com.aldebaran.qi.helper

Class ALProxy

java.lang.Object

com.aldebaran.qi.helper.ALProxy

Direct Known Subclasses:

ALAnimatedSpeech, ALAudioDevice, ALAudioPlayer, ALAudioRecorder, ALAudioSourceLocalization, ALAutonomousLife, ALAutonomousMoves, ALBacklightingDetection, ALBarcodeReader, ALBasicAwareness, ALBattery, ALBehaviorManager, ALBodyTemperature, ALBonjour, ALChestButton, ALColorBlobDetection, ALConnectionManager, ALDarknessDetection, ALDiagnosis, ALDialog, ALEngagementZones, ALFaceCharacteristics, ALFaceDetection, ALFsr, ALGazeAnalysis, ALInfrared, ALLaser, ALLauncher, ALLeds, ALLocalization, ALLogger, ALMemoryHelper, ALMotion, ALMotionRecorder, ALMovementDetection, ALNavigation, ALNotificationManager, ALPeoplePerception, ALPhotoCapture, ALPreferenceManager, ALPreferences, ALRedBallDetection, ALResourceManager, ALRobotPosture, ALSensors, ALSittingPeopleDetection, ALSonar, ALSoundDetection, ALSoundLocalization, ALSpeechRecognition, ALStore, ALSystem, ALTextToSpeech, ALTouch, ALTracker, ALUserSession, ALVideoDevice, ALVideoRecorder, ALVisionRecognition, ALVisualCompass, ALVisualSpaceHistory, ALWorldRepresentation, DCM, PackageManager

public abstract class ALProxy
extends java.lang.Object

Generic class to manage a proxy

Field Summary

Fields

Modifier and Type	Field and Description
protected java.lang.String	name Naoqi Service name
protected AnyObject	service Naoqi Service proxy

Constructor Summary

Constructors

Constructor and Description
ALProxy(Session session) Create a new proxy using the class name as the service name
ALProxy(Session session, java.lang.String serviceName) Create a new proxy

Method Summary

Modifier and Type	Method and Description
<T> Future<T>	call(java.lang.String method, java.lang.Object... args) Call a method with arguments
long	connect(java.lang.String signal, java.lang.Class<?> theClass, SignalCallback callback) Connect to a Signal with signal callback helper (Naoqi 2)
long	connect(java.lang.String signal, java.lang.String signature, java.lang.Object callback) Connect to a Signal (Naoqi 2)
void	disconnect(long eventID) Disconnect to a signal giving is subscription id
java.lang.String	getNaoqiType(java.lang.Class<?> tClass) Get the equivalence between Java type and naoqi type
AnyObject	getService()
boolean	isProxyReady() Is proxy create and ready
void	setService(AnyObject service)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

service

protected AnyObject service

Naoqi Service proxy

name

protected java.lang.String name

Naoqi Service name

Constructor Detail

ALProxy

public ALProxy(Session session)
        throws java.lang.Exception

Create a new proxy using the class name as the service name

Parameters:

session - session connect to a robot

Throws:

java.lang.Exception

ALProxy

public ALProxy(Session session,
               java.lang.String serviceName)
        throws java.lang.Exception

Create a new proxy

Parameters:

session - session connect to a robot

serviceName - name of the service you want to get proxy on

Throws:

java.lang.Exception

Method Detail

connect

public long connect(java.lang.String signal,
                    java.lang.String signature,
                    java.lang.Object callback)
             throws java.lang.Exception

Connect to a Signal (Naoqi 2)

Parameters:

signal - name of the signal you want to subscribe (you can get those name in the module NAOqi APIs doc)

signature - naoqi signature of the signal

callback - object where the callback function is located

Returns:

id to identify the signal subscription

Throws:

java.lang.Exception

connect

public long connect(java.lang.String signal,
                    java.lang.Class<?> theClass,
                    SignalCallback callback)
             throws java.lang.Exception

Connect to a Signal with signal callback helper (Naoqi 2)

Parameters:

signal - name of the signal you want to subscribe (you can get those name in the module NAOqi APIs doc)

callback - object where the callback function is located

Returns:

id to identify the event subscription

Throws:

java.lang.Exception

getNaoqiType

public java.lang.String getNaoqiType(java.lang.Class<?> tClass)

Get the equivalence between Java type and naoqi type

Parameters:

tClass - The java class of type you want to convert

Returns:

the Naoqi type

disconnect

public void disconnect(long eventID)
                throws java.lang.InterruptedException,
                       CallError

Disconnect to a signal giving is subscription id

Parameters:

eventID - id of the signal subscription

Throws:

java.lang.InterruptedException

CallError

call

public <T> Future<T> call(java.lang.String method,
                          java.lang.Object... args)
                   throws CallError

Call a method with arguments

Parameters:

method - name of the method to call

args - args to give to this method

Returns:

a Future, use get on it to have the result

Throws:

CallError

getService

public AnyObject getService()

setService

public void setService(AnyObject service)

isProxyReady

public boolean isProxyReady()

Is proxy create and ready