[2021-03-25 16:35:12,537][ INFO](Roomba ) ******************* [2021-03-25 16:35:12,537][ INFO](Roomba ) * Program Started * [2021-03-25 16:35:12,539][ INFO](Roomba ) ******************* [2021-03-25 16:35:12,540][ INFO](Roomba ) Roomba.py Version: 2.0c [2021-03-25 16:35:12,541][ INFO](Roomba ) Python Version: 3.7.5 (tags/v3.7.5:5c02a39a0b, Oct 15 2019, 00:11:34) [MSC v.1916 64 bit (AMD64)] [2021-03-25 16:35:12,541][ INFO](Roomba ) Paho MQTT Version: 1.5.1 [2021-03-25 16:35:12,541][ INFO](Roomba ) CV Version: 4.4.0 [2021-03-25 16:35:12,542][ INFO](Roomba ) PIL Version: 8.0.1 [2021-03-25 16:35:12,542][ INFO](Roomba ) to Exit [2021-03-25 16:35:12,543][ INFO](Roomba ) Roomba MQTT data Interface [2021-03-25 16:35:12,543][ INFO](Roomba.Password ) Using Password version 2.0a [2021-03-25 16:35:12,544][ INFO](Roomba.Password ) reading/writing info from config file ./config.ini [2021-03-25 16:35:12,544][ INFO](Roomba.Password ) 1 Roombas Found [2021-03-25 16:35:12,545][ INFO](Roomba ) Creating Roomba object 192.168.1.95, Eve [2021-03-25 16:35:12,546][ INFO](Roomba.Password ) Using Password version 2.0a [2021-03-25 16:35:12,547][ INFO](Roomba.Eve ) Posting DECODED data [2021-03-25 16:35:12,550][ INFO](Roomba.Eve ) MAP: Maps Enabled [2021-03-25 16:35:12,550][ INFO](Roomba.Eve ) Connecting... [2021-03-25 16:35:12,551][ INFO](Roomba.Eve ) Setting TLS [2021-03-25 16:35:12,551][WARNI](Roomba.Eve ) error loading font: %s, loading default font [2021-03-25 16:35:12,553][ INFO](Roomba.Eve ) Setting TLS - OK [2021-03-25 16:35:12,580][ INFO](Roomba.Eve ) MAP: opening existing map_notext.png [2021-03-25 16:35:12,600][ INFO](Roomba.Eve ) MAP: home_pos: (400,750) [2021-03-25 16:35:12,600][ INFO](Roomba.Eve ) MAP: Initialisation complete [2021-03-25 16:35:12,925][ INFO](Roomba.Eve ) Roomba Connected [2021-03-25 16:35:13,266][ INFO](Roomba.Eve ) $aws/things/47A8881FBE774F799F27BC42BCB85215/shadow/update : Decoded JSON: { "state": { "reported": { "batPct": 98, "batteryType": "F12432784", "batInfo": { "mName": "F12432784", "mDate": "2019-5-30", "mDaySerial": 248, "mData": "303030393034303200000000000000000000000000", "mLife": "0BBD0B45100909C13362000403BFF649006EFEF71B1000000000007400000000", "cCount": 1, "afCount": 0 }, "batAuthEnable": true, "bbchg": { "nChatters": 0, "nKnockoffs": 2, "nLithF": 0, "nChgOk": 72, "aborts": [ 0, 0, 0 ], "smberr": 0 }, "bbchg3": { "estCap": 1921, "nAvail": 134, "hOnDock": 7660, "avgMin": 93 }, "bbmssn": { "aCycleM": 59, "nMssnF": 17, "nMssnC": 12, "nMssnOk": 31, "aMssnM": 59, "nMssn": 60 }, "bbnav": { "aMtrack": 0, "nGoodLmrks": 4, "aGain": 19, "aExpo": 38 }, "bbpause": { "pauses": [ 3, 6, 104, 104, 104, 104, 104, 104, 104, 104 ] }, "bbrstinfo": { "nNavRst": 0, "nMobRst": 0, "causes": "0000", "nSafRst": 0, "safCauses": [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ] }, "bbrun": { "nOvertemps": 0, "nCBump": 0, "nWStll": 0, "nPanics": 0, "nStuck": 2913, "nPicks": 124, "sqft": 83, "min": 8, "hr": 43, "nCliffsF": 2660, "nCliffsR": 0 }, "bbswitch": { "nBumper": 39170, "nDrops": 322, "nDock": 0, "nSpot": 0, "nClean": 83 }, "bbsys": { "min": 19, "hr": 9190 }, "cap": { "edge": 0, "maps": 3, "pmaps": 4, "tHold": 1, "tLine": 2, "area": 1, "eco": 1, "multiPass": 2, "pose": 1, "team": 1, "pp": 0, "5ghz": 1, "prov": 3, "sched": 1, "svcConf": 1, "ota": 2, "log": 2, "tileScan": 1 }, "carpetBoost": false, "cleanMissionStatus": { "cycle": "clean", "phase": "run", "expireM": 0, "rechrgM": 0, "error": 0, "notReady": 0, "mssnM": 2, "sqft": 12, "initiator": "localApp", "nMssn": 61 }, "cleanSchedule2": [], "cloudEnv": "prod", "connected": true, "country": "US", "deploymentState": 0, "detectedPad": "reusableDry", "dock": { "known": true }, "ecoCharge": false, "hwPartsRev": { "mobBrd": 9, "mobBlid": "4D0FDBA6ACA98EF8B414AD0684BE782B", "navSerialNo": "CD1980DLL", "wlan0HwAddr": "50:14:79:20:47:e9", "NavBrd": 1 }, "hwDbgr": { "swVer": "", "hw": "", "status": 0 }, "langs": [ { "cs-CZ": 0 }, { "da-DK": 1 }, { "de-DE": 2 }, { "en-GB": 3 }, { "en-US": 4 }, { "es-ES": 5 }, { "es-XL": 6 }, { "fi-FI": 7 }, { "fr-CA": 8 }, { "fr-FR": 9 }, { "he-IL": 10 }, { "it-IT": 11 }, { "ja-JP": 12 }, { "ko-KR": 13 }, { "nb-NO": 14 }, { "nl-NL": 15 }, { "pl-PL": 16 }, { "pt-BR": 17 }, { "pt-PT": 18 }, { "ru-RU": 19 }, { "sv-SE": 20 }, { "zh-CN": 21 }, { "zh-HK": 22 }, { "zh-TW": 23 } ], "language": 4, "lastCommand": { "command": "start", "initiator": "localApp", "time": 1616707946, "ordered": 1, "pmap_id": "qVL9tCj8QdqyfG61ywLGmg", "regions": [ { "region_id": "12", "type": "rid" } ], "user_pmapv_id": "210325T050628", "favorite_id": null, "robot_id": null, "select_all": null }, "lastDisconnect": 2, "mapUploadAllowed": true, "missionTelemetry": { "aux_comms": 1, "bat_stats": 1, "camera_settings": 1, "map_hypotheses": 1, "map_load": 1, "vital_stats": 1, "vslam_report": 1 }, "mopReady": { "tankPresent": true, "lidClosed": true }, "mssnNavStats": { "nMssn": 60, "gLmk": 4, "lmk": 2, "reLc": 0, "plnErr": "none", "mTrk": 0, "kdp": 0, "sfkdp": 0, "nmc": 1, "nmmc": 1, "nrmc": 0, "mpSt": "idle", "l_drift": 0, "h_drift": 0, "l_squal": 100, "h_squal": 0 }, "name": "Eve", "noAutoPasses": false, "noPP": false, "openOnly": false, "padWetness": { "disposable": 3, "reusable": 3 }, "pmapLearningAllowed": true, "pmaps": [ { "qVL9tCj8QdqyfG61ywLGmg": "210325T050628" } ], "pmapCL": true, "pose": { "theta": -142, "point": { "x": -1, "y": -80 } }, "rankOverlap": 67, "sceneRecog": 1, "schedHold": false, "secureBoot": { "log": 2, "flip": 0, "sbl1Ver": "B3.2.02_PPUB", "stublVer": "B3.2.02_PPUB", "efuse": 1, "blType": 1, "enforce": 2, "lastRst": "200000001", "recov": "linux+2.4.2+sanmarino-release-rt320+10", "idSwitch": 0 }, "sku": "m611020", "softwareVer": "sanmarino+3.10.8+sanmarino-release-rt320+11", "subModSwVer": { "nav": "sanmarino-nav+3.10.8-EPMF+build-HEAD-fed1cd6fdd3+11", "mob": "3.10.8+build-HEAD-fed1cd6fdd3+11", "pwr": "0.2.9+build-HEAD-fed1cd6fdd3+11", "sft": "1.1.0+SanMarino-Builds/SanMarino-Certified-Safety/sanmarino-safety-bbbe81f2c82+13", "mobBtl": "4.2", "linux": "linux+2.4.2+sanmarino-release-rt320+11", "con": "2.4.0-@071b7851/build" }, "svcEndpoints": { "svcDeplId": "v011" }, "tankLvl": 100, "timezone": "America/Chicago", "tls": { "tzbChk": 1, "privKType": 2, "lcCiphers": [ 0, 0, 0, 0, 0, 0, 0, 0, 50380848, 50380847 ] }, "twoPass": false, "tz": { "events": [ { "dt": 1604232000, "off": -360 }, { "dt": 1615708801, "off": -300 }, { "dt": 1636268401, "off": -360 } ], "ver": 9 }, "vacHigh": false } } } [2021-03-25 16:35:13,281][ INFO](Roomba.Eve ) current_state: None, current phase: run, mission: clean, mission_min: 2, recharge_min: 0, co-ords changed: False [2021-03-25 16:35:13,284][ INFO](Roomba.Eve ) updated state to: Running [2021-03-25 16:35:13,286][ INFO](Roomba.Eve ) MAP: drawing roomba: pos: [295, 724, 345, 774], theta: 128 [2021-03-25 16:35:13,298][ INFO](Roomba.Eve ) MAP: opening existing room.npy [2021-03-25 16:35:13,312][ INFO](Roomba.Eve ) MAP: found new outline perimeter [2021-03-25 16:35:13,390][ INFO](Roomba.Eve ) MAP: writing text: pos: (0, 0), max_len: 133, text: Running Time: 2m, Bat: 98% [2021-03-25 16:35:13,443][WARNI](Roomba.Eve ) Pending event queue size is: 1 [2021-03-25 16:35:13,446][ INFO](Roomba.Eve ) wifistat : Decoded JSON: { "state": { "reported": { "netinfo": { "dhcp": true, "addr": "192.168.1.95", "mask": "255.255.255.0", "gw": "192.168.1.1", "dns1": "192.168.1.1", "dns2": "0.0.0.0", "bssid": "04:92:26:e1:bb:00", "sec": 4 }, "signal": { "rssi": -35, "snr": 55, "noise": -90 }, "wifistat": { "wifi": 1, "uap": false, "cloud": 14 }, "wlcfg": { "sec": 4, "ssid": "5541" } } } } [2021-03-25 16:35:13,447][ INFO](Roomba.Eve ) current_state: Running, current phase: run, mission: clean, mission_min: 2, recharge_min: 0, co-ords changed: False [2021-03-25 16:35:15,067][ INFO](Roomba.Eve ) wifistat : Decoded JSON: { "state": { "reported": { "signal": { "rssi": -33, "snr": 57, "noise": -90 } } } } [2021-03-25 16:35:15,068][ INFO](Roomba.Eve ) current_state: Running, current phase: run, mission: clean, mission_min: 2, recharge_min: 0, co-ords changed: False [2021-03-25 16:35:16,264][ INFO](Roomba.Eve ) wifistat : Decoded JSON: { "state": { "reported": { "signal": { "rssi": -37, "snr": 53, "noise": -90 } } } } [2021-03-25 16:35:16,265][ INFO](Roomba.Eve ) current_state: Running, current phase: run, mission: clean, mission_min: 2, recharge_min: 0, co-ords changed: False [2021-03-25 16:35:17,275][ INFO](Roomba.Eve ) wifistat : Decoded JSON: { "state": { "reported": { "signal": { "rssi": -41, "snr": 49, "noise": -90 } } } } [2021-03-25 16:35:17,276][ INFO](Roomba.Eve ) current_state: Running, current phase: run, mission: clean, mission_min: 2, recharge_min: 0, co-ords changed: False [2021-03-25 16:35:18,074][ INFO](Roomba.Eve ) $aws/things/47A8881FBE774F799F27BC42BCB85215/shadow/update : Decoded JSON: { "state": { "reported": { "pose": { "theta": -165, "point": { "x": 5, "y": -102 } } } } } [2021-03-25 16:35:18,075][ INFO](Roomba.Eve ) current_state: Running, current phase: run, mission: clean, mission_min: 2, recharge_min: 0, co-ords changed: True [2021-03-25 16:35:18,077][ INFO](Roomba.Eve ) MAP: received: new co-ords: {'x': -102, 'y': 5, 'theta': -165} phase: run, state: Running [2021-03-25 16:35:18,077][ INFO](Roomba.Eve ) MAP: drawing line: (320, 749), (298, 755) [2021-03-25 16:35:18,078][ INFO](Roomba.Eve ) MAP: drawing roomba: pos: [273, 730, 323, 780], theta: 105 [2021-03-25 16:35:18,088][ INFO](Roomba.Eve ) MAP: found new outline perimeter [2021-03-25 16:35:18,175][ INFO](Roomba.Eve ) MAP: writing text: pos: (0, 0), max_len: 133, text: Running Time: 2m, Bat: 98% [2021-03-25 16:35:18,264][ INFO](Roomba.Eve ) wifistat : Decoded JSON: { "state": { "reported": { "signal": { "rssi": -39, "snr": 51, "noise": -90 } } } } [2021-03-25 16:35:18,267][ INFO](Roomba.Eve ) current_state: Running, current phase: run, mission: clean, mission_min: 2, recharge_min: 0, co-ords changed: False [2021-03-25 16:35:19,265][ INFO](Roomba.Eve ) wifistat : Decoded JSON: { "state": { "reported": { "signal": { "rssi": -35, "snr": 55, "noise": -90 } } } } [2021-03-25 16:35:19,267][ INFO](Roomba.Eve ) current_state: Running, current phase: run, mission: clean, mission_min: 2, recharge_min: 0, co-ords changed: False [2021-03-25 16:35:21,276][ INFO](Roomba.Eve ) wifistat : Decoded JSON: { "state": { "reported": { "signal": { "rssi": -37, "snr": 53, "noise": -90 } } } } [2021-03-25 16:35:21,277][ INFO](Roomba.Eve ) current_state: Running, current phase: run, mission: clean, mission_min: 2, recharge_min: 0, co-ords changed: False [2021-03-25 16:35:22,276][ INFO](Roomba.Eve ) wifistat : Decoded JSON: { "state": { "reported": { "signal": { "rssi": -36, "snr": 54, "noise": -90 } } } } [2021-03-25 16:35:22,278][ INFO](Roomba.Eve ) current_state: Running, current phase: run, mission: clean, mission_min: 2, recharge_min: 0, co-ords changed: False [2021-03-25 16:35:23,076][ INFO](Roomba.Eve ) $aws/things/47A8881FBE774F799F27BC42BCB85215/shadow/update : Decoded JSON: { "state": { "reported": { "pose": { "theta": -115, "point": { "x": 11, "y": -116 } } } } } [2021-03-25 16:35:23,078][ INFO](Roomba.Eve ) current_state: Running, current phase: run, mission: clean, mission_min: 2, recharge_min: 0, co-ords changed: True [2021-03-25 16:35:23,080][ INFO](Roomba.Eve ) MAP: received: new co-ords: {'x': -116, 'y': 11, 'theta': -115} phase: run, state: Running [2021-03-25 16:35:23,080][ INFO](Roomba.Eve ) MAP: drawing line: (298, 755), (284, 761) [2021-03-25 16:35:23,081][ INFO](Roomba.Eve ) MAP: drawing roomba: pos: [259, 736, 309, 786], theta: 155 [2021-03-25 16:35:23,162][ INFO](Roomba.Eve ) MAP: writing text: pos: (0, 0), max_len: 133, text: Running Time: 2m, Bat: 98% [2021-03-25 16:35:23,215][ INFO](Roomba ) System exit Received - Exiting program [2021-03-25 16:35:23,215][ INFO](Roomba.Eve ) Cancelling 4 outstanding tasks [2021-03-25 16:35:23,218][ INFO](Roomba.Eve ) Eve disconnected [2021-03-25 16:35:23,218][ INFO](Roomba ) Program Exited [2021-03-25 16:35:23,218][ INFO](Roomba.Eve ) Disconnected