Developer’s guide - RobotShop...2 Developer’s guide - C++, Urbi, Flex, Java - V2.0 robopec This document is the property of Robopec. The information contained herein may not be

robopec

Developer’s guide

C++, Urbi, Flex, Java

2

Developer’s guide - C++, Urbi, Flex, Java - V2.0

robopec

This document is the property of Robopec. The information contained herein may not be used, reproduced or

communicated without its prior written consent.

Summary 1 General ............................................................................................................................................ 3

2 Reeti’s architecture ......................................................................................................................... 4

2.1 Hardware ................................................................................................................................. 4

2.2 Ubuntu ..................................................................................................................................... 4

2.3 Urbi .......................................................................................................................................... 5

2.4 URBI’s principles ...................................................................................................................... 5

2.5 Possible developments on Reeti ............................................................................................. 5

3 Reeti’s tree ...................................................................................................................................... 6

3.1 reetiDocuments ....................................................................................................................... 6

3.2 reetiPrograms .......................................................................................................................... 7

4 Flex Interface creation ..................................................................................................................... 8

4.1 Flex Development environment .............................................................................................. 8

4.2 Flex Reeti Application: RApplication ....................................................................................... 8

4.3 Flex Stand-alone Application ................................................................................................. 11

4.4 Useful functions of PublicGUITool ......................................................................................... 12

4.4.1 class Communication ..................................................................................................... 12

4.4.2 EventDataReception class ............................................................................................. 13

4.4.3 Translator class .............................................................................................................. 13

4.4.4 Header class ................................................................................................................... 13

5 C++ Standalone Applications (C++ liburbi) ................................................................................... 14

6 Java Standalone Applications : JAVA liburbi .................................................................................. 15

7 C++ URBI modules ......................................................................................................................... 16

7.1 Create a URBI module ........................................................................................................... 16

7.2 Load a module at Reeti Launch ............................................................................................. 19

8 The URBIscript ............................................................................................................................... 20

9 ROS compatibility .......................................................................................................................... 20

10 Main Reeti Functions and variables .......................................................................................... 21

11 Contacts and complementary Information ............................................................................... 23

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About this guide:

In order to reduce our paper consumption and according to our responsible and

respectful measures for the environment, Robopec prefers to put online those

documents for users instead of printing them.

You can find more information on the website www.reeti.fr on which you will find more examples,

tutorials, FAQ, and a Forum for Assistance.

Read carefully this guide and respect the instructions of use in the guide: “Regulations

and Warranty” before any use of Reeti. Robopec won’t hold responsibility for any

dysfunction in case of non-respect of those instructions.

Every modification of source code or add in functionality on Reeti is made at the

developer’s own risks. Robopec takes every measures to prevent malfunction on Reeti

and could not be blamed for dysfunction on Reeti in case of modification, alteration,

deletion or add of codes.

1 General

http://www.reeti.fr/

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Figure 1 Reeti’s architecture

2.1 Hardware

Hardware is every device which equipped Reeti. It includes his motherboard, his power board , his

speaker, his robotic head.

2.2 Ubuntu

Reeti operates a Linux Ubuntu 14.04 Trusty.

2 Reeti’s architecture

Reeti’s iphone App

network

URBI console

FLEX interface

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2.3 Urbi

All the functionalities on Reeti have been developed on URBI, a middleware by GOSTAI.

(http://www.gostai.com/products/urbi) allowing to easily develop robotics codes.

When starting, Reeti runs an URBI server and loads Modules and URBI script functions containing

the functionalities of Reeti. Reeti gets his order from interfaces that act on the server. A local

interface (IHM Flex, console URBI) or a mobile one (iPad/iPhone) can send orders to Reeti via the

Urbi Server.

Lots of functionalities are natively available on Reeti and are introduced later in this document. An

exhaustive list of functions is available on the API :

on reeti open /home/reeti/reetiDocuments/DevelopmentDoc/ReetiAPI/index.html.

2.4 URBI’s principles

URBI works as a code interpreter: you send the code to a central server and it will be interpreted. The

instructions can be sent through several channels:

- through Urbi’s debug console

- through a remote TCP/IP connection

- through libraries

URBI includes natively a number of built-in instructions, but it is possible to create your own

instructions to complete and enrich the interpreter code. For more information see directly the

UrbiSDK document available on Reeti.

2.5 Possible developments on Reeti

There are three axis of development in Reeti:

- New Interfaces: graphical software to use Reeti’s functionalities (Flex, iPad/ iPhone).

- New functions: giving Reeti new functionalities (Modules, URBIscript)

- New Standalone applications: integrate interactions with Reeti in your own application

http://www.gostai.com/products/urbi

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Reeti has a development’s tree that makes it easy to find the necessary elements for development.

3.1 reetiDocuments

Documents or content files (poses, sequences, TextToSpeech, video, images ...) used by Reeti must

all be placed in the directory /home/reeti/reetiDocuments and under the corresponding directory.

Figure 2 Tree of home/reeti/reetiDocuments

Doc : help and samples documentation

Moves : urbi scripts to be used in RShowmaker

Music, Pictures, Video : multimedia content

Poses : poses for Reeti attitude and sequences

Sequences : sequences for Reeti animation

Script : linux scripts

TTS : text to Speech

3 Reeti’s tree

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3.2 reetiPrograms

Your own programs developments should be placed in /home/reeti/reetiPrograms.

Figure 3 Tree of /reetiPrograms

bin: executable files of external programs required by your application

configuration : configuration files of your applications

data : data files generated or required by your applications

functions : your urbiScript functions

kernelModules : linux kernel modules you may have created

load : init files to load your own modules at Reeti launch

logs : place to put your applications logs

RApplications : Flash applications

o Icons : Icons for your applications

o Applications : swf files for your flash modules

o Translation : Translation files for your applications

scripts : Directory for your scripts (sh, bash)

UModules : Directory for your Umodules

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You can create two types of Reeti applications: a desktop application or an application for Reeti’s

Launcher integrated in the Reeti’s framework.

4.1 Flex Development environment

We use Flash Builder 4 on a windows computer.

We made a procedure to produce a fake reeti files tree on your windows computer in order to be

able to run your flex development directly in Flash Builder. You will find files and instructions in

/home/reeti/reetiDocuments/Doc/Help/Flex Development kit

4.2 Flex Reeti Application: RApplication

Reeti's home when starting Reeti is a wrapper of OS coded in Flex. Reeti's home is an application that

can launch other AIR/Flex applications created following the outline Reeti.

To create a new application on Reeti you have to do two things:

- Create the application with Reeti’s outlines

- Add the application to the Launcher by using RConfiguration tool

A Reeti application needs three files to be used by Reeti:

An image file:

o Extension *.png, *.jpg : the image representing the application

o Format : 205 pixels x 165 pixels

o Colors :

Robotic application: White on turquoise

Configuration application : White on orange

System function: Logo of the function on white

A translation file

Allows you to translate your application in various language: it currently supports French and English

- Extension XML:

<?xml version="1.0"?>

<content>

<french>

<name_nom_application>nom</name_nom_application >

<bonjour_nom_application>Bonjour</bonjour_nom_application>

</french>

<english>

4 Flex Interface creation

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<name_nom_application>name</name_nom_application>

<bonjour_nom_application>Hello</bonjour_nom_application>

</english>

</content>

Translation files for all applications are merged into a single database on Reeti. This allows you to

reuse the translations from other applications. Nonetheless, if the same xml tag is present in two

files, only one translation will be taken into account, that of the first file loaded. That is why we

recommend you to add the name of your application to your tag, if the translation is special:

Ex : To translate “yes”, you can use:

<yes>oui</yes>

<yes>yes</yes>

Because “yes” is quite general for all applications

But to translate: « Yes ! Of course. », our advice is to use:

<yes_mon_appli>Oui ! Bien sûr.<yes_mon_appli>

<yes_mon_appli>Yes ! Of course.<yes_mon_appli>

Because this sentence is dedicated to one application.

Conventionally, the translation file is named after your application as xml file: (RRobotFoo.xml for an

application named RRobotFoo).

Flash application file

This file .swf contains the flash application.

To create a compatible application, you have to follow these steps:

- Create your application as a RApplication (class in the PublicGUITools library)

o Your application must implements the variable m_appName : the name of your

application conventionnaly beginning by an R :

m_appName="RMy_application "

- Add a Header components from PublicGUITools. You have to fill:

o Title of your application: title= ‘‘name‘‘

o A function prevClick allowing you to go back to Home

- You can then send instructions to Reeti by using the following function :

o FlexGlobals.topLevelApplication.socket.write("Global.servo.leftEar=10;");

Example:

<?xml version="1.0" encoding="utf-8"?>

<!—Loadable Application by Reeti Launcher -->

<local:RApplication xmlns:fx="http://ns.adobe.com/mxml/2009"

xmlns:s="library://ns.adobe.com/flex/spark"

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xmlns:mx="library://ns.adobe.com/flex/mx"

xmlns:local="*"

creationComplete="creation()"

xmlns:components="components.*"

m_appName="RTip"

>

<fx:Script>

<![CDATA[

/** Callback on application creation:

/* Initialization of button label to “suppr” entry in translation file

*/

protected function creation():void

{

but.label=translation.getTranslation().suppr;

socket.write("Global.servo.leftEar=10;");

}

/**

/* On click on home button, go back to reeti’s home

*/

protected function header1_prevClickHandler():void

{

var eventObject:Event=new Event("homeClick");

parent.dispatchEvent(eventObject);

}

]]>

</fx:Script>

<!—Header component -->

<local:Header prevClick="header1_prevClickHandler()"

title="RTip" />

<s:Button id=”my_but”/>

</local:RApplication>

Add your application to the Launcher

To add your application to the Launcher, you have to go to the RConfiguration application on your

Reeti, Launcher Configuration then add an application to the board by picking the three files you just

created.

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4.3 Flex Stand-alone Application

A stand-alone application is an AIR application on which you add classic order’s dispatch features to

Reeti using the class "communication" in the library PublicGUITools provided on Reeti.

Be careful, class communication can only be used locally on AIR and Reeti. The use of class

communication in a Flash or AIR project on another machine than Reeti is currently not

supported and will not work.

Steps to create a fully Reeti compatible application are the following:

- Create a <s:WindowedApplication>

- In <fx:Script> , declare an instance of communication class :

o private var com:Communication;

- After the creation of the application, instantiate your object:

o com = Communication.getInstance(0);

Communication class is a singleton, getInstance is the only way to instantiate it

correctly.

- Communication will try to establish and a EventDataReception event will be emitted. You

can get back it thanks to :

o com.addEventListener("connection", changeConnection);

If message is 0, connection is not done.

If message is 1, connection is established.

If message is 2, connection failed.

- Use the « com » object to communicate with Reeti using:

o com.write("order_for_reeti");

Example:



<s:WindowedApplication xmlns:fx="http://ns.adobe.com/mxml/2009"

xmlns:s="library://ns.adobe.com/flex/spark"

xmlns:mx="library://ns.adobe.com/flex/mx"

applicationComplete="creationCompleteHandler()"

xmlns:components="components.*"

>

<fx:Script>

<![CDATA[

//We declare a communication available just from this component

private var com:Communication;

//Callback on end of application initialization

public function creationCompleteHandler():void

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{

//We instantiate the object Communication

com = Communication.getInstance(0);

//On change on connection

com.addEventListener("connection", changeConnection);

}

//Callback on change on connection

private function changeConnection(ev:EventDataReception):void

{

//If connection is ok, moves Reeti’s ear

if (int(ev.message)==1) com.write("Global.servo.leftEar=10;");

}

]]>

</fx:Script>

</WindowedApplication>

4.4 Useful functions of PublicGUITool

4.4.1 class Communication

Events:

- class Communication sends the event dataReceived. DataReceived contains an object

EventDataReception which message is the message received from Reeti.

Use: Listening the event:

socket.addEventListener("dataReceived", reception);

and reception function:

private function reception(ev:EventDataReception):void

{

if(ev.message.search("automaticBehaviour")>-1)

{

if(ev.message.search("false")>-1)

{

automaticBehaviour=false;

}

else if(ev.message.search("true")>-1)

{

automaticBehaviour=true;

}

}

}

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On data reception, the application calls « reception » function which checks the message and

executes the code.

4.4.2 EventDataReception class

Event contening a message in the field message.

Example :

dispatchEvent(new EventDataReception("event",true,true,"my_message"));

my_component.addEventListener("event", my_function);

First line is for dispatching an event named “event” with message “my_message”.

Second line will execute the function my_function when the component my_component receive the

event “event”.

4.4.3 Translator class

To accede to the translation in the translator class, you have to use the method getTranslation() then

the name of the xml tag you put your translation in:

translation.getTranslation().tag_xml.

4.4.4 Header class

The Header class is instantiated in all applications and allows an identic canvas on all applications.

Some functionalities have to be present on all applications and are grouped in this class. It has six

elements:

Figure 4 Header class view

Name Type Attribut Type Effect Event Send back Function

butPrev Button - - - prevClick Event Back to home

title Label - - - - - -

butNew Button newButtonVisible bool Show/ hide

button

newClick Event New element

butRec Button recButtonVisible bool Show/ hide

button

recClick Event Save

butLoad Button loadButtonVisible bool Show/ hide

button

loadClick Event Load element

butConfig Button configButtonVisible

bool Show/ hide

button

configClick Event Configure

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Gostai gives access to libraries that allow communication with URBI server through C++ or JAVA

software. These functionalities are wrapped in C++ in liburbi and in JAVA in liburbijava.

In order to communicate with URBI in C++, follow these steps:

- Create your C++ software

- Include UClient header :

o #include <urbi/uclient.hh>

- Declare a Urbi client:

o UClient * client;

- Instanciate the UClient with IP and port. The IP and the port of Reeti or available in the

variable IP and portUrbi :

o client=new urbi::UClient(string _IP, int _port);

- Send your orders to Reeti :

o String cmd = "Global.servo.changeLedColor(\"red\");";

o client->send("%s", cmd.c_str());

- On compiling, include the library /usr/local/gostai/lib/liburbi.so

Example :

#include<urbi/uclient.hh>

#include <string.h>

using namespace std;

using namespace urbi;

int main(int argc, char** argv)

{

UClient * client;

client=new UClient("127.0.0.1", 54001);

String cmd = "Global.servo.changeLedColor(\"red\");";

client->send("%s", cmd.c_str());

return 1;

}

5 C++ Standalone Applications (C++ liburbi)

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Gostai gives access to libraries that allow communication with URBI server through C++ or JAVA

software. These functionalities are wrapped in C++ in liburbi and in JAVA in liburbijava.

You can contact Reeti via a program developed in JAVA. For that, it is necessary to have the Java

Development Kit (JDK v1.6 minimum) and Java Runtime Environment (JRE v1 .6 minimum).

To create a Java program for Reeti, create a standard Java project, then:

- Add the urbi Java library import urbi.UClient;

- Declare a Urbi client: public Uclient cli ;

- Instantiate-it precising the Ipv4 address, the port and buffer size : cli = new UClient(‘‘127.0.0.1‘‘, 54001, Uclient.URBI_BUFLEN) ;

- Send orders to Reeti : Syntaxe : cli.send(‘_MA COMMANDE ; ‘‘) ;

Exemple : cli.send(‘‘wall(‘‘\ Mon Premier message Java \‘‘);‘‘);

Program is ready to communicate with Reeti. Three different compiling methods exist.

- By command line:

Use command line « javac ». Don’t forget the option -Djava.library.path="<urbi-root>/lib".

- Under NetBeans (v 6.5 minimum)

Once you project created and opened, follow these steps:

- Right click on project name => Properties

- In libraries tab, click « Add JAR/Folder ». Choose Urbi Library named « liburbijava.jar » (on

SDK 2.6, library is in <urbi-root>/share/urbi-sdk/java/lib/) - In tab Run, in « VM Options », enter: -Djava.library.path="<urbi-root>/lib" - Compile

- « umake-java » method There is a third method. This is the command urbi "umake-java". For more details on this method,

thank you for looking in the Urbi manual documentation (for version 2.6, this is page 52 of the SDK

pdf).

6 Java Standalone Applications : JAVA liburbi

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An URBI module is a C++ library that will allow you to add instructions understood by the URBI

server. Instructions can be of two types:

- variables

- functions

7.1 Create a URBI module

Declare a class as URBI module

For a class to be loaded and interpreted by a module URBI, you must do as follow when creating it:

- Includes library urbi/uobject.hh (in /usr/share/gostai/includes) :

o #include <urbi/uobject.hh>

- Inherits your class from UObject :

o class ma_classe: public urbi::UObject{

- Create a public function init taking as arguments those you would use in traditional

constructor (returning 1 on fail, 0 on success):

o int init() ;

- Your real constructor must bind the function init and use UObject constructor:

ma_classe::ma_classe(const string &n):UObject(n)

{

UBindFunction(ma_classe, init);

}

- Declare your class to URBI server

o UStart(ma_classe);

Declare a variable

You can declare in C++ code variables understandable by URBI:

- Create a variable UVar :

o UVar something;

- Declare this variable to the server :

o UBindVar(ma_classe, something);

If your variable changes in your program, it will also change in the interpreter URBI. UObject class

includes in particular a useful function: UNotifyChange. This function creates a callback on any

changes in the value of the variable.

Call : UNotifyChange(something, &ma_classe::somethingChange);

When something changes, function somethingChange is called:

Prototype : int ma_classe::somethingChange(UVar& var)

7 C++ URBI modules

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Declare a function

In your class, you can create all functions as normal, but if you want a function to be accessible by

URBI, you must declare it as:

- Declare your function public.

- Declare your function to URBI :

o UBindFunction(ma_classe, ma_fonction);

- The binded function accepts only the following types of arguments:

o int

o double

o string

o std::list

o URBI type (see URBI documentation)

You can declare your functions to be called in a separate thread:

UBindThreadedFunction(ma_classe, ma_fonction, LOCK_NONE);

Call URBI function

Use the liburbi C++ as in chapter 5 to call URBI functions in your module.

Compilation

To compile, use the umake tool from URBI or compile your project as static library (.so) including

/usr/local/gostai/lib/liburbi.so and /usr/lib/libpthread.so in compilation libraries.

A cmake template with samples is given to easily compile your projects.

Example :

Header file: Ma_classe.h

#ifndef MA_CLASSE_H

#define MA_CLASSE_H

#include<string.h>

#include<iostream>

#include<stdio.h>

// headers inclusions

#include<urbi/uobject.hh>

#include<urbi/uclient.hh>

using namespace std;

//namespace URBI

using namespace urbi;

//our class inherits from UObject

class Ma_classe:public UObject{

public:

//default constructor, always with an argument : const string&

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Ma_classe(const string &n);

// ‘‘Real’’ constructor URBI taking an int and a string

int init(string _IP, int _port);

//A declared function to URBI

int play(string _str);

private:

// client to send orders to URBI

UClient * client;

//Classical function

void do();

// UVar declared to URBI

UVar something;

// Callback function on « something » changes

int somethingChange(UVar& var) ;

};

#endif

Source file: Ma_classe.cpp

#include"Ma_classe.h"

//Declaring our class to URBI

UStart(Ma_classe);

//constructeur declaring init to URBI

Ma_classe::Ma_classe(const string &n):UObject(n

{

UBindFunction(Ma_classe, init) ;

}

//Init function

int Ma_classe::init(string _IP, int _port)

{

// client initialization

client=new urbi::UClient(_IP.c_str(), _port);

//Declaring play to URBI

UBindFunction(Ma_classe, play) ;

//Declare something to URBI

UBindVar(Ma_classe, something) ;

//Création d’une callback sur la variable something

UNotifyChange(something, &Ma_classe::somethingChange);

}

// play function binded to URBI

int Ma_classe ::play(string _str)

{

if(_str==””) do;

else cout<<_str<<endl;

return 1;

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}

//function do

void Ma_classe::do()

{

//launch do_something() to URBI

Client->send(”do_something();”);

}

//Function calledas soon as something variable changes

int Ma_classe::somethingChange(UVar& var)

{

//Get the UVar in a classical type

int a=static_cast<int>(var);

cout<<a<<endl;

}

7.2 Load a module at Reeti Launch

Once your module is compiled as a dynamic library (e.g. libMACLASSE.so) you have to declare your

module to URBI. You have to add to /home/reeti/reetiPrograms/load/InitModule.u these lines:

loadModule("/chemin_vers_votre_lib/libMACLASSE");

var Global.mon_nom = uobjects.Ma_classe.new(IP, portUrbi);

Directory /home/reeti/reetiPrograms/UModules is dedicated to your modules. The directory

/home/reeti/reetiPrograms/data is dedicated to the data used by your modules.

Now, you must restart your console URBI to make your changes effective and your module loaded.

To do this, pass to dev mode (in Configuration) and launch reetiDev.sh script (default password:

reeti).

In developer mode, you have access to URBI console giving information and allowing you to

manipulate files and software more easily.

In console mode, Reeti does not take care of handling the Launcher, so be careful. To

get back with all functionalities, restart Reeti.

Then, to use your new functions:

- Global.mon_nom.play(“Coucou”) ;

- Global.mon_nom.something=5;

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First you need to learn the URBIscript language:

- refer to URBI Documentation /home/reeti/ReetiDocuments/Help/

- try the special Reeti Urbiscript tutorial : /home/reeti/ReetiDocuments/Sample/Urbi/script/

Procedure to integrate your functions at Reeti launch :

- Put your function in a .u file

- Copy it in /home/reeti/reetiPrograms/functions/

- Edit /home/reeti/reetiPrograms/load/functions.u

- Add a new line containing : load(‘’/path/to/your/file”);

- Restart your Urbi server

You can now use your function in a URBI console or through another interface.

We don’t yet have a real API for ROS but REETI is compatible with ROS and can be interfaced to it.

An example of a ROS node implementing a service is given in :

home/reeti/reetiDocuments/Doc/Sample/ROS

It is also possible to use ROS in the urbi development : refer to Urbi documentation chapter II-14.

8 The URBIscript

9 ROS compatibility

robopec

Here we present a list of key features of Reeti API..

For complete documentation, please refer to html API in /home/reeti/reetiDocuments/DevelomentDoc/ReetiAPI/index.html

Function Sending Use Example

server.systemLaunch(string) 0 : success 1 : failure

Executes system code Global.server.launch(‘’mkdir my_file‘’) ;

server.loadScript(string) 0 : success 1 : failure

Loads and play the file in argument Global.server.loadScript(“/home/reeti/ma_fonction.u”);

servo.neutralPosition() - Put Reeti in neutral position

Global.servo.neutralPosition() ;

servo.moveTo(double) - Put all the axis to desired position

Global.servo.moveTo(52.2) ;

servo.changeLedColor(string color) - Lights up the 2 LED to asked color. Available colors are red, green, light green, blue, dark blue, turquoise, yellow, violet, white.

Global.servo.changeLedColor(“red”) ;

servo.changeLedColorRGB(int _index, int R, int G , int B, double _intens)

- Lights up the LED _index to color RGB and intensity _intens _index: 0 for both, 1 for right, 2 for left

Global.servo.changeLedColorRGB(1,0,25,21,0.5) ;

tts.say(string) - Speaks the sentence

Global.tts.say(‘Hello’’) ;

tts.sayWithSynchro(string) - Speaks the sentence and moves the lips Global.tts.sayWithSynchro(‘’hello) ;

player.playPose( string _posePath) Play a Reeti pose (.load file) from the directory /home/reeti/reetiDocuments/Poses

Global.player.playPose(“mypose.load”)

player.playSequence (string _sequencePath)

Play a Reeti sequence from the directory /home/reeti/reetiDocuments/Sequences

Global.player.play.playSequence("my_sequence")

10 Main Reeti Functions and variables

/home/reeti/reetiDocuments/Doc/Help/API%20REETI/index.html

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Variable Type Use Callback Example

clock.day int Day of the month (1-31) - Global.clock.day ;

clock.month int Month of the year (1-12) - Global.clock.month ;

clock.year int Year (YYYY) - Global.clock.year ;

clock.weekday Int Weekday (1-Monday-7-Sunday) - Global.clock.weekday ;

clock.hour int Current hour (0-23) - Global.clock.hour ;

clock.minute int Current minute (0-59) - Global.clock.minute;

clock.second int Current second (0-59) - Global.clock.second;

clock.age int Age of Reeti in months - Global.clock.age;

servo.color double Value of the cheek color servo.changeLedColor(string color) Global.servo.color=”red” ;

servo.neckRotat double Value of the neck rotation (0-100) Moves the neck to value Global.servo.neckRotat=20 ;

servo.neckTilt double Value of the neck tilt (0-100) Moves the neck to value Global.servo.neckTilt=20 ;

servo.neckPan double Value of the neck pan (0-100) Moves the neck to value Global.servo.neckPan=20 ;

servo.leftLC double Value of the left lip commissure (0-100) Moves left commissure Global.servo.leftLC=20 ;

servo.rightLC double Value of the right lip commissure (0-100) Moves right commissure Global.servo.rightLC=20 ;

servo.bottomLip double Value of the bottom lip (0-100) Moves bottom lip Global.servo.bottomLip=20 ;

servo.topLip double Value of the top lip (0-100) Moves top lip Global.servo.topLip=20 ;

servo.leftEar double Value of the left ear (0-100) Moves left ear Global.servo.leftEar=20 ;

servo.rightEar double Value of the right ear (0-100) Moves right ear Global.servo.rightEar=20 ;

servo.leftEyePan double Left eye pan position (0-100) Moves left eye horizontally Global.servo.leftEyePan=20 ;

servo.leftEyeTilt double Left eye tilt position (0-100) Moves left eye vertically Global.servo.leftEyeTilt=20 ;

servo.leftEyeLid double Left Eye lid position (0-100) Moves left lid Global.servo.leftEyeLid=20 ;

servo.rightEyePan double Right eye pan position (0-100) Moves right eye horizontally Global.servo.rightEyePan=20 ;

servo.rightEyeTilt double Right eye tilt position (0-100) Moves right eye vertically Global.servo.rightEyeTilt=20 ;

servo.rightEyeLid double Right eye lid position (0-100) Moves right lid Global.servo.rightEyeLid=20 ;

robopec

The Reeti is designed by Robopec, SARL with a capital of € 22 000, registered in the Trade and

Companies of Toulon under number 508 693 470 0002 5, whose head office is located at 183 chemin

des Négadoux - 83140 - Six Fours Les Plages - France.

You can contact Robopec or for more information about the Reeti on www.reeti.fr or by writing to

[email protected].

The pictures in this manual are not contractual.

11 Contacts and complementary Information

http://www.reeti.fr/

mailto:[email protected]