File Coverage

blib/lib/Net/Rovio.pm

Criterion	Covered	Total	%
statement	12	559	2.1
branch	0	208	0.0
condition	0	33	0.0
subroutine	4	61	6.5
pod	54	57	94.7
total	70	918	7.6

package Net::Rovio;
use strict;
use warnings;
use LWP::Simple;
use vars qw($VERSION);
$VERSION = "1.5";
my $answer ="";

sub new {
  my $package = shift;
  my $self;
  $self->{'opened'} = 1;
  $self->{'host'} = $_[0];
  if ((($_[1]) && ($_[2])) && (($_[1] ne "") && ($_[2] ne ""))) {
  #  $self->{'auth'} = 1;
  #  $self->{'username'} = $_[1];
  #  $self->{'password'} = $_[2];
  $self->{'host'} = $_[1].':'.$_[2].'@'.$self->{'host'};
  }
  return bless($self, $package);
}

sub send
{
    my $self = shift;
    if ($self->{'opened'})
    {
        if ($_[0] ne "")
        {
        #my $request = WWW::Mechanize->new();
        #my $auth;
        #if ($self->{'auth'}) {
        #$request->credentials($self->{'username'}, $self->{'password'});
        #}
            my $file = $_[0];
            my $GET = $_[1];
            if ((!$GET) or ($GET eq ""))
            {
                $GET = " ";
            }
        #$request->get('http://'.$self->{'host'}.'/'.$file.'?'.$GET);
            get('http://'.$self->{'host'}.'/'.$file.'?'.$GET);
        }
        else
        {
            warn "Host not specified\n";

        }
    }
    else
    {
        warn "No connection to $self->{'host'}\n";

    }
}

sub camera_head
{
    my $self = shift;
    if ($_[0] =~ /down/i)
    {
        $answer = $self->send('rev.cgi', 'Cmd=nav&action=18&drive=12');
    }
    elsif ($_[0] =~ /mid/i)
    {
        $answer = $self->send('rev.cgi', 'Cmd=nav&action=18&drive=13');
    }
    elsif ($_[0] =~ /up/i)
    {
        $answer = $self->send('rev.cgi', 'Cmd=nav&action=18&drive=11');
    }
    else
    {
        warn "Invalid argument for camera_head()\n";
    }
    return processanswer();
}

# The lights_blue function was submitted to me by kyncl on the Robocommunity.com forum. Thanks!

sub lights_blue {
  my $self = shift;
  if ($_[0] =~ /off/i) {
  $self->send("/mcu", "parameters=114D4D00010053485254000100011A000000");
  }
  if ($_[0] =~ /on/i) {
  $self->send("/mcu", "parameters=114D4D00010053485254000100011AFF0000");
  }

  if (($_[0] =~ /1/i) or ($_[0] =~ /0/i)) {
  my $line = $_[0];
  my $hex = unpack("H*", pack ("B*", $line));
  $self->send("/mcu",'parameters=114D4D00010053485254000100011A'.$hex.'0000');
  }
}

sub halt
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=17");
    return processanswer();
}

sub startrecording
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=2");
    return processanswer();
};

sub abortrecording
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=3");
    return processanswer();
};

sub stoprecording
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=4&name=$_[0]");
    return processanswer();
};

sub deletepath
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=5&name=$_[0]");
    return processanswer();
};

sub changeresolution
{
    my $self = shift;
    if (defined $_[0])
    {
        if ($_[0] =~ m/[0|1|2|3]/g)
        {
            $answer = $self->send("/ChangeResolution.cgi", "ResType=$_[0]");
        }
        else
        {
            return "Value must be 0,1,2, or 3";
        }
    }
    else
    {
        return "Value must be 0,1,2, or 3";
    }
    return "OK";
};

# Input Parameter
# Camera supports 4 types of resolution:
# 0 - {176, 144}
# 1 - {352, 288}
# 2 - {320, 240} (Default)
# 3 - {640, 480}

sub changecompressratio
{
    my $self = shift;
    if (defined $_[0])
    {
        if ($_[0] =~ m/[0|1|2]/g)
        {
            $answer = $self->send("/ChangeCompressRatio.cgi", "Ratio=$_[0]");
        }
        else
        {
            return "Value must be 0,1, or 2";
        }
    }
    else
    {
        return "Value must be 0,1, or 2";
    }
    return "OK";
};

# Compression Ratios (MPEG mode only)
#
# 0 - Low
# 1 - Medium
# 2 - High

sub changeframerate
{
    my $self = shift;
    if (defined $_[0])
    {
        if (($_[0] >= 2) && ($_[0] <= 32))
        {
            $answer = $self->send("/ChangeFramerate.cgi", "Framerate=$_[0]");
        }
        else
        {
            return "Value must be 2 - 32.";
        }
    }
    else
    {
        return "Value must be 2 - 32";
    }
    return "OK";
};

# Supports 2-32 Frames per sec as input values

sub changebrightness
{
    my $self = shift;
    if (defined $_[0])
    {
        if (($_[0] >= 0) && ($_[0] <= 6))
        {
            $answer = $self->send("/ChangeBrightness.cgi", "Brightness=$_[0]");
        }
        else
        {
            return "Value must be 0 - 6.";
        }
    }
    else
    {
        return "Value must be 0 - 6";
    }
    return "OK";
};

# Brightness from 0 - 6. 6 = Brightest setting.

sub changespeakervolume
{
    my $self = shift;
    if (defined $_[0])
    {
        if (($_[0] >= 0) && ($_[0] <= 31))
        {
            $answer = $self->send("/ChangeSpeakerVolume.cgi", "SpeakerVolume=$_[0]");
        }
        else
        {
            return "Value must be 0 - 31.";
        }
    }
    else
    {
        return "Value must be 0 - 31";
    }
    return "OK";
};

# Speaker Volume from 0 - 31, 31 = Loudest.

sub changemicvolume
{
    my $self = shift;
    if (defined $_[0])
    {
        if (($_[0] >= 0) && ($_[0] <= 31))
        {
            $answer = $self->send("/ChangeMicVolume.cgi", "MicVolume=$_[0]");
        }
        else
        {
            return "Value must be 0 - 31.";
        }
    }
    else
    {
        return "Value must be 0 - 31";
    }
    return "OK";
};

# Mic Volume from 0 - 31, 31 = Loudest.

sub getreport
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=1");
    my ($config, %config, $var, $value) = "";
    my @settings = split(/\|/,$answer);
    foreach (@settings)
    {
        chomp;
        s/#.*//;
        s/^\s+//;
        s/\s+$//;
        next unless length;
        #print $_ . "\n";
        ($var, $value) = split(/\s*=\s*/, $_, 2);
        $config{$var} = $value
    };
    return (\%config);
}

#          'wifi_ss' => '205',
#          'show_time' => '0',
#          'theta' => '-2.497',
#          'frame_rate' => '25',
#          'state' => '0',
#          'y' => '1041',
#          'ss' => '17326',
#          'speaker_volume' => '27',
#          'next_room_ss' => '55',
#          'video_compression' => '1',
#          'mic_volume' => '29',
#          'ui_status' => '0',
#          'brightness' => '6',
#          'email_state' => '0',
#          'resolution' => '2',
#          'privilege' => '0',
#          'beacon' => '0',
#          'x' => '3575',
#          'room' => '0',
#          'battery' => '118',
#          'Cmd' => 'nav responses = 0',
#          'beacon_x' => '0',
#          'user_check' => '1',
#          'flags' => '0005',
#          'next_room' => '9',
#          'pp' => '0',
#          'sm' => '15',
#          'charging' => '72',
#          'head_position' => '204',
#          'ac_freq' => '2',
#          'resistance' => '0',
#          'ddns_state' => '0'

sub getlog
{
    my $self = shift;
    $answer = $self->send("/GetLog.cgi", "");
    my ($log, %log, $var, $value, $line, $timeinsecs, $lognum, @lognum) = "";
    if ($answer =~ m/Time = ([0-9].*)/g) { $timeinsecs = $1; };
    while ( $answer =~ /Log = ([0-9].*)/g )
    {
        push @lognum, $1;
    };
    $log{'Time'} = $timeinsecs;
    $log{'LogLines'} = \@lognum;
    return (\%log);
}

#	0	Information
#	1	Error
#	11	Set user
#	12	Del user
#	13	Set user check
#	14	Open camera
#	15	Close camera
#	16	Change resolution
#	17	Change quality
#	18	Change brightness
#	19	Change contrast
#	20	Change saturation
#	21	Change hue
#	22	Change Sharpness
#	23	Set email
#	24	Set ftp server
#	25	Dial (pppoe)
#	26	Dial (modem)
#	27	New client
#	28	Set Motion Detect
#	29	Set Monite Area
#	30	Set Server Time
#	31	Set Server IP
#	32	Set Http Port


sub getmcureport
{
    my $self = shift;
    my ($report) = "";
    my %report;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=20");
    if ($answer)
    {
        chomp $answer;
        $answer =~ m/responses = 0(.*?)$/g;
        $report{packet_length}         = hex(substr($1, 0, 1));
        $report{left_wheel_dir}        = substr($1, 2, 1);
        $report{left_encoder_ticks}    = substr($1, 3, 2);
        $report{right_wheel_dir}       = substr($1, 5, 1);
        $report{right_encoder_ticks}   = substr($1, 6, 2);
        $report{rear_wheel_dir}        = substr($1, 8, 1);
        $report{rear_encoder_ticks}    = substr($1, 9, 2);
        $report{head_position}         = substr($1, 12, 1);
        $report{picture_index}         = substr($1, 13, 1);
        #print "\n Getstatus: " . $answer . "\n";
        #print "\nAnswer: " . length($1) . " - $1\n";
        return \%report;
    }
    else
    {
        return "FAIL";
    };

}

# TODO: Finish setups for bit compare
#	Offset 	Length 	Description
#	0	1B 	Length of the packet
#	1	1B 	NOT IN USE
#	2	1B 	Direction of rotation of left wheel since last read (bit 2)
#	3	2B 	Number of left wheel encoder ticks since last read
#	5	1B 	Direction of rotation of right wheel since last read (bit 2)
#	6	2B 	Number of right wheel encoder ticks since last read
#	8	1B 	Direction of rotation of rear wheel since last read (bit 2)
#	9	2B 	Number of rear wheel encoder ticks since last read
#	11	1B 	NOT IN USE
#	12	1B 	Head position
#	13	1B 	0x7F: Battery Full (0x7F or higher for new battery)  0x??: Orange light in Rovio head.
# ( to be define)  0x6A: Very low battery (Hungry, danger, very low battery level)  libNS need take
# control to go home and charging  0x64: Shutdown level (MCU will cut off power for protecting the battery)
#	14	1B 	bit 0 : Light LED (head) status, 0: OFF, 1: ON  bit 1 : IR-Radar power status. 0: OFF, 1: ON
# bit 2 : IR-Radar detector status: 0: fine, 1: barrier detected.  bit 3-5: Charger staus  0x00 : nothing
# happen  0x01 : charging completed.  0x02 : in charging  0x04 : something wrong, error occur.
# bit 6,7: undefined, do not use.


sub getpathlist
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=6");
    $answer =~ m/= (.*?)$/g;
    $answer ="";
    return split(/\|/,$1);
}

sub gettime
{
    my $self = shift;
    $answer = $self->send("/GetTime.cgi", "");
    my ($config, %config, $var, $value) = "";
    my @settings = split(/\n/,$answer);
    foreach (@settings)
    {
        chomp;
        s/#.*//;
        s/^\s+//;
        s/\s+$//;
        next unless length;
        #print $_ . "\n";
        ($var, $value) = split(/\s*=\s*/, $_, 2);
        $config{$var} = $value
    };
    return (\%config);
}


sub getmediaformat
{
    my $self = shift;
    $answer =$self->send("/GetMediaFormat.cgi", "");
    #print "\n Media answer: $answer \n";
    my ($config, %config, $var, $value) = "";
    my @settings = split(/\n/,$answer);
    foreach (@settings)
    {
        chomp;
        s/#.*//;
        s/^\s+//;
        s/\s+$//;
        next unless length;
        #print $_ . "\n";
        ($var, $value) = split(/\s*=\s*/, $_, 2);
        $config{$var} = $value
    };
    return (\%config);
}

#Formats returned:
# Audio
# 0 - AMR
# 1 - PCM
# 2 - IMAADPCM
# 3 - ULAW
# 4 - ALAW
#
# Video
# 1 - H263
# 2 - MPEG4

sub setmediaformat
{
    my $self = shift;
    my ($command,$params) = "";
    my %params;
    ($params) = @_;
    if ($params->{Video}) { if ($params->{Video} =~ m/[1|2]/g){} else { return "Video must be 1 or 2"; }; $command .= "&Video=" . $params->{Video}; };
    if ($params->{Audio}) { if ($params->{Audio} =~ m/[0|1|2|3|4]/g){} else { return "Audio must be 1, 2, 3, or 4"; }; $command .= "&Audio=" . $params->{Audio}; };
    $answer = $self->send("/SetMediaFormat.cgi", "$command");
    return "OK";
}

sub getcamera
{
    my $self = shift;
    $answer =$self->send("/GetCamera.cgi", "");
    my ($config, %config, $var, $value) = "";
    my @settings = split(/\|/,$answer);
    foreach (@settings)
    {
        chomp;
        s/#.*//;
        s/^\s+//;
        s/\s+$//;
        next unless length;
        #print $_ . "\n";
        ($var, $value) = split(/\s*=\s*/, $_, 2);
        $config{$var} = $value
    };
    return (\%config);
}

sub gethttp
{
    my $self = shift;
    $answer =$self->send("/GetHttp.cgi", "");
    #print "\n Http answer: $answer \n";
    my ($config, %config, $var, $value) = "";
    my @settings = split(/\n/,$answer);
    foreach (@settings)
    {
        chomp;
        s/#.*//;
        s/^\s+//;
        s/\s+$//;
        next unless length;
        #print $_ . "\n";
        ($var, $value) = split(/\s*=\s*/, $_, 2);
        $config{$var} = $value
    };
    return (\%config);
}

sub sethttp
{
    my $self = shift;
    my ($command,$params) = "";
    my %params;
    ($params) = @_;
    if ($params->{Port1}) { if ($params->{Port1})   { $command .= "&Port1=" . $params->{Port1}; };  };
    if ($params->{Port0}) { if ($params->{Port0}) { $command .= "&Port0=" . $params->{Port0}; }; };
    $answer = $self->send("/SetHttp.cgi", "$command");
    return "OK";
}

# This command will cause the http server to reset, briefly making it inaccessable - prepare for this to prevent errors.

sub getmail
{
    my $self = shift;
    $answer =$self->send("/GetMail.cgi", "");
    #print "\n Getmail answer: $answer \n";
    my ($config, %config, $var, $value) = "";
    my @settings = split(/\n/,$answer);
    foreach (@settings)
    {
        chomp;
        s/#.*//;
        s/^\s+//;
        s/\s+$//;
        next unless length;
        #print $_ . "\n";
        ($var, $value) = split(/\s*=\s*/, $_, 2);
        $config{$var} = $value
    };
    return (\%config);
}

# GetMail Returns:
#
#          'Subject' => 'Rovio Snapshot',
#          'User' => '',
#          'MailServer' => '',
#          'Port' => '25',
#          'Sender' => '',
#          'CheckFlag' => '0',
#          'Enable' => '0',
#          'Receiver' => '',
#          'PassWord' => '',
#          'Body' => 'Check out this photo from my Rovio.'

sub setmail
{
    my $self = shift;
    my ($command,$params) = "";
    my %params;
    ($params) = @_;
    if ($params->{Mailserver}) { if ($params->{Mailserver})     { $command .= "&Mailserver=" . $params->{Mailserver}; };  };
    if ($params->{Sender})     { if ($params->{Sender})         { $command .= "&Sender="     . $params->{Sender}; };  };
    if ($params->{Receiver})   { if ($params->{Receiver})       { $command .= "&Receiver=" . $params->{Receiver}; };  };
    if ($params->{Subject})    { if ($params->{Subject})        { $command .= "&Subject=" . $params->{Subject}; };  };
    if ($params->{User})       { if ($params->{User})           { $command .= "&User=" . $params->{User}; };  };
    if ($params->{PassWord})   { if ($params->{PassWord})       { $command .= "&PassWord=" . $params->{PassWord}; };  };
    if ($params->{CheckFlag})  { if ($params->{CheckFlag})      { $command .= "&CheckFlag=" . $params->{CheckFlag}; };  };
    $answer = $self->send("/SetMail.cgi", "$command");
    return "OK";
}

# SetMail.cgi
# Input Parameters
#
# Enable - Ignored
# MailServer - mail server address
# Sender - sender’s email address
# Receiver - receiver’s email address, multi-receivers separated by ‘;’
# Subject - subject of email
# User - user name for logging into the MailServer
# PassWord - password for logging into the MailServer
# CheckFlag - whether the MailServer needs to check password
# Interval - Ignored

sub getver
{
    my $self = shift;
    $answer = $self->send("/GetVer.cgi", "");
    if ($answer)
    {
        chomp $answer;
        $answer =~ m/Version = (.*?)$/g;
        return $1;
    }
    else
    {
        return 0;
    }
}

sub getstatus
{
    my $self = shift;
    my($status) = "";
    my %status;
    $answer = $self->send("/GetStatus.cgi", "");
    chomp $answer;
    $answer =~ m/= (.*?)$/g;
    $status{camera_state}          = substr($1, 0, 2);
    $status{modem_state}           = substr($1, 2, 2);
    $status{pppoe_state}           = substr($1, 4, 2);
    $status{x_direction}           = substr($1, 6, 3);
    $status{y_direction}           = substr($1, 9, 3);
    $status{focus}                 = substr($1, 12, 3);
    $status{bright}                = substr($1, 15, 3);
    $status{contrast}              = substr($1, 18, 3);
    $status{resolution}            = substr($1, 21, 1);
    $status{compression_ratio}     = substr($1, 22, 1);
    $status{privilege}             = substr($1, 23, 1);
    $status{picture_index}         = substr($1, 24, 6);
    $status{email_state}           = substr($1, 30, 1);
    $status{user_check}            = substr($1, 31, 1);
    $status{image_file_length}     = substr($1, 32, 8);
    $status{monitor_rect}          = substr($1, 40, 16);
    $status{ftp_state}             = substr($1, 56, 1);
    $status{saturation}            = substr($1, 57, 3);
    $status{motion_detected_index} = substr($1, 60, 6);
    $status{hue}                   = substr($1, 66, 3);
    $status{sharpness}             = substr($1, 69, 3);
    $status{motion_detect_way}     = substr($1, 72, 1);
    $status{sensors_frequency}     = substr($1, 73, 1);
    $status{channel_mode}          = substr($1, 74, 1);
    $status{channel_value}         = substr($1, 75, 2);
    $status{audio_volume}          = substr($1, 77, 3);
    $status{dynamic_dns_state}     = substr($1, 80, 1);
    $status{audio_state}           = substr($1, 81, 1);
    $status{frame_rate}            = substr($1, 82, 3);
    $status{speaker_volume}        = substr($1, 85, 3);
    $status{mic_volume}            = substr($1, 88, 3);
    $status{show_time}             = substr($1, 91, 1);
    $status{wifi_strength}         = hex(substr($1, 93, 1));
    $status{battery_level}         = hex(substr($1, 94, 2));
    #print "\n Getstatus: " . $answer . "\n";
    $answer ="";
    return \%status;
}
#
# GetStatus: 01000000000000000600021099999901000000000000000000000000000099999900000000000000000250270290c575 -96
#
#	Byte 		Description 		Value
#	0, 1 		Camera State 		00 - off 01 – on
#	2, 3 		Modem State 		00 - off 01 - on line(common mode) 02 - connecting(common mode)
#	4, 5 		PPPoE State 		same as Modem state
#	6, 7, 8 		x-direction 		Reserved
#	9, 10, 11 		y-direction 		Reserved
#	12, 13, 14 		Focus 		Reserved
#	15, 16, 17 		Bright 		0 – 255
#	18, 19, 20 		contrast 		0 – 255
#	21		resolution 		00 - {176, 144} 01 - {320, 240} 02 - {352, 288} 03 - {640, 480}
#	22		compression ratio 		Reserved
#	23		privilege 		0 - super user(administrator) 1 - common user
#	24, 25, .., 29 		picture index 		(999999 - invalid picture)
#	30		email state 		0 - do not send motion-detected pictures 1 - send motion-detected pictures, success 2 - send motion-detected pictures, fail (wrong IP, user or password?)
#	31		user check 		0 - do not check user, any user can connect and act as a super user 1 - username and password required, only username is "administrator" has the super privilege.
#	32, 34, .., 39 		image file length 		length in bytes
#	40, 42, .., 55 		monitor rect 		4 - left(0-9999) 4 - top(0-9999) 4 - right(0-9999) 4 - bottom(0-9999)
#	56		ftp state 		0 - disable ftp upload 1 - enable ftp upload, and upload success 2 - enable ftp upload, but fail(wrong IP, user or password?)
#	57, 58, 59 		saturation 		0 - 255
#	60, 61, ..., 65 		motion detected index 		(999999 - init value)
#	66, 67, 68 		Hue 		0 - 255
#	69, 70, 71 		sharpness 		0 - 255
#	72		motion detect way 		0 - no motion detect non-zero - motion detect
#	73		sensor's frequency 		0 - outdoor 1 - 50Hz 2 - 60Hz
#	74		channel mode 		0 - fixed mode 1 - round robin mode
#	75, 76 		channel value 		In fixed mode, the value may be from 0 to 3 In round robin mode, the value may be from 1 to 15
#	77, 78, 79 		audio volume
#	80		dynamic DNS state 		0 - no update 1 - updating 2 - update successfully 3 - update failed
#	81		audio state 		0 - audio disabled 1 - audio enabled
#	82, 83, 84 		frame rate
#	85,86, 87 		Speaker volume
#	88, 89, 90 		Mic volume
#	91		Show Time 		0 - do not show time in image  1 – show time in image
#	92		WiFi Strength 		0-15, 0 is Max.
#	93, 94 		BatteryLevel 		0-0xFF, 255 is Max.


sub state
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=22");
    $answer =~ m/state=(.*?)$/g;
    if ($1 == "0") { return "idle"; };
    if ($1 == "1") { return "driving home"; };
    if ($1 == "2") { return "docking"; };
    if ($1 == "3") { return "executing path"; };
    if ($1 == "4") { return "recording path"; };
    return 0;
}

sub gohomeanddock
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=13");
    return processanswer();
}

sub dock
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=13");
    return processanswer();
}

sub resetnavstatemachine
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=17");
    return processanswer();
}

sub updatehomeposition
{
    my $self = shift;
    $answer =$self->send("/rev.cgi", "Cmd=nav&action=14");
    return processanswer();
}

sub gettuningparameters
{
    my $self = shift;
    $answer =$self->send("/rev.cgi", "Cmd=nav&action=16");
    my ($config, %config, $var, $value) = "";
    my @settings = split(/\|/,$answer);
    foreach (@settings)
    {
        chomp;
        s/#.*//;
        s/^\s+//;
        s/\s+$//;
        next unless length;
        #print $_ . "\n";
        ($var, $value) = split(/\s*=\s*/, $_, 2);
        $config{$var} = $value
    };
    return (\%config);
}

#          'ManTurn' => '8',
#          'ManDrive' => '7',
#          'DockTimeout' => '72',
#          'Reverse' => '6',
#          'LeftRight' => '6',
#          'Cmd' => 'nav responses = 0',
#          'Forward' => '5',
#          'DriveTurn' => '8',
#          'HomingTurn' => '9'

sub settuningparameters
{
    my $self = shift;
    my ($command,$params) = "";
    my %params;
    ($params) = @_;
    if ($params->{ManTurn})     { $command .= "&ManTurn=" . $params->{ManTurn}; };
    if ($params->{ManDrive})    { $command .= "&ManDrive=" . $params->{ManDrive}; };
    if ($params->{DockTimeout}) { $command .= "&DockTimeout=" . $params->{DockTimeout}; };
    if ($params->{Reverse})     { $command .= "&Reverse=" . $params->{Reverse}; };
    if ($params->{LeftRight})   { $command .= "&LeftRight=" . $params->{LeftRight}; };
    if ($params->{Forward})     { $command .= "&Forward=" . $params->{Forward}; };
    if ($params->{DriveTurn})   { $command .= "&DriveTurn=" . $params->{DriveTurn}; };
    if ($params->{HomingTurn})  { $command .= "&HomingTurn=" . $params->{HomingTurn}; };
    $answer =$self->send("/rev.cgi", "Cmd=nav&action=15$command");
    return processanswer();
}

sub getlogo
{
    my $self = shift;
    $answer =$self->send("/GetLogo.cgi", "");
    #print "\n" , $answer . "\n";
    my ($config, %config, $var, $value) = "";
    my ($lastvar) = " ";
    my @settings = split(/\n/,$answer);
    foreach (@settings)
    {
        chomp;
        s/#.*//;
        s/^\s+//;
        s/\s+$//;
        next unless length;
        #print $_ . "\n";
        ($var, $value) = split(/\s*=\s*/, $_, 2);
        if ($var eq $lastvar)
        {
            $var .= "2";
            $config{$var} = $value
        }
        else
        {
            $config{$var} = $value
        }
        $lastvar = $var;
    };
    return (\%config);
}

sub getip
{
    my $self = shift;
    if (($_[0] ne "wlan0") && ($_[0] ne "eth1")) { return "Value must be wlan0 or eth1"; };
    $answer =$self->send("/GetIP.cgi", "Interface=$_[0]");
    #print "\n" , $answer . "\n";
    my ($config, %config, $var, $value) = "";
    my ($lastvar) = " ";
    my @settings = split(/\n/,$answer);
    foreach (@settings)
    {
        chomp;
        s/#.*//;
        s/^\s+//;
        s/\s+$//;
        next unless length;
        #print $_ . "\n";
        ($var, $value) = split(/\s*=\s*/, $_, 2);
        if ($var eq $lastvar)
        {
            $var .= "2";
            $config{$var} = $value
        }
        else
        {
            $config{$var} = $value
        }
        $lastvar = $var;
    };
    return (\%config);
}

#GetIP Returns:
#
#         'CurrentDNS0' => '4.2.2.3',
#          'DNS2' => '0.0.0.0',
#          'IPWay' => 'manually',
#          'CurrentNetmask' => '255.255.255.0',
#          'Netmask' => '255.255.255.0',
#          'DNS1' => '0.0.0.0',
#          'Gateway' => '192.168.1.1',
#          'DNS0' => '4.2.2.3',
#          'CurrentGateway' => '192.168.1.1',
#          'CurrentDNS1' => '0.0.0.0',
#          'CameraName' => 'RovioCam',
#          'CurrentIP' => '192.168.1.200',
#          'Enable' => '1',
#          'CurrentDNS2' => '0.0.0.0',
#          'IP' => '192.168.1.200',
#          'CurrentIPState' => 'STATIC_IP_OK'

sub getwlan
{
    my $self = shift;
    $answer =$self->send("/GetWlan.cgi", "");
    #print "\n" , $answer . "\n";
    my ($config, %config, $var, $value) = "";
    my ($lastvar) = " ";
    my @settings = split(/\n/,$answer);
    foreach (@settings)
    {
        chomp;
        s/#.*//;
        s/^\s+//;
        s/\s+$//;
        next unless length;
        #print $_ . "\n";
        ($var, $value) = split(/\s*=\s*/, $_, 2);
        if ($var eq $lastvar)
        {
            $var .= "2";
            $config{$var} = $value
        }
        else
        {
            $config{$var} = $value
        }
        $lastvar = $var;
    };
    return (\%config);
}

#GetWlan Returns:
#
#          'Wep128type' => 'Wep128HEX',
#          'Wep64type' => 'Wep64HEX',
#          'Channel' => '5',
#          'ESSID' => 'YourRouterSSID',
#          'WepSet' => 'Asc',
#          'CurrentWiFiState' => 'OK',
#          'Mode' => 'Managed',
#          'Key' => '',
#          'WepGroup' => '0',
#          'WepAsc' => ''

sub getddns
{
    my $self = shift;
    my($status) = "";
    my %status;
    $answer = $self->send("/GetDDNS.cgi", "");
    #print "(" . $answer . ")\n";
    my ($config, %config, $var, $value) = "";
    my ($lastvar) = " ";
    my @settings = split(/\n/,$answer);
    foreach (@settings)
    {
        chomp;
        s/#.*//;
        s/^\s+//;
        s/\s+$//;
        next unless length;
        ($var, $value) = split(/\s*=\s*/, $_, 2);
        if ($var eq $lastvar)
        {
            $var .= "2";
            $config{$var} = $value
        }
        else
        {
            $config{$var} = $value
        }
        $lastvar = $var;
    };
    return (\%config);
}

#GetDDNS Returns:

#          'User' => '',
#          'Pass' => '',
#          'Service' => '',
#          'ProxyPass' => '',
#          'Proxy' => '',
#          'ProxyPort' => '0',
#          'Info' => 'Not Update',
#          'ProxyUser' => '',
#          'Enable' => '0',
#          'IP' => '0.0.0.0',
#          'DomainName' => ''

#Info can return:
# Updated
# Updating
# Failed
# Updating IP
# Checked
# Not Update

# TODO: Write a handler for the streamed video from GetData
sub getdata
{
    my $self = shift;
    $answer = $self->send("/GetData.cgi", "");
    return $answer;
};

sub gohome
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=12");
    return processanswer();
}

sub getname
{
    my $self = shift;
    $answer = $self->send("/GetName.cgi", "");
    $answer =~ m/CameraName = (.*?)$/g;
    return $1;
}

sub setname
{
    my $self = shift;
    $answer = $self->send("/SetName.cgi", "&CameraName=$_[0]");
    if (getname($self) eq $_[0]) { return "OK" } else { return 0; };
}

sub playpathforward
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=7&name=$_[0]");
    return processanswer();
}

sub playpathbackward
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=8&name=$_[0]");
    return processanswer();
}

sub renamepath
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=11&name=$_[0]&newname=$_[1]");
    return processanswer();
}

sub stopplaying
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=9");
    return processanswer();
}

sub clearallpaths
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=21");
    return processanswer();
}

sub pauseplaying
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=10");
    return processanswer();
}

sub manualdrive
{
    my $self = shift;
    $answer = $self->send("/rev.cgi", "Cmd=nav&action=18&drive=$_[0]&speed=$_[1]");
    return processanswer();
}

sub light
{
    my $self = shift;
    if ((!$_[0]) or ($_[0] =~ /off/i))
    {
        $answer = $self->send("/rev.cgi", "Cmd=nav&action=19&LIGHT=0");
    }
    else
    {
        $answer = $self->send("/rev.cgi", "Cmd=nav&action=19&LIGHT=1");
    }
    return processanswer();
}

sub camimg
{
    my $self = shift;
    $answer = get('http://'.$self->{'host'}.'/'.'Jpeg/CamImg0002.jpg');
    if ($answer)
    {
        return $answer;
    }
    else
    {
        return 0;
    };
}

sub send_photo
{
    my $self = shift;
    $self->send("/SendMail.cgi");
    return "OK";
}

sub sendmail
{
    my $self = shift;
    $self->send("/SendMail.cgi");
    return "OK";
}

sub reboot
{
    my $self = shift;
    $answer = $self->send("/Reboot.cgi", "");
    return processanswer();

}

sub processanswer
{
    my $self = shift;
    if ($answer)
    {
        chomp $answer;
        if ($answer =~ m/responses = 0/ig)  { return "OK"; };
        if ($answer =~ m/responses = 9/ig)  { return "PATH_NOT_FOUND"; };
        if ($answer =~ m/responses = 8/ig)  { return "PATH_BASEADDRESS_NOT_INITIALIZED"; };
        if ($answer =~ m/responses = 7/ig)  { return "FAILED_TO_READ_PATH"; };
        if ($answer =~ m/responses = 6/ig)  { return "NO_EMPTY_PATH_AVAILABLE"; };
        if ($answer =~ m/responses = 5/ig)  { return "NO_NS_SIGNAL"; };
        if ($answer =~ m/responses = 4/ig)  { return "UNKNOWN_CGI_ACTION"; };
        if ($answer =~ m/responses = 3/ig)  { return "FEATURE_NOT_IMPLEMENTED"; };
        if ($answer =~ m/responses = 23/ig) { return "NO_PARAMETER"; };
        if ($answer =~ m/responses = 22/ig) { return "PARAMETER_OUTOFRANGE"; };
        if ($answer =~ m/responses = 21/ig) { return "NS_UART_READ_ERROR"; };
        if ($answer =~ m/responses = 20/ig) { return "NS_PACKET_CHECKSUM_ERROR"; };
        if ($answer =~ m/responses = 2/ig)  { return "ROBOT_BUSY"; };
        if ($answer =~ m/responses = 19/ig) { return "NO_NS_PORT_AVAILABLE"; };
        if ($answer =~ m/responses = 18/ig) { return "NO_MCU_PORT_AVAILABLE"; };
        if ($answer =~ m/responses = 17/ig) { return "NO_MEMORY_AVAILABLE"; };
        if ($answer =~ m/responses = 16/ig) { return "FLASH_NOT_READY"; };
        if ($answer =~ m/responses = 15/ig) { return "FAILED_TO_WRITE_TO_FLASH"; };
        if ($answer =~ m/responses = 14/ig) { return "FAILED_TO_READ_FROM_FLASH"; };
        if ($answer =~ m/responses = 13/ig) { return "FAILED_TO_DELETE_PATH"; };
        if ($answer =~ m/responses = 12/ig) { return "FLASH_NOT_INITIALIZED"; };
        if ($answer =~ m/responses = 11/ig) { return "NOT_RECORDING_PATH"; };
        if ($answer =~ m/responses = 10/ig) { return "PATH_NAME_NOT_SPECIFIED"; };
        if ($answer =~ m/responses = 1/ig)  { return "FAIL"; };
        return 0;
    };
};

1;
__END__