumMember("YUYV", 3),
EnumMember("BAYER", 4),
EnumMember("JPEGGray", 5),
EnumMember("JPEGColor", 6),
EnumMember("JPEGColorHalfWidth", 7),
EnumMember("JPEGMinimizedGray", 8),
EnumMember("JPEGMinimizedColor", 9),
])
IMAGE_RESOLUTION = Enum("ImageResolution", members=[
EnumMember("VerificationSnapshot", 0),
EnumMember("QQQQVGA", 1),
EnumMember("QQQVGA", 2),
EnumMember("QQVGA", 3),
EnumMember("QVGA", 4, description="320x240"),
EnumMember("CVGA", 5),
EnumMember("VGA", 6, description="640x480"),
EnumMember("SVGA", 7),
EnumMember("XGA", 8),
EnumMember("SXGA", 9),
EnumMember("UXGA", 10),
EnumMember("QXGA", 11),
EnumMember("QUXGA", 12),
EnumMember("ImageResolutionCount", 13),
EnumMember("ImageResolutionNone", 14),
])
IMAGE_SEND_MODE = Enum("ImageSendMode", members=[
EnumMember("Off", 0),
EnumMember("Stream", 1),
EnumMember("SingleShot", 2),
])
MOTOR_ID = Enum("MotorID", members=[
EnumMember("MOTOR_LEFT_WHEEL", 0),
EnumMember("MOTOR_RIGHT_WHEEL", 1),
EnumMember("MOTOR_LIFT", 2),
EnumMember("MOTOR_HEAD", 3),
])
PATH_EVENT_TYPE = Enum("PathEventType", members=[
EnumMember("PATH_STARTED", 0),
EnumMember("PATH_INTERRUPTED", 1),
EnumMember("PATH_COMPLETED", 2),
])
LIGHT_STATE = Struct("LightState", arguments=[
UInt16Argument("on_color"),
UInt16Argument("off_color"),
UInt8Argument("on_frames"),
UInt8Argument("off_frames"),
UInt8Argument("transition_on_frames"),
UInt8Argument("transition_off_frames"),
Int16Argument("offset"),
])
PATH_SEGMENT_SPEED = Struct("PathSegmentSpeed", arguments=[
FloatArgument("speed_mmps", description="Speed in millimeters per second."),
FloatArgument("accel_mmps2", description="Acceleration in millimeters per second squared."),
FloatArgument("decel_mmps2", description="Deceleration in millimeters per second squared."),
])
#: Cozmo protocol declaration.
PROTOCOL = Protocol(
enums=[
BODY_COLOR,
NV_ENTRY_TAG,
NV_OPERATION,
NV_RESULT,
UP_AXIS,
OBJECT_TYPE,
IMAGE_ENCODING,
IMAGE_RESOLUTION,
IMAGE_SEND_MODE,
MOTOR_ID,
PATH_EVENT_TYPE,
],
structs=[
LIGHT_STATE,
PATH_SEGMENT_SPEED,
],
packets=[
Connect(),
Disconnect(),
Ping(),
Keyframe(),
Command(0x03, "LightStateCenter", group="lights", arguments=[
FArrayArgument("states", data_type=LIGHT_STATE, length=3,
description="Top, middle, and bottom light state."),
UInt8Argument("unknown"),
]),
Command(0x04, "CubeLights", group="objects", arguments=[
FArrayArgument("states", data_type=LIGHT_STATE, length=4)
]),
Command(0x05, "ObjectConnect", group="objects", arguments=[
UInt32Argument("factory_id"),
BoolArgument("connect"),
]),
Command(0x08, "StreamObjectAccel", group="objects", arguments=[
UInt32Argument("object_id"),
BoolArgument("enable"),
]),
Command(0x0a, "SetAccessoryDiscovery", group="objects", arguments=[
BoolArgument("enable")
]),
Command(0x0b, "SetHeadLight", group="camera", arguments=[
BoolArgument("enable")
]),
Command(0x10, "CubeId", group="objects", arguments=[
UInt32Argument("object_id"),
UInt8Argument("rotation_period_frames"),
]),
Command(0x11, "LightStateSide", group="lights", arguments=[
FArrayArgument("states", data_type=LIGHT_STATE, length=2,
description="Left and right light state."),
UInt8Argument("unknown"),
]),
Command(0x25, "Enable", group="system"),
Command(0x32, "DriveWheels", group="motors", arguments=[
FloatArgument("lwheel_speed_mmps"),
FloatArgument("rwheel_speed_mmps"),
FloatArgument("lwheel_accel_mmps2"),
FloatArgument("rwheel_accel_mmps2"),
]),
Command(0x33, "TurnInPlaceAtSpeed", group="motors", arguments=[
FloatArgument("wheel_speed_mmps"),
FloatArgument("wheel_accel_mmps2"),
Int16Argument("direction"),
]),
Command(0x34, "MoveLift", group="motors", arguments=[
FloatArgument("speed_rad_per_sec"),
]),
Command(0x35, "MoveHead", group="motors", arguments=[
FloatArgument("speed_rad_per_sec"),
]),
Command(0x36, "SetLiftHeight", group="motors", arguments=[
FloatArgument("height_mm"),
FloatArgument("max_speed_rad_per_sec", default=3.0),
FloatArgument("accel_rad_per_sec2", default=20.0),
FloatArgument("duration_sec"),
UInt8Argument("action_id", description="Not present in v2214 and older."),
]),
Command(0x37, "SetHeadAngle", group="motors", arguments=[
FloatArgument("angle_rad"),
FloatArgument("max_speed_rad_per_sec", default=15.0),
FloatArgument("accel_rad_per_sec2", default=20.0),
FloatArgument("duration_sec"),
UInt8Argument("action_id", description="Not present in v2214 and older."),
]),
Command(0x39, "TurnInPlace", group="motors", arguments=[
FloatArgument("angle_rad"),
FloatArgument("speed_rad_per_sec"),
FloatArgument("accel_rad_per_sec2"),
FloatArgument("angle_tolerance_rad"),
UInt8Argument("unknown4"),
UInt8Argument("unknown5"),
BoolArgument("is_absolute"),
UInt8Argument("action_id"),
]),
Command(0x3b, "StopAllMotors", group="motors"),
Command(0x3c, "ClearPath", group="motors", arguments=[
UInt16Argument("unknown"),
]),
Command(0x3d, "AppendPathSegLine", group="motors", arguments=[
FloatArgument("from_x"),
FloatArgument("from_y"),
FloatArgument("to_x"),
FloatArgument("to_y"),
FloatArgument("speed_mmps"), # TODO: PathSegmentSpeed
FloatArgument("accel_mmps2"),
FloatArgument("decel_mmps2"),
]),
Command(0x3e, "AppendPathSegArc", group="motors", arguments=[
FloatArgument("center_x"),
FloatArgument("center_y"),
FloatArgument("radius_mm"),
FloatArgument("start_angle_rad"),
FloatArgument("sweep_rad"),
FloatArgument("speed_mmps"), # TODO: PathSegmentSpeed
FloatArgument("accel_mmps2"),
FloatArgument("decel_mmps2"),
]),
Command(0x3f, "AppendPathSegPointTurn", group="motors", arguments=[
FloatArgument("x"),
FloatArgument("y"),
FloatArgument("angle_rad"),
FloatArgument("angle_tolerance_rad"),
FloatArgument("speed_mmps"), # TODO: PathSegmentSpeed
FloatArgument("accel_mmps2"),
FloatArgument("decel_mmps2"),
BoolArgument("unknown")
]),
Command(0x40, "TrimPath", group="motors", arguments=[
UInt8Argument("head"),
UInt8Argument("tail"),
]),
Command(0x41, "ExecutePath", group="motors", arguments=[
UInt16Argument("event_id"),
BoolArgument("unknown"),
]),
Command(0x45, "SetOrigin", group="localization", arguments=[
UInt32Argument("unknown0"),
UInt32Argument("pose_frame_id"),
UInt32Argument("pose_origin_id", default=1),
FloatArgument("pose_x"),
FloatArgument("pose_y"),
UInt32Argument("unknown5", default=0x80000000),
]),
Command(0x4b, "SyncTime", group="system", arguments=[
UInt32Argument("timestamp"),
UInt32Argument("unknown"),
# UInt32Argument("unknown2"), # Available in v2214.
]),
Command(0x4c, "EnableCamera", group="camera", arguments=[
EnumArgument("image_send_mode", IMAGE_SEND_MODE, default=1),
EnumArgument("image_resolution", IMAGE_RESOLUTION, default=4),
]),
Command(0x57, "SetCameraParams", group="camera", arguments=[
FloatArgument("gain"),
UInt16Argument("exposure_ms"),
BoolArgument("auto_exposure_enabled"),
]),
Command(0x58, "StartMotorCalibration", group="motors", arguments=[
BoolArgument("head"),
BoolArgument("lift"),
]),
Command(0x60, "EnableStopOnCliff", group="motors", arguments=[
BoolArgument("enable"),
]),
Command(0x64, "SetRobotVolume", group="audio", arguments=[
UInt16Argument("level"),
]),
Command(0x66, "EnableColorImages", group="camera", arguments=[
BoolArgument("enable"),
]),
Command(0x81, "NvStorageOp", group="nv", arguments=[
EnumArgument("tag", NV_ENTRY_TAG, data_type=UInt32Argument(), default=0xffffffff),
Int32Argument("length"),
EnumArgument("op", NV_OPERATION, data_type=UInt8Argument()),
UInt8Argument("unknown"),
VArrayArgument("data"),
]),
Command(0x8d, "AbortAnimation", group="anim"),
Command(0x8e, "OutputAudio", group="audio", arguments=[
FArrayArgument("samples", length=744),
]),
Command(0x8f, "OutputSilence", group="audio"),
Command(0x91, "RecordHeading", group="anim"),
Command(0x92, "TurnToRecordedHeading", group="anim"),
Command(0x93, "AnimHead", group="anim", arguments=[
UInt8Argument("duration_ms"),
Int8Argument("variability_deg"),
Int8Argument("angle_deg"),
]),
Command(0x94, "AnimLift", group="anim", arguments=[
UInt8Argument("duration_ms"),
UInt8Argument("variability_mm"),
UInt8Argument("height_mm"),
]),
Command(0x97, "DisplayImage", group="display", arguments=[
VArrayArgument("image"),
]),
Command(0x98, "AnimBackpackLights", group="anim", arguments=[
FArrayArgument("colors", data_type=UInt16Argument(), length=5,
description="Left, front, middle, back, and right."),
]),
Command(0x99, "AnimBody", group="anim", arguments=[
Int16Argument("speed"),
Int16Argument("unknown"),
]),
Command(0x9a, "EndAnimation", group="anim"),
Command(0x9b, "StartAnimation", group="anim", arguments=[
UInt8Argument("anim_id")
]),
Command(0x9f, "EnableAnimationState", group="system"),
Command(0xa9, "ShutdownRobot", group="system"),
Command(0xae, "WifiOff", group="system", arguments=[
BoolArgument("enable"),
]),
Command(0xaf, "FirmwareUpdate", group="firmware", arguments=[
UInt16Argument("chunk_id"),
FArrayArgument("data", length=1024)
]),
Command(0xb0, "DebugData", group="debug", arguments=[
UInt16Argument("format_id", description="AnkiLogStringTables.json formatTable key."),
UInt16Argument("unused", description="Always 0."),
UInt16Argument("name_id", description="AnkiLogStringTables.json nameTable key."),
Int8Argument("level", description="Log level. Observed: -1, 1, 2, 3, 5."),
VArrayArgument("args", data_type=UInt32Argument(), length_type=UInt8Argument())
]),
Command(0xb4, "ObjectMoved", group="objects", arguments=[
UInt32Argument("timestamp"),
UInt32Argument("object_id"),
FloatArgument("active_accel_x"),
FloatArgument("active_accel_y"),
FloatArgument("active_accel_z"),
EnumArgument("axis_of_accel", UP_AXIS, data_type=UInt8Argument(), default=7),
]),
Command(0xb5, "ObjectStoppedMoving", group="objects", arguments=[
UInt32Argument("timestamp"),
UInt32Argument("object_id"),
]),
Command(0xb6, "ObjectTapped", group="objects", arguments=[
UInt32Argument("timestamp"),
UInt32Argument("object_id"),
UInt8Argument("num_taps"),
UInt8Argument("tap_time"),
Int8Argument("tap_neg"),
Int8Argument("tap_pos"),
]),
Command(0xb9, "ObjectTapFiltered", group="objects", arguments=[
UInt32Argument("timestamp"),
UInt32Argument("object_id"),
UInt8Argument("time"),
UInt8Argument("intensity"),
]),
Command(0xc4, "AcknowledgeAction", group="motors", arguments=[
UInt8Argument("action_id"),
]),
Command(0xc2, "RobotDelocalized", group="localization"),
Command(0xc3, "RobotPoked", group="localization"),
Command(0xc6, "PathFollowingEvent", group="motors", arguments=[
UInt16Argument("event_id"),
EnumArgument("event_type", PATH_EVENT_TYPE, data_type=UInt8Argument()),
]),
Command(0xc9, "HardwareInfo", group="system", arguments=[
UInt32Argument("serial_number_head"),
UInt8Argument("unknown1"),
UInt8Argument("unknown2"),
]),
Command(0xca, "AnimationStarted", group="anim", arguments=[
UInt8Argument("anim_id")
]),
Command(0xcb, "AnimationEnded", group="anim", arguments=[
UInt8Argument("anim_id")
]),
Command(0xcd, "NvStorageOpResult", group="nv", arguments=[
EnumArgument("tag", NV_ENTRY_TAG, data_type=UInt32Argument(), default=0xffffffff),
Int32Argument("length"),
EnumArgument("op", NV_OPERATION, data_type=UInt8Argument()),
EnumArgument("result", NV_RESULT, data_type=Int8Argument()),
VArrayArgument("data"),
]),
Command(0xce, "ObjectPowerLevel", group="objects", arguments=[
UInt32Argument("object_id"),
UInt32Argument("missed_packets"),
UInt8Argument("battery_level"),
]),
Command(0xd0, "ObjectConnectionState", group="objects", arguments=[
UInt32Argument("object_id"),
UInt32Argument("factory_id"),
EnumArgument("object_type", OBJECT_TYPE, data_type=Int32Argument(), default=-1),
BoolArgument("connected"),
]),
Command(0xd1, "MotorCalibration", group="motors", arguments=[
EnumArgument("motor_id", MOTOR_ID, data_type=UInt8Argument()),
BoolArgument("calib_started"),
BoolArgument("auto_started"),
]),
Command(0xd7, "ObjectUpAxisChanged", group="objects", arguments=[
UInt32Argument("timestamp"),
UInt32Argument("object_id"),
EnumArgument("axis", UP_AXIS, data_type=UInt8Argument(), default=7),
]),
Command(0xdb, "ButtonPressed", group="system", arguments=[
BoolArgument("pressed"),
]),
Command(0xdd, "FallingStarted", group="localization", arguments=[
UInt32Argument("unknown"),
]),
Command(0xde, "FallingStopped", group="localization", arguments=[
UInt32Argument("unknown"),
UInt32Argument("duration_ms"),
FloatArgument("impact_intensity"),
]),
Command(0xed, "BodyInfo", group="system", arguments=[
UInt32Argument("serial_number"),
UInt32Argument("body_hw_version", description="Production units report 5. Development units report 7."),
EnumArgument("body_color", BODY_COLOR, data_type=Int32Argument(), default=-1),
]),
Command(0xee, "FirmwareSignature", group="system", arguments=[
UInt16Argument("unknown", description="Last 2 bytes of head s/n?"),
StringArgument("signature"),
]),
Command(0xef, "FirmwareUpdateResult", group="firmware", arguments=[
UInt32Argument("byte_count"),
UInt16Argument("chunk_id"),
UInt8Argument("status", description="0=OK; 0x0a=complete?"),
]),
Event(0xf0, "RobotState", group="state", arguments=[
UInt32Argument("timestamp"),
UInt32Argument("pose_frame_id"),
UInt32Argument("pose_origin_id"),
FloatArgument("pose_x"),
FloatArgument("pose_y"),
FloatArgument("pose_z"),
FloatArgument("pose_angle_rad"),
FloatArgument("pose_pitch_rad"),
FloatArgument("lwheel_speed_mmps"),
FloatArgument("rwheel_speed_mmps"),
FloatArgument("head_angle_rad"),
FloatArgument("lift_height_mm"),
FloatArgument("accel_x"),
FloatArgument("accel_y"),
FloatArgument("accel_z"),
FloatArgument("gyro_x"),
FloatArgument("gyro_y"),
FloatArgument("gyro_z"),
FloatArgument("battery_voltage"),
UInt32Argument("status"),
FArrayArgument("cliff_data_raw", data_type=UInt16Argument(), length=4),
UInt16Argument("backpack_touch_sensor_raw"),
UInt8Argument("curr_path_segment"),
]),
Event(0xf1, "AnimationState", group="state", arguments=[
UInt32Argument("timestamp"),
Int32Argument("num_anim_bytes_played"),
Int32Argument("num_audio_frames_played"),
UInt8Argument("enabled_anim_tracks"),
UInt8Argument("tag"),
UInt8Argument("client_drop_count", description="Not present in v2214 and older."),
]),
Event(0xf2, "ImageChunk", group="state", arguments=[
UInt32Argument("frame_timestamp"),
UInt32Argument("image_id"),
UInt32Argument("chunk_debug"),
EnumArgument("image_encoding", IMAGE_ENCODING),
EnumArgument("image_resolution", IMAGE_RESOLUTION),
UInt8Argument("image_chunk_count"),
UInt8Argument("chunk_id"),
UInt16Argument("status"),
VArrayArgument("data"),
]),
Event(0xf3, "ObjectAvailable", group="state", arguments=[
UInt32Argument("factory_id"),
EnumArgument("object_type", OBJECT_TYPE, data_type=Int32Argument(), default=-1),
Int8Argument("rssi"),
]),
Event(0xf4, "ImageImuData", group="state", arguments=[
UInt32Argument("image_id"),
FloatArgument("rate_x"),
FloatArgument("rate_y"),
FloatArgument("rate_z"),
UInt8Argument("line_2_number"),
]),
Event(0xf5, "ObjectAccel", group="state", arguments=[
UInt32Argument("timestamp"),
UInt32Argument("object_id"),
FloatArgument("accel_x"),
FloatArgument("accel_y"),
FloatArgument("accel_z"),
]),
]
)