RR Files send to the device and found in the robot.db file
These files consist of a header and several blocks. The file is gzipped, hence needs to be unzipped before reading.
Coordinates to be divided by 50 to match map pixels
| Datablock | Id | Remark |
|---|---|---|
| Charger location | 1 | |
| Image | 2 | |
| Vacuum Path | 3 | |
| Go-To Path | 4 | Only exist with newer firmware |
| Predicted Path | 5 | Only exist with newer firmware |
| Cleaned Zones | 6 | Only exist with newer firmware |
| Goto Target | 7 | Only exist with newer firmware |
| Robot Position | 8 | |
| No go areas | 9 | Only exist with newer firmware |
| Virtual Walls | 10 | Only exist with newer firmware |
| Blocks | 11 | Only exist with map v1.1 |
| mfbzs | 12 | Only exist with map v1.1 |
| Obstacles | 13 | Only exist with map v1.1 |
| Digest | 1024 |
NB, older models use map version 1.0 Newer models e.g 5 firmware 3.5.7 use maptype 1.1, this map has additional information (blocks 9,10,11,12)
| Position(hex) | Length | Information |
|---|---|---|
| 0x00 | 2 | "RR" |
| 0x02 | 2 | Length of the header |
| 0x04 | 4 | Data length (points to location of the footer |
| 0x08 | 2 | Major Version |
| 0x0A | 2 | Minor Version |
| 0x0C | 4 | Map Index |
| 0x10 | 4 | Map Sequence |
| 0x14 | .. | Start first datablock |
Data block type 1 (Charger)
| Position(hex) | Length | Information |
|---|---|---|
| 0x00 | 2 | Block type |
| 0x02 | 2 | Length of the block header |
| 0x04 | 4 | Length of block data (header not included) |
| 0x08 | 4 | Charger X pos |
| 0x0C | 4 | Charger Y pos |
Data block type 2 (Image)
| Position(hex) | Length | Information |
|---|---|---|
| 0x00 | 2 | Block type |
| 0x02 | 2 | Length of the block header |
| 0x04 | 4 | Length of block data (header not included) |
| 0x08 | 4 | map v1.1 has extra block here... all other blocks re shifted in that case |
| 0x08 | 4 | Top Pos |
| 0x0C | 4 | Left Pos |
| 0x10 | 4 | Image height |
| 0x14 | 4 | Image width |
| 0x1C | 4 | Image Data 00=outside, 01=wall FF=inside area |
| note map v1.1 model S5 firmware 3.5.7 has lenght of 0x1C, img height & width are mo | ||
| This version has many more values for the image data |
bit 76543210 LSB 0 = outside bit 1 : 1=wall
Data block type 3 (vacuum path) Data block type 4 (goto path) Data block type 5 (predicted goto path)
| Position(hex) | Length | Information |
|---|---|---|
| 0x00 | 2 | Block type |
| 0x02 | 2 | Length of the block header |
| 0x04 | 4 | Length of block data (header not included) |
| 0x08 | 4 | setPointLength (amount of position pairs) |
| 0x0C | 4 | setPointSize |
| 0x10 | 4 | setAngle |
| 0x14 | .. | Pairs of 2 Byte UInt16LE x/y coordinates in mm |
Data block type 6 (zones)
| Position(hex) | Length | Information |
|---|---|---|
| 0x00 | 2 | Block type |
| 0x02 | 2 | Length of the block header |
| 0x04 | 4 | Length of block data (header not included) |
| 0x08 | 2 | # of zones uInt32LE |
| 0x0C | .. | Pairs of 2 Byte UInt16LE x1/y1 x2/y2 coordinates in mm |
| X1 and Y2 are the left top point, X2 and Y2 are the right bottom point of the rectangle |
Data block type 7 (Target Position)
| Position(hex) | Length | Information |
|---|---|---|
| 0x00 | 2 | Block type |
| 0x02 | 2 | Length of the block header |
| 0x04 | 4 | Length of block data (header not included) |
| 0x08 | 2 | Robot X pos UInt16LE |
| 0x0A | 2 | Robot Y pos UInt16LE |
Data block type 8 (Robot Position)
| Position(hex) | Length | Information |
|---|---|---|
| 0x00 | 2 | Block type |
| 0x02 | 2 | Length of the block header |
| 0x04 | 4 | Length of block data (header not included) |
| 0x08 | 4 | Robot X pos UInt32LE |
| 0x0C | 4 | Robot Y pos UInt32LE |
| 0x10 | 4 | Robot angle UInt32LE (Only newer models, maptype 1.1 |
Data block type 9 (nogo zones / fbzs)
| Position(hex) | Length | Information |
|---|---|---|
| 0x00 | 2 | Block type |
| 0x02 | 2 | Length of the block header |
| 0x04 | 4 | Length of block data (header not included) |
| 0x08 | .. | blocks of 8x UInt16LE, coordinates of corners |
Data block type 10 (walls)
| Position(hex) | Length | Information |
|---|---|---|
| 0x00 | 2 | Block type |
| 0x02 | 2 | Length of the block header |
| 0x04 | 4 | Length of block data (header not included) |
| 0x08 | .. | blocks of 4x UInt16LE (coordines of corners) |
Data block type 11 (blocks)
| Position(hex) | Length | Information |
|---|---|---|
| 0x00 | 2 | Block type |
| 0x02 | 2 | Length of the block header |
| 0x04 | 4 | Length of block data (header not included) |
| 0x08 | .. | 1 byte blocks |
Data block type 12 (mfbzs)
| Position(hex) | Length | Information |
|---|---|---|
| 0x00 | 2 | Block type |
| 0x02 | 2 | Length of the block header |
| 0x04 | 4 | Length of block data (header not included) |
| 0x08 | .. | blocks of 8x UInt16LE |
Data block type 13 (obstacles)
| Position(hex) | Length | Information |
|---|---|---|
| 0x00 | 2 | Block type |
| 0x02 | 2 | Length of the block header |
| 0x04 | 4 | Length of block data (header not included) |
| 0x08 | .. | blocks of 2x UInt16LE + 1x byte (Position X,Y, ? |
Data block type 14 (obstacles)
| Position(hex) | Length | Information |
|---|---|---|
| 0x00 | 2 | Block type |
| 0x02 | 2 | Length of the block header |
| 0x04 | 4 | Length of block data (header not included) |
| 0x08 | .. | blocks of 3x UInt16LE (Position X,Y, object Type) |
Data block type 15 (obstacles)
| Position(hex) | Length | Information |
|---|---|---|
| 0x00 | 2 | Block type |
| 0x02 | 2 | Length of the block header |
| 0x04 | 4 | Length of block data (header not included) |
| 0x08 | .. | blocks of 3x UInt16LE (Position X,Y, object Type) + In case of photo objects confidence level (Uint32LE) and reference strning |
Data block type 15 (obstacles)
| Position(hex) | Length | Information |
|---|---|---|
| 0x00 | 2 | Block type |
| 0x02 | 2 | Length of the block header |
| 0x04 | 4 | Length of block data (header not included) |
| 0x08 | .. | blocks of 2x UInt16LE + 1x byte |
Data block type 0x0400 (1024) (digest)
| Position(hex) | Length | Information |
|---|---|---|
| 0x00 | 2 | Block type |
| 0x02 | 2 | Length of the block header |
| 0x04 | 4 | Length of block data (header not included) |
| 0x08 | 12 | SHA1 hash of file until this block |