Microsoft Word - RoIS_SampleCode.doc
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1
2 Ver Copyright RoIS revised submission HRI Engine ERROR_MSG_MAXSIZE VisualStudio
3 ATR Copyright (C) ATR Intelligent Robotics and Communication Laboratories ATR
4 Object Management Group OMG Robotic Interaction Service Framework, RoIS Framework Human-Robot InteractionHRI [1] OMG robotics Robotic Interaction Service (RoIS) Framework RFP [ [2] OMG robotics Robotic Interaction Service (RoIS) Framework Initial Submission [ [3] OMG robotics Robotic Interaction Service (RoIS) Framework Revised Submission [ [4] libroishriserver ver.0.2 [5] libroishriclient ver.0.2 [6] libroisappserver ver.0.2 [7] libroisappclienr ver.0.2 [8] libroisapp ver.0.2
![robotics/2010-6-25] [2] OMG robotics-10-10-01 Robotic Interaction Service (RoIS) Framework Initial Submission [http://www.omg.org/cgi-bin/doc?](/docs-images/43/23145736/images/page_4.jpg "robotics/2010-10-01] [3] OMG robotics-11-05-01 Robotic Interaction Service (RoIS) Framework Revised Submission [http://www.omg.org/cgi-bin/doc?")
5 HRI Engine HRI Engine...17 HRI Engine...17 HRI Engine RoIS_HRI main omniorb...19 librois...20 HRI Engine omni...22 HRI Engine
6 Windows XP RoIS Framework librois librois HRI RoIS Framework HRI Engine Windows XP documents RoIS Framework (librois) librois RoIS Framework (librois) bin idl CORBA IDL include lib libroisapp libroisapp libroisappclientlibroisappclient libroisappserverlibroisappserver libroishriclientlibroishriclient libroishriserverlibroishriserver RoIS_APP_sample RoIS_HRI_sampleHRI Engine
7 Microsoft Visual Studio 2005(vs8) Microsoft Visual Studio 2005 Microsoft Visual C SP1 (x86) ae1a-4a14-984d-389c36f85647&displaylang=ja MSXML 4.0 Service Pack 2 (Microsoft XML Core Services) -B4F2-46DA-B4B6-C5D7485F2B42 HRI Engine RoIS_HRI_App RoIS_HRI_Dlg RoIS_Hri_Callback librois RoIS_Hri::Entity RoIS_ServiceApps RoIS_Components HRI Engine HRI RoIS_RegistedTypes RoIS_ExchangedMessages
8 RoIS_Parameters RoIS_Profile_Manager RoIS_HRI_sample bin RoIS_HRI.exe HRI Engine RoIS_HRI_PARAM.ini HRI Engine profiles HRI Engine include RoIS_HRI_Callback.h RoIS_Hri_Callback RoIS_HRI_Entity.h RoIS_Hri::Entity RoIS_HRI_MessageStrage.h RoIS_ServiceApps, RoIS_Components, RoIS_Registed_Types, RoIS_ExchangedMessages, RoIS_Parameters RoIS_HRI_ProfileManager.h RoIS_Profile_Manager RoIS_HRIApp.h RoIS_HRI_App RoIS_HRIDlg.h RoIS_HRI_Dlg source RoIS_HRI_Callback.cpp RoIS_Hri_Callback RoIS_HRI_Entity.cpp RoIS_Hri::Entity
9 RoIS_HRI_ProfileManager.cpp RoIS_Profile_Manager RoIS_HRIApp.cpp RoIS_HRI_App RoIS_HRIDlg.cpp RoIS_HRI_Dlg
10 HRI HRI HRI
11 HRI RoIS Framework profiles HRI Engine HRIEngine.xml xml HRI Engine HRI Engine HRI Engine HRI <HRIEngineProfile> HRI Engine <identifier> <name> <HRIComponent> HRIEngine HRI Engine HRI HRI HRI HRI <HRIComponentProfile>HRI <identifier> <name> HRI HRI
12 rois_common system_information person_detection person_localization person_identification face_detection face_localization sound_detection sound_localization speech_recognition gesture_recognition speech_synthesis navigation follow move <SubComponentProfile> HRI <MessageProfile> <ParameterProfile> <MessageProfile> attribute type CommandMessageProfile QueryMessageProfile EventMessageProfile name <Results> <Argument>
13 <MessageProfile>(or <Results>/<Argument>) attribute name default_value description <data_type_ref> attribute code codebook_ref version SAMPLE::SERVICE_FUNCTION librois SAMPLE::HRI_ENGINE_CALLBACK librois RoIS_APP_sample bin sample.exe
14 RoIS_APP_PARAM.ini include sample.h SAMPLE::SERVICE_FUNCTION sample_callback.h SAMPLE::HRI_ENGINE_CALLBACK source main.cpp sample sample.cpp SAMPLE::SERVICE_FUNCTION sample_callback.cpp SAMPLE::HRI_ENGINE_CALLBACK RoIS Framework HRIEngine RoIS I/F
15 RoIS Framework
16 HRI Engine HRI Engine HRI Engine
17 HRI Engine (RoIS_HRI) (sample) CORBA CORBA HRI Engine sample () libroisapp () [4-(5)-(b)] libroishriclient (CORBA ) libroishriserver () [4-(4)-(a)] RoIS_HRI HRI Engine RoIS_HRI () [4-(4)-(b)] libroisappclient (CORBA ) libroisappserver () [4-(5)-(a)] libroisapp () sample HRI Engine RoIS_HRI CORBA CORBA libroishriserver
![HRI Engine RoIS_HRI () [4-(4)-(b)] libroisappclient (CORBA ) libroisappserver](/docs-images/43/23145736/images/page_17.jpg "() [4-(5)-(a)] libroisapp () sample HRI Engine RoIS_HRI CORBA CORBA")
18 RoIS_Hri_Callback RoIS_HRI_App RoIS_Hri::Entity RoIS_HRI RoIS_HRI_Dlg RoIS_HRI_App RoIS_Hri::Entity libroisappclient (CORBA ) sample CORBA CORBA main main SAMPLE::SERVICE_FUNCTION libroisapp libroishriclient (CORBA )
19 (CORBA ) libroisappserver libroisapp SAMPLE::HRI_ENGINE_CALLBACK SAMPLE::SERVICE_FUNCTION main omniorb omniorb ver omniorb omniorb "omniorb x86_win32-vs8.zip" Microsoft Visual Studio 2005(vs8) omniorb x86_win32-vs8.zip OMNI_ROOT = () (C: temp omniorb-4.1.4) PATH = %OMNI_ROOT% bin x86_win32;
20 librois RoIS Framework librois ROIS_ROOT = () (C: temp librois) PATH = %ROIS_ROOT% bin; HRI Engine HRI Engine INI RoIS_HRI_sample bin RoIS_HRI_PARAM.ini INI HRI Engine [PARAM_RoIS] CORBA RETRY_NUM SYSTEM_IF RoIS System I/F COMMAND_IF RoIS Command I/F QUERY_IF RoIS Query I/F EVENT_IF RoIS Event I/F [PARAM_BUFFSIZE] APP_MAXSIZE HRI Engine EVENT_MAXSIZE subscribe EVENT_MSG_MAXSIZE
![ini INI HRI Engine [PARAM_RoIS] CORBA RETRY_NUM SYSTEM_IF RoIS System I/F COMMAND_IF RoIS](/docs-images/43/23145736/images/page_20.jpg "Command I/F QUERY_IF RoIS Query I/F EVENT_IF RoIS Event I/F [PARAM_BUFFSIZE] APP_MAXSIZE HRI")
21 COMMAND_MAXSIZE COMMAND_MSG_MAXSIZE ERROR_MSG_MAXSIZE [ORB_SETTING] HRI_NAME_HOST execute ORBA INI RoIS_APP_sample bin RoIS_APP_PARAM.ini INI [PARAM_RoIS] CORBA RETRY_NUM SYSTEM_IF RoIS System I/F () COMMAND_IF RoIS Command I/F () QUERY_IF RoIS Query I/F () EVENT_IF RoIS Event I/F () APP_IF RoIS I/F [PARAM_BUFFSIZE] PARAM_MAXSIZE EVENT_MAXSIZE HRI Engine subscribe EVENT_MSG_MAXSIZE
22 COMMAND_MAXSIZE COMMAND_MSG_MAXSIZE [ORB_SETTING] HRI_NAME_HOST APP_NAME_HOST HRI Engine execute ORBA HRI Engine omni omninames -start "-start"%temp% omninames-***.log/.bak
23 HRI Engine RoIS_HRI_sample bin RoIS_HRI.exe
24 RoIS_APP_sample bin sample.exe HRI Engine [3] HRI Engine execute [3] CommandMessage CommandUnitList
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