The following listing is of text commands used by clients (javascript, mobile, and telnet clients) to communicate with the Oculus Prime server application. They can be grouped into the following categories:
Wheels
Camera and Lights
MALG board
Video/Audio
Users/Accounts
Dock/Power
Server Application
Operating System
Navigation
Sensing
Other
You can enter any command directly thru the web-browser remote interface:
MENU > advanced> telnet text command
OR, press ‘C’ at any time to get the same telnet text command prompt.
WHEELS
move left | right | forward | backward | stop
Wheel motors, continuous movement
nudge left | right | forward | backward
Move for amount of milliseconds (specified by ‘nudgedelay’ setting)
speed slow | med | fast OR {INT}
Set drive motor speed, either pre-set slow/medium/fast speeds, or set PWM directly with [0-255]
clicksteer {INT} {INT}
Camera tilt and drive motor movement macro to re-position center of screen by x,y pixels
motionenabletoggle (no arguments)
Enable/disable wheel motors
forward {DOUBLE}
Drives the robot forward by the specified distance, in meters, then stops. Determined by the onemeterdelay setting, or if odometry is running by the odomlinearmpms state variable if set
backward {DOUBLE}
Drives the robot backward by the specified distance, in meters, then stops. Determined by the onemeterdelay setting, or if odometry is running, by the odomlinearmpms state variable if set
left {INT}
Rotates the robot left by the specified angle, in degrees, then stops. Determined by the fullrotationdelay setting, or if odometry is running, by the odomturndpms state variable if set
right {INT}
Rotates the robot right by the specified angle, in degrees, then stops. Determined by the fullrotationdelay setting, or if odometry is running, by the odomturndpms state variable if set
rotate {INT}
Rotates the robot right by the specified angle, in degrees — left is positive, right is negative. If odometry is running and the odomturndpms state variable is set, will progressively turn incrementally for high accuracy. Otherwise uses fullrotationdelay setting
lefttimed {INT}
Rotates the robot left, stopping after the specified amount of milliseconds. Timing is done by the MALG microcontroller, good for very small movements
righttimed {INT}
Rotates the robot right, stopping after the specified amount of milliseconds. Timing is done by the MALG microcontroller, good for very small movements
forwardtimed {INT}
Moves the robot forward, stopping after the specified amount of milliseconds. Timing is done by the MALG microcontroller, good for precise movements
odometrystart (no arguments)
Enables gyro and encoder recording, resets counters to 0
odometryreport (no arguments)
Sends request for linear and rotational distance moved. Result is written to distanceangle state variable, counters are reset to 0
odometrystop (no arguments)
Sends request for linear and rotational distance moved, then disables gyro and encoder recording. Result is written to distanceangle state variable
calibraterotation (no arguments)
Runs macro to auto-calibrate gyrocomp setting using camera and dock target (default setting is typically fine, this is just in case).
Camera must be running, and robot must be approximately 1m in front of dock.
arcmove {DOUBLE} {INT}
Turn while travelling, for example:
arcmove 1.2 30
will move forward 1.2 meters while turning counter-clockwise 30 degrees. Turn radius accuracy can be calibrated with arcmovecomp setting
CAMERA AND LIGHTS
cameracommand stop | up | down | horiz | downabit | upabit | reverse
Camera/Lights assembly tilt servo movement
camtilt {INT}
Camera/Lights assembly tilt servo, move to specific angle [0-180]
spotlight {INT}
Set main spotlight intensity, percentage [0-100]
floodlight {INT}
Set rear flood light (docking light) intensity, percentage [0-100]
strobeflash on | off (optional) {INT} (optional) {INT}
Turns strobe flash on or off with required ‘on|off’ parameter, and optionally followed by duration (milliseconds), intensity (percentage). Examples:
strobeflash off <= turns strobeflash off
strobeflash on 500 30 <= turns strobeflash on for 500 ms at 30% intensity
MALG BOARD
motorsreset (no arguments)
Resets the MALG PCB
getdrivingsettings (no arguments)
Returns drive motor calibration settings (in bulk string form – intended for web browser interface)
drivingsettingsupdate {STRING}
Set drive motor calibration settings (in bulk string form – intended for web browser interface)
malgcommand {STRING}
Send byte sequence commands directly to the MALG PCB, in the form of:
{CHAR} single
ASCII character, followed by one or more
[0-255] separated by spaces
See the latest MALG firmware for the complete list of available commands, listed at the top in comments.
VIDEO/AUDIO
publish camera | camandmic | mic | stop
Robot video/audio control
streamsettingsset low | med | high | full | custom
Set robot camera resolution and quality
streamsettingscustom {STRING}
Set values for ‘custom’ stream: resolutionX_resolutionY_fps_quality
videosoundmode low | high
Set robot video compression codec
playerbroadcast mic | stop
Client microphone control (to be broadcast thru robot speaker)
framegrabtofile (optional) {STRING}
Saves a frame from the current camera stream to a JPG file with time/date stamp as filename. Saved to the folder: 'oculusPrime/webabpps/oculusPrime/framegrabs'
Outputs URL to telnet stream and message window
Optional {STRING} sets frameGrabHTTP developer parameter
record true | false
Toggle recording of current video stream (camera and/or mic must be running)
USERS/ACCOUNTS
driverexit (no arguments)
Disconnect/end driver RTMP connection with robot
disconnectotherconnections (no arguments)
Close all user RTMP connections other than current driver
who (no arguments)
Returns information on current driver connected via RTMP (eg., flash/web/mobile clients), and number of users connected via telnet
loginrecords (no arguments)
Returns list of RTMP driver (eg., flash/web/mobile clients) login history for current server session
chat {STRING}
Send text chat to all other connected users
messageclients {STRING}
Send text to all other connected users. Similar to ‘chat,’ but without preceding user info
DOCK/POWER
dock (no arguments)
Start manual dock routine (creep backward until dock connects)
autodock go | cancel
Start/quit auto-docking routine. Camera must be running
dockgrab (optional) highres | lowres
Attempts to find dock target within robots camera view. Initially sets state variable ‘dockfound’ to NULL, then sets to true or false depending on success, after short delay. Robot camera must be running
Optional resolution parameter 'highres' uses current resolution, 'lowres' (default) forces faster 320×240
redock (optional) noforward
Used by system if dock connection is weak, or unexpected un-dock.
Moves forward, turns on camera and floodlight, reverses tilt, checks for dock in view and engages autodock routine. If not in view, rotates until found. If not found, or otherwise unable to dock, posts alert to RSS and sends email. Use noforward parameter to skip initial forward move
battstats (no arguments)
Returns contents of state variable batteryinfo. Extended power information including individual cell voltages, system volts, current draw.
powerreset (no arguments)
Resets Xaxxon Power PCB
powershutdown (optional) {INT}
This will cause the OS to shut down gracefully, then the Xaxxon Power PCB will kill power to the system within 30-60 seconds. Requires unit to be in un-docked state.
If using the POWERv2 PCB, adding the optional parameter will cause the system to power back up again after the specified number in seconds
powercommand {STRING}
Use to send firmware commands to Xaxxon Power PCB
SERVER APPLICATION
uptime (no arguments)
Returns time in milliseconds since the server application started
restart (no arguments)
Restarts the server application
quitserver (no arguments)
Quits the server application
showlog (no arguments)
Returns partial output of oculusPrime/logs/jvm.stdout
writesetting {STRING} {STRING}
Uses format: key value
Write setting to configuration file oculus_settings.txt
readsetting {STRING}
Uses format: key
Reads and returns setting from configuration file oculus_settings.txt
settings (no arguments)
Dump bulk list of all settings to message window and telnet stream
log {STRING}
Write text to log file (can be used by scripts)
relayconnect {STRING} {STRING} {STRING}
Connect to relay server, use syntax (command and 3 expressions separated by spaces):
relayconnect hostname-or-ip-address username password
Admin username and password should be used, and client/server username should match. Server will attempt to reconnect if connection lost, including on restart/reboot.
Sets relayserver and relayserverauth settings, and relayserver state variable
relaydisable (no arguments)
Disables the relay server, and sets relayserver and relayserverauth settings to 'disabled'
OPERATING SYSTEM
systemcall {STRING}
Execute OS system command, with ‘oculusPrime/’ as the current working directory
setsystemvolume {INT}
Set robot operating system audio volume 0-100
reboot (no arguments)
Reboot the operating system
systemshutdown (no arguments)
Shut down the operating system (halt)
memory (no arguments)
Returns percent used, total memory, and free memory in use by the Java Virtual Machine. NOTE: JVM memory is not to be confused with system memory totals.
cpu (no arguments)
Writes current CPU utilization percentage to cpu state variable
waitforcpu (no arguments)
Sets state variable waitingforcpu to 'true', until CPU usage is below threshold (typically 60%, with a timeout of 20 seconds), whereupon state waitingforcpu will be set to 'false"
networkconnect {STRING}
Connects to wifi network with ssid {STRING}. Headless Wifi Manager app must be running
NAVIGATION
gotowaypoint {STRING}
Starts up navigation system (if not running) and sets waypoint {STRING} as the new navigation goal
startnav no arguments
Starts up the navigation system. State variable navsystemstatus is set to 'starting' while initializing, and 'running' when ready
startmapping no arguments
Starts up the navigation system in make-map mode. State variable navsystemstatus is set to 'starting' while initializing, and 'mapping' when ready
stopnav no arguments
Quits the navigation (and mapping) system. State variable navsystemstatus is set to 'stopping' while shutting down, and then 'stopped'
gotodock no arguments
Sets the 'dock' waypoint as the new navigation goal. Upon reaching it, navigation is shut down and auto-dock is initiated
runroute {STRING}
Sets route with the name {STRING} as the active route
cancelroute no arguments
Cancels any active route
savemap no arguments
Saves map currently generated by mapping system to file, overwriting any existing map after saving to backup
roslaunch {STRING}
Loads the ROS environment and launches the oculusprime_ros {STRING}.launch file by executing the ‘oculusPrime/ros.sh’ system command
savewaypoints {STRING}
Primarily used by javascript to write {STRING} to the rosmapwaypoints state variable, and also to the 'oculusPrime/conf/waypoints.txt' file
saveroute {STRING}
Primarily used by javascript to write XML data {STRING} to the 'oculusPrime/conf/navigationroutes.xml' file
SENSING
setstreamactivitythreshold {INT} {INT}
Set flash video motion, audio volume detection threshold, 0-100 (0=off)
Cancels on detection (setstreamactivitythreshold 0 0). Detections write to the streamactivity state variable
getlightlevel (no arguments)
Returns average pixel greyscale value (0-255) of frame from current stream
motiondetect (no arguments)
Enables motion detection mode, with sensitivity set by the motionthreshold setting. Camera must be running. Detections write to the streamactivity state variable
motiondetectcancel (no arguments)
Cancels motion detection mode
objectdetect {STRING}
Enables object detection mode. Currently supports 'human' as object type {STRING}
Camera must be running. Triggers write to streamactivity state variable
objectdetectcancel (no arguments)
Cancels object detection mode
sounddetect true | false
Call with 'true' to start sound detection, for use when setting useflash is set to FALSE. Call again with 'false' to cancel
OTHER
speech {STRING}
Voice synthesizer
serverbrowser (no arguments)
Launch new server.html browser webcam capture page on robot
email {STRING}
Uses format: email-address [subject] body
Send email to email-address, with subject [subject] and body text body
Example:
email bob@example.com [Test email] This is an email test
Uses mail server settings specified in oculus_settings.txt configuration file values for ‘email_smtp_server, email_smtp_port,’ (and ‘email_username, email_password’ if required)
Tip: To use Gmail to send mail: set the server to ‘smtp.gmail.com,’ port to 587, and use Gmail username and password
state (optional) {STRING} (optional) {STRING}
Uses format: key, or key value, or delete key
If called with no arguments: returns list of all non-null STATE variables
If called with one argument: returns value for single key
If called with two arguments: sets key to value
If called with arguments ‘delete key’: sets key value to null
quit (no arguments)
Disconnect current telnet session (telnet connection only)
http://69.163.206.138:5080/oculusPrime/rss.xml
NEXT: State Variables
