SoftBank Robotics documentation What's new in NAOqi 2.5?

ALModule API

NAOqi Core - Overview | API

Namespace : AL

#include <alcommon/almodule.h>

Bound Methods - Task Management

bool ALModule::isRunning(const int& id)

Determines if the method created with a ‘post’ is still running.

Parameters:
  • id – The ID of the method that was returned by ‘post’
Returns:

true if the method is still running, false otherwise
bool ALModule::wait(const int& id, const int& timeout)

Waits until the end of a long running method using the ID that was returned from a method started with ‘post’

Parameters:
  • id – The ID of the method that was returned by ‘post’
  • timeout – The wait timeout period in ms. If 0 wait indefinitely.
Returns:

true if the timeout period expired, false otherwise
qi::FutureSync<void> ALModule::wait(const int& id)

Waits until the end of a long running method using the ID that was returned from a method started with ‘post’

Parameters:
  • id – The ID of the method that was returned by ‘post’
Returns:

a cancelable future that will call stop(id) upon cancel
void ALModule::stop(const int& id)

Stops a module’s method using the ID given returned by a ‘post’ call. Module authors are encouraged to implement this if they have long running methods that they wish to allow users to interrupt.

Parameters:
  • id – The ID of the method that was returned by ‘post’
void ALModule::exit()

Unregisters the module from the parent broker. Once this is called the method of your module will no longer be available. Module authors who override this method are expected to perform a clean shutdown.

Warning

It is not advised to call exit on Core modules such as ALMemory or ALMotion while other module or code are accessing them.

Bound Methods - Introspection

std::string ALModule::getBrokerName()

Gets the name of the parent broker

Returns:The name of the parent broker
std::vector<std::string> ALModule::getMethodList()

Retrieves the module’s method list

Returns:A vector of method names
AL::ALValue ALModule::getMethodHelp(const std::string& methodName)

Retrieves a method’s description

Parameters:
  • methodName – The name of the method
Returns:

A structure containing the method’s description

 
[
  std::string methodName,
  [ parameter, ...],
  std::string returnName,
  std::string returnDescription
]

Where parameter is

[
  std::string parameterName,
  std::string parameterDescription
]
AL::ALValue ALModule::getModuleHelp()

Retrieves a structure containing the module’s description:

Returns:A structure describing the module 
[
  std::string moduleDescription,
  [ moduleExample, ...]
]

Where moduleExample is

[
  std::string language,
  std::string example
]
std::string ALModule::getUsage(const std::string& methodName)

Gets the method usage string. This summarizes how to use the method.

Parameters:
  • methodName – The name of the method
Returns:

A string that summarizes the usage of the method
bool ALModule::ping()

Just a ping to test connectivity. Always returns true

Returns:returns true
std::string ALModule::version()

Returns the version of the module

Returns:The version as a string

Events

Event: "ClientConnected"
callback(std::string eventName, const std::string &brokerName, std::string subscriberIdentifier)

The broker brokerName is connected.

Event: "ClientDisconnected"
callback(std::string eventName, const std::string &brokerName, std::string subscriberIdentifier)

The broker brokerName has been disconnect.