com.aldebaran.qi.helper.proxies

Class ALDarknessDetection

java.lang.Object

com.aldebaran.qi.helper.ALProxy

com.aldebaran.qi.helper.proxies.ALDarknessDetection

public class ALDarknessDetection
extends ALProxy

This module enables to detect if the robot is in a dark environment

See Also:

NAOqi APIs for ALDarknessDetection

Field Summary

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

name, service

Constructor Summary

Constructors

Constructor and Description
ALDarknessDetection(Session session)

Method Summary

Modifier and Type	Method and Description
void	clearStats()
void	exit() Exits and unregisters the module.
java.lang.Integer	getActiveCamera() Gets extractor active camera
java.lang.String	getBrokerName() Gets the name of the parent broker.
java.lang.Integer	getCurrentPeriod() Gets the current period.
java.lang.Float	getCurrentPrecision() Gets the current precision.
java.lang.Integer	getDarknessThreshold() Returns the current DarknessThreshold for isItDark
java.util.List<java.lang.String>	getEventList() Get the list of events updated in ALMemory.
java.lang.Integer	getFrameRate() Gets extractor framerate
java.util.List<java.lang.String>	getMemoryKeyList() Get the list of events updated in ALMemory.
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.Integer	getMyPeriod(java.lang.String name) Gets the period for a specific subscription.
java.lang.Float	getMyPrecision(java.lang.String name) Gets the precision for a specific subscription.
java.util.List<java.lang.String>	getOutputNames() Get the list of values updated in ALMemory.
java.lang.Integer	getResolution() Gets extractor resolution
java.lang.Object	getSubscribersInfo() Gets the parameters given by the module.
java.lang.String	getUsage(java.lang.String name) Gets the method usage string.
java.lang.Boolean	isPaused() Gets extractor pause status
java.lang.Boolean	isProcessing() Gets extractor running status
java.lang.Boolean	isRunning(java.lang.Integer id) Returns true if the method is currently running.
java.lang.Boolean	isStatsEnabled()
java.lang.Boolean	isTraceEnabled()
void	pause(java.lang.Boolean paused) Changes the pause status of the extractor
java.lang.Boolean	ping() Just a ping.
java.lang.Boolean	setActiveCamera(java.lang.Integer cameraId) Sets extractor active camera
void	setDarknessThreshold(java.lang.Integer threshold) Enables to change the DarknessThreshold for isItDark
java.lang.Boolean	setFrameRate(java.lang.Integer framerate) Sets the extractor framerate for all the subscribers
java.lang.Boolean	setFrameRate(java.lang.String subscriberName, java.lang.Integer framerate) Sets the extractor framerate for a chosen subscriber
void	setParameter(java.lang.String paramName, java.lang.Object value) DEPRECATED: Sets pause and resolution
java.lang.Boolean	setResolution(java.lang.Integer resolution) Sets extractor resolution
void	stop(java.lang.Integer id) returns true if the method is currently running
void	subscribe(java.lang.String name) Subscribes to the extractor.
void	subscribe(java.lang.String name, java.lang.Integer period, java.lang.Float precision) Subscribes to the extractor.
void	unsubscribe(java.lang.String name) Unsubscribes from the extractor.
void	updatePeriod(java.lang.String name, java.lang.Integer period) Updates the period if relevant.
void	updatePrecision(java.lang.String name, java.lang.Float precision) Updates the precision if relevant.
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

ALDarknessDetection

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

Throws:

java.lang.Exception

Method Detail

getResolution

public java.lang.Integer getResolution()
                                throws CallError,
                                       java.lang.InterruptedException

Gets extractor resolution

Returns:

Current value of the resolution of the extractor

Throws:

CallError

java.lang.InterruptedException

setResolution

public java.lang.Boolean setResolution(java.lang.Integer resolution)
                                throws CallError,
                                       java.lang.InterruptedException

Sets extractor resolution

Parameters:

resolution - New resolution

Returns:

True if the update succeeded, False if not

Throws:

CallError

java.lang.InterruptedException

getDarknessThreshold

public java.lang.Integer getDarknessThreshold()
                                       throws CallError,
                                              java.lang.InterruptedException

Returns the current DarknessThreshold for isItDark

Returns:

Current darkness threshold value

Throws:

CallError

java.lang.InterruptedException

setParameter

public void setParameter(java.lang.String paramName,
                         java.lang.Object value)
                  throws CallError,
                         java.lang.InterruptedException

DEPRECATED: Sets pause and resolution

Parameters:

paramName - Name of the parameter to set

value - New value

Throws:

CallError

java.lang.InterruptedException

getFrameRate

public java.lang.Integer getFrameRate()
                               throws CallError,
                                      java.lang.InterruptedException

Gets extractor framerate

Returns:

Current value of the framerate of the extractor

Throws:

CallError

java.lang.InterruptedException

getActiveCamera

public java.lang.Integer getActiveCamera()
                                  throws CallError,
                                         java.lang.InterruptedException

Gets extractor active camera

Returns:

Id of the current active camera of the extractor

Throws:

CallError

java.lang.InterruptedException

isPaused

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

Gets extractor pause status

Returns:

True if the extractor is paused, False if not

Throws:

CallError

java.lang.InterruptedException

setActiveCamera

public java.lang.Boolean setActiveCamera(java.lang.Integer cameraId)
                                  throws CallError,
                                         java.lang.InterruptedException

Sets extractor active camera

Parameters:

cameraId - Id of the camera that will become the active camera

Returns:

True if the update succeeded, False if not

Throws:

CallError

java.lang.InterruptedException

isProcessing

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

Gets extractor running status

Returns:

True if the extractor is currently processing images, False if not

Throws:

CallError

java.lang.InterruptedException

pause

public void pause(java.lang.Boolean paused)
           throws CallError,
                  java.lang.InterruptedException

Changes the pause status of the extractor

Parameters:

paused - New pause satus

Throws:

CallError

java.lang.InterruptedException

setDarknessThreshold

public void setDarknessThreshold(java.lang.Integer threshold)
                          throws CallError,
                                 java.lang.InterruptedException

Enables to change the DarknessThreshold for isItDark

Parameters:

threshold - New darkness threshold (between 0 and 100)

Throws:

CallError

java.lang.InterruptedException

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

subscribe

public void subscribe(java.lang.String name,
                      java.lang.Integer period,
                      java.lang.Float precision)
               throws CallError,
                      java.lang.InterruptedException

Subscribes to the extractor. This causes the extractor to start writing information to memory using the keys described by getOutputNames(). These can be accessed in memory using ALMemory.getData("keyName"). In many cases you can avoid calling subscribe on the extractor by just calling ALMemory.subscribeToEvent() supplying a callback method. This will automatically subscribe to the extractor for you.

Parameters:

name - Name of the module which subscribes.

period - Refresh period (in milliseconds) if relevant.

precision - Precision of the extractor if relevant.

Throws:

CallError

java.lang.InterruptedException

subscribe

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

Subscribes to the extractor. This causes the extractor to start writing information to memory using the keys described by getOutputNames(). These can be accessed in memory using ALMemory.getData("keyName"). In many cases you can avoid calling subscribe on the extractor by just calling ALMemory.subscribeToEvent() supplying a callback method. This will automatically subscribe to the extractor for you.

Parameters:

name - Name of the module which subscribes.

Throws:

CallError

java.lang.InterruptedException

unsubscribe

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

Unsubscribes from the extractor.

Parameters:

name - Name of the module which had subscribed.

Throws:

CallError

java.lang.InterruptedException

updatePeriod

public void updatePeriod(java.lang.String name,
                         java.lang.Integer period)
                  throws CallError,
                         java.lang.InterruptedException

Updates the period if relevant.

Parameters:

name - Name of the module which has subscribed.

period - Refresh period (in milliseconds).

Throws:

CallError

java.lang.InterruptedException

updatePrecision

public void updatePrecision(java.lang.String name,
                            java.lang.Float precision)
                     throws CallError,
                            java.lang.InterruptedException

Updates the precision if relevant.

Parameters:

name - Name of the module which has subscribed.

precision - Precision of the extractor.

Throws:

CallError

java.lang.InterruptedException

getCurrentPeriod

public java.lang.Integer getCurrentPeriod()
                                   throws CallError,
                                          java.lang.InterruptedException

Gets the current period.

Returns:

Refresh period (in milliseconds).

Throws:

CallError

java.lang.InterruptedException

getCurrentPrecision

public java.lang.Float getCurrentPrecision()
                                    throws CallError,
                                           java.lang.InterruptedException

Gets the current precision.

Returns:

Precision of the extractor.

Throws:

CallError

java.lang.InterruptedException

getMyPeriod

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

Gets the period for a specific subscription.

Parameters:

name - Name of the module which has subscribed.

Returns:

Refresh period (in milliseconds).

Throws:

CallError

java.lang.InterruptedException

getMyPrecision

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

Gets the precision for a specific subscription.

Parameters:

name - name of the module which has subscribed

Returns:

precision of the extractor

Throws:

CallError

java.lang.InterruptedException

getSubscribersInfo

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

Gets the parameters given by the module.

Returns:

Array of names and parameters of all subscribers.

Throws:

CallError

java.lang.InterruptedException

getOutputNames

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

Get the list of values updated in ALMemory.

Returns:

Array of values updated by this extractor in ALMemory

Throws:

CallError

java.lang.InterruptedException

getEventList

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

Get the list of events updated in ALMemory.

Returns:

Array of events updated by this extractor in ALMemory

Throws:

CallError

java.lang.InterruptedException

getMemoryKeyList

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

Get the list of events updated in ALMemory.

Returns:

Array of events updated by this extractor in ALMemory

Throws:

CallError

java.lang.InterruptedException

setFrameRate

public java.lang.Boolean setFrameRate(java.lang.String subscriberName,
                                      java.lang.Integer framerate)
                               throws CallError,
                                      java.lang.InterruptedException

Sets the extractor framerate for a chosen subscriber

Parameters:

subscriberName - Name of the subcriber

framerate - New framerate

Returns:

True if the update succeeded, False if not

Throws:

CallError

java.lang.InterruptedException

setFrameRate

public java.lang.Boolean setFrameRate(java.lang.Integer framerate)
                               throws CallError,
                                      java.lang.InterruptedException

Sets the extractor framerate for all the subscribers

Parameters:

framerate - New framerate

Returns:

True if the update succeeded, False if not

Throws:

CallError

java.lang.InterruptedException