@robdobsn/raftjs 1.8.5 → 1.10.7

package/examples/dashboard/src/SystemTypeMarty/RICLEDPatternChecker.ts

@@ -0,0 +1,207 @@
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// RICJS
+// Communications Library
+//
+// Rob Dobson & Chris Greening 2020-2022
+// (C) 2020-2022
+//
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+import { RaftConnEvent, RaftConnEventFn } from '../../../../src/RaftConnEvents';
+import RaftLog from '../../../../src/RaftLog';
+import RaftMsgHandler from '../../../../src/RaftMsgHandler';
+import { RaftOKFail } from '../../../../src/RaftTypes';
+import { RICLEDPatternCheckerColour, RICLedLcdColours } from './RICTypes';
+
+export default class RICLEDPatternChecker {
+
+  // LED pattern refresh
+  private _ledPatternTimeoutMs = 10000;
+  private _ledPatternRefreshTimer: ReturnType<typeof setTimeout> | null = null;
+
+  // Verification of correct device
+  private _ledColours: Array<string> = new Array<string>();
+  private _lcdColours: Array<string> = new Array<string>();
+  private _bleVerifActive = false;
+
+  // Message handler, etc
+  private _msgHandler: RaftMsgHandler | null = null;
+  private _onConnEvent: RaftConnEventFn | null = null;
+  private _isConnectedFn: () => boolean = () => false;
+
+  /**
+   * Start checking correct RIC using LED pattern
+   *
+   *  @param {RICLedLcdColours} ricLedLcdColours - available colours
+   *  @param {RaftMsgHandler} msgHandler - message handler
+   *  @param {RaftConnEventFn} onConnEvent - connection event handler
+   *  @param {() => boolean} isConnectedFn - function to check if connected
+   *  @return boolean - true if started ok
+   *
+   */
+  async checkCorrectRICStart(ricLedLcdColours: RICLedLcdColours, 
+          msgHandler: RaftMsgHandler, 
+          onConnEvent: RaftConnEventFn,
+          isConnectedFn: () => boolean): Promise<boolean> {
+
+    // Store the onConnEvent, etc
+    this._msgHandler = msgHandler;
+    this._onConnEvent = onConnEvent;
+    this._isConnectedFn = isConnectedFn;
+
+    // Set colour pattern checker colours
+    const randomColours = this.setupColours(ricLedLcdColours);
+
+    // Start timer to repeat checking LED pattern
+    RaftLog.debug(`checkCorrectRICStart: starting LED pattern checker`);
+    if (!await this._checkCorrectRICRefreshLEDs()) {
+      return false;
+    }
+
+    // Event
+    onConnEvent(RaftConnEvent.CONN_VERIFYING_CORRECT, randomColours);
+
+    // Start timer to repeat sending of LED pattern
+    // This is because RIC's LED pattern override times out after a while
+    // so has to be refreshed periodically
+    this._ledPatternRefreshTimer = setInterval(async () => {
+      RaftLog.verbose(`checkCorrectRICStart: loop`);
+      if (!this._checkCorrectRICRefreshLEDs()) {
+        RaftLog.debug('checkCorrectRICStart no longer active - clearing timer');
+        this._clearLedPatternRefreshTimer();
+      }
+    }, this._ledPatternTimeoutMs / 2.1);
+    return true;
+  }
+
+  /**
+   *  Stop checking correct RIC
+   *  @param {boolean} confirmCorrectRIC - true if user confirmed correct RIC
+   *  @return void
+   *
+   */
+  async checkCorrectRICStop(confirmCorrectRIC: boolean): Promise<boolean> {
+
+    // Stop refreshing LED pattern on RIC
+    this._clearLedPatternRefreshTimer();
+
+    // Stop the LED pattern checker if connected
+    if (this._isConnectedFn()) {
+      await this.clearRICColors();
+    }
+
+    // Check correct
+    if (!confirmCorrectRIC) {
+      // Event
+      if (this._onConnEvent)
+        this._onConnEvent(RaftConnEvent.CONN_REJECTED);
+      // Indicate as rejected if we're not connected or if user didn't confirm
+      return false;
+    }
+    // Event
+    if (this._onConnEvent)
+      this._onConnEvent(RaftConnEvent.CONN_VERIFIED_CORRECT);
+    return true;
+  }
+
+  /**
+   * Refresh LED pattern on RIC
+   *
+   *  @return boolean - true if checking still active
+   *
+   */
+  async _checkCorrectRICRefreshLEDs(): Promise<boolean> {
+    // Check LED pattern is active
+    if (!this.isActive()) {
+      return false;
+    }
+
+    // Check connected
+    RaftLog.debug(`_verificationRepeat getting isConnected`);
+    if (!this._isConnectedFn()) {
+      console.warn('_verificationRepeat not connected');
+      return false;
+    }
+
+    // Repeat the LED pattern (RIC times out the LED override after ~10 seconds)
+    RaftLog.debug(`_verificationRepeat setting pattern`);
+    return await this.setRICColors();
+  }
+
+  _clearLedPatternRefreshTimer(): void {
+    if (this._ledPatternRefreshTimer) {
+      clearInterval(this._ledPatternRefreshTimer);
+      this._ledPatternRefreshTimer = null;
+    }
+  }
+
+  isActive(): boolean {
+    return this._bleVerifActive;
+  }
+
+  clear(): void {
+    this._bleVerifActive = false;
+  }
+
+  setupColours(availableColors: RICLEDPatternCheckerColour[]): string[] {
+
+    // Check length of available colours
+    if (availableColors.length == 0) {
+      RaftLog.warn('start no available colours');
+    }
+
+    // Random colour selection
+    const LED_1 =
+      availableColors[Math.floor(Math.random() * availableColors.length)];
+    const LED_2 =
+      availableColors[Math.floor(Math.random() * availableColors.length)];
+    const LED_3 =
+      availableColors[Math.floor(Math.random() * availableColors.length)];
+
+    // LED and LCD colours are different to attempt to be visually similar
+    this._ledColours = [LED_1.led, LED_2.led, LED_3.led];
+    this._lcdColours = [LED_1.lcd, LED_2.lcd, LED_3.lcd];
+
+    // Set the colours to display on LEDs
+    this._bleVerifActive = true;
+
+    // Return LCD colours to display
+    return this._lcdColours;
+  }
+
+  async setRICColors(): Promise<boolean> {
+    // Set bonding colours
+    let colourSetStr = '';
+    for (let i = 0; i < this._ledColours.length; i++) {
+      if (i != 0) {
+        colourSetStr += '&';
+      }
+      let colr = this._ledColours[i];
+      if (colr.startsWith('#')) colr = colr.slice(1);
+      colourSetStr += `c${i}=${colr}`;
+    }
+    try {
+      RaftLog.debug('setRICColors setting colours');
+      if (this._msgHandler) {
+        await this._msgHandler.sendRICRESTURL<RaftOKFail>(`indicator/set?${colourSetStr}&ms=${this._ledPatternTimeoutMs}`);
+      }
+    } catch (error) {
+      RaftLog.debug(`setRICColors failed to send ${error}`);
+      return false;
+    }
+    return true;
+  }
+
+  async clearRICColors(): Promise<void> {
+    // Clear the LED colours
+    RaftLog.debug('clearRICColors');
+    try {
+      if (this._msgHandler) {
+        await this._msgHandler.sendRICRESTURL<RaftOKFail>(`indicator/resume`);
+      }
+    } catch (error) {
+      RaftLog.debug(`clearRICColors failed to send ${error}`);
+    }
+  }
+}

package/examples/dashboard/src/SystemTypeMarty/RICROSSerial.ts

@@ -0,0 +1,464 @@
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// RICJS
+// Communications Library
+//
+// Rob Dobson & Chris Greening 2020-2022
+// (C) 2020-2022
+//
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+import RaftLog from "../../../../src/RaftLog";
+import RaftUtils from "../../../../src/RaftUtils";
+import RICAddOnManager from "./RICAddOnManager";
+import RICCommsStats from "./RICCommsStats";
+import { RICStateInfo } from "./RICStateInfo";
+
+export class ROSSerialSmartServos {
+  smartServos: {
+    id: number;
+    pos: number;
+    current: number;
+    status: number;
+  }[] = [];
+}
+
+export class ROSSerialIMU {
+  accel: {
+    x: number;
+    y: number;
+    z: number;
+  } = { x: 0, y: 0, z: 0 };
+}
+
+export class ROSSerialPowerStatus {
+  powerStatus: {
+    battRemainCapacityPercent: number;
+    battTempDegC: number;
+    battRemainCapacityMAH: number;
+    battFullCapacityMAH: number;
+    battCurrentMA: number;
+    power5VOnTimeSecs: number;
+    power5VIsOn: boolean;
+    powerUSBIsConnected: boolean;
+    battInfoValid: boolean;
+    powerUSBIsValid: boolean;
+    powerFlags: number;
+  } = {
+    battRemainCapacityPercent: 0,
+    battTempDegC: 0,
+    battRemainCapacityMAH: 0,
+    battFullCapacityMAH: 0,
+    battCurrentMA: 0,
+    power5VOnTimeSecs: 0,
+    power5VIsOn: false,
+    powerUSBIsConnected: false,
+    battInfoValid: false,
+    powerUSBIsValid: false,
+    powerFlags: 0,
+  };
+}
+
+export class ROSSerialAddOnStatus {
+  id = 0;
+  deviceTypeID = 0;
+  whoAmI = "";
+  name = "";
+  status = 0;
+  vals: { [key: string]: number | boolean | string} = {};
+}
+
+export class ROSSerialAddOnStatusList {
+  addons: Array<ROSSerialAddOnStatus> = new Array<ROSSerialAddOnStatus>();
+}
+
+export class ROSSerialRGBT {
+  r = 0;
+  g = 0;
+  b = 0;
+  t = 0;
+  constructor(r: number, g: number, b: number, t: number) {
+    this.r = r;
+    this.g = g;
+    this.b = b;
+    this.t = t;
+  }
+  toString() {
+    return `R:${this.r} G:${this.g} B:${this.b} T:${this.t}`;
+  }
+}
+
+export class ROSSerialRobotStatus {
+  robotStatus: {
+    flags: number;
+    isMoving: boolean;
+    isPaused: boolean;
+    isFwUpdating: boolean;
+    workQCount: number;
+    heapFree: number;
+    heapMin: number;
+    pixRGBT: ROSSerialRGBT[];
+    loopMsAvg: number;
+    loopMsMax: number;
+    wifiRSSI: number;
+    bleRSSI: number;
+  } = {
+    flags: 0,
+    isMoving: false,
+    isPaused: false,
+    isFwUpdating: false,
+    workQCount: 0,
+    heapFree: 0,
+    heapMin: 0,
+    pixRGBT: [],
+    loopMsAvg: 0,
+    loopMsMax: 0,
+    wifiRSSI: 0,
+    bleRSSI: 0,
+  };
+}
+
+export class ROSCameraData {
+  cameraData: {
+    unixTimeMs: number;
+    sinceStartMs: number;
+    imageData: Uint8Array;
+    imageWidth: number,
+    imageHeight: number,
+    imageFormat: number,
+    imageQuality: number,
+    frameTimeMs: number,
+    imageCount: number
+  } = {
+    unixTimeMs: 0,
+    sinceStartMs: 0,
+    imageData: new Uint8Array(0),
+    imageWidth: 0,
+    imageHeight: 0,
+    imageFormat: 0,
+    imageQuality: 0,
+    frameTimeMs: 0,
+    imageCount: 0
+  };
+}
+
+export type ROSSerialMsg =
+  | ROSSerialSmartServos
+  | ROSSerialIMU
+  | ROSSerialPowerStatus
+  | ROSSerialAddOnStatusList
+  | ROSSerialRobotStatus;
+
+// ROSSerial ROSTopics
+export const ROSTOPIC_V2_SMART_SERVOS = 120;
+export const ROSTOPIC_V2_ACCEL = 121;
+export const ROSTOPIC_V2_POWER_STATUS = 122;
+export const ROSTOPIC_V2_ADDONS = 123;
+export const ROSTOPIC_V2_ROBOT_STATUS = 124;
+export const ROSTOPIC_V2_CAMERA = 200;
+  
+export class RICROSSerial {
+
+  static decode(
+    rosSerialMsg: Uint8Array,
+    startPos: number,
+    commsStats: RICCommsStats,
+    addOnManager: RICAddOnManager,
+    ricStateInfo: RICStateInfo,
+    frameTimeMs: number
+  ): Array<number> {    
+
+    // ROSSerial message format
+    const RS_MSG_MIN_LENGTH = 8;
+    const RS_MSG_LEN_LOW_POS = 2;
+    const RS_MSG_LEN_HIGH_POS = 3;
+    const RS_MSG_TOPIC_ID_LOW_POS = 5;
+    const RS_MSG_TOPIC_ID_HIGH_POS = 6;
+    const RS_MSG_PAYLOAD_POS = 7;
+
+    // Max payload length
+    const MAX_VALID_PAYLOAD_LEN = 200000;
+
+    // Update stats
+    commsStats.updateROSSerialRxRate(rosSerialMsg.length, frameTimeMs);
+
+    // Payload may contain multiple ROSSerial messages
+    let msgPos = startPos;
+    const topicIDs = new Array<number>();
+    for (;;) {
+      const remainingMsgLen = rosSerialMsg.length - msgPos;
+
+      // RaftLog.debug('ROSSerial Decode ' + remainingMsgLen);
+
+      if (remainingMsgLen < RS_MSG_MIN_LENGTH) break;
+
+      // Extract header
+      const payloadLength =
+        rosSerialMsg[msgPos + RS_MSG_LEN_LOW_POS] +
+        rosSerialMsg[msgPos + RS_MSG_LEN_HIGH_POS] * 256;
+      const topicID =
+        rosSerialMsg[msgPos + RS_MSG_TOPIC_ID_LOW_POS] +
+        rosSerialMsg[msgPos + RS_MSG_TOPIC_ID_HIGH_POS] * 256;
+
+      // RaftLog.debug('ROSSerial ' + payloadLength + ' topic ' + topicID);
+
+      // Check max length
+      if (payloadLength < 0 || payloadLength > MAX_VALID_PAYLOAD_LEN) break;
+
+      // Check min length
+      if (rosSerialMsg.length < payloadLength + RS_MSG_MIN_LENGTH) break;
+
+      // Extract payload
+      const payload = rosSerialMsg.slice(
+        msgPos + RS_MSG_PAYLOAD_POS,
+        msgPos + RS_MSG_PAYLOAD_POS + payloadLength
+      );
+      // RaftLog.debug('ROSSerial ' + RaftUtils.bufferToHex(payload));
+
+      // we need to register the static addons here in case
+      // marty only has static addons (and so the rostopic_v2_addons case
+      // never runs)
+      let allAdons: ROSSerialAddOnStatusList = {addons: []};
+      const staticAddons = addOnManager.getProcessedStaticAddons();
+      for (const staticAddon of staticAddons) {
+        allAdons.addons.push(staticAddon);
+      }
+      if (commsStats._msgAddOnPub === 0) {
+        // we set the static addons only if we don't have any other addons
+        // the _msgAddOnPub is incremented in the rostopic_v2_addons case
+        // (when we get addons from marty)
+        // otherwise, the static addons will be set along with the regular addons (below)
+        ricStateInfo.addOnInfo = allAdons;
+        ricStateInfo.addOnInfoValidMs = Date.now();
+      }
+
+      // Record topic ID
+      topicIDs.push(topicID);
+
+      // Update state info
+      switch (topicID) {
+          case ROSTOPIC_V2_SMART_SERVOS:
+            // Smart Servos
+            ricStateInfo.smartServos = this.extractSmartServos(payload);
+            ricStateInfo.smartServosValidMs = Date.now();
+            commsStats.recordSmartServos();
+            break;
+          case ROSTOPIC_V2_ACCEL:
+            // Accelerometer
+            ricStateInfo.imuData = this.extractAccel(payload);
+            ricStateInfo.imuDataValidMs = Date.now();
+            commsStats.recordIMU();
+            break;
+          case ROSTOPIC_V2_POWER_STATUS:
+            // Power Status
+            ricStateInfo.power = this.extractPowerStatus(payload);
+            ricStateInfo.powerValidMs = Date.now();
+            commsStats.recordPowerStatus();
+            break;
+          case ROSTOPIC_V2_ADDONS:
+            // Addons
+            ricStateInfo.addOnInfo = this.extractAddOnStatus(payload, addOnManager);
+            ricStateInfo.addOnInfoValidMs = Date.now();
+            for (const staticAddon of staticAddons) {
+              allAdons.addons.push(staticAddon);
+            }
+            commsStats.recordAddOnPub();
+            break;
+          case ROSTOPIC_V2_ROBOT_STATUS:
+            // Robot Status
+            ricStateInfo.robotStatus = this.extractRobotStatus(payload);
+            ricStateInfo.robotStatusValidMs = Date.now();
+            commsStats.recordRobotStatus();
+            break;
+          case ROSTOPIC_V2_CAMERA:
+            // Camera
+            // RaftLog.debug('Camera ' + payloadLength);
+            ricStateInfo.cameraData = this.extractCameraData(payload, frameTimeMs);
+            ricStateInfo.cameraDataValidMs = Date.now();
+            commsStats.recordOtherTopic();
+            break;
+          default:
+            // Unknown topic
+            commsStats.recordOtherTopic();
+            break;
+      }
+
+      // Move msgPos on
+      msgPos += RS_MSG_PAYLOAD_POS + payloadLength + 1;
+
+      // RaftLog.debug('MsgPos ' + msgPos);
+    }
+
+    return topicIDs;
+  }
+
+  static extractSmartServos(buf: Uint8Array): ROSSerialSmartServos {
+    // Each group of attributes for a servo is a fixed size
+    const ROS_SMART_SERVOS_ATTR_GROUP_BYTES = 6;
+    const numGroups = Math.floor(
+      buf.length / ROS_SMART_SERVOS_ATTR_GROUP_BYTES
+    );
+    const msg: ROSSerialSmartServos = { smartServos: [] };
+    let bufPos = 0;
+    for (let i = 0; i < numGroups; i++) {
+      const servoId = buf[bufPos];
+      const servoPos = RaftUtils.getBEInt16FromBuf(buf, bufPos + 1);
+      const servoCurrent = RaftUtils.getBEUint16FromBuf(buf, bufPos + 3);
+      const servoStatus = buf[bufPos + 5];
+      bufPos += ROS_SMART_SERVOS_ATTR_GROUP_BYTES;
+      msg.smartServos.push({
+        id: servoId,
+        pos: servoPos,
+        current: servoCurrent,
+        status: servoStatus,
+      });
+    }
+    return msg;
+  }
+
+  static extractAccel(buf: Uint8Array): ROSSerialIMU {
+    // Three accelerometer floats
+    const x = RaftUtils.getBEFloatFromBuf(buf);
+    const y = RaftUtils.getBEFloatFromBuf(buf.slice(4));
+    const z = RaftUtils.getBEFloatFromBuf(buf.slice(8));
+    return { accel: { x: x / 1024, y: y / 1024, z: z / 1024 } };
+  }
+
+  static extractPowerStatus(buf: Uint8Array): ROSSerialPowerStatus {
+    // Power indicator values
+    // RaftLog.debug(`PowerStatus ${RaftUtils.bufferToHex(buf)}`);
+    const remCapPC = RaftUtils.getBEUint8FromBuf(buf, 0);
+    const tempDegC = RaftUtils.getBEUint8FromBuf(buf, 1);
+    const remCapMAH = RaftUtils.getBEUint16FromBuf(buf, 2);
+    const fullCapMAH = RaftUtils.getBEUint16FromBuf(buf, 4);
+    const currentMA = RaftUtils.getBEInt16FromBuf(buf, 6);
+    const power5VOnTimeSecs = RaftUtils.getBEUint16FromBuf(buf, 8);
+    const powerFlags = RaftUtils.getBEUint16FromBuf(buf, 10);
+    const isOnUSBPower = (powerFlags & 0x0001) != 0;
+    const is5VOn = (powerFlags & 0x0002) != 0;
+    const isBattInfoValid = (powerFlags & 0x0004) == 0;
+    const isUSBPowerInfoValid = (powerFlags & 0x0008) == 0;
+    return {
+      powerStatus: {
+        battRemainCapacityPercent: remCapPC,
+        battTempDegC: tempDegC,
+        battRemainCapacityMAH: remCapMAH,
+        battFullCapacityMAH: fullCapMAH,
+        battCurrentMA: currentMA,
+        power5VOnTimeSecs: power5VOnTimeSecs,
+        power5VIsOn: is5VOn,
+        powerUSBIsConnected: isOnUSBPower && isUSBPowerInfoValid,
+        battInfoValid: isBattInfoValid,
+        powerUSBIsValid: isUSBPowerInfoValid,
+        powerFlags: powerFlags,
+      },
+    };
+  }
+
+  static extractAddOnStatus(
+    buf: Uint8Array,
+    addOnManager: RICAddOnManager
+  ): ROSSerialAddOnStatusList {
+    // RaftLog.debug(`AddOnRawData ${RaftUtils.bufferToHex(buf)}`);
+    // Each group of attributes for a add-on is a fixed size
+    const ROS_ADDON_ATTR_GROUP_BYTES = 12;
+    const numGroups = Math.floor(buf.length / ROS_ADDON_ATTR_GROUP_BYTES);
+    const msg: ROSSerialAddOnStatusList = { addons: [] };
+    let bufPos = 0;
+    for (let i = 0; i < numGroups; i++) {
+      const addOnId = buf[bufPos];
+      const status = buf[bufPos + 1];
+      const addOnData = buf.slice(bufPos + 2, bufPos + 12);
+      bufPos += ROS_ADDON_ATTR_GROUP_BYTES;
+      const addOnRec = addOnManager.processPublishedData(
+        addOnId,
+        status,
+        addOnData
+      );
+      if (addOnRec !== null) {
+        msg.addons.push(addOnRec);
+      }
+    }
+    return msg;
+  }
+
+  static extractRGBT(buf: Uint8Array, offset: number): ROSSerialRGBT {
+    return new ROSSerialRGBT(
+      buf[offset],
+      buf[offset + 1],
+      buf[offset + 2],
+      buf[offset + 3]
+    );
+  }
+
+  static extractRobotStatus(buf: Uint8Array): ROSSerialRobotStatus {
+    const flags = RaftUtils.getBEUint8FromBuf(buf, 0);
+    const workQCount = RaftUtils.getBEUint8FromBuf(buf, 1);
+    let heapFree = 0;
+    let heapMin = 0;
+    let pixRGBT1 = new ROSSerialRGBT(0, 0, 0, 0);
+    let pixRGBT2 = new ROSSerialRGBT(0, 0, 0, 0);
+    let pixRGBT3 = new ROSSerialRGBT(0, 0, 0, 0);
+    let loopMsAvg = 0;
+    let loopMsMax = 0;
+    // RaftLog.debug(`RobotStatus ${buf.length} ${RaftUtils.bufferToHex(buf)} ${flags} ${workQCount} ${heapFree} ${heapMin} ${pixRGBT1.toString()} ${pixRGBT2.toString()} ${pixRGBT3.toString()} ${loopMsAvg} ${loopMsMax}`);
+    let wifiRSSI = 0;
+    let bleRSSI = 0;
+
+    if (buf.length >= 24) {
+      heapFree = RaftUtils.getBEUint32FromBuf(buf, 2);
+      heapMin = RaftUtils.getBEUint32FromBuf(buf, 6);
+      pixRGBT1 = RICROSSerial.extractRGBT(buf, 10);
+      pixRGBT2 = RICROSSerial.extractRGBT(buf, 14);
+      pixRGBT3 = RICROSSerial.extractRGBT(buf, 18);
+      loopMsAvg = RaftUtils.getBEUint8FromBuf(buf, 22);
+      loopMsMax = RaftUtils.getBEUint8FromBuf(buf, 23);
+      // RaftLog.debug(`RobotStatus ${buf.length} ${RaftUtils.bufferToHex(buf)} ${flags} ${workQCount} ${heapFree} ${heapMin} ${pixRGBT1.toString()} ${pixRGBT2.toString()} ${pixRGBT3.toString()} ${loopMsAvg} ${loopMsMax}`);
+      if (buf.length >= 26) {
+        wifiRSSI = RaftUtils.getBEInt8FromBuf(buf, 24);
+        bleRSSI = RaftUtils.getBEInt8FromBuf(buf, 25);
+      }
+    }
+    return {
+      robotStatus: {
+        flags: flags,
+        isMoving: (flags & 0x01) != 0,
+        isPaused: (flags & 0x02) != 0,
+        isFwUpdating: (flags & 0x04) != 0,
+        workQCount: workQCount,
+        heapFree: heapFree,
+        heapMin: heapMin,
+        pixRGBT: [pixRGBT1, pixRGBT2, pixRGBT3],
+        loopMsAvg: loopMsAvg,
+        loopMsMax: loopMsMax,
+        wifiRSSI: wifiRSSI,
+        bleRSSI: bleRSSI,
+      },
+    };
+  }
+
+  static extractCameraData(buf: Uint8Array, frameTimeMs: number): ROSCameraData {
+    RaftLog.verbose(`CameraData ${buf.length} ${RaftUtils.bufferToHex(buf.slice(0,30))}`);
+    const unixTime = RaftUtils.getBEUint64FromBuf(buf, 0);
+    const sinceStartMs = RaftUtils.getBEUint32FromBuf(buf, 8);
+    const imageWidth = RaftUtils.getBEUint16FromBuf(buf, 12);
+    const imageHeight = RaftUtils.getBEUint16FromBuf(buf, 14);
+    const imageFormat = RaftUtils.getBEUint8FromBuf(buf, 16);
+    const imageQuality = RaftUtils.getBEUint8FromBuf(buf, 17);
+    const imageCount = RaftUtils.getBEUint32FromBuf(buf, 18);
+    const imageData = buf.slice(22);
+    return { cameraData: 
+      { 
+        unixTimeMs: unixTime, 
+        sinceStartMs: sinceStartMs, 
+        imageWidth: imageWidth,
+        imageHeight: imageHeight,
+        imageFormat: imageFormat,
+        imageQuality: imageQuality,
+        imageData: imageData,
+        frameTimeMs: frameTimeMs,
+        imageCount: imageCount
+      } 
+    };
+  }  
+}