mirror of https://github.com/Hypfer/Valetudo.git
85 lines
1.5 KiB
Plaintext
85 lines
1.5 KiB
Plaintext
meta:
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id: dreame_map_file
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title: Dreame vacuum map format
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license: CC-BY-SA-4.0
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ks-version: 0.9
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endian: le
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bit-endian: be
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seq:
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- id: header
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size: 27
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type: header
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- id: image_data
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type:
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switch-on: header.id
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cases:
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0: rism_image_data
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_: regular_image_data
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size: header.width * header.height
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- id: additional_data
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type: str
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encoding: UTF8
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size-eos: true
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types:
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header:
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seq:
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- id: id
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type: s2
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- id: frame_id
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type: s2
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- id: frame_type
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type: s1
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doc: May either be ascii I or P
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- id: robot_position
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type: position
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- id: charger_position
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type: position
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- id: pixel_size
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type: s2
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doc: In millimeters
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- id: width
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type: s2
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- id: height
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type: s2
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- id: left
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type: s2
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- id: top
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type: s2
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position:
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seq:
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- id: x
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type: s2
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- id: y
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type: s2
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- id: angle
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type: s2
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regular_image_data:
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seq:
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- id: pixel
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type: regular_pixel
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repeat: eos
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rism_image_data:
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seq:
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- id: pixel
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type: rism_pixel
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repeat: eos
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regular_pixel:
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seq:
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- id: segment_id
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type: b6
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- id: type
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enum: regular_pixel_type
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type: b2
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rism_pixel:
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seq:
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- id: is_wall_flag
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type: b1
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- id: segment_id
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type: b7
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enums:
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regular_pixel_type:
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0: "none"
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1: "floor"
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2: "wall"
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