C++ Changes

Previously there was almost no distinction between Aldebaran’s public headers and private headers.

Now this distinction has been made.

We continue to provide our private headers, but please keep in mind that backward-compatibility will not be guaranteed on those headers.

We also went through a lot of cleaning, which explains why some attributes are no longer available, and why you must use an accessor instead, for instance.

After each table, you will find an example that hopefully will help you get rid of your dependencies on deprecated or private headers.

Below are the complete list of C++ changes. If you have code from 1.10 version, please see the section cpp-tutos-porting-1.12

Deprecated libraries

Name	Replacement
ALCORE, LIBCORE	AL::ALError and AL::ALNetworkError for exception assert for AL_ASSERT,AL_VERIFY boost::shared_ptr for ALPtr
ALTOOLS, TOOLS	std::stringstream for string conversion :libqi:`qi::os::gettimeofday`, :libqi:`qi::os::timeval`, :libqi:`qi::os::sleep`, :libqi:`qi::os::msleep` for time related functions. :libqi:`qi::os::system` and related for launchshellcommand boost::date_time to handle date
ALFILE	:libqi:`qi::path`, boost::filesystem
ALLOG	:libqi:`qi::log`
ALTHREAD	boost::thread or pthread
NAOQICLIENT	alcommon or simulator-sdk

ALPtr

old:

#include <alcore/alptr.h>
AL::Ptr<AL::Proxy> proxy = ...

new:

#include <boost/shared_ptr.hpp>
boost::shared_ptr<AL::ALProxy> proxy = ....

Logs

old:

#include <allog/allog.h>
alinfo("This is an old information");
alsinfo("This is an old information");
alminfo("This is an old information");

new:

#include <qi/log.hpp>
// C style
qiLogInfo("category", "This is an new information\n");

// C++ style
qiLogInfo("category") << "This is an new information" << std::endl;

There is now 7 logs levels that you can change using –log-level (-L) [log_level_number] option in order form 0 to 6:

• silent: hide logs.
• fatal: This one is used before exit the program if a fatal error occured,
• error: classical error,
• warning: useful to warn user,
• info: useful to user informations, logs level by default (also show all lower log level).
• verbose: not mandatory but useful to user informations, not show by default. If you want them you need to use –verbose (-v) option on naoqi command line.
• debug: useful to developer informations. Show on debug comilaption using –debug (-d) option on naoqi command line. Not compile on release.

For each verbosity there is only one macro to use:

• qiLogFatal (old: alfatal, alsfatal, almfatal)
• qiLogError (old: alerror, alserror, almerror)
• qiLogWarning (old: alwarning, alswarning, almwarning)
• qiLogInfo (old: alinfo, alsinfo, alminfo)
• qiLogVerbose (old: nothing)
• qiLogDebug (old: aldebug, alsdebug, almdebug)

C++ Headers

Deprecated header	Replacement
alvisiondefinitions.h	alvision/alvisiondefinitions.h
alvideo.h	alvision/alvideo.h
alimage.h	alvision/alimage.h
alcore/alerror.h	alerror/alerror.h
alcore/alnetworkerror.h	alerror/alnetworkerror.h
alcore/configcore.h	removed
alcore/altypes.h	deprecated

Subdirectories

We made sure every header was in it’s own subdirectory, for consistency and to prevent conflicts.

old:

#include <alvisiondefinitions.h>

new:

#include <alvision/alvisiondefinitions.h>

ALError

Also, please note that since alcore is now a private library, a new header-only library has been create to contains AL::ALError and AL::ALNetworkError classes

old:

#include <alcore/alerror.h>

new:

#include <alerror/alerror.h>

Missing headers

Also, we went through a lot of cleaning so including “alproxy.h” includes much less headers than it used to, so you probably will have to add missing includes here and there.

Here are of symbols that are now deprecated but used to be available via alproxy.h or almodule.h inclusion:

Symbol	Header	Replacement
AL_ASSERT	alcore/alerror.h	assert
AL_VERIFY	alcore/alerror.h	assert
TIntArrary TFloatArray ...	alcore/altypes	std::vector<int> std::vector<float>
AL_CATCH_ERR	alcore/alcatcherror.h	cath(const AL::ALError &e) {...}

You can either fix compilation of your code by re-adding the deprecated header (if you are in a hurry), but it’s advised to fix the code instead.

Cross-platforms issues

This was not very well handled by our various headers.

We chose to make things simpler by writing a POSIX compatibility layer for Visual Studio, see the :libqi:`qi::os` namespace.

• alcore/alconficore.h used to contain a few #defines like OE_CROSS_BUILD.

OE_CROSS_BUILD is now set by CMake as soon as you are using your cross-toolchain, so you simply do not need to include this file anymore.

Note

OE_CROSS_BUILD is also deprecated, and you should use the I_AM_A_ROBOT define instead

• alcore/altypes.h contains a few very dangerous defines, mostly to hide differences between the str* C functions on Visual Studio and for other compilers.

You must now handle those differences yourself:

old:

#include <alcore/altypes.h>

snprintf(...)

new:

#ifdef _MSC_VER
   sprintf_s(...)
#else
   snprintf(...)
#endif

You have the same problems for other functions, mosty sleep and gettimeofday.

old:

SleepMs(...)
gettimeofday(...)

new:

#include <qi/os.hpp>

qi::os::msleep(...);
qi::os::gettimeofday(...);

Typedefs and macros

Removed typedef	Replacement
TALModuleInfoVector	std::vector<ALModuleInfo>
CITALModuleInfoVector	std::vector<ALModuleInfo>::iterator
ALModuleCore::ConstPtr	boost::shared_ptr<const ALModuleCore>
ALModuleCore::ConstWeakPtr	boost::weak_ptr<const ALModuleCore>
ALBroker::Ptr	boost::shared_ptr<ALBroker>
ALBroker::WeakPtr	boost::weak_ptr<ALBroker>
ALProxy::Ptr	boost::shared_ptr<ALProxy>
ALProxy::WeakPtr	boost::weak_ptr<ALProxy>
ALModuleCore::Ptr	boost::shared_ptr<ALModuleCore>
ALModuleCore::WeakPtr	boost::weak_ptr<ALModuleCore>
AL_DEBUG_LINE	use :libqi:`qi::log` instead

Methods

Removed method	Replacement/Reason
ALBehavior::log	use :libqi:`qi::log` instead
ALModuleCore::setParentBroker	private
ALModuleCore::methodMissing0	private, used for Python wrapping
ALModuleCore::methodMissing1	private, used for Python wrapping
ALModuleCore::methodMissing2	private, used for Python wrapping
ALModuleCore::methodMissing3	private, used for Python wrapping
ALModuleCore::methodMissing4	private, used for Python wrapping
ALModuleCore::methodMissing5	private, used for Python wrapping
ALModuleCore::methodMissing6	private, used for Python wrapping
ALProxy::getParentBrokerName	AL::ALProxy::remoteBrokerName()
ALProxy::TGenericCall_CallbackOnFinished	AL::ALProxy::onFinishedCallback
ALProxy::isScript	private
ALProxy::subscribeToTask	private
ALProxy::isIPPC	private
ALProxy::isForcedLocal	private
ALProxy::isNoLoadDepends	private
ALProxy::isMainProxy	private
ALProxy::CALL_METHODS	AL::ALProxy::genericCall()
ALProxy::PCALL_METHODSNoID	private
ALProxy::PCALL_METHODS	AL::ALProxy::genericPCall()
ALProxy::callLocal(name)	boost::dynamic_pointer_cast<modulename>(ALProxy::getModule())->name()
ALProxy::callLocal(name, p1)	boost::dynamic_pointer_cast<modulename>(ALProxy::getModule())->name(p1)
ALProxy::callLocal(name, p1, p2)	boost::dynamic_pointer_cast<modulename>(ALProxy::getModule())->name(p1, p2)
ALProxy::callLocal(name, p1, p2, p3)	boost::dynamic_pointer_cast<modulename>(ALProxy::getModule())->name(p1, p2, p3)
ALBroker::unregisterBroker	AL::ALBrokerManager::removeBroker()
ALBroker::registerBroker	AL::ALBrokerManager::addBroker()
ALBroker::setCurrentIP	private
ALBroker::getChildNumber	private
ALBroker::checkHeartBeat	private
ALBroker::getConnectionInformation	private
ALBroker::TaskID	private
ALBroker::getChildBrokers	AL::ALBroker::getBrokerList()
ALBroker::moduleID	private
ALBroker::updateIPFromOS	private
ALBroker::launchNetwork	private
ALBroker::ippcGetPort	private
ALBroker::getModuleByName(3 params)	AL::ALBroker::getModuleByName()
ALBroker::unregisterModuleReference	private
ALBroker::removeAllProxies	private
ALBroker::removeProxy	private
ALBroker::removeProxyFromBroker	private
ALBroker::removeParentBrokerProxy	private
ALBroker::initProxy	private
ALBroker::init	private
ALBroker::sendBackIP	private
ALBroker::translateModuleInfo	private
ALBroker::getBrokerInfo	AL::ALBroker::getIP(), AL::ALBroker::getPort()
ALBroker::exploreToGetModuleByName	AL::ALBroker::getGlobalModuleList()
ALBroker::runServer	private
ALBroker::configureClient	private
ALBroker::registerClient	private
ALBroker::getMethodList	AL::ALModuleCore::getMethodList
ALBroker::version	AL::ALModuleCore::version
ALBroker::getInfo	private
ALBroker::getModuleInfo	AL::ALModuleCore::getModuleInfo
ALBroker::isFullDisplay	private
ALBroker::HasParent	private
ALBroker::getBrokerSoap	private
ALBroker::setIP	private
ALBroker::setPort	private
ALBroker::getParentBrokerProxy	private
ALBroker::getParentBrokerInfo	private
ALBroker::getThreadPool	private
ALBroker::getCallQueueManager	private
ALBroker::getTaskMonitor	private
ALBroker::isDebug	private
ALBroker::getSpecialisedProxy	private
ALBroker::getThreadPool()->enqueue(mytask)	boost::thread or pthread
ALBroker::getExecutableName ALBroker::setExecutableName	use :libqi:`qi::program`, after calling :libqi:`qi::init` in your main function
ALBroker::getForcedPath ALBroker::setForcedPath ALBroker::isValidPath ALBroker::getALPath ALBroker::getLogPath ALBroker::getModuleBinPath ALBroker::getModuleLibPath ALBroker::getBinPath ALBroker::getPreferencesPath	use :libqi:`qi::path` instead

Some getters of ALBroker were returning pointers to other classes, but they are now private.

getTaskMonitor was removed, and the ALTaskMonitor class is no longer available.

But there was only one useful method in ALTaskMonitor: isRequireStop.

Wen you call stop on a method with AL::ALProxy::stop(), you must use isRequiredStop inside your implementation for the stop to really work, otherwise it has no effect.

This method has moved to AL::ALModule::isStopRequired().

Old

void MyModule::doSomething()
{
  bool shouldStop = false;
  while (! shouldStop)
  {
    doStep();
    SleepMs(500);
    shouldStop = getParentBroker()->getTaskMonitor()->isRequireStop();
  }

New

void MyModule::doSomething()
{
  while (! isStopRequired())
  {
    doStep();
    qi::os::msleep(500);
  }
}

Removed attributes

Removed attribute	Replacement/Reason
ALBroker::fStopServer	private
ALBroker::fBrokerManager	private
ALBroker::fFileMutex	private
ALModuleCore::fName	AL::ALModuleCore::getName()
ALModuleCore::fMethodDesc	AL::ALModuleCore::getCurrentMethodDescription()
ALImage::fTimeStamp	AL::ALImage::getTimeStamp()

Some public members are now protected, so we added accessors for these.

old:

timeStamp = alimage->fTimeStamp;

new:

timeStamp = alimage->getTimeStamp();

Few attributes have been removed in favor of Private pointer implementation, this should help having ABI compatibles modules with the next versions.

fMethodDesc was used for binding overloaded methods.

Deprecated methods

Old method	Replacement
ALBroker::getMemoryProxy	use ALMemoryProxy constructor instead
ALBroker::getLedsProxy	use ALLedsProxy constructor instead
ALBroker::getLoggerProxy	use ALLoggerProxy constructor instead
ALBroker::getMotionProxy	use ALMotionProxy constructor instead
ALBroker::getPreferencesProxy	use ALPreferencesProxy constructor instead
ALBroker::getDcmProxy	use DCMProxy constructor instead
ALError::getDescription ALError::getFileName ALError::getLine ALError::getMethodName ALError::getModuleName ALError::toString	AL::ALError inherits from std::exception, so simply use e.what()

First version ALError did not inherit from std::exception, leading to a lot of confustion.

This is now fixed, so we got rid of the useless methods.

Note

The line and the filename where the exception occured are no longer displayed in e.what()

old:

try
{
  ...
}
catch(const ALError &e)
{
  std::cerr << "Error occured! "
            << "For module: " << e.getModuleName()
            << " and method : " << e.getMethodName()
            ....
            << std::endl;
}

new:

try
{
  ...
}
catch(const ALError &e)
{
  std::cerr << "Error occured! "
            << e.what()
            << std::endl;
}

Moved methods

Old name	New name
AL::_get_type<T>	AL::detail::_get_type<T>
AL::_get_type<AL::ALValue>	AL::detail::_get_type<AL::ALValue>
AL::_get_type<bool>	AL::detail::_get_type<bool>
AL::_get_type<const T>	AL::detail::_get_type<const T>
AL::_get_type<float>	AL::detail::_get_type<float>
AL::_get_type<int>	AL::detail::_get_type<int>
AL::_get_type<std::string>	AL::detail::_get_type<std::string>
AL::_get_type<std::vector< float>>	AL::detail::_get_type<std::vector< float>>
AL::_get_type<std::vector< int>>	AL::detail::_get_type<std::vector< int>>
AL::_get_type<std::vector< std::string>>	AL::detail::_get_type<std::vector< std::string>>
AL::_get_type<T &>	AL::detail::_get_type<T &>
AL::_get_type<T *>	AL::detail::_get_type<T *>
AL::_get_type<void>	AL::detail::_get_type<void>
AL::_pcall	AL::detail::_pcall
AL::_pcall0	AL::detail::_pcall0
AL::_pcall1<P1>	AL::detail::_pcall1<P1>
AL::_pcall2<P1, P2>	AL::detail::_pcall2<P1, P2>
AL::_pcall3<P1, P2, P3>	AL::detail::_pcall3<P1, P2, P3>
AL::_pcall4<P1, P2, P3, P4>	AL::detail::_pcall4<P1, P2, P3, P4>
AL::_pcall5<P1, P2, P3, P4, P5>	AL::detail::_pcall5<P1, P2, P3, P4, P5>
AL::_pcall6<P1, P2, P3, P4, P5, P6>	AL::detail::_pcall6<P1, P2, P3, P4, P5, P6>
AL::_pcalln	AL::detail::_pcalln
AL::_pcallScript	AL::detail::_pcallScript

Removed classes

Removed class	Reason/ Replacement
AL::al__ALModuleInfoNaoqi	private
AL::ALBrokerInfo	private
AL::ALBrokerInfoIPC	private
AL::ALBrokerInfoRPC	private
AL::ALBrokerProxy	private
AL::ALBrokerProxyIPC	private
AL::ALCallQueue	private
AL::ALCallQueueManager	private
AL::ALConnection	private
AL::ALConnectionInformation	private
AL::ALEnqueueRequest	private
AL::ALFileManager	private
AL::ALFunctionMonitoring	private
AL::ALLogSection	private
AL::ALMonitoredSection	private
AL::ALNetwork	private
AL::ALRemotePCallPool	private
AL::ALTaskMonitor	private
AL::AsynchronousCallTools	private
AL::AsynchronousTask	private
AL::AsynchronousTaskModule	private
AL::AsynchronousTaskMonitor	private
AL::AsynchronousTaskMonitorModule	private
AL::BrokerTask	private
AL::enqueue_request	private
AL::remotePCallElement	private
ALSharedClass dummySharedClass	use: - :libqi:`qi::os::dlerror` - :libqi:`qi::os::dlopen` - :libqi:`qi::os::dlclose` - :libqi:`qi::os::dlsym`

ALSharedClass was just a tiny library to help handling dlopen and dlsym in an cross-platform way, and this is now done by cross-platform functions.

new:

const char* libPath = ....;
void* handle;
handle = qi::os::dlopen(libPath);
if (!handle)
{
  std::cerr << "Could not load: " << libPath
            << std::endl
            << "Error was: " << qi::os::dlerror()
            << std::endl;
  return;
}
// We are going to find the symbol for a function with
// no parameters returning an int, named _register_plugin
typedef int register_plugin_t();
register_plugin_t*  register_plugin = qi::os::dlsym(handle, "register_plugin");
if (!register_plugin)
{
  std::cerr << "Could not find symbol 'register_plugin' in " << libPath
            << std::endl;
            << "Error was: " << qi::os::dlerror()
            << std::endl;
  return;
}

// Do something with register_plugin...

Note

the argument of qi::os::dlopen is the full path of the library (including the ‘lib’ prefix on unix, and the ‘.so’, ‘.dll’ or ‘.dylib’ prefix) See qi::path::findLib() for a cross-platform way of finding a library

Renamed classes

Old name	New name
ALVisionImage	AL::ALImage