ALModuleCore is the superclass of user modules. More...

#include "alcommon/almodulecore.h"

Public Types
enum	ModuleType { CPP = 0, PYTHON = 1, RUBY = 2, LUA = 3, MATLAB = 4, URBI }
	Module type (Ruby, lua, and matlab are not currently used) More...

typedef boost::shared_ptr < ALModuleCore >	Ptr
	Shared pointer to ALModuleCore. More...

typedef boost::weak_ptr < ALModuleCore >	WeakPtr
	Weak pointer to ALModuleCore. More...

Public Member Functions
	ALModuleCore (boost::shared_ptr< ALBroker > pBroker, const std::string &pName)
	Constructor. More...

virtual	~ALModuleCore ()
	Destructor. More...

ALMethodInfo &	getCurrentMethodDescription ()
	Get a reference to a temporary object used to construct method help. More...

boost::shared_ptr< ALModuleCore >	getThis ()
	Getter to the class. More...

boost::shared_ptr< const ALModuleCore >	getThis () const
	Getter to class. More...

bool	isClosing ()
	Check if someone want to exit the module. More...

void	initModule (void)
	Register a module to a broker. More...

boost::shared_ptr< AL::ALProxy >	getProxy (const std::string &pModuleName)
	Get access to a module. More...

std::string	getBrokerName ()
	Get the name of the registered broker. More...

ModuleType	getModuleType (void)
	Get the type of the module. More...

void	setModuleType (ModuleType pType)
	Set the type of the module. More...

virtual ALMethodInfo *	execute (const std::string &pMethod, const AL::ALValue &pParams, AL::ALValue &pResult)
	Execute a method with some arguments and store the result. More...

std::vector< std::string >	getMethodList ()
	Get the module method list. More...

AL::ALValue	getMethodHelp (const std::string &pMethodName)
	Get a method's description string. More...

ALMethodInfo	getMethodHelpObject (const std::string &pMethodName)
	Get a method's description string. More...

AL::ALValue	moduleHelp ()
	Get the module's description. More...

bool	ping (void)
	Just a ping. Used to test connectivity to a module. More...

virtual std::string	version ()
	Get module's version. More...

virtual void	exit ()
	Exit the module and unregister it. More...

const std::string &	getName () const
	Get the name of the module given when constructing. More...

boost::shared_ptr< ALModuleInfo >	getModuleInfo ()
	Get information about the module. More...

virtual std::string	httpGet ()
	Called by the broker webpage to detail the module. More...

ALMethodInfo *	getMethodInfoByNameMember (const std::string &pName, const std::vector< std::string > &paramType, bool softCompare=true)
	Find method information by name and argument type not only by map key. More...

ALMethodInfo *	getMethodInfo (const std::string &pName)
	Call by a proxy to check function's parameter. More...

ALMethodInfo *	getMethodInfo (const std::string &pName, std::vector< std::string > pParamsType)
	Call by a proxy to check function's parameter. More...

ALMethodInfo *	getMethodInfo (const std::string &pName, const AL::ALValue &pParams)
	Call by a proxy to check function's parameter. More...

ALMethodInfo *	getFunctionDesc (const std::string &pName)
	deprecated More...

ALMethodInfo *	getFunctionDesc (const std::string &pName, std::vector< std::string > pParamsType)
	deprecated More...

ALMethodInfo *	getFunctionDesc (const std::string &pName, const AL::ALValue &pParams)
	deprecated More...

ALMethodInfo *	getFunctionDescByNameMember (const std::string &pName, const std::vector< std::string > &paramType, bool softCompare=true)
	deprecated More...

boost::shared_ptr< ALBroker >	getParentBroker () const
	Get a pointer to the broker context. More...

void	functionStop (int pTaskID)
	Local stop. Use stop(id) for remote/local compatibility. More...

void	setModuleDescription (const std::string &pDesc)
	Set the description of the module. More...

std::string	getUsage (const std::string &methodName)
	Get the usage of a method as a string. More...

bool	isModuleStopped ()
	Know if program or module termination is asked. More...

void	setModuleID (int id)
	Set the id of the module used to determine the shutdown order. More...

int	getModuleID ()
	Get the module id given to it be the broker. More...

void	bindMethod (boost::shared_ptr< ALFunctorBase > pFunctor)
	Bind a method. More...

void	bindMethod (boost::shared_ptr< ALFunctorBase > pFunctor, const std::string &pName, const std::string &pClass, const std::string &pFunctionDescription, const ALMethodInfo &pMethodDescription)
	Bind a method. More...

void	bindMethodOverload (boost::shared_ptr< ALFunctorBase > pFunctor)
	Use to define a bound method. More...

void	functionName (const std::string &pName, const std::string &pClass, const std::string &pFunctionDescription, int pMask=0)
	Define the name of a bound method. More...

void	addParam (const std::string &pName, const std::string &pDesc)
	Add a documented parameter to a method. More...

void	addModuleExample (const std::string &pLanguage, const std::string &pExample)
	Add a module example. More...

void	addMethodExample (const std::string &pLanguage, const std::string &pExample)
	Add a method example. More...

void	setReturn (const std::string &pName, const std::string &pDesc)
	Sets the description of the return value. More...

virtual qi::Future < qi::AnyReference >	metaCall (qi::AnyObject context, unsigned int method, const qi::GenericFunctionParameters &in, qi::MetaCallType callType, qi::Signature returnSignature)

qi::AnyObject	asObject ()

qi::DynamicObjectBuilder &	getBuilder ()

int	pCall (const qi::AnyArguments &args)

Static Public Member Functions
template<class T >
static boost::shared_ptr< T >	createModuleCore (boost::shared_ptr< ALBroker > pBroker)
	Create a module core link to a broker. More...

template<class T >
static boost::shared_ptr< T >	createModuleCoreNoRegister (boost::shared_ptr< ALBroker > pBroker, const std::string &name)
	Create a module core, do not register on the broker. More...

template<class T >
static boost::shared_ptr< T >	createModuleCore (boost::shared_ptr< ALBroker > pBroker, const std::string &name)
	Create a module core link to a broker. More...

template<class T >
static boost::shared_ptr< T >	createUrbiModule (boost::shared_ptr< ALBroker > pBroker, const std::string &name)
	Create a URBI module core link to a broker. More...

Public Attributes
qi::GenericObject	_go

ALModuleCorePrivate *	_p

qi::MetaMethodBuilder	_mBuilder

Protected Member Functions
virtual void	init (void)
	Call at every module creation. More...

Protected Attributes
qi::DynamicObjectBuilder	_builder

Friends
class	baseModule

Detailed Description

ALModuleCore is the superclass of user modules.

It implements basic functions that enables communication with naoqi brokers, so that the distributed approach is painless for users who just want to come up with a simple module quickly, compile it and have it work, without having to deal with interprocess communication.

Definition at line 58 of file almodulecore.h.

Member Typedef Documentation

AL::ALModuleCore::Ptr

Shared pointer to ALModuleCore.

Deprecated:: Use boost::shared_ptr<ALModuleCore> instead

Definition at line 66 of file almodulecore.h.

AL::ALModuleCore::WeakPtr

Weak pointer to ALModuleCore.

Deprecated:: Use boost::weak_ptr<ALModuleCore> instead

Definition at line 72 of file almodulecore.h.

Member Enumeration Documentation

enum AL::ALModuleCore::ModuleType

Module type (Ruby, lua, and matlab are not currently used)

Deprecated:: not used anywhere

Enumerator
CPP	C++ type
PYTHON	python type
RUBY	ruby type (unused)
LUA	lua type (unused)
MATLAB	matlab type (unused)
URBI	urbi type

Definition at line 79 of file almodulecore.h.

Constructor & Destructor Documentation

AL::ALModuleCore::ALModuleCore	(	boost::shared_ptr< ALBroker >	pBroker,
		const std::string &	pName
	)

Constructor.

An ALModule has a name, and is registered in a broker, so that its methods can be called by other modules, via a proxy constructed with module's name

Parameters

pBroker	a pointer to the broker
pName	name of the module

virtual AL::ALModuleCore::~ALModuleCore ( )

virtual

Destructor.

Member Function Documentation

void AL::ALModuleCore::addMethodExample	(	const std::string &	pLanguage,
		const std::string &	pExample
	)

Add a method example.

Parameters

pLanguage	the language of the example (c++, python, .net, etc)
pExample	the example

void AL::ALModuleCore::addModuleExample	(	const std::string &	pLanguage,
		const std::string &	pExample
	)

Add a module example.

Parameters

pLanguage	the language of the example (c++, python, .net, etc)
pExample	the example

void AL::ALModuleCore::addParam	(	const std::string &	pName,
		const std::string &	pDesc
	)

Add a documented parameter to a method.

Parameters

pName	the name of the parameter
pDesc	the description of the parmeter

qi::AnyObject AL::ALModuleCore::asObject ( )

void AL::ALModuleCore::bindMethod ( boost::shared_ptr< ALFunctorBase > pFunctor )

Bind a method.

Parameters

pFunctor pointer to a generic functor

void AL::ALModuleCore::bindMethod	(	boost::shared_ptr< ALFunctorBase >	pFunctor,
		const std::string &	pName,
		const std::string &	pClass,
		const std::string &	pFunctionDescription,
		const ALMethodInfo &	pMethodDescription
	)

Bind a method.

Parameters

pFunctor	pointer to a generic functor
pName	the name of the method
pClass	the name of your class
pFunctionDescription	the description of the method
pMethodDescription	the description method.

void AL::ALModuleCore::bindMethodOverload ( boost::shared_ptr< ALFunctorBase > pFunctor )

Use to define a bound method.

Parameters

pFunctor pointer to a generic functor

template<class T >

static boost::shared_ptr<T> AL::ALModuleCore::createModuleCore ( boost::shared_ptr< ALBroker > pBroker )

inlinestatic

Create a module core link to a broker.

Parameters

pBroker to pointer the a broker

Returns: a pointer to the module

Exceptions

ALError

Definition at line 348 of file almodulecore.h.

template<class T >

static boost::shared_ptr<T> AL::ALModuleCore::createModuleCore	(	boost::shared_ptr< ALBroker >	pBroker,
		const std::string &	name
	)

inlinestatic

Create a module core link to a broker.

Parameters

pBroker	pointer to the a broker
name	module's name

Returns: a pointer to the module

Exceptions

ALError

Definition at line 400 of file almodulecore.h.

template<class T >

static boost::shared_ptr<T> AL::ALModuleCore::createModuleCoreNoRegister	(	boost::shared_ptr< ALBroker >	pBroker,
		const std::string &	name
	)

inlinestatic

Create a module core, do not register on the broker.

Parameters

	pBroker	to pointer the a broker
[in]	name	Name of the module core.

Returns: a pointer to the module

Exceptions

ALError

Definition at line 374 of file almodulecore.h.

template<class T >

static boost::shared_ptr<T> AL::ALModuleCore::createUrbiModule	(	boost::shared_ptr< ALBroker >	pBroker,
		const std::string &	name
	)

inlinestatic

Create a URBI module core link to a broker.

Parameters

pBroker	pointer to the a broker
name	module's name

Returns: a pointer to the module

Definition at line 425 of file almodulecore.h.

virtual ALMethodInfo* AL::ALModuleCore::execute	(	const std::string &	pMethod,
		const AL::ALValue &	pParams,
		AL::ALValue &	pResult
	)

virtual

Execute a method with some arguments and store the result.

Parameters

pMethod	method to execute
pParams	set of arguments for the method
pResult	result of the method execution

Returns: a pointer to the method executed, so it can be used to get information about the method

virtual void AL::ALModuleCore::exit ( )

virtual

Exit the module and unregister it.

Reimplemented in AL::ALModule.

void AL::ALModuleCore::functionName	(	const std::string &	pName,
		const std::string &	pClass,
		const std::string &	pFunctionDescription,
		int	pMask = `0`
	)

Define the name of a bound method.

Parameters

pName	the name of the method
pClass	the name of your class
pFunctionDescription	the description of the method
pMask	optional Mask, default 0. see almethodinfo.h for more information

void AL::ALModuleCore::functionStop ( int pTaskID )

Local stop. Use stop(id) for remote/local compatibility.

Parameters

pTaskID the ID of the task you want to stop

std::string AL::ALModuleCore::getBrokerName ( )

Get the name of the registered broker.

Returns: name of the broker

qi::DynamicObjectBuilder& AL::ALModuleCore::getBuilder ( )

inline

Used only for naoqi1/naoqi2 compatibility layers. Do not use unless you know what you are doing

Definition at line 531 of file almodulecore.h.

ALMethodInfo& AL::ALModuleCore::getCurrentMethodDescription ( )

Get a reference to a temporary object used to construct method help.

Returns: a reference to a temporary ALMethodInfo

ALMethodInfo* AL::ALModuleCore::getFunctionDesc ( const std::string & pName )

deprecated

Deprecated:

ALMethodInfo* AL::ALModuleCore::getFunctionDesc	(	const std::string &	pName,
		std::vector< std::string >	pParamsType
	)

deprecated

Deprecated:

ALMethodInfo* AL::ALModuleCore::getFunctionDesc	(	const std::string &	pName,
		const AL::ALValue &	pParams
	)

deprecated

Deprecated:

ALMethodInfo* AL::ALModuleCore::getFunctionDescByNameMember	(	const std::string &	pName,
		const std::vector< std::string > &	paramType,
		bool	softCompare = `true`
	)

deprecated

Deprecated:

AL::ALValue AL::ALModuleCore::getMethodHelp ( const std::string & pMethodName )

Get a method's description string.

Parameters

pMethodName method's name.

Returns: a structured method's description following the format : [ std::string methodName, std::string methodDescription, [parameter, ...], std::string returnName, std::string returnDescription ] Where parameter is : [ std::string parameterName, std::string parameterDescription ]

Warning: Will return only one version of a method, therefore the method doesn't handle overloading.

ALMethodInfo AL::ALModuleCore::getMethodHelpObject ( const std::string & pMethodName )

Get a method's description string.

Parameters

pMethodName method's name.

Returns: a structured method's description

ALMethodInfo* AL::ALModuleCore::getMethodInfo ( const std::string & pName )

Call by a proxy to check function's parameter.

Parameters

pName function Name

Returns: a poitner to methodInfo

ALMethodInfo* AL::ALModuleCore::getMethodInfo	(	const std::string &	pName,
		std::vector< std::string >	pParamsType
	)

Call by a proxy to check function's parameter.

Parameters

pName	function Name
pParamsType	parameters type

Returns: a poitner to methodInfo

ALMethodInfo* AL::ALModuleCore::getMethodInfo	(	const std::string &	pName,
		const AL::ALValue &	pParams
	)

Call by a proxy to check function's parameter.

Parameters

pName	function Name
pParams	method parameters

Returns: a poitner to methodInfo

ALMethodInfo* AL::ALModuleCore::getMethodInfoByNameMember	(	const std::string &	pName,
		const std::vector< std::string > &	paramType,
		bool	softCompare = `true`
	)

Find method information by name and argument type not only by map key.

Parameters

pName	method name
paramType	list of parameters
softCompare	true mean ALValue can be anyType (use it for all type compare except local call)

Returns: a poitner to methodInfo

std::vector<std::string> AL::ALModuleCore::getMethodList ( )

Get the module method list.

Returns: vector of string module name

int AL::ALModuleCore::getModuleID ( )

Get the module id given to it be the broker.

Returns: an int module id

boost::shared_ptr<ALModuleInfo> AL::ALModuleCore::getModuleInfo ( )

Get information about the module.

Returns: a pointer to ALModuleInfo

ModuleType AL::ALModuleCore::getModuleType ( void )

Get the type of the module.

Returns: type of the module

const std::string& AL::ALModuleCore::getName ( ) const

Get the name of the module given when constructing.

Returns: The name of the module

boost::shared_ptr<ALBroker> AL::ALModuleCore::getParentBroker ( ) const

Get a pointer to the broker context.

Returns: a shared pointer to the broker context

boost::shared_ptr<AL::ALProxy> AL::ALModuleCore::getProxy ( const std::string & pModuleName )

Get access to a module.

ex: getProxy("ALMotion")

Parameters

pModuleName module name

Returns: a pointer to ALProxy

boost::shared_ptr<ALModuleCore> AL::ALModuleCore::getThis ( )

Getter to the class.

Returns: a pointer to this

boost::shared_ptr<const ALModuleCore> AL::ALModuleCore::getThis ( ) const

Getter to class.

Returns: a const pointer to this

std::string AL::ALModuleCore::getUsage ( const std::string & methodName )

Get the usage of a method as a string.

Parameters

methodName the name of the method

Returns: the usage as a string

virtual std::string AL::ALModuleCore::httpGet ( )

virtual

Called by the broker webpage to detail the module.

Returns: an optional extra description of the module

Reimplemented in AL::ALModule.

virtual void AL::ALModuleCore::init ( void )

inlineprotectedvirtual

Call at every module creation.

User can overload it

Reimplemented in AL::ALModule.

Definition at line 545 of file almodulecore.h.

void AL::ALModuleCore::initModule ( void )

Register a module to a broker.

Automatically called when loading a module from autoload.ini

bool AL::ALModuleCore::isClosing ( )

Check if someone want to exit the module.

Returns: true if someone ask to exit the module, false othewise

bool AL::ALModuleCore::isModuleStopped ( )

Know if program or module termination is asked.

Returns: true if module termination is asked, false otherwise

virtual qi::Future<qi::AnyReference> AL::ALModuleCore::metaCall	(	qi::AnyObject	context,
		unsigned int	method,
		const qi::GenericFunctionParameters &	in,
		qi::MetaCallType	callType,
		qi::Signature	returnSignature
	)

virtual

AL::ALValue AL::ALModuleCore::moduleHelp ( )

Get the module's description.

Returns: a string describing the module

int AL::ALModuleCore::pCall ( const qi::AnyArguments & args )

Used for simulating old naoqi1 post behavior that return an id

bool AL::ALModuleCore::ping ( void )

Just a ping. Used to test connectivity to a module.

Returns: always returns true

void AL::ALModuleCore::setModuleDescription ( const std::string & pDesc )

Set the description of the module.

Parameters

pDesc a description of the module

void AL::ALModuleCore::setModuleID ( int id )

Set the id of the module used to determine the shutdown order.

Parameters

id	the id given to it by the broker

void AL::ALModuleCore::setModuleType ( ModuleType pType )

Set the type of the module.

Parameters

pType type of the module

void AL::ALModuleCore::setReturn	(	const std::string &	pName,
		const std::string &	pDesc
	)

Sets the description of the return value.

Parameters

pName	the name of the return item (used in autogeneration)
pDesc	the description of the return item

virtual std::string AL::ALModuleCore::version ( )

virtual

Get module's version.

Returns: The version as a string

Friends And Related Function Documentation

friend class baseModule

friend

Definition at line 552 of file almodulecore.h.

Member Data Documentation

qi::DynamicObjectBuilder AL::ALModuleCore::_builder

protected

Definition at line 551 of file almodulecore.h.

qi::GenericObject AL::ALModuleCore::_go

Definition at line 554 of file almodulecore.h.

qi::MetaMethodBuilder AL::ALModuleCore::_mBuilder

Definition at line 556 of file almodulecore.h.

ALModuleCorePrivate* AL::ALModuleCore::_p

Definition at line 555 of file almodulecore.h.

The documentation for this class was generated from the following file:

/home/opennao/work/master/sdk/libnaoqi/libalcommon/alcommon/almodulecore.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation