A10 is a robotic vacuum cleaner sold by ZACO in Germany, by ILIFE elsewhere.

== Research ==

=== Software ===
* nothing dates later than 2016
* ROS version 1.11.20, Indigo release
** nodes
*** /ali_linkkit_wrapper
*** /cartographer_node
*** /cartographer_occupancy_grid_node_block
*** /cartographer_occupancy_grid_node_wifi_map
*** /door_search_client
*** /door_search_server
*** /hlds_laser_publisher
*** /pp
*** /robot_status_publisher
*** /rosout

=== Operating System ===
Users:
* root
* backup, bin, daemon, games, gnats, irc, list, lp, mail, man, news, nobody, proxy, sync, sys, uucp, www-data

=== Open Ports ===
* 22 - OpenSSH 7.4 (protocol 2.0)
* 11311 - BaseHTTPServer 0.3 (Python 2.7.12), XML-RPC (xmlrpclib), ROS Master API and Parameter Server API
* XXXXX - BaseHTTPServer 0.3 (Python 2.7.12), XML-RPC (xmlrpclib), ROS services

== External Links ==
* [https://erlerobot.github.io/erle_gitbook/en/ros/ROS.html ROS introduction]
* [http://wiki.ros.org/ROS/Technical%20Overview ROS Technical Overview]
* [https://wiki.ros.org/ROS/Master_API ROS Master API]
* [https://cs.brown.edu/~vpk/papers/rossec.icra19.pdf Scanning the Internet for ROS: A View of Security in Robotics Research]
* Cartographer is a system that provides real-time ''simultaneous localization and mapping'' (SLAM) in 2D and 3D across multiple platforms and sensor configurations.[https://github.com/cartographer-project/cartographer]
* linkkit, part of [https://github.com/alibaba/AliOS-Things AliOS Things]

Dejvino:

Open smartwatch from [[Pine64]].

== Hardware ==
{{todo|Copy from the official page}}
* [[Bluetooth]]
* ...

== Bluetooth ==
You can use 'bluetoothctl' to manually interact (connect/pair/read/write) with a bluetooth device.
<syntaxhighlight>
# bluetoothctl
[bluetooth] power on
[bluetooth] scan on
...
[bluetooth] pair AA:BB:CC:DD:EE:FF
[bluetooth] connect AA:BB:CC:DD:EE:FF
[PineTime] menu gatt
[PineTime] select-attribute /org/bluez/hci0/dev_AA_BB_CC_DD_EE_FF/service0015/char0016
[PineTime] write "0xe4 0x07 0x08 0x30 0x21 0x36 0x2c 0x00 0x01"
[PineTime] read
</syntaxhighlight>

=== Time Sync ===
This [[Python]] script pushes the current time to the device:
<syntaxhighlight lang="python">
import datetime
import pydbus
from gi.repository import GLib

# Setup of device specific values
dev_id = 'AA:BB:CC:DD:EE:FF'
char_uuid = '00002a2b-0000-1000-8000-00805f9b34fb'

# DBus object paths
bluez_service = 'org.bluez'
adapter_path = '/org/bluez/hci0'
device_path = f"{adapter_path}/dev_{dev_id.replace(':', '_')}"

bus = pydbus.SystemBus()
adapter = bus.get(bluez_service, adapter_path)
device = bus.get(bluez_service, device_path)
mngr = bus.get(bluez_service, '/')

# Assume device has been paired already so can use connect
device.Connect()

def get_characteristic_path(dev_path, uuid):
mng_objs = mngr.GetManagedObjects()
for path in mng_objs:
chr_uuid = mng_objs[path].get('org.bluez.GattCharacteristic1', {}).get('UUID')
if path.startswith(dev_path) and chr_uuid == uuid:
return path

char_path = get_characteristic_path(device._path, char_uuid)
cts = bus.get(bluez_service, char_path)
print('Old value: \t', cts.ReadValue({}))

now = datetime.datetime.now()
data = bytearray(int(now.year).to_bytes(2, byteorder='little'))
data.append(now.month)
data.append(now.day)
data.append(now.hour)
data.append(now.minute)
data.append(now.second)
data.append(0) # millis
data.append(1) # reason
cts.WriteValue(data, {})

print('New value: \t', cts.ReadValue({}))

device.Disconnect()
</syntaxhighlight>

Structure of a Current Time Service packet:
<syntaxhighlight lang="c">
uint16_t year;
uint8_t month;
uint8_t dayofmonth;
uint8_t hour;
uint8_t minute;
uint8_t second;
uint8_t millis;
uint8_t reason;
</syntaxhighlight>

=== Alert Notification ===
This [[Python]] script pushes a short alert notification to the device:
<syntaxhighlight lang="python">
import sys
import pydbus
from gi.repository import GLib

# Setup of device specific values
dev_id = 'AA:BB:CC:DD:EE:FF'
char_uuid = '00002a46-0000-1000-8000-00805f9b34fb'

# DBus object paths
bluez_service = 'org.bluez'
adapter_path = '/org/bluez/hci0'
device_path = f"{adapter_path}/dev_{dev_id.replace(':', '_')}"

bus = pydbus.SystemBus()
adapter = bus.get(bluez_service, adapter_path)
device = bus.get(bluez_service, device_path)
mngr = bus.get(bluez_service, '/')

# Assume device has been paired already so can use connect
device.Connect()

def get_characteristic_path(dev_path, uuid):
mng_objs = mngr.GetManagedObjects()
for path in mng_objs:
chr_uuid = mng_objs[path].get('org.bluez.GattCharacteristic1', {}).get('UUID')
if path.startswith(dev_path) and chr_uuid == uuid:
return path

char_path = get_characteristic_path(device._path, char_uuid)
alert = bus.get(bluez_service, char_path)

categoryId = 1
categoryCount = 1
text = ' '.join(sys.argv[1:])
data = bytearray(int(categoryId).to_bytes(2, byteorder='little'))
data.append(categoryCount)
data.extend(map(ord, text))
data.append(0)
print('Sending:')
print(data)
alert.WriteValue(data, {})

device.Disconnect()
</syntaxhighlight>

== Flashing ==
=== JLinkExe without nrfjprog ===
<syntaxhighlight lang="bash">
#!/bin/bash
# Resources: https://www.silabs.com/community/mcu/32-bit/knowledge-base.entry.html/2014/10/22/using_jlink_commande-YYdy
#
# == Manual Steps ==
#
# (SWD mode)
# J-Link>si 1
#
# (transfer speed)
# J-Link>speed 4000
#
# (select the PineTime CPU)
# J-Link>device NRF52832_XXAA
#
# (clear the flash)
# J-Link>erase
#
# (flash the binary image)
# J-Link>loadbin src/pinetime-app.bin
#
# (reset)
# J-Link>r
#
# (start program execution)
# J-Link>g
#

cat <<EOF | /opt/SEGGER/JLink/JLinkExe
si 1
speed 4000
device NRF52832_XXAA
erase
loadbin src/pinetime-app.bin 0x0
r
g
q
EOF
</syntaxhighlight>

== External Links ==
* [[Pine64]] wiki on [https://wiki.pine64.org/index.php/PineTime PineTime]
* OS: [https://github.com/JF002/Pinetime JF002/Pinetime] (Infinitime)
* Bluetooth - Writing to GATT[https://raspberrypi.stackexchange.com/questions/114150/bluez-btgatt-client-py-writevalue/114175#114175]

PineTime

2020-08-31T13:54:40Z

Dejvino:

Open smartwatch from [[Pine64]].

== Hardware ==
{{todo|Copy from the official page}}
* [[Bluetooth]]
* ...

== Bluetooth ==
You can use 'bluetoothctl' to manually interact (connect/pair/read/write) with a bluetooth device.
<syntaxhighlight>
# bluetoothctl
[bluetooth] power on
[bluetooth] scan on
...
[bluetooth] pair AA:BB:CC:DD:EE:FF
[bluetooth] connect AA:BB:CC:DD:EE:FF
[PineTime] menu gatt
[PineTime] select-attribute /org/bluez/hci0/dev_AA_BB_CC_DD_EE_FF/service0015/char0016
[PineTime] write "0xe4 0x07 0x08 0x30 0x21 0x36 0x2c 0x00 0x01"
[PineTime] read
</syntaxhighlight>

=== Time Sync ===
This [[Python]] script pushes the current time to the device:
<syntaxhighlight lang="python">
import datetime
import pydbus
from gi.repository import GLib

# Setup of device specific values
dev_id = 'AA:BB:CC:DD:EE:FF'
char_uuid = '00002a2b-0000-1000-8000-00805f9b34fb'

# DBus object paths
bluez_service = 'org.bluez'
adapter_path = '/org/bluez/hci0'
device_path = f"{adapter_path}/dev_{dev_id.replace(':', '_')}"

bus = pydbus.SystemBus()
adapter = bus.get(bluez_service, adapter_path)
device = bus.get(bluez_service, device_path)
mngr = bus.get(bluez_service, '/')

# Assume device has been paired already so can use connect
device.Connect()

def get_characteristic_path(dev_path, uuid):
mng_objs = mngr.GetManagedObjects()
for path in mng_objs:
chr_uuid = mng_objs[path].get('org.bluez.GattCharacteristic1', {}).get('UUID')
if path.startswith(dev_path) and chr_uuid == uuid:
return path

char_path = get_characteristic_path(device._path, char_uuid)
cts = bus.get(bluez_service, char_path)
print('Old value: \t', cts.ReadValue({}))

now = datetime.datetime.now()
data = bytearray(int(now.year).to_bytes(2, byteorder='little'))
data.append(now.month)
data.append(now.day)
data.append(now.hour)
data.append(now.minute)
data.append(now.second)
data.append(0) # millis
data.append(1) # reason
cts.WriteValue(data, {})

print('New value: \t', cts.ReadValue({}))

device.Disconnect()
</syntaxhighlight>

Structure of a Current Time Service packet:
<syntaxhighlight lang="c">
uint16_t year;
uint8_t month;
uint8_t dayofmonth;
uint8_t hour;
uint8_t minute;
uint8_t second;
uint8_t millis;
uint8_t reason;
</syntaxhighlight>

=== Alert Notification ===
This [[Python]] script pushes a short alert notification to the device:
<syntaxhighlight lang="python">
import sys
import pydbus
from gi.repository import GLib

# Setup of device specific values
dev_id = 'AA:BB:CC:DD:EE:FF'
char_uuid = '00002a46-0000-1000-8000-00805f9b34fb'

# DBus object paths
bluez_service = 'org.bluez'
adapter_path = '/org/bluez/hci0'
device_path = f"{adapter_path}/dev_{dev_id.replace(':', '_')}"

bus = pydbus.SystemBus()
adapter = bus.get(bluez_service, adapter_path)
device = bus.get(bluez_service, device_path)
mngr = bus.get(bluez_service, '/')

# Assume device has been paired already so can use connect
device.Connect()

def get_characteristic_path(dev_path, uuid):
mng_objs = mngr.GetManagedObjects()
for path in mng_objs:
chr_uuid = mng_objs[path].get('org.bluez.GattCharacteristic1', {}).get('UUID')
if path.startswith(dev_path) and chr_uuid == uuid:
return path

char_path = get_characteristic_path(device._path, char_uuid)
alert = bus.get(bluez_service, char_path)

categoryId = 1
categoryCount = 1
text = ' '.join(sys.argv[1:])
data = bytearray(int(categoryId).to_bytes(2, byteorder='little'))
data.append(categoryCount)
data.extend(map(ord, text))
data.append(0)
print('Sending:')
print(data)
alert.WriteValue(data, {})

device.Disconnect()
</syntaxhighlight>

== Flashing ==
=== JLinkExe without nrfjprog ===
<syntaxhighlight lang="bash">
#!/bin/bash
# Resources: https://www.silabs.com/community/mcu/32-bit/knowledge-base.entry.html/2014/10/22/using_jlink_commande-YYdy
#
# == Manual Steps ==
#
# (SWD mode)
# J-Link>si 1
#
# (transfer speed)
# J-Link>speed 4000
#
# (select the PineTime CPU)
# J-Link>device NRF52832_XXAA
#
# (clear the flash)
# J-Link>erase
#
# (flash the binary image)
# J-Link>loadbin src/pinetime-app.bin
#
# (reset)
# J-Link>r
#
# (start program execution)
# J-Link>g
#

cat <<EOF | /opt/SEGGER/JLink/JLinkExe
si 1
speed 4000
device NRF52832_XXAA
erase
loadbin src/pinetime-app.bin 0x0
r
g
q
EOF
</syntaxhighlight>

== External Links ==
* [[Pine64]] wiki on [https://wiki.pine64.org/index.php/PineTime PineTime]
* Bluetooth - Writing to GATT[https://raspberrypi.stackexchange.com/questions/114150/bluez-btgatt-client-py-writevalue/114175#114175]