com.aldebaran.qi.helper.proxies

Class ALAutonomousMoves

java.lang.Object

com.aldebaran.qi.helper.ALProxy

com.aldebaran.qi.helper.proxies.ALAutonomousMoves

public class ALAutonomousMoves
extends ALProxy

Module that manage the background moves automatically started by the robot.

See Also:

NAOqi APIs for ALAutonomousMoves

Field Summary

Fields inherited from class com.aldebaran.qi.helper.ALProxy

name, service

Constructor Summary

Constructors

Constructor and Description
ALAutonomousMoves(Session session)

Method Summary

Modifier and Type	Method and Description
void	clearStats()
void	exit() Exits and unregisters the module.
java.lang.String	getBackgroundStrategy() Gets the background strategy.
java.lang.String	getBrokerName() Gets the name of the parent broker.
java.lang.Boolean	getExpressiveListeningEnabled() If expressive listening is enabled.
java.lang.Object	getMethodHelp(java.lang.String methodName) Retrieves a method's description.
java.util.List<java.lang.String>	getMethodList() Retrieves the module's method list.
java.lang.Object	getModuleHelp() Retrieves the module's description.
java.lang.String	getUsage(java.lang.String name) Gets the method usage string.
java.lang.Boolean	isRunning(java.lang.Integer id) Returns true if the method is currently running.
java.lang.Boolean	isStatsEnabled()
java.lang.Boolean	isTraceEnabled()
java.lang.Boolean	ping() Just a ping.
void	setBackgroundStrategy(java.lang.String strategy) The background strategy.
void	setExpressiveListeningEnabled(java.lang.Boolean enable) Enable or disable expressive listening.
void	startSmallDisplacements() DEPRECATED since 2.0: do ALBasicAwareness.setTrackingMode("MoveContextually") instead.Start small base moves.
void	stop(java.lang.Integer id) returns true if the method is currently running
void	stopSmallDisplacements() DEPRECATED since 2.0: do ALBasicAwareness.setTrackingMode instead.Stop small base moves.
java.lang.String	version() Returns the version of the module.
java.lang.Boolean	wait(java.lang.Integer id, java.lang.Integer timeoutPeriod) Wait for the end of a long running method that was called using 'post'

Methods inherited from class com.aldebaran.qi.helper.ALProxy

call, connect, connect, disconnect, getNaoqiType, getService, isProxyReady, setService

Methods inherited from class java.lang.Object

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

Constructor Detail

ALAutonomousMoves

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

Throws:

java.lang.Exception

Method Detail

isStatsEnabled

public java.lang.Boolean isStatsEnabled()
                                 throws CallError,
                                        java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

clearStats

public void clearStats()
                throws CallError,
                       java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

isTraceEnabled

public java.lang.Boolean isTraceEnabled()
                                 throws CallError,
                                        java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

exit

public void exit()
          throws CallError,
                 java.lang.InterruptedException

Exits and unregisters the module.

Throws:

CallError

java.lang.InterruptedException

version

public java.lang.String version()
                         throws CallError,
                                java.lang.InterruptedException

Returns the version of the module.

Returns:

A string containing the version of the module.

Throws:

CallError

java.lang.InterruptedException

ping

public java.lang.Boolean ping()
                       throws CallError,
                              java.lang.InterruptedException

Just a ping. Always returns true

Returns:

returns true

Throws:

CallError

java.lang.InterruptedException

getMethodList

public java.util.List<java.lang.String> getMethodList()
                                               throws CallError,
                                                      java.lang.InterruptedException

Retrieves the module's method list.

Returns:

An array of method names.

Throws:

CallError

java.lang.InterruptedException

getMethodHelp

public java.lang.Object getMethodHelp(java.lang.String methodName)
                               throws CallError,
                                      java.lang.InterruptedException

Retrieves a method's description.

Parameters:

methodName - The name of the method.

Returns:

A structure containing the method's description.

Throws:

CallError

java.lang.InterruptedException

getModuleHelp

public java.lang.Object getModuleHelp()
                               throws CallError,
                                      java.lang.InterruptedException

Retrieves the module's description.

Returns:

A structure describing the module.

Throws:

CallError

java.lang.InterruptedException

wait

public java.lang.Boolean wait(java.lang.Integer id,
                              java.lang.Integer timeoutPeriod)
                       throws CallError,
                              java.lang.InterruptedException

Wait for the end of a long running method that was called using 'post'

Parameters:

id - The ID of the method that was returned when calling the method using 'post'

timeoutPeriod - The timeout period in ms. To wait indefinately, use a timeoutPeriod of zero.

Returns:

True if the timeout period terminated. False if the method returned.

Throws:

CallError

java.lang.InterruptedException

isRunning

public java.lang.Boolean isRunning(java.lang.Integer id)
                            throws CallError,
                                   java.lang.InterruptedException

Returns true if the method is currently running.

Parameters:

id - The ID of the method that was returned when calling the method using 'post'

Returns:

True if the method is currently running

Throws:

CallError

java.lang.InterruptedException

stop

public void stop(java.lang.Integer id)
          throws CallError,
                 java.lang.InterruptedException

returns true if the method is currently running

Parameters:

id - the ID of the method to wait for

Throws:

CallError

java.lang.InterruptedException

getBrokerName

public java.lang.String getBrokerName()
                               throws CallError,
                                      java.lang.InterruptedException

Gets the name of the parent broker.

Returns:

The name of the parent broker.

Throws:

CallError

java.lang.InterruptedException

getUsage

public java.lang.String getUsage(java.lang.String name)
                          throws CallError,
                                 java.lang.InterruptedException

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

Parameters:

name - The name of the method.

Returns:

A string that summarises the usage of the method.

Throws:

CallError

java.lang.InterruptedException

startSmallDisplacements

public void startSmallDisplacements()
                             throws CallError,
                                    java.lang.InterruptedException

DEPRECATED since 2.0: do ALBasicAwareness.setTrackingMode("MoveContextually") instead.Start small base moves.

Throws:

CallError

java.lang.InterruptedException

stopSmallDisplacements

public void stopSmallDisplacements()
                            throws CallError,
                                   java.lang.InterruptedException

DEPRECATED since 2.0: do ALBasicAwareness.setTrackingMode instead.Stop small base moves.

Throws:

CallError

java.lang.InterruptedException

setExpressiveListeningEnabled

public void setExpressiveListeningEnabled(java.lang.Boolean enable)
                                   throws CallError,
                                          java.lang.InterruptedException

Enable or disable expressive listening.

Parameters:

enable - The boolean value: true to enable, false to disable.

Throws:

CallError

java.lang.InterruptedException

getExpressiveListeningEnabled

public java.lang.Boolean getExpressiveListeningEnabled()
                                                throws CallError,
                                                       java.lang.InterruptedException

If expressive listening is enabled.

Returns:

The boolean value: true means it is enabled, false means it is disabled.

Throws:

CallError

java.lang.InterruptedException

setBackgroundStrategy

public void setBackgroundStrategy(java.lang.String strategy)
                           throws CallError,
                                  java.lang.InterruptedException

The background strategy.

Parameters:

strategy - The autonomous background posture strategy. ("none" or "backToNeutral")

Throws:

CallError

java.lang.InterruptedException

getBackgroundStrategy

public java.lang.String getBackgroundStrategy()
                                       throws CallError,
                                              java.lang.InterruptedException

Gets the background strategy.

Returns:

The autonomous background posture strategy. ("none" or "backToNeutral")

Throws:

CallError

java.lang.InterruptedException