com.aldebaran.qi.helper.proxies

Class DCM

java.lang.Object

com.aldebaran.qi.helper.ALProxy

com.aldebaran.qi.helper.proxies.DCM

public class DCM
extends ALProxy

Manage link with devices (sensors and actuators). See specific documentation.

See Also:

NAOqi APIs for DCM

Field Summary

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

name, service

Constructor Summary

Constructors

Constructor and Description
DCM(Session session)

Method Summary

Modifier and Type	Method and Description
void	calibration(java.lang.Object calibrationInput) Calibration of a joint
void	clearStats()
java.lang.Object	createAlias(java.lang.Object alias) Create or change an alias (list of actuators)
void	exit() Exits and unregisters the module.
java.lang.String	getBrokerName() Gets the name of the parent broker.
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.Object	getPrefix() Return the STM base name
java.lang.Integer	getTime(java.lang.Integer offset) Return the DCM time
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.
java.lang.Integer	preferences(java.lang.String action, java.lang.String target, java.lang.String keyName, java.lang.Object keyValue) Save updated value from DCM in XML pref file
void	set(java.lang.Object commands) Call this function to send a timed-command list to an actuator
void	setAlias(java.lang.Object commands) Call this function to send timed-command list to an alias (list of actuators)
void	setAlias(java.lang.String name, java.lang.Integer time, java.util.List<java.lang.Float> commands) Call this function to send timed-command list to an alias (list of actuators) with "ClearAll" merge startegy
void	special(java.lang.String result) Special DCM commands
void	stop(java.lang.Integer id) returns true if the method is currently running
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

DCM

public DCM(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

set

public void set(java.lang.Object commands)
         throws CallError,
                java.lang.InterruptedException

Call this function to send a timed-command list to an actuator

Parameters:

commands - AL::ALValue with all data

Throws:

CallError

java.lang.InterruptedException

setAlias

public void setAlias(java.lang.Object commands)
              throws CallError,
                     java.lang.InterruptedException

Call this function to send timed-command list to an alias (list of actuators)

Parameters:

commands - AL::ALValue with all data

Throws:

CallError

java.lang.InterruptedException

setAlias

public void setAlias(java.lang.String name,
                     java.lang.Integer time,
                     java.util.List<java.lang.Float> commands)
              throws CallError,
                     java.lang.InterruptedException

Call this function to send timed-command list to an alias (list of actuators) with "ClearAll" merge startegy

Parameters:

name - alias name

time - time for the timed command

commands - std::vector with all commands

Throws:

CallError

java.lang.InterruptedException

getTime

public java.lang.Integer getTime(java.lang.Integer offset)
                          throws CallError,
                                 java.lang.InterruptedException

Return the DCM time

Parameters:

offset - optional time in ms (signed) to add/remove

Returns:

An integer (could be signed) with the DCM time

Throws:

CallError

java.lang.InterruptedException

createAlias

public java.lang.Object createAlias(java.lang.Object alias)
                             throws CallError,
                                    java.lang.InterruptedException

Create or change an alias (list of actuators)

Parameters:

alias - Alias name and description

Returns:

Same as pParams, but with the name removed if the actuator is not found

Throws:

CallError

java.lang.InterruptedException

getPrefix

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

Return the STM base name

Returns:

the STM base name for all device/sensors (1st string in the array) and all devices (2nd string in the array)

Throws:

CallError

java.lang.InterruptedException

special

public void special(java.lang.String result)
             throws CallError,
                    java.lang.InterruptedException

Special DCM commands

Parameters:

result - one string and could be Reset, Version, Chain, Diagnostic, Config

Throws:

CallError

java.lang.InterruptedException

calibration

public void calibration(java.lang.Object calibrationInput)
                 throws CallError,
                        java.lang.InterruptedException

Calibration of a joint

Parameters:

calibrationInput - A complex ALValue. See red documentation

Throws:

CallError

java.lang.InterruptedException

preferences

public java.lang.Integer preferences(java.lang.String action,
                                     java.lang.String target,
                                     java.lang.String keyName,
                                     java.lang.Object keyValue)
                              throws CallError,
                                     java.lang.InterruptedException

Save updated value from DCM in XML pref file

Parameters:

action - string : 'Save' 'Load' 'Add'

target - string : 'Chest' 'Head' 'Main' 'All'

keyName - The name of the key if action = 'Add'.

keyValue - The ALVAlue of the key to add

Returns:

Nothing

Throws:

CallError

java.lang.InterruptedException