Python scipt to decode Roomba IR codes via the Linux mode2 tool. See http://astrobeano.blogspot.co.uk/2013/10/roomba-620-infrared-signals.html

decode_roomba_ir.py

#!/usr/bin/env python 
#Copyright 2013, Peter Cock. All rights reserved.
#Released under the MIT License.
"""Python scipt to decode Roomba IR codes via the Linux mode2 tool.

Tested under Python 2.7 and Python 3.3, example usage:

$ mode2 -d /dev/lirc0 | python decode_roomba_ir.py
10101100 - 172 - 0xAC
10101100 - 172 - 0xAC
10101100 - 172 - 0xAC
10101100 - 172 - 0xAC
^C

or,

$ mode2 -d /dev/lirc0 | python3 decode_roomba_ir.py 
10101100 - 172 - 0xAC
10101100 - 172 - 0xAC
10101100 - 172 - 0xAC
10101100 - 172 - 0xAC
^C

http://astrobeano.blogspot.co.uk/2013/10/roomba-620-infrared-signals.html
"""

import sys

def expand(code):
    return tuple(min(1, code & (2**(7-i))) for i in range(8))
mapping = dict((expand(code), code) for code in range(256))
assert len(mapping) == 256

code = []
try:
    line = next(sys.stdin)
    while line.startswith("space "):
        line = next(sys.stdin)
    while line:
        assert line.startswith("pulse ")
        on = int(line.split(None, 1)[1])
        line = next(sys.stdin)
        assert line.startswith("space ")
        off = int(line.split(None, 1)[1])
        if 700 < on < 1300 and 2700 < off:
            code.append(0) # 1ms on, 3ms off
        elif 2700 < on < 3300 and 700 < off:
            code.append(1) # 3ms on, 1 ms off
        else:
            #print("? (%i, %i)" % (on, off))
            code.append("?")
        if 4000 < off:
            #Long pause at end of signal
            try:
                value = mapping[tuple(code)]
                print("%s - %i - 0x%X" % ("".join(str(x) for x in code), value, value))
            except KeyError:
                print("".join(str(x) for x in code))
            code = []
        line = next(sys.stdin)
except StopIteration:
    #Finished
    print("The end")
    pass
except KeyboardInterrupt:
    #Told to quit
    print("Stopped")
    pass