// // VAIBO.h // // Copyright 2004 Sony Corporation // #if !defined(AFX_VAIBO_H__BE593771_F8FA_4F7D_ACB5_349F4A09F6D5__INCLUDED_) #define AFX_VAIBO_H__BE593771_F8FA_4F7D_ACB5_349F4A09F6D5__INCLUDED_ #if _MSC_VER > 1000 #pragma once #endif // _MSC_VER > 1000 #include "VAIBODef.h" #include "SemID.h" // // Define parameters ////////////////////////////////////////////////////////////////////// enum { // SetPosture parameter POS_STAND = 0, POS_SIT, POS_SLEEP, POS_WALK, POS_STAND_V, // Stand with head up straight POS_SIT_V, // Sit with head up straight POS_SLEEP_V, // Sleep with head up straight POS_STATION, // Station posture POS_STATION_GOFF, // Station posture (Neck and front leg gain OFF) POS_STATION_GOFF_D // Station posture (Neck and front leg gain OFF) with the head down }; enum { // DoWalking parameters DW_FORWARD = 0, DW_BACK, DW_FORWARD_FAST, DW_FORWARD_SLOW, DW_TURN_LEFT, DW_TURN_LEFT_FAST, DW_TURN_LEFT_SLOW, DW_TURN_RIGHT, DW_TURN_RIGHT_FAST, DW_TURN_RIGHT_SLOW, DW_STOP, DW_FORWARD_CNORMAL, // Dogs' walk, normal speed forward DW_BACK_CNORMAL, // Dogs' walk, normal speed backward DW_FORWARD_CFAST, // Dogs' walk, fast DW_FORWARD_CSLOW, // Dogs' walk, slow DW_TURN_LEFT_CNORMAL, // Dogs' walk, turning left, normal speed DW_TURN_LEFT_CFAST, DW_TURN_LEFT_CSLOW, DW_TURN_RIGHT_CNORMAL, DW_TURN_RIGHT_CFAST, DW_TURN_RIGHT_CSLOW, DW_FORWARD_SMALL, // Walking with narrow stride forward DW_BACK_SMALL, // Walking with narrow stride backward DW_TURN_LEFT_SMALL, // Walking with narrow stride and turning left DW_TURN_RIGHT_SMALL, // Walking with narrow stride and turning right DW_FORWARD_CAREFUL, // Careful walking DW_BACK_CAREFUL, // DW_FORWARD_FASTCAREFUL, // Fast careful walking DW_TURN_LEFT_CAREFUL, // DW_TURN_LEFT_FASTCAREFUL, // DW_TURN_RIGHT_CAREFUL, // DW_TURN_RIGHT_FASTCAREFUL, // DW_FORWARD_BABY, // Baby walking DW_BACK_BABY, // Baby walking backword DW_TURN_LEFT_BABY, // DW_TURN_RIGHT_BABY, // DW_FORWARD_KSLOW, // Walk slowly with head upward DW_TURN_LEFT_KSLOW, // DW_TURN_RIGHT_KSLOW, // DW_FORWARD_KNORMAL, // Walk at normal speed with head upward DW_BACK_KNORMAL, // DW_TURN_LEFT_KNORMAL, // DW_TURN_RIGHT_KNORMAL, // DW_CIRCLE_LEFT_NORMAL, // Circular arc walk, left curve DW_CIRCLE_RIGHT_NORMAL, // Circular arc walk, right curve DW_CIRCLE_LEFT_SMALL, // Circular arc walk with narrow stride, left curve DW_CIRCLE_RIGHT_SMALL, // Circular arc walk with narrow stride, right curve DW_CIRCLE_LEFT_CNORMAL, // Circular arc walk (dogs' walk, normal speed) DW_CIRCLE_RIGHT_CNORMAL, // DW_CIRCLE_LEFT_CFAST, // Circular arc walk (dogs' walk, fast) DW_CIRCLE_RIGHT_CFAST, // DW_CIRCLE_LEFT_CSLOW, // Circular arc walk (dogs' walk, slow) DW_CIRCLE_RIGHT_CSLOW, // DW_CIRCLE_LEFT_FAST, // Circular arc walk (fast) DW_CIRCLE_RIGHT_FAST, // DW_CIRCLE_LEFT_SLOW, // Circular arc walk (slow) DW_CIRCLE_RIGHT_SLOW, // DW_CIRCLE_LEFT_CAREFUL, // Circular arc walk (careful) DW_CIRCLE_RIGHT_CAREFUL, // DW_CIRCLE_LEFT_FASTCAREFUL, // Circular arc walk (fast careful) DW_CIRCLE_RIGHT_FASTCAREFUL,// DW_CIRCLE_LEFT_BABY, // Circular arc walk (baby walk) DW_CIRCLE_RIGHT_BABY, // DW_CIRCLE_LEFT_KSLOW, // Circular arc, slow walk, left curve with head upward DW_CIRCLE_RIGHT_KSLOW, // DW_CIRCLE_LEFT_KNORMAL, // Circular arc, normal walk, left curve with head upward DW_CIRCLE_RIGHT_KNORMAL, // DW_CIRCLE_LEFT_LNORMAL, // Circular arc, normal walk, left curve with head downward DW_CIRCLE_RIGHT_LNORMAL // }; enum { // DoHeader parameter DH_FORWARD = 0, // forward }; enum { // DoKick parameter DK_RIGHT = 0, DK_RIGHT_FORWARD, DK_LEFT, DK_LEFT_FORWARD }; // Target ID(SEMLABEL) #define VAIBO_TARGET_NONE ( 0x0000 ) #define VAIBO_TARGET_PINK ( SEMID_PINK ) #define VAIBO_TARGET_BALL ( SEMID_BALL ) #define VAIBO_TARGET_BONE ( SEMID_BONE ) #define VAIBO_TARGET_FACE ( SEMID_FACE ) #define VAIBO_TARGET_ECARD1 ( SEMID_ECARD1 ) #define VAIBO_TARGET_ECARD2 ( SEMID_ECARD2 ) #define VAIBO_TARGET_HAND ( SEMID_HAND ) // Automony functions enum E_ROBOTFUNCTION { ROBOTFUNC_SELFCHARGE, ROBOTFUNC_AIBONE_APPROACH, MAX_ROBOTFUNC }; // VPR mode enum EVPRMODE { EVPRMODE0, // normal EVPRMODE1, // Quest beginning mode EVPRMODE2, // Quest middle EVPRMODE3, // Quest finishing mode, SBC EVPRMODE4, // ESCENE EVPRMODE5, // ECARD Tracking EVPRMODE6, // SBC MAX_EVPRMODE }; // VPR record Policy enum EVPRPOLICY { EVPRPOLICY0, // Allow multiple ModelSubID with the same ModelID. EVPRPOLICY1, // Allow only one ModelSubID per ModelID. MAX_EVPRPOLICY }; // * EVPRPOLICY0 and EVPRPOLICY1 : // If the ModelID and ModelSubID are already recorded, // new data will not be trained. VPRRemoveModel() should be called // before training new data. // * EVPRPOLICY0 : // You can train multiple ModelSubID with the same ModelID. // Example: Put a can in front of AIBO. // You can train four angles of the can. // ModelID=1 ModelSubID=1 front // ModelID=1 ModelSubID=2 left side (can turned 90 degrees) // ModelID=1 ModelSubID=3 right side (can turned -90 degrees) // ModelID=1 ModelSubID=4 back (can turned 180 degrees) // then AIBO returns ModelID=1 when AIBO sees the can at any angle. // * EVPRPOLICY1 : // You can train only one ModelSubID per ModelID. // Example: You train ModelID=2 ModelSubID=1. // If you train ModelID=2 ModelSubID=2, // then the ModelID=2 ModelSubID=1 will be deleted. // VPR model ID #define VPRMODELID_MIN ( 0 ) #define VPRMODELID_MAX ( 0xFF ) #define VPRMODELSUBID_MIN ( 0 ) #define VPRMODELSUBID_MAX ( 0xFFFF ) // // Structure definition ////////////////////////////////////////////////////////////////////// typedef struct LimitMwcID { int nStart[256]; int nEnd[256]; int nCount; } LimitMwcID; class CVAIBOClient; #ifdef _VAIBO_DLLEXPORT // class __declspec( dllexport ) CVAIBO #else class __declspec( dllimport ) CVAIBO #endif // _VAIBO_DLLEXPORT { public: void GetUserIdPwd( char* szOwner, char* szPswd ); void SetUserIdPwd( char* szOwner, char* szPswd); int ImageOutputCaptureData(LPCTSTR strOutputFileName); int ImageGetFrameRate(); int MotionStop(); int ImageSetWindowHandle(HWND wnd, HWND wndDlg); int FTPMMSendLEDFile(LPCTSTR szFile); int FTPMMSendAUDIOFile(LPCTSTR szFile); int FTPMMSendMOTIONFile( LPCTSTR szFile ); int UpdateContents(); int FTPMMSendMWCFile( LPCTSTR szFile ); int PlayContents( int nMwcID, BOOL waitF = true ); CVAIBO( HWND parent ); virtual ~CVAIBO(); int Connect( const char *szIPAddr, const char *szID = NULL, const char *szPWD = NULL); int Disconnect( void ); int SendCmd( int cmd, BOOL waitF = true, int nParam1 = 0, int nParam2 = 0, int nParam3 = 0, int nParam4 = 0 ); int AudioSendPlay( BOOL isKutipaku = true ); int AudioSendStop( void ); BOOL RequestNetService( int service ); int ChangeHeadAngle( int angleH, int angleV, int nSpeed = 2, BOOL waitF = true ); int DoKick( int kick, BOOL waitF = true ); int DoHeader( int header, BOOL waitF = true ); int DoWalking( int walk, int angle = 0, int distance = 0, BOOL waitF = false ); int DoApproach( int walk, unsigned int unTarget = VAIBO_TARGET_NONE, BOOL waitF = false ); int DoGetOffStation( BOOL waitF = true ); int SetPosture( WORD pos, BOOL waitF = false ); WORD GetPosture( void ); int PlayMotion( LPARAM lmsCmd, BOOL exF = false, BOOL waitF = true, BOOL infinityF = false, unsigned int unTarget = VAIBO_TARGET_NONE ); int PlayMotionWithAngle( LPARAM lmsCmd, int angleH, int angleV, BOOL exF = false, BOOL waitF = true, BOOL infinityF = false, unsigned int unTarget = VAIBO_TARGET_NONE ); int GetStatus( void ); int GetBatteryLevel( void ); void SetBatteryLevelNotify( BOOL onF = true, int interval = 60 ); int TurnBody( int angle, BOOL waitF = true ); int SetClock( LPARAM date, LPARAM time, BOOL waitF = true ); BOOL IsControlReady( void ); void GetInputSemantics( int *semID, int *pSubInfoArray, int *pEtcInfoArray = NULL ); int GetSemInfo( int *pInfoArray ); int SensorTransferStart( void ); int SensorTransferStop( void ); void SensorGetData( int numOfData, SensorRecP pSensorRec ); void SensorSetSkipRate( int skipCount ); int SensorGetSkipRate( void ); void GetProductID( ProductInfo *pInfo ); void GetRemoteMACAddress( MACAddressInfo* pInfo ); int SetLock( BOOL bLock ); BOOL IsFTPOpen( void ); int GetStateSensorTP( void ); int GetStateAudioTP( void ); int GetStateNetAudio( void ); int GetStateImageTP( void ); BOOL IsLock( void ); BOOL IsConnect( void ); int GetRobotDesign( void ); int ImageInit( void ); int ImageOpen( void ); int ImageClose( void ); int ImagePause( void ); int ImageResume( void ); int ImageGetData( unsigned char *buff, int size ); int AudioInit( void ); int AudioGetOpen( int mode ); int AudioClose( void ); int AudioSendOpen( int mode = -1 ); int AudioGetData( unsigned char *buff, int size ); int AudioSendData( char *buff, int size ); int AudioSendWAVFile( LPCTSTR szFile ); int FTPMMSendWAVFile( LPCTSTR szFile ); void SetObserverWnd( HWND hObserver ); void GetLocalIPAddress( char *szIPAddr ); // AIBO Control API BOOL ExternalControl( BOOL waitF = true ); BOOL InternalControl( BOOL waitF = true ); BOOL IsRemote(); BOOL ChangeDisconnectMode( int nMode ); BOOL SetRobotObjectMode( E_ROBOTOBJECT eService, E_ROBOTOBJECTMODE eMode, BOOL waitF = true ); E_ROBOTOBJECTMODE GetRobotObjectMode( E_ROBOTOBJECT eService ); // Camera API BOOL CameraSetModeDefault(); BOOL CameraSetModeManual( int nShutterSpeed, int nExposure ); BOOL CameraSetParamExposure( int nExposure ); BOOL CameraSetParamShutterSpeed( int nShutterSpeed ); BOOL CameraSetModeAEAWB(); // Audio API int AudioSendSetMode( int nMode ); // Get last command ID int GetLastCmdID(); // Get service protocol version BOOL GetProtocolVersion( int nServiceID, int nVersion[ 4 ] ); // Automony functions int DoRobotFunction( E_ROBOTFUNCTION eFunction, BOOL waitF = true ); BOOL StopRobotFunction(); // VPR BOOL VPRSetMode( EVPRMODE eMode ); BOOL VPRTrainModel( int nModelID, int nModelSubID, EVPRPOLICY nPolicy = EVPRPOLICY1 ); BOOL VPRRemoveModel( int nModelID, int nModelSubID ); BOOL VPRQueryModel( int nModelID ); BOOL VPRGetImage( int nModelID, int nModelSubID, char* strFileName ); // Volume BOOL SetVolume( int nVolume ); BOOL RequestVolume(); // Internal use only private: int SetLimitMwcID(int nStart, int nEnd); CVAIBOClient *m_client; LimitMwcID m_LimitMwcID; }; #endif // !defined(AFX_VAIBO_H__BE593771_F8FA_4F7D_ACB5_349F4A09F6D5__INCLUDED_)