Aldebaran documentation What's new in NAOqi 2.4.3?

qi::AnyModule

A module is a way to organise your code.

A module can contain:

  • function definitions
  • factories for structures and objects
  • constants

Warning

Constants are a work in progress. This needs a protocol change.

Modules are cross-language, you can define a module in C++ and use it in python or the reverse. They can be used at runtime, so you can import a module and use it without knowing it previously.

Summary

Global Namespaces

Detailed Description

Creating a C++ Module

Lets create a simple foo module, with a Foo class and an egg function.

Here is the content of foo.cpp:

#include <qi/session.hpp>
#include <qi/anymodule.hpp>

using namespace qi;

//the foo class takes a SessionPtr as parameter
class Foo {
public:
  Foo(const SessionPtr& session)
    : _session(session)
  {}

  void bar() {
  }

private:
  SessionPtr _session;
};
QI_REGISTER_OBJECT(Foo, bar);

//a simple egg function
void eggFun() {
}

void register_foo_module(qi::ModuleBuilder* mb) {
  mb->advertiseMethod("egg", &eggFun);
  mb->advertiseFactory<Foo, const SessionPtr&>("Foo");
}
QI_REGISTER_MODULE("foo", &register_foo_module);

Now let us write a CMakeLists.txt to compile it:

cmake_minimum_required(VERSION 2.8)
project(foo-module)
find_package(qibuild)
find_package(qimodule)
qi_sanitize_compile_flags(HIDDEN_SYMBOLS)

qi_create_module(foo SRC foo.cpp)

You can inspect your module content using qicli:

qicli mod foo

Using a Module in C++

Let’s create a simple binary that will load the foo module, instantiate a Foo object and register it as a “Foo” service.

footest.cpp content:

#include <qi/applicationsession.hpp>
#include <qi/anymodule.hpp>

using namespace qi;

int main(int argc, char** argv) {
  ApplicationSession app(argc, argv);

  //connect the session
  app.start();

  // Register the Foo object as a service
  // loadService will automatically give the session as the first parameter
  // of the foo.Foo factory.
  app.session()->loadService("foo.Foo");

  // Then simply run the application (wait for it to end)
  app.run();
}

Or the same code done by hand.

#include <qi/applicationsession.hpp>
#include <qi/anymodule.hpp>

using namespace qi;

int main(int argc, char** argv) {
  ApplicationSession app(argc, argv);

  //connect the session
  app.start();

  // Register the module on the session by hand
  // import the module
  AnyModule foomod = qi::import("foo");
  // create a Foo object
  AnyObject ao = foomod.call<AnyObject>("Foo", app.session());
  // register the object on the Session with the name "Foo"
  app.session()->registerService("Foo", ao);


  // Then simply run the application (wait for finish)
  app.run();
}

Let’s add a line in the CMakeLists.txt to create a binary:

qi_create_bin(footest footest.cpp DEPENDS QI)

To try your new Foo service you can start it as a standalone session

footest --qi-standalone

#if you would like to register it on a running session then do
footest --qi-url=tcp://<myip>:port

Finally you can use qicli info to inspect your module

qicli info Foo

Module Factory (advanced)

Module support is language specific. For each language a module factory plug-in should be written.

The plug-in should provide a module factory function and register it using a macro. It receives a ModuleInfo which is the module to load and must return the loaded module.

AnyModule mylangModuleFactory(const qi::ModuleInfo& moduleInfo);

QI_REGISTER_MODULE_FACTORY_PLUGIN("mylang", &mylangModuleFactory);

Finding Modules (advanced)

To find modules, the import function will start by looking at *.mod files in share/qi/module. This file indicates which module factory to use. From this module factory, a ModuleInfo is constructed and given to the right language factory function that should return a valid AnyModule.

Reference

qi::ModuleInfo Class Reference

Introduction

More...

Public Members

std::string name
std::string type
std::string path

Detailed Description

Members Documentation

std::string qi::ModuleInfo::name
std::string qi::ModuleInfo::type
std::string qi::ModuleInfo::path

qi::ModuleBuilder Class Reference

Introduction

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Public Members

ModuleInfo _moduleInfo
AnyObject _object
AnyModule _mod

Public Functions

ModuleBuilder(const ModuleInfo& mi)
void setModuleInfo(const ModuleInfo& mi)
void setModulePath(const std::string& name)
ModuleInfo& moduleInfo()
const std::string& moduleName() const
AnyModule module()

Detailed Description

class given to the user to building a module

Members Documentation

ModuleInfo qi::ModuleBuilder::_moduleInfo
AnyObject qi::ModuleBuilder::_object
AnyModule qi::ModuleBuilder::_mod

Function Documentation

qi::ModuleBuilder::ModuleBuilder(const ModuleInfo& mi)
void qi::ModuleBuilder::setModuleInfo(const ModuleInfo& mi)
void qi::ModuleBuilder::setModulePath(const std::string& name)
ModuleInfo& qi::ModuleBuilder::moduleInfo()
const std::string& qi::ModuleBuilder::moduleName() const
AnyModule qi::ModuleBuilder::module()

qi::AnyModule Class Reference

Introduction

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#include <qi/anymodule.hpp>

Public Members

ModuleInfo _moduleInfo

Public Functions

AnyModule()
AnyModule(const ModuleInfo& moduleInfo, const qi::AnyObject& object)
const std::string& moduleName() const
const ModuleInfo& moduleInfo() const

Detailed Description

A qi Module. basically an Object and a ModuleInfo

Members Documentation

ModuleInfo qi::AnyModule::_moduleInfo

Function Documentation

qi::AnyModule::AnyModule()
qi::AnyModule::AnyModule(const ModuleInfo& moduleInfo, const qi::AnyObject& object)
const std::string& qi::AnyModule::moduleName() const
const ModuleInfo& qi::AnyModule::moduleInfo() const
qi::import
std::vector<ModuleInfo> qi::listModules()

list all available modules (cross language