// // VAIBODef.h // // Copyright 2004 Sony Corporation // #ifndef _VAIBODEF_ #define _VAIBODEF_ #define AIBO_VOLUME_MIN ( 0 ) #define AIBO_VOLUME_MAX ( 3 ) // Error code #define VAIBO_NOERROR 0 // No error #define VAIBO_READY 1 // Ready to send command/data #define VAIBO_NOTSTART -10 // Not started #define VAIBO_WORKING -11 // Already working #define VAIBO_MEMERR -12 // Memory allocation failed #define VAIBO_SERVERSTOP -13 // server stopped #define VAIBO_PORT_NOTOPEN -20 // Cannot open communication port #define VAIBO_PORT_OPENERR -21 // Error opening communication port #define VAIBO_NSM_ERROR -22 // NSM starting error #define VAIBO_CONNECTION_BUSY -23 // It is dealing with a connection #define VAIBO_COMM_NOREPLY -30 // No reply of a command #define VAIBO_COMM_COMMERR -31 // command error #define VAIBO_COMM_PAUSE -32 // command paused #define VAIBO_COMM_WAIT -33 // command waiting #define VAIBO_COMM_IGNORE -34 // command ignored #define VAIBO_COMM_TIMEOUT -35 // command timeout #define VAIBO_COMM_LOCK -36 // server locked #define VAIBO_COMM_RESTRICTION -37 // command restriction #define VAIBO_COMM_BUSY -38 // command busy #define VAIBO_FILE_SEADERR -42 // file send error #define VAIBO_FILE_OPENERR -43 // file open error #define VAIBO_FILE_MAKEERR -44 // file creation error #define VAIBO_FILE_READERR -45 // file read error #define VAIBO_FILE_WRITEERR -46 // file write error #define VAIBO_LIMIT_MWCID -50 // cannot use MWCID #define VAIBO_VPRFILE_NOEXIST -60 // VPR file is not registered #define IMAGETP_NOERROR 0 // No error #define IMAGETP_INITERR -101 // initialization error #define IMAGETP_OPENERR -102 // cannot open #define IMAGETP_NOTOPEN -103 // it is not opened #define IMAGETP_MEMERR -104 // Memory allocation failed #define IMAGETP_CREATEERR -105 // creation error #define IMAGETP_DATAERR -106 // data error #define IMAGETP_SAVEERR -107 // save error #define IMAGETP_STATE_ERR -110 // unexpected error #define IMAGETP_WORKING -120 // Already working #define IMAGETP_STATE_CLOSE -150 // CLOSE #define IMAGETP_STATE_INIT -151 // finished INIT #define IMAGETP_STATE_OPEN -152 // finished OPEN #define IMAGETP_STATE_SERVICE -153 // start SERVICE #define IMAGETP_STATE_PAUSE -154 // pause #define IMAGETP_STATE_PLAY -155 // data translation #define AUDIOTP_NOERROR 0 // No error #define AUDIOTP_INITERR -201 // initialize error #define AUDIOTP_OPENERR -202 // cannot open #define AUDIOTP_NOTOPEN -203 // it is not opened #define AUDIOTP_MEMERR -204 // Memory allocation failed #define AUDIOTP_CREATEERR -205 // creation error #define AUDIOTP_DEVICEERR -206 // device open error #define AUDIOTP_SENDERR -207 // sending data error #define AUDIOTP_STATE_ERR -210 // unexpected error #define AUDIOTP_WORKING -220 // Already working #define AUDIOTP_STATE_CLOSE -250 // CLOSE #define AUDIOTP_STATE_INIT -251 // finished INIT #define AUDIOTP_STATE_OPEN -252 // finished OPEN #define AUDIOTP_STATE_SERVICE -253 // start SERVICE #define AUDIOTP_STATE_PAUSE -254 // pause #define AUDIOTP_STATE_PLAY -255 // data translation #define SENSORTP_NOERROR 0 // No error #define SENSORTP_STATE_ERR -310 // unexpected error #define SENSORTP_WORKING -320 // Already working #define SENSORTP_NOTSTART -330 // Not started #define SENSORTP_STATE_CLOSE -350 // CLOSE #define SENSORTP_STATE_SERVICE -351 // start SERVICE #define SENSORTP_STATE_PAUSE -352 // pause #define SENSORTP_STATE_PLAY -353 // data translation #define FTP_STATE_ERR -410 // unexpected error #define FTP_WORKING -420 // Already working // type of SEM_RESULT message #define RESULT_COMPLETE 1 // command complete #define RESULT_INCOMPLETE 2 // command incomplete #define RESULT_UNKNOWN 3 // command unknown #define RESULT_FOLLOWFAIL 4 // follow fail #define RESULT_FOLLOWSTART 5 // follow start #define RESULT_FOLLOWEND 6 // follow finished // type of SEM_FINISHED message #define FINISHED_COMPLETE 1 // command complete #define FINISHED_INCOMPLETE 2 // command incomplete #define FINISHED_UNKNOWN 3 // command unknown // type of SEM_ERROR #define ERROR_LOOKUP_IMAGETP 0x0001 // ImgageTP service look up error #define ERROR_REQ_IMAGETP 0x0002 // ImgageTP service connection request error #define ERROR_LOOKUP_AUDIOIN 0x0011 // AudioTP(In) service look up error #define ERROR_REQ_AUDIOIN 0x0012 // AudioTP(In) service connection request error #define ERROR_LOOKUP_NETAUDIO 0x0015 // NetAudio(Out) service look up error #define ERROR_REQ_NETAUDIO 0x0016 // NetAudio(Out) service connection request error #define ERROR_LOOKUP_FTP 0x0021 // FTP service look up error #define ERROR_REQ_FTP 0x0022 // FTP service connection request error #define ERROR_LOOKUP_SENSOR 0x0023 // SensorTP service look up error #define ERROR_REQ_SENSOR 0x0024 // SensorTP service connection request error // Windows Message ：WPARAM #define SEM_STATUS 0x0001 #define SEM_START 0x0002 #define SEM_DONE 0x0003 #define SEM_ERROR 0x0004 #define SEM_RESULT 0x0005 #define SEM_FINISHED 0x0006 #define SEM_VERSION 0x0007 // SEM_STATUS Message ：lParam upper word (posture information) #define ST_POS_UNKNOWN 0xFF00 // Unknown #define ST_POS_TEMP 0x00FF // Tempolary #define ST_POS_UNDEFINE 0xFFFF // Undefined #define ST_POS_STAND 0x0001 // STAND #define ST_POS_SIT 0x0002 // SIT #define ST_POS_LIE 0x0003 // LIE #define ST_POS_WALK 0x0004 // WALK #define ST_POS_STATION 0x0005 // STATION #define ST_POS_PSTATION 0x0006 // STATION #define ST_POS_LIFT 0x0007 // Lift #define ST_POS_NEUTRAL 0x0100 // Neutral #define ST_POS_SHUTDOWN 0x0064 // #define ST_POS_FALLDOWN 0x1000 // #define ST_POS_MECHALOAD_H 0x2000 // Mecha load high #define ST_POS_JAM 0x3000 // // SEM_STATUS Message ：lParam lower word (status) #define ST_STAT_UNKNOWN 0xFFFF // Unknown #define ST_STAT_DEFAULT 0x0001 // Stable #define ST_STAT_PLAY_WAV 0x0002 // Playing WAVE #define ST_STAT_PLAY_STREAM 0x0003 // Playing stream audio #define ST_STAT_PLAY_MOTION 0x0004 // Playing motion #define ST_STAT_POS_CHANGE 0x0005 // changing posture #define ST_STAT_WALK_SLOW 0x0030 // Walking(Slow) #define ST_STAT_WALK_NORMAL 0x0031 // Walking(Normal) #define ST_STAT_WALK_FAST 0x0032 // Walking(Fast) #define ST_STAT_WALK_BACK 0x0033 // Walking(Back) #define ST_STAT_TURN_L_SLOW 0x0034 // Walking(Left Turn,Slow) #define ST_STAT_TURN_L_NORMAL 0x0035 // Walking(Left Turn,Normal) #define ST_STAT_TURN_L_FAST 0x0036 // Walking(Left Turn,Fast) #define ST_STAT_TURN_R_SLOW 0x0037 // Walking(Right Turn,Slow) #define ST_STAT_TURN_R_NORMAL 0x0038 // Walking(Right Turn,Normal) #define ST_STAT_TURN_R_FAST 0x0039 // Walking(Right Turn,Fast) // SEM_START Message ：lParam lower word #define START_COMM_SESSION 0x0010 // Starting session #define START_NSM_CONNECTION 0x0011 // Starting NSM connection #define START_SHUTDOWN 0x0064 // Notice shutdown #define START_IMAGETP 0x0100 // Starting ImageTP service #define START_AUDIOINTP 0x0200 // Starting AudioTP(In) service #define START_FTP 0x0400 // Starting FTP service #define START_SENSORTP 0x0500 // Starting SensorTP service #define START_NETAUDIO 0x0600 // Starting NetAudio(Out) service // SEM_DONE Message ：lParam lower word #define DONE_SEND_CMD 0x0000 // Complete SendCmd #define DONE_CHANGE_HEAD 0x0001 // Complete ChangeHeadAngle #define DONE_KICK 0x0002 // Complete DoKick #define DONE_HEADER 0x0003 // Complete DoHeader #define DONE_WALKING 0x0004 // Complete DoWalking #define DONE_SET_POSTURE 0x0005 // Complete SetPosture #define DONE_SEND_WAV 0x0006 // Complete Send WAV #define DONE_PLAY_WAV 0x0007 // Complete Play WAV #define DONE_PLAY_MOTION 0x0008 // Complete PlayMotion #define DONE_TURN_BODY 0x0009 // Complete TurnBody #define DONE_SET_CLOCK 0x000B // Complete SetClock #define DONE_NETAUDIO 0x000C // Complete NetAudio // APP command // CVAIBO::SendCmd(int cmd, BOOL waitF, int nParam1, int nParam2, int nParam3, int nParam4) #define APPCMD_RELOAD 0x0001 // WAV data reload ; Reload should be called before playing WAV #define APPCMD_PLAY_WAV 0x0002 // Play WAV ; The WAV data should be translated by FTPMMSendWAVFile() #define APPCMD_PLAY_STOP 0x0003 // stop playing WAV #define APPCMD_REPEAT 0x0004 // repeat playing WAV #define APPCMD_WAV_CLEAR 0x0005 // clear WAV #define APPCMD_TAKE_PICTURE 0x0006 // Play take picture motion #define APPCMD_SHUTDOWN 0x0007 // shutdown #define APPCMD_REBOOT 0x0008 // reboot // APP command for ImageTP #define APPCMD_IMAGE_PLAY 0x0021 // Play #define APPCMD_IMAGE_STOP 0x0022 // Stop #define APPCMD_IMAGE_SETPARAM 0x0023 // Control // APPCMD_IMAGE_SETPARAM : nParam1 #define CMDSID_PROFILE 0x00000001 // profile #define CMDSID_LEVEL 0x00000002 // #define CMDSID_QUALITY 0x00000003 // #define CMDSID_SKIPFRAME 0x00000004 // skip frame #define CMDSID_LOOKUPLIMITTER 0x00000005 // // APPCMD_IMAGE_SETPARAM : nParam2 #define IMAGE_PROFILE_LOW ( 1 ) // Image size 102x79 #define IMAGE_PROFILE_MID ( 2 ) // Image size 204x159 #define IMAGE_PROFILE_HIGH ( 3 ) // Image size 412x318 #define IMAGE_QUALITY_LOW ( 100 ) // Low quality (data size small) #define IMAGE_QUALITYT_MID ( 60 ) // Middle quality #define IMAGE_QUALITY_HIGH ( 30 ) // High quality (data size large) // APP(AudioTP) command #define APPCMD_AUDIO_RECV_START 0x0040 // Receive data; AudioTP(AIBO->PC) start #define APPCMD_AUDIO_RECV_STOP 0x0041 // Receive data; AudioTP(AIBO->PC) stop #define APPCMD_AUDIO_RECV_MODE 0x0042 // Receive data; AudioTP(AIBO->PC) change data mode #define APPCMD_AUDIO_SPPLAY_START 0x0046 // Send data; NetAudio(PC->AIBO) start #define APPCMD_AUDIO_SPPLAY_STOP 0x0047 // Send data; NetAudio(PC->AIBO) stop #define APPCMD_AUDIO_SPPLAY_CHMOD 0x0048 // Send data; NetAudio(PC->AIBO) change data mode // APPCMD_AUDIO_RECV_MODE : nParam1 // APPCMD_AUDIO_SPPLAY_CHMOD : nParam1 #define ATP16K_16BIT_STEREO 0 // 16kHz,16Bit,Stereo #define ATP16K_16BIT_MONO_L 1 // 16kHz,16Bit,Mono Left #define ATP16K_16BIT_MONO_R 2 // 16kHz,16Bit,Mono Right #define ATP16K_16BIT_MONO_MIX 3 // 16kHz,16Bit,Mono Mix #define ATP8K_16BIT_STEREO 4 // 8kHz,16Bit,Stereo #define ATP8K_16BIT_MONO_L 5 // 8kHz,16Bit,Mono Left #define ATP8K_16BIT_MONO_R 6 // 8kHz,16Bit,Mono Right #define ATP8K_16BIT_MONO_MIX 7 // 8kHz,16Bit,Mono Mix #define ATP16K_8BIT_STEREO 8 // 16kHz,8Bit,Stereo #define ATP16K_8BIT_MONO_L 9 // 16kHz,8Bit,Mono Left #define ATP16K_8BIT_MONO_R 10 // 16kHz,8Bit,Mono Right #define ATP16K_8BIT_MONO_MIX 11 // 16kHz,8Bit,Mono Mix #define ATP8K_8BIT_STEREO 12 // 8kHz,8Bit,Stereo #define ATP8K_8BIT_MONO_L 13 // 8kHz,8Bit,Mono Left #define ATP8K_8BIT_MONO_R 14 // 8kHz,8Bit,Mono Right #define ATP8K_8BIT_MONO_MIX 15 // 8kHz,8Bit,Mono Mix // DisconnectMode // CVAIBO::ChangeDisconnectMode( int nMode ); // nMode #define DISCONNECT_MODE_AUTONOMY ( 1 ) // Autonomy when network disconnected #define DISCONNECT_MODE_SAFTY ( 3 ) // Keep safty posture(sleep) when network disconnected #define DISCONNECT_MODE_SAFTYSHUTDOWN ( 4 ) // AIBO Shutdown when network disconnected // Camera control // CVAIBO::CameraSetModeManual( int nShutterSpeed, int nExposure ); // CVAIBO::CameraSetParamExposure( int nExposure ); // CVAIBO::CameraSetParamShutterSpeed( int nShutterSpeed ); // nShutterSpeed #define CAMERA_SHUTTERSPEED_MIN ( 0 ) // Shutter speed min. #define CAMERA_SHUTTERSPEED_MAX ( 524 ) // Shutter speed max. #define CAMERA_SHUTTERSPEED_PER_10MS ( 158 ) // Shutter speed 1/100[sec] = 10[ms] #define CAMERA_SHUTTERSPEED_PER_20MS ( 316 ) // Shutter speed 1/ 50[sec] = 20[ms] #define CAMERA_SHUTTERSPEED_DEFAULT CAMERA_SHUTTERSPEED_PER_20MS // Shutter speed default // nExposure #define CAMERA_EXPOSURE_MIN ( 0 ) // Exposure min. #define CAMERA_EXPOSURE_MAX ( 24 ) // Exposure max. #define CAMERA_EXPOSURE_DEFAULT ( 6 ) // Exposure default // RequestNetService parameter enum { FTP_ID = 0, SENSOR_ID, IMAGE_ID, AUDIO_IN_ID, NETAUDIO_ID }; // Windows Message for network connected // Client <--> Server // WPARAM HiWord=AiboID LowWord=0 LPARAM application ID static const UINT WM_VAIBO_CONNECT = RegisterWindowMessage(_T("SonyERCVAIBOConnect")); // Windows Message for network disconnected // Client <--> Server // WPARAM HiWord=AiboID LowWord=0 LPARAM application ID static const UINT WM_VAIBO_DISCONNECT = RegisterWindowMessage(_T("SonyERCVAIBODisconnect")); // Windows Message for sending semantics // Client <-- Server // WPARAM HiWord=AiboID LowWord=type LPARAM contents static const UINT WM_VAIBO_SEMANTICS = RegisterWindowMessage(_T("SonyERCVAIBOSemantics")); // Windows Message for sending InputSemantics // Client <-- Server // WPARAM HiWord=AiboID LowWord=0 LPARAM 0 static const UINT WM_VAIBO_INPUT_SEMANTICS = RegisterWindowMessage(_T("SonyERCVAIBOInputSemantics")); // Windows Message for sending sensor data // Client <-- Server // WPARAM HiWord=AiboID LowWord=nNumOfData LPARAM *SensorRec data static const UINT WM_VAIBO_SENSOR_DATA = RegisterWindowMessage(_T("SonyERCVAIBOSensorData")); // Windows Message for sending result (Enable) // Client <-- Server // WPARAM HiWord=AiboID LowWord=type LPARAM contents static const UINT WM_VAIBO_SENSOR_ENABLE = RegisterWindowMessage(_T("SonyERCVAIBOSensorEnable")); // Windows Message for sending result (Disable) // Client <-- Server // WPARAM HiWord=AiboID LowWord=type LPARAM contents static const UINT WM_VAIBO_SENSOR_DISABLE = RegisterWindowMessage(_T("SonyERCVAIBOSensorDisable")); // Windows Message for sending lock/unlock server status // Client <-- Server // WPARAM HiWord=AiboID LowWord=0 LPARAM 0(unlocked) or 1(locked) static const UINT WM_VAIBO_LOCK = RegisterWindowMessage(_T("SonyERCVAIBOServerLock")); // Windows Message for sharing server // Client <-- Server // WPARAM HiWord=AiboID LowWord=1(Increase) or 0(Decrease) LPARAM Client window handle static const UINT WM_VAIBO_CLIENT_UPDATE = RegisterWindowMessage(_T("SonyERCVAIBOClientUpdate")); // Windows Message for FTP service (send data size of ftp) // Client <-- Server // WPARAM HiWord=AiboID LowWord=0 LPARAM Data size static const UINT WM_MMFTP_SENDING = RegisterWindowMessage(_T("SonyERCMMFTPSending")); // Windows Message for JPEG decode completed // Server --> Client // WPARAM HiWord=AiboID LowWord=0 LPARAM Data size static const UINT WM_IMAGETP_UPDATE = RegisterWindowMessage(_T("SonyERCImageTPUpdate")); // Windows Message for JPEG decode completed // Server --> Client // WPARAM HiWord=AiboID LowWord=0 LPARAM Data size static const UINT WM_IMAGETP_UPDATE2 = RegisterWindowMessage(_T("SonyERCImageTPUpdate2")); // Windows Message for changing ImageTP mode // Server --> Client // WPARAM kind LPARAM value static const UINT WM_IMAGETP_CHANGE = RegisterWindowMessage(_T("SonyERCImageTPChange")); // Windows Message for getting WAVE packet // Server --> Client // WPARAM HiWord=AiboID LowWord=0 LPARAM Data size static const UINT WM_AUDIOTP_UPDATE = RegisterWindowMessage(_T("SonyERCAudioTPUpdate")); // Windows Message for getting ProductID // Server --> Client // WPARAM HiWord=AiboID LowWord=0 LPARAM 0 // static const UINT WM_VAIBO_PRODUCTID = RegisterWindowMessage(_T("SonyERCVAIBOProductID")); // Windows Message for changing battery level // Server --> Client // WPARAM HiWord=AiboID LowWord=0 LPARAM Battery level static const UINT WM_VAIBO_BATTERY_LVL = RegisterWindowMessage(_T("SonyERCVAIBOBatteryLevel")); // Windows Message for changing control status // Client <-- Server // WPARAM HiWord=AiboID LowWord=0 LPARAM 0:InternalControl 1: ExternalControl static const UINT WM_VAIBO_REMOTE_NOTIFY = RegisterWindowMessage(_T("SonyERCVAIBORemoteNotify")); #define CLIENTMAX 10 #define AIBOMAX 16 // Autonomy services enum E_ROBOTOBJECT { eRobotObjectRognizeAudio, // Voice recognition eRobotObjectRecognizeMObject, // Moving objects recognition eRobotObjectDetectiveFace, // Face detection eRobotObjectRecognizeFace, // Face recognition eRobotObjectRecognizeVisualPattern, // Visual patter recognition eRobotObjectRecognizeObjectPink, // Target(PINK) recognition eRobotObjectRecognizeCliff, // Cliff detect eRobotObjectRecognizeSpeaker, // Speaker recognition eRobotObjectMax }; // Status of Autonomy service enum E_ROBOTOBJECTMODE { eRobotObjectModeStart, eRobotObjectModeStop }; // Sensor Data typedef struct SensorRec { int sensorID; unsigned long value; long percentage_x; long percentage_y; } SensorRec, *SensorRecP; // Product Info typedef struct ProductInfo { WORD formatMajorVer; WORD formatMinorVer; WORD vendorID; WORD majorVer; WORD minorVer; WORD langCode; WORD languageCode; WORD reserved; } ProductInfo; // MAC Address struct MACAddressInfo { char strAddress[ 18 ]; // include terminate character }; #endif // define _VAIBODEF_