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ASEBA Messages Jacques Supcik <[email protected]> TIC Technical Report #SUP 15/2 Fribourg, August 18, 2015
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ASEBA Messages
Jacques Supcik <[email protected]>
TIC Technical Report #SUP 15/2
Fribourg, August 18, 2015
Document status: work in progress
Copyright © 2015 Jacques Supcik
Haute école d’ingénierie et d’architecture de FribourgBd. de Pérolles 80 - cp 321705 FribourgSwitzerland
This work is licensed under the Creative Commons Attribution 4.0 Interna-tional License. To view a copy of this license, visithttp://creativecommons.org/licenses/by/4.0/.
ii
Contents
Acronyms v
1 Introduction 1
2 Message Format 3
3 Messages 53.1 Messages from bootloader control program to a specific node 5
3.1.1 BOOTLOADER_RESET . . . . . . . . . . . . . . . . 53.1.2 BOOTLOADER_READ_PAGE . . . . . . . . . . . . . 53.1.3 BOOTLOADER_WRITE_PAGE . . . . . . . . . . . . 63.1.4 BOOTLOADER_PAGE_DATA_WRITE . . . . . . . . 6
3.2 Messages from node to bootloader control program . . . . . 73.2.1 BOOTLOADER_DESCRIPTION . . . . . . . . . . . . 73.2.2 BOOTLOADER_PAGE_DATA_READ . . . . . . . . . 73.2.3 BOOTLOADER_ACK . . . . . . . . . . . . . . . . . . 8
3.3 Messages from a specific node . . . . . . . . . . . . . . . . 93.3.1 DESCRIPTION . . . . . . . . . . . . . . . . . . . . . 93.3.2 NAMED_VARIABLE_DESCRIPTION . . . . . . . . . 103.3.3 LOCAL_EVENT_DESCRIPTION . . . . . . . . . . . 103.3.4 NATIVE_FUNCTION_DESCRIPTION . . . . . . . . . 113.3.5 DISCONNECTED . . . . . . . . . . . . . . . . . . . . 113.3.6 VARIABLES . . . . . . . . . . . . . . . . . . . . . . . 123.3.7 ARRAY_ACCESS_OUT_OF_BOUNDS . . . . . . . . 123.3.8 DIVISION_BY_ZERO . . . . . . . . . . . . . . . . . . 133.3.9 EVENT_EXECUTION_KILLED . . . . . . . . . . . . 133.3.10 NODE_SPECIFIC_ERROR . . . . . . . . . . . . . . 133.3.11 EXECUTION_STATE_CHANGED . . . . . . . . . . . 143.3.12 BREAKPOINT_SET_RESULT . . . . . . . . . . . . . 14
3.4 Message from IDE to all nodes . . . . . . . . . . . . . . . . 143.4.1 GET_DESCRIPTION . . . . . . . . . . . . . . . . . . 15
3.5 Messages from IDE to a specific node . . . . . . . . . . . . 153.5.1 SET_BYTECODE . . . . . . . . . . . . . . . . . . . . 153.5.2 RESET . . . . . . . . . . . . . . . . . . . . . . . . . 163.5.3 RUN . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
iii
Contents
3.5.4 PAUSE . . . . . . . . . . . . . . . . . . . . . . . . . 163.5.5 STEP . . . . . . . . . . . . . . . . . . . . . . . . . . 173.5.6 STOP . . . . . . . . . . . . . . . . . . . . . . . . . . 173.5.7 GET_EXECUTION_STATE . . . . . . . . . . . . . . 173.5.8 BREAKPOINT_SET . . . . . . . . . . . . . . . . . . 183.5.9 BREAKPOINT_CLEAR . . . . . . . . . . . . . . . . . 183.5.10 BREAKPOINT_CLEAR_ALL . . . . . . . . . . . . . . 183.5.11 GET_VARIABLES . . . . . . . . . . . . . . . . . . . 193.5.12 SET_VARIABLES . . . . . . . . . . . . . . . . . . . . 193.5.13 WRITE_BYTECODE . . . . . . . . . . . . . . . . . . 203.5.14 REBOOT . . . . . . . . . . . . . . . . . . . . . . . . 203.5.15 SUSPEND_TO_RAM . . . . . . . . . . . . . . . . . . 203.5.16 INVALID . . . . . . . . . . . . . . . . . . . . . . . . . 21
iv
Acronyms
IDE Integrated Development Environment. iii, 1, 3, 14, 15, 17, 19, 21
v
1 Introduction
This document describes the messages exchanged between the ThymioII robot and the Integrated Development Environment (IDE). These mes-sages are independent from the transport (USB, TCP/IP, …)
1
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 littleendian. The length gives the size of the body in bytes. Note the the sizeof the body is not nesessarly a multiple of two, this is why the size is givenin bytes an not in words1.
“Aseba messages payload data must be 512 bytes or smaller, which meansthat the total packets size (len + source + type + payload) must be 518 bytesor 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 communicationprotocols 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 alwaysstart with an unsigned 8 bit integer giving the size of the string, and thean array of bytes encoded in Unicode/UTF-8 with the actual characters of
1In Aseba, 1 word = 2 byte = 16 bit
3
2 Message Format
the string. The size gives the number of bytes and not the length of thestring.
4
3 Messages
3.1 Messages from bootloader control program to aspecific node
3.1.1 BOOTLOADER_RESET
2
source
0x8000
0x00
0x02
0x04
0x06dest
3.1.2 BOOTLOADER_READ_PAGE
4
source
0x8001
0x00
0x02
0x04
0x06dest
pageNumber0x08
5
3 Messages
3.1.3 BOOTLOADER_WRITE_PAGE
4
source
0x8002
0x00
0x02
0x04
0x06dest
pageNumber0x08
3.1.4 BOOTLOADER_PAGE_DATA_WRITE
size
source
0x8003
0x00
0x02
0x04
0x06dest
data: Bytes
0x08
…
6
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
3 Messages
3.2.3 BOOTLOADER_ACK
2 (4)
source
0x8006
0x00
0x02
0x04
0x06errorCode
(errorAddress)(0x08)
errorCode:
0 Success.1 Error: Invalid frame size.2 Error: Programming failed.3 Error: Not programming.
errorAddress:
Low address of the bytecodewhere the programming failed (errorCode =2)
8
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
3 Messages
3.3.2 NAMED_VARIABLE_DESCRIPTION
size
source
0x9001
0x00
0x02
0x04
0x06size
name: String…
3.3.3 LOCAL_EVENT_DESCRIPTION
size
source
0x9002
0x00
0x02
0x04
0x06
name: String
description: String…
10
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
3 Messages
3.3.6 VARIABLES
size
source
0x9005
0x00
0x02
0x04
0x06start
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
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
3 Messages
3.3.11 EXECUTION_STATE_CHANGED
4
source
0x900A
0x00
0x02
0x04
0x06 pc
flags0x08
3.3.12 BREAKPOINT_SET_RESULT
4
source
0x900B
0x00
0x02
0x04
0x06 pc
success0x08
3.4 Message from IDE to all nodes
This section describes messages broadcasted to all robots. There is onlyone single messege of this type.
14
3.5 Messages from IDE to a specific node
3.4.1 GET_DESCRIPTION
2
source
0xA000
0x00
0x02
0x04
0x06version
This message is also known as the “presence” message. It is usually thefirst 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 themessage’s payload is always the id of the robot.
3.5.1 SET_BYTECODE
size
source
0xA001
0x00
0x02
0x04
0x06dest
start
bytecode[0]
…
bytecode[n]
0x08
0x0A
…
15
3 Messages
3.5.2 RESET
2
source
0xA002
0x00
0x02
0x04
0x06dest
3.5.3 RUN
2
source
0xA003
0x00
0x02
0x04
0x06dest
3.5.4 PAUSE
2
source
0xA004
0x00
0x02
0x04
0x06dest
16
3.5 Messages from IDE to a specific node
3.5.5 STEP
2
source
0xA005
0x00
0x02
0x04
0x06dest
3.5.6 STOP
2
source
0xA006
0x00
0x02
0x04
0x06dest
3.5.7 GET_EXECUTION_STATE
2
source
0xA007
0x00
0x02
0x04
0x06dest
17
3 Messages
3.5.8 BREAKPOINT_SET
4
source
0xA008
0x00
0x02
0x04
0x06dest
pc0x08
3.5.9 BREAKPOINT_CLEAR
4
source
0xA009
0x00
0x02
0x04
0x06dest
pc0x08
3.5.10 BREAKPOINT_CLEAR_ALL
2
source
0xA00A
0x00
0x02
0x04
0x06dest
18
3.5 Messages from IDE to a specific node
3.5.11 GET_VARIABLES
6
source
0xA00B
0x00
0x02
0x04
0x06dest
start
length
0x08
0x0A
3.5.12 SET_VARIABLES
size
source
0xA00C
0x00
0x02
0x04
0x06dest
start
variable[0]
…
variable[n]
0x08
0x0A
…
19
3 Messages
3.5.13 WRITE_BYTECODE
2
source
0xA00D
0x00
0x02
0x04
0x06dest
3.5.14 REBOOT
2
source
0xA00E
0x00
0x02
0x04
0x06dest
3.5.15 SUSPEND_TO_RAM
2
source
0xA00F
0x00
0x02
0x04
0x06dest
This message sends the robot to sleep.
20
3.5 Messages from IDE to a specific node
3.5.16 INVALID
0
source
0xFFFF
0x00
0x02
0x04
21
