SoftBank Robotics documentation What's new in NAOqi 2.5?

qi::ApplicationSession

ApplicationSession is an application with an embedded auto-connected Session.

Detailed Description

ApplicationSession is meant to be instantiated in the main function. It works pretty much like Application but embeds a Session in it. The session is connected when start is called (or when run is called if start is never called).

The session is automatically activated (in listening or connected mode) according to the arguments passed to the program.

ApplicationSession also parses arguments, see qi application arguments.

See also

This class follows the logic of Application.

Usage Example

#include <qi/applicationsession.hpp>

int main(int argc, char* argv[])
{
  qi::ApplicationSession app(argc, argv);

  app.start();

  qi::SessionPtr session = app.session();

  // do things with session->service() or session->registerService

  // if you want to keep the program running
  app.run();
}

Reference

qi::ApplicationSession Class Reference

Introduction

More...

#include <qi/applicationsession.hpp>

Enumerations

enum Option
Name Value Brief
Option_None 0 No option, this is the default behavior.
Option_NoAutoExit 1 With this option the application won’t stop once the session is disconnected.

Public Functions

ApplicationSession(int& argc, char**& argv, int opt, const Url& url)
ApplicationSession(const std::string& name, int& argc, char**& argv, int opt, const Url& url)
ApplicationSession(int& argc, char**& argv, const Config& defaultConfig)
~ApplicationSession()
SessionPtr session()
Url url()
Url listenUrl()
void start()
void startSession()
void run()

Detailed Description

ApplicationSession is an application with an embedded session. The constructor has to be the first method called of the class to initialize the class. Be careful with the scope of the object, once the destructor is called, the session is destroyed as well.

Function Documentation

qi::ApplicationSession::ApplicationSession(int& argc, char**& argv, int opt = 0, const Url& url = "tcp://127.0.0.1:9559")

Brief:

Parameters:
  • argc – The number of arguments.
  • argv – The array containing all the arguments given to the program.
  • opt – Either ApplicationSession::Option_None or ApplicationSession::Option_NoAutoExit. The default behavior of ApplicationSession is to call stop() once the session gets disconnected.
  • url – The default url used if no qi-url was found in the options.

ApplicationSession will check first if there is a qi-url given in argv, if not it will take the url in the constructor instead setting its url. If qi-listen-url is set the session will listen on the provided url.

qi::ApplicationSession::ApplicationSession(const std::string& name, int& argc, char**& argv, int opt = 0, const Url& url = "tcp://127.0.0.1:9559")
qi::ApplicationSession::ApplicationSession(int& argc, char**& argv, const Config& defaultConfig)
qi::ApplicationSession::~ApplicationSession()
SessionPtr qi::ApplicationSession::session()

Brief:

Returns:The embedded session used by ApplicationSession.
Url qi::ApplicationSession::url()

Brief:

Returns:The url used by ApplicationSession parsed on the command line by qi-url if specified, otherwise the default url given in the constructor.
Url qi::ApplicationSession::listenUrl()

Brief:

Returns:The url used by ApplicationSession parsed on the command line by qi-listen-url, otherwise the default url given in the constructor.
void qi::ApplicationSession::start()

Establishes the session’s connection and moreover starts listening if qi-listen-url was given. Deprecatedsince 2.5, use startSession instead

void qi::ApplicationSession::startSession()

Establishes the session’s connection and moreover starts listening if qi-listen-url was given.

void qi::ApplicationSession::run()

Runs the application and automatically calls start() if it hasn’t been done yet.