#if !defined(__SEMID_H__) #define __SEMID_H__ // Semantics ID // from Tareget Recognizer (SC) #define SEMID_BALL ( 0x0101 ) // Ball // SubInfo[0] = horizontal position (degrees; left is positive) // SubInfo[1] = vertical position (degrees; up is positive) // SubInfo[2] = estimated distance(cm) to the pink ball // (calculated by size of ball) #define SEMID_FAV ( 0x0102 ) // Unused #define SEMID_UNFAV ( 0x0103 ) // Unused #define SEMID_FLESH ( 0x0104 ) // Unused #define SEMID_NEWCOL ( 0x0105 ) // Unused #define SEMID_DANGER ( 0x0106 ) // Unused #define SEMID_BRIGHT ( 0x0107 ) // Unused #define SEMID_STAF ( 0x0107 ) // Unused #define SEMID_STAR ( 0x0107 ) // Internal use #define SEMID_BONE ( 0x010a ) // AIBONE // SubInfo[0] = horizontal position (degrees; left is positive) // SubInfo[1] = vertical position (degrees; up is positive) // SubInfo[2] = estimated distance(cm) to the AIBONE // (calculated by size and shape) // SubInfo[3] = angle/state of AIBONE // = (int) (((int)state)&0xffff)) + (((int)angle)&0xffff); // angle : AIBONE angle, relative to AIBO's view. // A horizontal angle (perpendicular to AIBO's field of view) is 0; // other values range between -90 and 90, where positive // values are clockwise. // state : Mask 0x00010000 1 : AIBONE is standing up 0 : AIBONE is on its side // Mask 0x00020000 1 : AIBO is looking at AIBONE's shaft 0 : side #define SEMID_PINK ( 0x010b ) // Pink // from Object Recognizer #define SEMID_OBJECT ( 0x0201 ) // Object detected by head PSD // SubInfo[1] = Distance from camera // SubInfo[2] = Distance (PSD raw data) #define SEMID_OBSTACLE ( 0x0202 ) // Obstacle detected by head PSD // SubInfo[1] = Distance from camera // SubInfo[2] = Distance (PSD raw data) #define SEMID_HAND ( 0x0203 ) // Hand detect by head PSD and skin color #define SEMID_WALL ( 0x0204 ) // Unused #define SEMID_CLIFF ( 0x0205 ) // Cliff detected by head PSD #define SEMID_BORDER ( 0x0206 ) // Unused #define SEMID_MOVE_OBJ ( 0x0207 ) // Moving object // SubInfo[1] indicate the moving object position // SubInfo[1] = (int) (((int)h)&0xffff)<<16) + (((int)v)&0xffff); // h = horizontal position (degrees; left is positive) // v = vertical position (degrees; up is positive) #define SEMID_MOVEOBJ_ON ( 0x020a ) // 800msec after finding moving object // Subinfo[1] indicates the moving object's position difference between the current time // and the previous time (800msec) // SubInfo[1] = (int) (((int)h)&0xffff)<<16) + (((int)v)&0xffff); // h = horizontal deviation (degrees; left is positive) // v = vertical deviation (degrees; up is positive) #define SEMID_PSDSPOT ( 0x020b) // Head (nose) PSD sensor data // Subinfo[0] = Distance (in micrometers) // Subinfo[1] = X Coordinate (0 is center of body) of PSD Focus point // Subinfo[2] = Y Coordinate (0 is center of body) of PSD Focus point // Subinfo[3] = Z Coordinate (0 is center of body) of PSD Focus point // SubInfo[1,2,3] are calculated using the head angle. // from hFaceDetector #define SEMID_FACE ( 0x2001 ) // Detect face // Subinfo[0] = Number of faces in the camera data ( 0 = skin only; may be hand) // Subinfo[1] = Distance #define SEMID_FACE_ID ( 0x2101 ) // SubInfo[0] = Indicate recognized face --> See Semantics.txt to get the list // SubInfo[1] = Indicates how many pictures have been used to indicate a face (max 10). Values below or equal to 5 are not trustworthy // from Audio Recoginizer #define SEMID_VOICE ( 0x0301 ) // Voice Recoginition // SubInfo[0] Indicate recognized voice --> See Semantics.txt to get the list // SubInfo[1] The angle where the voice came from (degrees; left is positive) // SubInfo[2] Speaker recognition --> See Semantics.txt to get the list #define SEMID_TONE ( 0x0401 ) // AIBO Tone Recoginition #define SEMID_VOICE_BEGIN ( 0x0501 ) // Detect that a voice has begun #define SEMID_AIBO_SOUND ( 0x0601 ) // AIBO Sound Recoginition #define SEMID_LOUD ( 0x0701 ) // Detect a loud noise // SubInfo[0] indicate sound type --> See Semantics.txt to get the list #define SEMID_NOISY ( 0x0702 ) // Internal use #define SEMID_SPPLAY ( 0x0703 ) // Internal use #define SEMID_E_RHYTHM ( 0x0704 ) // Detect beat with hands (Clap, Clap, Clap ...) // from Audio Recoginizer #define SEMID_EXPANSION ( 0x0801 ) // Internal use // from Information Converter (by way of ISM) // from Information Converter (by way of ISM) #define SEMID_EXTEMP ( 0x0802 ) // Unused (ERS-7) The outside temperature #define SEMID_INTEMP ( 0x0803 ) // Battery temperature #define SEMID_BATTERY ( 0x0804 ) // Remaining battery level #define SEMID_FATIGUE ( 0x0805 ) // Fatigue (autonomy parameter) #define SEMID_HIT ( 0x0806 ) // back sensor hit #define SEMID_PAT ( 0x0807 ) // back sensor pat #define SEMID_CLICK ( 0x0808 ) // Unused #define SEMID_LONGPAT ( 0x0809 ) // Unused #define SEMID_TOUCH_ON ( 0x080a ) // Touch sensor (high sensitivity) #define SEMID_TOUCH_OFF ( 0x080b ) // Unused #define SEMID_MASTER_TOUCH ( 0x080c ) // Unused #define SEMID_GO_AUTO ( 0x080d ) // Release from remote control #define SEMID_GO_VG ( 0x080e ) // Go to voice guide mode (internal only) #define SEMID_GO_RESET ( 0x080f ) // Go to rest mode (internal only) #define SEMID_MODE4 ( 0x0810 ) // Unused #define SEMID_RESTRAINT ( 0x0811 ) // Excessive temperature; go to restraint state #define SEMID_REG_START ( 0x0812 ) // Unused // from Information Converter (by way of ISM) #define SEMID_SW_TAIL_R ( 0x0816 ) // Unused #define SEMID_SW_TAIL_C ( 0x0817 ) // Unused #define SEMID_SW_TAIL_L ( 0x0818 ) // Unused #define SEMID_COLLISION ( 0x0819 ) // Detect collision #define SEMID_HOLD_IN_MOUTH ( 0x081f ) // Detect something in mouth #define SEMID_BACK_F ( 0x0820 ) // Back sensor front #define SEMID_BACK_M ( 0x0821 ) // Back sensor middle #define SEMID_BACK_R ( 0x0822 ) // Back sensor rear #define SEMID_BACK_FM ( 0x0823 ) // Unused #define SEMID_BACK_MR ( 0x0824 ) // Unused #define SEMID_BACK_FR ( 0x0825 ) // Unused #define SEMID_BACK_FMR ( 0x0826 ) // Unused #define SEMID_SLIDE_FMR ( 0x0827 ) // Back sensors are stroked to the rear from the front #define SEMID_SLIDE_RMF ( 0x0828 ) // Back sensors are stroked from the rear to the front #define SEMID_FCLIFF ( 0x0829 ) // Find a cliff using chest PSD #define SEMID_SMARKER ( 0x082a ) // Find station marker #define SEMID_TOUCH_BEGIN ( 0x082b ) // Touch sensor (low sensitivity) #define SEMID_FOBSTACLE ( 0x082c ) // Detect obstacle using chest PSD // from Information Converter (by way of PPM) #define SEMID_BOOT ( 0x0901 ) // Boot condition #define SEMID_SYS_POSTURE ( 0x0902 ) // Turnover/Jam/Mecha load high/lift/station condition // see semantics.txt to get type of posture #define SEMID_TZ_CHANGE ( 0x0903 ) // Time/timezone are changed #define SEMID_EMERGENCY ( 0x0904 ) // Emergency condition #define SEMID_PRE_MECH_LOAD_H ( 0x0905 ) // Prior notification for Mecha load high #define SEMID_FCLIFF_STOP ( 0x0906 ) // Stop walking because a cliff is detected via the chest PSD // from Information Converter (by way of LG) #define SEMID_UNSTABLE ( 0x081a ) // Detect unstable walking // from Instinct and Emotion Generator #define SEMID_JOY ( 0x0a01 ) // Unused #define SEMID_ANGRY ( 0x0a02 ) // Unused #define SEMID_SAD ( 0x0a03 ) // Unused #define SEMID_FEAR ( 0x0a04 ) // Unused #define SEMID_DISGUST ( 0x0a05 ) // Unused #define SEMID_SURPRISE ( 0x0a06 ) // Unused #define SEMID_APPETITE ( 0x0a07 ) // Charging desire (Instinct level for autonomy) Value = SubInfo[1] 0-100 #define SEMID_EXERCISE ( 0x0a08 ) // Movement desire (Instinct level for autonomy) Value = SubInfo[1] 0-100 #define SEMID_AFFECTION ( 0x0a09 ) // Affection desire (Instinct level for autonomy) Value = SubInfo[1] 0-100 #define SEMID_CURIOSITY ( 0x0a0a ) // Curiosity (Instinct level for autonomy) Value = SubInfo[1] 0-100 #define SEMID_PLEASANT ( 0x0a0b ) // Pleasant (Mentality level for autonomy) Value = SubInfo[1] 0-100 #define SEMID_SELFISH ( 0x0a0c ) // Selfish (Mentality level for autonomy) Value = SubInfo[1] 0-100 #define SEMID_REFLECTIVE ( 0x0a0d ) // Reflective (Mentality level for autonomy) Value = SubInfo[1] 0-100 #define SEMID_AWAKENING ( 0x0b01 ) // Inverse sleep desire (Instinct level for autonomy) Value = SubInfo[1] 0-100 // from Event Manager #define SEMID_TIME_EVENT ( 0x0c01 ) // Unused #define SEMID_RISE_POSE ( 0x0c02 ) // Unused // from BM #define SEMID_VOLUME ( 0x0e15 ) // Volume SubInfo[0] 0(mute) - 3(max) #define SEMID_MONITOR_PARMIT ( 0x0e18 ) // Remote Framework can monitor AIBO or not #define SEMID_STT_SEM ( 0x0e1c ) // General notify // from SR #define SEMID_SRODAPlay ( 0x1301 ) // Internal use #define SEMID_SRONEPlay ( 0x1302 ) // Internal use // from AIBOMAIL #define SEMID_AM_S_MAIL ( 0x1401 ) // Unused #define SEMID_AM_S_MESSAGE ( 0x1402 ) // Unused #define SEMID_AM_S_WLAN ( 0x1403 ) // Unused #define SEMID_AM_S_PHOTO ( 0x1404 ) // Unused #define SEMID_AM_S_TALK ( 0x1405 ) // Unused #define SEMID_AM_S_CONFIG_NOTIFY ( 0x1406 ) // Unused #define SEMID_AM_S_MAILINFO ( 0x1407 ) // Unused // from AudioTP #define SEMID_ATPSPPLAY ( 0x1501 ) // Internal use // from VisurlPatternRecognizer #define SEMID_EPOLE ( 0x1601 ) // Station pole // SubInfo[0] = pole design // SubInfo[1] = posture 3D angle (degrees) // SubInfo[2] = Raw data angle (degrees) // SubInfo[3] = Quantity of matched characteristic points #define SEMID_ECARD1 ( 0x1611 ) // AIBO Card // SubInfo[0] = AIBO card type --> See semantics.txt // SubInfo[1] = Angle of AIBO card (up/right/down/left)--> See semantics.txt // SubInfo[3] = Quantity of matched characteristic points #define SEMID_ECARD2 ( 0x1612 ) // Unused #define SEMID_ESCENE1 ( 0x1621 ) // Favorite place1 // SubInfo[1] = Distance (100 when it registers) // SubInfo[2] = Raw data angle (degrees) // SubInfo[3] = Quantity of matched characteristic points #define SEMID_ESCENE2 ( 0x1622 ) // Favorite place2 SubInfo[] is same as SEMID_ESCENE1 #define SEMID_ESCENE3 ( 0x1623 ) // Favorite place3 SubInfo[] is same as SEMID_ESCENE1 #define SEMID_EOBJ ( 0x1631 ) // Unused #define SEMID_EPTN ( 0x1641 ) // General purpose visual pattern // SubInfo[0] = visual pattern // SubInfo[1] = Angle (up/right/down/left) // SubInfo[3] = Quantity of matched characteristic points #define SEMID_VPR_RESULT ( 0x1651 ) // Query visual pattern ID // SubInfo[0] = Semantics type (only EPTN=5) // SubInfo[1] = Model ID // SubInfo[2] = Model sub ID // SubInfo[3] = APPCMD ID (only VPR_QUERY_MODEL=11) #endif // __SEMID_H__