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NameTypeDescription
ReetiPositionClassA class containing an instance of the 15 positions of the actuators of the Reeti
ReetiLedColorClassA class containing the color of the Reeti' Leds
ReetiSpeakingClassA class containing if the reeti is speaking or not
ReetiBookmarkClassA class containing the last bookmark found
ReetiPlayingClassA class containg if the reeti is playing a sequence or not
ErrorCodeEnumAn enumeration of the different Error Codes : OK, TIMEOUT, ERROR
LedEnumAn enumeration of the different leds : BOTHLED, RIGHTLED, LEFTLED
CameraEnumAn enumeration of the different cameras : RIGHTCAM, LEFTCAM

 

Constructors
FunctionFunctionsParametersReturn ValueDescription
Reeti

string _uri : IP adress of the reeti to connect to
int _port : port used (9090 by default do not change it if you are unsure of what you do

nonethe constructor used to instantiate a Reeti object
Asynchronous specific functions
FunctionFunctionsParametersReturn ValueDescription
registerCallbackPositionpositionCallback _cb: a callback function of positionCallback typevoidregister a callback in order to get the current position of the Reeti
registerCallbackLedColorledColorCallback _cb: a callback function of ledColorCallback typevoidregister a callback in order toget the current led Color of the Reeti
registerCallbackIsSpeakingisSpeakingCallback _cb: a callback function of isSpeakingCallback typevoidregister a callback in order to allow to know if the Reeti is currently speaking
registerCallbackBookMarkbookMarkCallback _cb: a callback function of bookMarkCallback typevoidregister a callback in order to allow to know when a bookmark is reached while the Reeti is talking
registerCallbackIsPlayingisPlayingCallback _cb :a callback function of isPlayingCallback typevoidregister a callback in order to allow to know if the Reeti is currently playing a sequence
unregisterPositionvoidvoidunregister the position callback
unregisterLedColorvoidvoidunregister the led position callback
unregisterIsSpeakingvoidvoidunregister the callback used to know if the reeti is talking
unregisterBookMarkvoidvoidunregister the callback to know when a bookmark is reached
unregisterIsPlayingvoidvoidunregister the callback used to know if the reeti is playing a sequence
setPoseAsync

float _neckRotat : neck rotation position (from 0 to 100)

float _neckPan : neck pan position (from 0 to 100)

float _neckTilt : neck tilt position (from 0 to 100)

float _rightLC : right lips corner position (from 0 to 100)

float  _leftLC : left lips corner position (from 0 to 100)

float _topLip : top lip position (from 0 to 100)

float  _bottomLip : bottom lip position (from 0 to 100)

float _rightEyePan : right eye pan position  (from 0 to 100)

float _rightEyeTilt : right eye tilt position (from 0 to 100)

float _leftEyePan : left eye pan position (from 0 to 100)

float _leftEyeTilt : left eye tilt position (from 0 to 100)

float _rightEyeLid : right eye lid position (from 0 to 100)

float _leftEyeLid : left eye lid position (from 0 to 100)

float _rightEar : right ear position (from 0 to 100)

float _leftEar : left ear position(from 0 to 100)

float _speed : movement speed (from 10 to 300)

servCallback _cb : a callback function of servCallback type

int _timeout : delay before the callback function return a timeout error if no answer from the reeti (default 15000 ms)

voidset the position of the 15 actuators of the Reeti asynchronously
setPoseAsync

ReetiPosition _position : an instance of ReetiPosition containing the 15 positions

float _speed : movement speed (from 10 to 300)

servCallback _cb : a callback function of servCallback type

int _timeout : delay before the function return false if no answer from the reeti (default 15000 ms)

voidset the position of the 15 actuators of the Reeti asynchronously
takePictureAsync

Camera _cam: the camera to use , RIGHTCAM or LEFTCAM

string _filename : the output filename

servCallback _cb : a callback function of servCallback type

int _timeout : delay before the callback function return a timeout error if no answer from the reeti (default 15000 ms)

voidtake a picture with one of the reeti's camera and save it under /home/reeti/Pictures asynchronously
recordVideoAsync

Camera_cam : the camera to use , RIGHTCAM or LEFTCAM

string _filename : the output filename

servCallback _cb : a callback function of servCallback type

int _timeout : delay before the callback function return a timeout error if no answer from the reeti (default 15000 ms)

voidrecord a video with one of the reeti's camera and save it under /home/reeti/Videos asynchronously
stopRecordAsync

Camera _cam : the camera to use , RIGHTCAM or LEFTCAM

servCallback _cb : a callback function of servCallback type

int _timeout : delay before the callback function return a timeout error if no answer from the reeti (default 15000 ms)

voidstop the recording of the vidéo asynchronously
sayAsync

string _speech : the text to say

servCallback _cb : a callback function of servCallback type

int _timeout : delay before the callback function return a timeout error if no answer from the reeti (default 15000 ms)

voidmake the reeti talk asynchronously
sayWithSynchroAsync

string _speech : the text to say

servCallback _cb : a callback function of servCallback type

int _timeout : delay before the callback function return a timeout error if no answer from the reeti (default 15000 ms)

voidmake the reeti talk and move its lips asynchronously
stopSpeechAsync

servCallback _cb : a callback function of servCallback type

int _timeout : delay before the callback function return a timeout error if no answer from the reeti (default 15000 ms)

voidmake the reeti stop talking asynchronously
playSequenceAsyncstring _sequence : the sequence file to play

servCallback _cb : a callback function of servCallback type

int _timeout : delay before the callback function return a timeout error if no answer from the reeti (default 15000 ms)

 void

make the reeti play the chosen sequence asynchronously
playPoseAsync

string _pose : the pose file to play

servCallback _cb : a callback function of servCallback type

int _timeout : delay before the callback function return a timeout error if no answer from the reeti (default 15000 ms)

voidmake the reeti play the chosen pose asynchronously

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