Aseba msg

1. ASEBA Messages Jacques Supcik <jacques.supcik@hefr.ch> TIC Technical Report #SUP 15/2 Fribourg, August 18, 2015

2. Document status: work in progress Copyright © 2015 Jacques Supcik Haute école d’ingénierie et d’architecture de Fribourg Bd. de Pérolles 80 - cp 32 1705 Fribourg Switzerland This work is licensed under the Creative Commons Attribution 4.0 Interna- tional License. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/. ii

3. Contents Acronyms v 1 Introduction 1 2 Message Format 3 3 Messages 5 3.1 Messages from bootloader control program to a specific node 5 3.1.1 BOOTLOADER_RESET . . . . . . . . . . . . . . . . 5 3.1.2 BOOTLOADER_READ_PAGE . . . . . . . . . . . . . 5 3.1.3 BOOTLOADER_WRITE_PAGE . . . . . . . . . . . . 6 3.1.4 BOOTLOADER_PAGE_DATA_WRITE . . . . . . . . 6 3.2 Messages from node to bootloader control program . . . . . 7 3.2.1 BOOTLOADER_DESCRIPTION . . . . . . . . . . . . 7 3.2.2 BOOTLOADER_PAGE_DATA_READ . . . . . . . . . 7 3.2.3 BOOTLOADER_ACK . . . . . . . . . . . . . . . . . . 8 3.3 Messages from a specific node . . . . . . . . . . . . . . . . 9 3.3.1 DESCRIPTION . . . . . . . . . . . . . . . . . . . . . 9 3.3.2 NAMED_VARIABLE_DESCRIPTION . . . . . . . . . 10 3.3.3 LOCAL_EVENT_DESCRIPTION . . . . . . . . . . . 10 3.3.4 NATIVE_FUNCTION_DESCRIPTION . . . . . . . . . 11 3.3.5 DISCONNECTED . . . . . . . . . . . . . . . . . . . . 11 3.3.6 VARIABLES . . . . . . . . . . . . . . . . . . . . . . . 12 3.3.7 ARRAY_ACCESS_OUT_OF_BOUNDS . . . . . . . . 12 3.3.8 DIVISION_BY_ZERO . . . . . . . . . . . . . . . . . . 13 3.3.9 EVENT_EXECUTION_KILLED . . . . . . . . . . . . 13 3.3.10 NODE_SPECIFIC_ERROR . . . . . . . . . . . . . . 13 3.3.11 EXECUTION_STATE_CHANGED . . . . . . . . . . . 14 3.3.12 BREAKPOINT_SET_RESULT . . . . . . . . . . . . . 14 3.4 Message from IDE to all nodes . . . . . . . . . . . . . . . . 14 3.4.1 GET_DESCRIPTION . . . . . . . . . . . . . . . . . . 15 3.5 Messages from IDE to a specific node . . . . . . . . . . . . 15 3.5.1 SET_BYTECODE . . . . . . . . . . . . . . . . . . . . 15 3.5.2 RESET . . . . . . . . . . . . . . . . . . . . . . . . . 16 3.5.3 RUN . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 iii

4. Contents 3.5.4 PAUSE . . . . . . . . . . . . . . . . . . . . . . . . . 16 3.5.5 STEP . . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.5.6 STOP . . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.5.7 GET_EXECUTION_STATE . . . . . . . . . . . . . . 17 3.5.8 BREAKPOINT_SET . . . . . . . . . . . . . . . . . . 18 3.5.9 BREAKPOINT_CLEAR . . . . . . . . . . . . . . . . . 18 3.5.10 BREAKPOINT_CLEAR_ALL . . . . . . . . . . . . . . 18 3.5.11 GET_VARIABLES . . . . . . . . . . . . . . . . . . . 19 3.5.12 SET_VARIABLES . . . . . . . . . . . . . . . . . . . . 19 3.5.13 WRITE_BYTECODE . . . . . . . . . . . . . . . . . . 20 3.5.14 REBOOT . . . . . . . . . . . . . . . . . . . . . . . . 20 3.5.15 SUSPEND_TO_RAM . . . . . . . . . . . . . . . . . . 20 3.5.16 INVALID . . . . . . . . . . . . . . . . . . . . . . . . . 21 iv

5. Acronyms IDE Integrated Development Environment. iii, 1, 3, 14, 15, 17, 19, 21 v

6. 1 Introduction This document describes the messages exchanged between the Thymio II robot and the Integrated Development Environment (IDE). These messages are independent from the transport (USB, TCP/IP, …) 1

7. 2 Message Format Each packet is composed of an header and a body: length source type 0x00 0x02 0x04 0x06 body … The length, source, and type are 16 bit unsigned integer encoded as little endian. The length gives the size of the body in bytes. Note the the size of the body is not nesessarly a multiple of two, this is why the size is given in bytes an not in words1 . “Aseba messages payload data must be 512 bytes or smaller, which means that the total packets size (len + source + type + payload) must be 518 bytes or smaller.” The source is zero for the IDE. All integer fields in the messages are 16 bit wide encoded in little endian. This seems unusual for those who are used to work with communication protocols such as TCP/IP, but it is the natural order in the Thymio II’s CPU. Some messages contains fields of type String. In this type, the field always start with an unsigned 8 bit integer giving the size of the string, and the an array of bytes encoded in Unicode/UTF-8 with the actual characters of 1 In Aseba, 1 word = 2 byte = 16 bit 3

8. 2 Message Format the string. The size gives the number of bytes and not the length of the string. 4

9. 3 Messages 3.1 Messages from bootloader control program to a specific node 3.1.1 BOOTLOADER_RESET 2 source 0x8000 0x00 0x02 0x04 0x06 dest 3.1.2 BOOTLOADER_READ_PAGE 4 source 0x8001 0x00 0x02 0x04 0x06 dest pageNumber 0x08 5

10. 3 Messages 3.1.3 BOOTLOADER_WRITE_PAGE 4 source 0x8002 0x00 0x02 0x04 0x06 dest pageNumber 0x08 3.1.4 BOOTLOADER_PAGE_DATA_WRITE size source 0x8003 0x00 0x02 0x04 0x06 dest data: Bytes 0x08 … 6

11. 3.2 Messages from node to bootloader control program 3.2 Messages from node to bootloader control program 3.2.1 BOOTLOADER_DESCRIPTION 6 source 0x8004 0x00 0x02 0x04 0x06 pageSize pagesStart pagesCount 0x08 0x0A 3.2.2 BOOTLOADER_PAGE_DATA_READ size source 0x8005 0x00 0x02 0x04 0x06 data: Bytes … 7

12. 3 Messages 3.2.3 BOOTLOADER_ACK 2 (4) source 0x8006 0x00 0x02 0x04 0x06 errorCode (errorAddress) (0x08) errorCode: 0 Success. 1 Error: Invalid frame size. 2 Error: Programming failed. 3 Error: Not programming. errorAddress: Low address of the bytecode where the programming failed (errorCode =2) 8

13. 3.3 Messages from a specific node 3.3 Messages from a specific node 3.3.1 DESCRIPTION size source 0x9000 0x00 0x02 0x04 0x06 name: String protocolVersion bytecodeSize stackSize variablesSize namedVariableSize localEventSize nativeFunctionSize… 9

14. 3 Messages 3.3.2 NAMED_VARIABLE_DESCRIPTION size source 0x9001 0x00 0x02 0x04 0x06 size name: String … 3.3.3 LOCAL_EVENT_DESCRIPTION size source 0x9002 0x00 0x02 0x04 0x06 name: String description: String … 10

15. 3.3 Messages from a specific node 3.3.4 NATIVE_FUNCTION_DESCRIPTION size source 0x9003 0x00 0x02 0x04 0x06 name: String description: String parametersLength parameter[0].Size parameter[0].Name: String … parameter[n].Size parameter[n].Name: String … 3.3.5 DISCONNECTED 0 source 0x9004 0x00 0x02 0x04 11

16. 3 Messages 3.3.6 VARIABLES size source 0x9005 0x00 0x02 0x04 0x06 start variable[0] … variable[n]… 3.3.7 ARRAY_ACCESS_OUT_OF_BOUNDS 6 source 0x9006 0x00 0x02 0x04 0x06 pc size index 0x08 0x0A 12

17. 3.3 Messages from a specific node 3.3.8 DIVISION_BY_ZERO 2 source 0x9007 0x00 0x02 0x04 0x06 pc 3.3.9 EVENT_EXECUTION_KILLED 2 source 0x9008 0x00 0x02 0x04 0x06 pc 3.3.10 NODE_SPECIFIC_ERROR 4 source 0x9009 0x00 0x02 0x04 0x06 pc message: String … 13

18. 3 Messages 3.3.11 EXECUTION_STATE_CHANGED 4 source 0x900A 0x00 0x02 0x04 0x06 pc flags 0x08 3.3.12 BREAKPOINT_SET_RESULT 4 source 0x900B 0x00 0x02 0x04 0x06 pc success 0x08 3.4 Message from IDE to all nodes This section describes messages broadcasted to all robots. There is only one single messege of this type. 14

19. 3.5 Messages from IDE to a specific node 3.4.1 GET_DESCRIPTION 2 source 0xA000 0x00 0x02 0x04 0x06 version This message is also known as the “presence” message. It is usually the first message sent by the IDE to initiate the dialog with the robots. 3.5 Messages from IDE to a specific node The following messages target a specific robot. The first argument in the message’s payload is always the id of the robot. 3.5.1 SET_BYTECODE size source 0xA001 0x00 0x02 0x04 0x06 dest start bytecode[0] … bytecode[n] 0x08 0x0A … 15

20. 3 Messages 3.5.2 RESET 2 source 0xA002 0x00 0x02 0x04 0x06 dest 3.5.3 RUN 2 source 0xA003 0x00 0x02 0x04 0x06 dest 3.5.4 PAUSE 2 source 0xA004 0x00 0x02 0x04 0x06 dest 16

21. 3.5 Messages from IDE to a specific node 3.5.5 STEP 2 source 0xA005 0x00 0x02 0x04 0x06 dest 3.5.6 STOP 2 source 0xA006 0x00 0x02 0x04 0x06 dest 3.5.7 GET_EXECUTION_STATE 2 source 0xA007 0x00 0x02 0x04 0x06 dest 17

22. 3 Messages 3.5.8 BREAKPOINT_SET 4 source 0xA008 0x00 0x02 0x04 0x06 dest pc 0x08 3.5.9 BREAKPOINT_CLEAR 4 source 0xA009 0x00 0x02 0x04 0x06 dest pc 0x08 3.5.10 BREAKPOINT_CLEAR_ALL 2 source 0xA00A 0x00 0x02 0x04 0x06 dest 18

23. 3.5 Messages from IDE to a specific node 3.5.11 GET_VARIABLES 6 source 0xA00B 0x00 0x02 0x04 0x06 dest start length 0x08 0x0A 3.5.12 SET_VARIABLES size source 0xA00C 0x00 0x02 0x04 0x06 dest start variable[0] … variable[n] 0x08 0x0A … 19

24. 3 Messages 3.5.13 WRITE_BYTECODE 2 source 0xA00D 0x00 0x02 0x04 0x06 dest 3.5.14 REBOOT 2 source 0xA00E 0x00 0x02 0x04 0x06 dest 3.5.15 SUSPEND_TO_RAM 2 source 0xA00F 0x00 0x02 0x04 0x06 dest This message sends the robot to sleep. 20

25. 3.5 Messages from IDE to a specific node 3.5.16 INVALID 0 source 0xFFFF 0x00 0x02 0x04 21

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