Secondary Client interface Version Message

Technical Questions Robot Communication
1

When I connect I get this message: 0000003814fffffffffffffffffe03095552436f6e74726f6c0304000000000000011d4d617220303820323031372c2031353a30343a3337

It should decode according to my controller version 3.4 and the excel documentation in 1.6 like this:
Excel docs: https://s3-eu-west-1.amazonaws.com/ur-support-site/16496/Client_Interfaces_1.1.3.xlsx

VersionMessage - first package only
int messageSize
unsigned char messageType = ROBOT_MESSAGE = 20
uint64_t timestamp
char source
char robotMessageType = ROBOT_MESSAGE_VERSION = 3
char projectNameSize
char array projectName
unsigned char majorVersion
unsigned char minorVersion
int svnRevision
char array buildDate

Zero or more of the following messages:

The data does not make sense at all, can somebody decrypt that message for me so I can understand what is what?
My data:

{
  length_of_overall_package: 56, // uint32
  package_type: 20, // uint8
  package: {
    size: 4294967295, //uint32
    type: 255, //uint8
    timestamp: 18446744065170560338n, //uint64
    source: 67, //uint8
    robotMessageType: 111, //uint8
    projectNameSize: 110, //uint8
    projectName: 116, //uint8
    majorVersion: 114, //uint8
    minorVersion: 111, //uint8
    svnRevision: 108, //uint8
    buildDate: 3, //uint8
    left_over_bytes: '04000000000000011d4d617220303820323031372c2031353a30343a3337'
  }
}

PS: I use that javascript parser for that

2

I tried it now to parse everything with different encodings and tried to figure out what makes sense:

Thats my result now:

{
  length_of_overall_package: 56, // uint32 4bytes length
  package_type: 20,  // uint8 1byte length
  package: {
    timestamp: 18446744073709551615n, // uint64 8bytes length
    source: 254, // uint8 1byte length
    robotMessageType: 3, // uint8 1byte length
    projectNameSize: 9, // uint8 1byte length
    projectName: 'URControl', // string ascii encoded with length of projectNameSize (in this case 9bytes)
    majorVersion: 3, //  uint8 1byte length
    minorVersion: 4, // uint8 1byte length
    bugfixVersion: 0, // uint32 4byte length
    buildNumber: 285, // uint32 4byte length
    buildDate: 'Mar 08 2017, 15:04:37' // string ascii encoded untill the last byte
  }
}

The timestamp is still confusing to me

3

You’re decoding timestamp from a wrong offset. Timestamp is just set to -1 on some message types (version is one of them).
Highlighted:
0000003814 ffffffffffffffff fe03095552436f6e74726f6c0304000000000000011d4d617220303820323031372c2031353a30343a3337

4

Ok thank you I thought so.

Can you also tell me what the second message is that I get over the secondary interface?

// 00000018                     14                ffffffffffffffff          fe                  0c                        000001f80000010001
// length=24                    messageType=20    timestamp=-1              source=254          robotMessageType=12       ....?

I can’t find a message with the messageType=20 and then robotMessageType=12

5

It’s internal safety message. This is not public because we cannot guarantee backwards compatibility.

6

Oooh ok thank you, so messages that are not documented I can skip! Nice!