AIBNET - AIBO Telnet Console
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Table of Contents:

    1.0 Introduction
    2.0 Installing Aibnet
    3.0 Making a Connection
    4.0 Capturing Text to a Log File
    5.0 Transfer RCode to/from Aibo
    6.0 Upload Actions to Aibo
    7.0 Debug Mode, Tracing, and Playback
    8.0 Watch Bar
    9.0 Camera Bar
    10.0 Variable Bar 
    11.0 Call Stack
    12.0 Source Viewer
    13.0 Specify Preferences
    14.0 What's New?

   Tools Included:

  RCode Syntax References:

Aibnet Screen Capture


Aibnet & its support tools offers a development environment for RCode programs.   It's used as a replacement for the simple telnet console built into the Master Studio Behavior Arranger.   If you don't own Master Studio, Aibnet plus Skitter (and/or AiboPet's performance editor) provide everything you need for stand alone RCode development. 

Aibnet is a telnet console for AIBO's.  It has a command bar for entering & editing commands (instead of typing blind), a toolbar with start/stop/write/read buttons (similar to the Behavior Arranger window), a watchbar to monitor variables, and a camerabar so you see what AIBO see's (RCodePlus required).  It supports scroll buffer capture, and logging to disk.  Aibnet can compile Master Studio Behaviors, RCode and/or  performance skits/actions and upload them to AIBO for you.

Aibnet contains extensive debugging support.   Interactive debug of AIBO isn't possible, but Aibnet has the next best thing.   It records everything AIBO does (code execution, variable usage & camera images).   Think of it as TiVo for AIBO -- it turns your PC into an AIBO tape recorder.   If something goes wrong with your AIBO program, simply rewind and examine in detail what happened.

Aibnet uses BeCompile to compile Master Studio behavior files, or a script (batch file) running CPP & ReCode to compile and verify hand-written RCode.   OdaBuild compiles skits from Skitter, Master Studio, or AiboPet's Performance Editor into the special files AIBO requires.

The CPP macro preprocessor allows for much more readable code, supporting C-Style define/macro & conditional code statements.  The RCheck syntax checker flags typo's, uninitialized variables, invalid keywords, etc...   The ReCode compiler supports C-style expressions in most places (there are a few exceptions), containing array & function calls.


Download the Aibnet Installer to your PC desktop.  

Double click on the installer icon & follow the simple step-by-step instructions. 


3.1 Connect to AIBO
Click "Connect" from the toolbar, or Connect menu.   In Host, type or select the name or IP address of your AIBO (for example, this could be    In Port, select "aibo".    Click "OK" when ready. 

3.2 Disconnect from AIBO
Click the toolbar "Detach" button, or from the Connect menu, click "Disconnect

3.3 Quit Aibnet
On the Connect menu, click "Exit". 


4.1 Create a telnet log
On the Terminal menu, click Start Logging (or double click on "LOG" in the statusbar).  Specify the log file.  If the file already exists, it will be overwritten.

4.2 To stop logging commands
On the Terminal menu, click  Stop Logging (or double click on "LOG" in the statusbar).


5.1 Open an RCode or Behavior file
On the RCode menu, click Open (or click on Open in the toolbar) and specify a filename.  You can also drag-n-drop RCode or a Behavior file from an Explorer window into Aibnet to open.  Aibnet will compile behavior files, or perform macro & syntax checks on handwritten RCode automatically.

5.2 Write RCode to AIBO
On the RCode menu, click Write (or click on Write in the toolbar).   You must have a Behavior/RCode file open, and a connection with AIBO established for this to work.  Power cycle AIBO to run with written RCode image. 

To run new RCode without a power cycle, use Start instead.

5.3 Read RCode from AIBO
On the RCode menu, click Read (or click on Read in the toolbar).   The RCode stored on the memory stick will be read into memory in Aibnet.

5.4 Compare RCode on AIBO
To verify the RCode in Aibnet memory, and the RCode stored on AIBO's memstick are identical, click Compare from the RCode menu (or Compare in the toolbar).   You must have an Behavior/RCode file open, and a connection with AIBO established for this to work.

5.5 Delete RCode on AIBO
To remove RCode from AIBO's memstick, from RCode click Delete (or press toolbar Delete button).

5.6 Start RCode Program on AIBO
On the RCode menu, click Start (or click Start in the toolbar).   If RCode isn't loaded into Aibnet, only a "RUN" is dispatched.   However, if RCode -is- in Aibnet memory, the file is first downloaded to AIBO prior to "RUN".  Note: AIBO will echo the file back as it parses the input.  For large downloads, this could take a few minutes. 

To start AIBO without downloading the RCode in Aibnet memory (for example, if it has already been downloaded previously), type "RUN" in the Command Bar.

5.7 Stop RCode Program on AIBO
On the RCode menu, click Stop (or click Stop in the toolbar).


6.1 Select AIBO platform
From the RCode menu, choose Select AIBO Platform, then 210 or 220 (whichever matches your AIBO).  This must be correct prior to selecting Upload Actions, since it affects filenames & how things are compiled.   The current AIBO model is also visible in the status bar.

6.2 Compile & upload actions to AIBO
From the RCode menu, choose Upload Actions (or click Actions in the toolbar).  Aibnet will ask you to select an actions directory.   Select where your *.ACT files (and/or *.UAC files) are located, and click OK.   Your actions are compiled & uploaded to AIBO.  See OdaBuild for details.


In debug mode, Aibnet offers some powerful debug capability for AIBO programming.   Aibnet records most everything AIBO does into a trace log -- program execution (RCode or Master Studio Behavior), variables, stack events, and camera images.   The various windows show a live display of everything AIBO does.

If something goes wrong in your program (ie: a bug!!!), you can then rewind the trace log and figure out step-by-step what happened.

(click for larger image)
(click for larger image)

There are several windows available in debug mode.   The watch bar, camera bar, variable bar, call stack, and source viewer (described in following sections).

The bottom of the source viewer contains a slider & a playback control toolbar.   You can rewind the recording, and view detailed execution.   All debug windows are updated in blue when the trace log is used.

For debug mode to work, AIBO must be running a "debug-compile" from ReCode or BeCompile.   The debug-compile has all sorts of information added that enables Aibnet tracing to function.   Simply loading an RCode or Behavior program while in debug mode creates the necessary "debug-compile".   Click the toolbar "Start" to download the program to AIBO and start tracing!

Warning!  Debug mode can more than triple the size of your program.   DogsLife as an extreme case, is too large to run in debug mode whole (AIBO gets indigestion trying to process it - I test DogsLife in smaller chunks these days).   However, virtually all other programs will have no difficulty. 


The watchbar literally allows watching of variables.   You specify the variables you want to watch.   It works in both normal & Aibnet debug modes.   As your RCode or Behavior program executes, the watchbar periodically polls AIBO to get the current values.   To avoid overloading AIBO, only about 5 variables per second are updated.

Debug Mode:   In debug mode, the watch bar does not poll AIBO.  Instead it updates from the incoming tracing information (used by the variable bar).   The watch bar also supports trace playback mode, always showing what the variables were at a given point in time.

8.1 To toggle watchbar
On the Debug menu, click "Watch Bar".

8.2 To add a variable to watchbar
With watchbar visible, click the "Add" button.   Type in the new variable name where indicated.  Note: the watchbar only updates the 'Value' column when online with AIBO.

8.3 To edit a variable name in watchbar
Double-click on the variable which needs editing.

8.4 To change a variable value from watchbar
Double-click on the value which needs changing.  Aibnet will issue a 'SET variable new_value' command to AIBO to update the variable.

8.5 To delete a variable from the watchbar
Click on the variable, and then click the "Delete" button.


The camerabar shows what AIBO sees through its camera.   You control the polling rate (slow, normal, fast, and very fast).   The faster the poll rate, the more of AIBO's CPU you consume.

Debug Mode:   In debug mode, camera bar records everything camcorder style.   This makes Aibnet great for debugging anything involving good paw-to-nose coordination.  Soccer kicks are a perfect example (or self docking code...).

9.1 To toggle camerabar
On the Debug menu, click "Camera Bar".   Note: RCodePlus 1.91 (or newer) required to use the camerabar.   RCodePlus 2.52 (or newer) is recommended if you haven't upgraded in a while.

9.2 To change the camera update speed
With the camera bar visible, on the Debug menu, click "Camera Options".  Select "Fast", "Normal" or "Slow" update speed.   Note: The camera burdens AIBO quite a lot (due to image compression).   Slower camera updates are better, especially if running a personality like DogsLife. 

If you select YUV encoding, a "Vert Fast" poll rate is also available.  YUV encoding is faster, but there is some loss in image quality (depending on lighting conditions).


The variable bar appears quite similar to the watch bar (except for the missing add/delete buttons).   However, the variable bar shows -all- variables as they change.    The watchbar instead shows only those variables -you- are interested in...  an important difference.    You cannot manually add anything to variable bar (its updated automatically by Aibnet).

Debug Mode:   The variable bar only works in debug mode.  AIBO must also be running a "debug-compile" from ReCode or BeCompile.   The debug-compile has all sorts of information added that enables Aibnet tracing to function.

10.1 To toggle variable bar
On the Debug menu, click "Variable Bar".

10.2 To show all variables always (instead of only on change)
Right-click in variable bar, and select "Show All".

10.3 Copy variables to the watch-bar
Aibnet supports click-n-drag copying from the variable-bar to the watch-bar.   Pick the variable you are interested in, down click and hold it.  Now drag it into the watch-bar & release the mouse button.


The call stack tracks the use of the R-Code "CALL" statement.  Each time a CALL is made,  AIBO pushes the return address into a temporary storage (the stack).   Later, when a RETURN (or RET) statement is encountered, AIBO pops that return address from the stack, and resumes R-Code after the CALL.

Aibnet tracks these pushes & pops, and displays the call stack.  It is easy to overlook a return statement, and eventually cause the stack to overflow.   The call stack makes it very easy to spot such problems.

Debug Mode:   The call stack only works in debug mode.   AIBO must also be running a "debug-compile" from ReCode or BeCompile.   The debug-compile has all sorts of information added that enables Aibnet tracing to function.

11.1 To toggle call stack
On the Debug menu, click "Call Stack Bar".

11.2 View R-Code where stack push occurred
Left-Click on stack entry.  Right-click in the call stack window, and select "View Code".


The source viewer displays the execution of R-Code or Master Studio Behavior programs.  

It also contains the playback control toolbar.   The slider is for quick and coarse movement.  The buttons are for stepping forward and backward through the trace log.

Debug Mode:   The source viewer only works in debug mode.   AIBO must also be running a "debug-compile" from ReCode or BeCompile.   The debug-compile has all sorts of information added that enables Aibnet tracing to function.

12.1 To toggle source viewer
On the Debug menu, click "Source Viewer".

12.2 Move slider to cursor position
You can advance or rewind the current slider position to an arbitrary program point.  
  1. Left click on the line of interest (turns yellow).
  2. Right click in the source viewer
  3. Choose "Forward to cursor" or "Reverse to cursor".

12.3 Zoom Behavior Box Size
You can change the size of behavior boxes in the source viewer, making them bigger or smaller.  
  1. Right click in the source viewer
  2. Select "Zoom", then the size (from 25% to 200% of normal).
Zooming is not available with RCode text files.  If you want a larger or smaller font for RCode, see next section.

12.4 Change Font Size in Source Viewer
From Edit menu, chose "Preferences", then "Font & Colors".   Click the "Source Viewer" tab.   Change value in the "Size" box.

12.5 Change Playback Speed
The keyboard "+" and "-" (plus/minus) keys make playback run faster or slower.    You can also change Playback settings from the preferences dialog.

12.6 Setting Breakpoints
Aibnet supports setting breakpoints -- markers that can stop playback.   For example, if you know an bug is near a certain point, set a breakpoint there.   Start playback & Aibnet advances the slider position until the breakpoint is encountered.   RCode or Behavior blocks marked as breakpoints are drawn with a red background.  

To toggle a breakpoint:
  1. Left click on the line of interest (turns yellow).
  2. Right click in the source viewer
  3. Choose "Breakpoint" (line turns red when breakpoint enabled)

Breakpoints might not appear precisely where you left-click.  You cannot (for example) set a breakpoint on a blank line or comment.  Aibnet scans down for the first executable line of RCode & places the breakpoint there instead.

Note:  All breakpoints are reset whenever a new trace log is started.


13.1 Change the font and colors in your console window
On the Terminal menu, click Preferences.  Choose "Font & Color" from the preference dialog list.

13.2 Set options for cursor and toolbar appearance
On the Terminal menu, click Preferences.  Choose "Appearance" from the preference dialog list.

Cursor style and console controls:

  • Cursor Style displays the cursor as an underline, vertical bar, or block.
  • Cursor Blinking makes the cursor blink.
  • Local Echo displays all keyboard input.  Can also be toggled by double clicking "ECHO" in the status bar.
  • Output Linefeeds makes Aibnet output a linefeed after every carriage return.  Not normally needed with AIBO.
Toolbar controls are:
  • Display Toolbar Text Labels toggles text in the toolbar.
  • Show tool tips on toolbar buttons controls if tooltips appear if mouse is paused over a button.
  • Start button uploads RCode controls Aibnet uploads the current RCode file whenever the Start button is clicked.   This is useful when debugging small programs.   However, for large programs (like DogsLife) it's much faster to write R-Code to AIBO's memstick and reboot. 

13.3 Set options for auto editing assist
On the Terminal menu, click Preferences.  Choose "Edit" from the preference dialog list.
  • Auto Copy Selection copies selected text automatically into the clipboard without needing to click "Copy" on the toolbar.
  • Auto Reload RCode checks your RCode source file date/time stamp whenever the Write or Start toolbar buttons are used.   Changes are reloaded/checked/compiled as required.

  • Start button updates RCode updates RCode on AIBO whenever the Start button is clicked.
Aibnet can either upload & run immediately (good for small programs), or write your RCode to the memstick and reboot AIBO.   For larger programs (like DogsLife) it's MUCH faster to write the memstick and reboot.   The following auto-edit options are:
  • Upload and Run.   Does a temporary upload of RCode, and immediately starts.   Good for small programs.   These uploads are not saved to the memstick, and lost when AIBO is turned off.

  • Write RCode to Memory Stick and Restart.   The memory stick is updated, and Aibnet tells AIBO to power cycle itself (turn off, and back on automatically).  RCode starts running once AIBO has rebooted.   The WLAN connection will be lost when AIBO shut's off and you will need to reconnect. 

13.4 Set how many lines are saved in the scroll back buffer
On the Terminal menu, click Preferences.  Choose "Edit" from the preference dialog list.

In Buffer Size, type a number between 200 and 32000.   The scroll back buffer is a block of memory where lines are stored so you can review text displayed by the terminal. 

13.5 Stop shell window from appearing when opening RCode or Behavior files
On the Terminal menu, click Preferences.  Choose "Helper Tools" from the preference dialog list.

Select "Hidden (unless error)" in the Tool Window Operation mode group.

Note: Aibnet continues compiling RCode and behavior files -- but silently.   The shell window -still- appears if an error occurs (so you know there is a problem).

 14.0 What's New?

  • Version 3.10 - Fixed compatibility with Windows 98 & 2000.   XP Themes support was getting in the way.
  • Version 3.01 - Fixed problem with ReCode generating inaccurate line tracking information in debug mode.
  • Version 3.0 - Support for ERS-7.
  • Version 2.0 - New full debug tracing facility.   Aibnet can record everything AIBO does, for later playback (just like a TiVo -- but for AIBO).   In debug mode, Aibnet displays a source viewer, variable window, and stack trace.   The source viewer contains the trace toolbar, for rewinding captured playback data, single stepping, etc...  Breakpoints are available.   The source viewer works with either Master Studio Behavior files, stand-alone hand written RCode, or enhanced RCode (as required by DogsLife).
  • Version 1.40 - New OdaBuild Action compiler & added "Actions" toolbar button within Aibnet to call OdaBuild, then upload the results to AIBO..   Fully configure a memory stick personality (RCode & Actions) with just two clicks from the Aibnet toolbar!  Few cosmetic changes.
  • Version 1.30 - CameraBar now supports for RCodePlus 2.50.  Added new extended RCode compiler "ReCode" to support easier coding (most valuable to experienced software developers).  Various minor bug fixes (in particular, writing files to the memstick after being broken in v1.20).   On the trivial note, there are several icon variations now.  If you have Aibnet on your desktop, right click, chose "Properties", click "Change Icon", and pick a color matching your AIBO.

Legalese: These programs are provided AS IS without any warranty, expressed or implied.  This includes without limitation the fitfulness for a particular purpose or application.    People using the software bear all risk as to its quality and performance.   The user of the software is responsible for any damages whether direct, indirect, special, incidental or consequential arising from a failure of these programs to operate in any manner desired.   Etc, etc...

"AIBO" is a registered trademark of Sony Corporation.  "AIBO Master Studio", "R-Code", and "Memory Stick" are trademarks of Sony Corporation.