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JNaoqi is an open source project that allows you to call any NaoQi module method from java. The call syntax is the same as Python or .Net.
JNaoqi project contains both binary and source code that needs to be compiled with Naoqi C++ SDK.
OpenNao doesn’t have a java interpreter, the naoqi-java-sdk (jnaoqi) only allows you to call methods from PC to the robot (real or virtual). Each call uses the network.
In the tutorial we insert a value in ALMemory with TestProxy.java
z$ pwd
/home/ALDEBARAN/dhoussin/Téléchargements
z$ ls
naoqi-sdk-1.12.0.48-linux32.tar.gz
z$ tar xvf naoqi-sdk-1.12.0.48-linux32.tar.gz
z$ ls
jnaoqi-java-1.12.0.30.tar.gz
z$ tar xvf jnaoqi-java-1.12.0.30.tar.gz
z$ export LD_LIBRARY_PATH=/home/ALDEBARAN/dhoussin/Téléchargements/jnaoqi/java/com/aldebaran/proxy:/home/ALDEBARAN/dhoussin/Téléchargements/naoqi-sdk-1.12.0.48-linux32/lib
z$ cd /home/ALDEBARAN/dhoussin/Téléchargements/naoqi-sdk-1.12.0.48-linux32/bin
z$ ./naoqi-bin &
z$ [INFO ] ..::: starting NAOqi version 1.12 :::.. [11-11-04 11:35]
[INFO ] Copyright (c) 2011, Aldebaran Robotics
[INFO ] Starting ALNetwork
[INFO ] NAOqi is listening on 0.0.0.0:9559
[INFO ] Loading "/home/ALDEBARAN/dhoussin/Téléchargements/naoqi-sdk-1.12.0.48-linux32/etc/naoqi/autoload.ini"
[INFO ] Starting ALMemory
[INFO ] Starting ALLogger
[INFO ] Starting ALPreferences
[INFO ] Starting ALFileManager
[INFO ] Starting ALLauncher
[INFO ] Starting ALBonjour
[INFO ] Starting ALResourceManager
[INFO ] Starting ALLeds
[INFO ] Starting ALSonar
[INFO ] Starting ALFsr
[INFO ] Starting ALRobotPose
[INFO ] Starting ALBattery
[INFO ] Starting ALSensors
[INFO ] Starting ALRobotModel
[INFO ] Starting ALMotion
[INFO ] Starting ALRedBallTracker
[INFO ] Starting ALMotionRecorder
[INFO ] Starting ALTextToSpeech
[INFO ] Starting ALFrameManager
[INFO ] Starting ALPythonBridge
[INFO ] Starting ALVideoDevice
[INFO ] Starting ALRedBallDetection
[INFO ] Starting ALBehaviorManager
[INFO ] NAOqi is ready...
z$ cd jnaoqi/java/
z$ pwd
/home/ALDEBARAN/dhoussin/Téléchargements/jnaoqi/java
z$ javac TestProxy.java
z$ java TestProxy
Install the latest JDK from oracle/java web site. http://www.oracle.com/technetwork/java/javase/downloads/index.html
Warning
On Linux, do not install java from web site. Use Synaptic or apt-get
jnaoqi-java-x.xx.x.tar.gz contain source code, compiled library and .jar package.
com.aldebaran.proxy is in the naoqi-java-sdk package.
import com.aldebaran.proxy.*;
Package files always need to stay in the folder /com/aldebaran/proxy and the java path needs to point to this folder.
JNaoqi sdk contains precompiled library but you may need to compile it yourself (different OS or Java version). JNaoqi respects CMake and qibuild format and can be compiled exactly the same way as others NaoQi libraries.
$~ cd jnaoqi
$~ mkdir build
$~ cd build
$~ cmake -DCMAKE_TOOLCHAIN_FILE=/your-c++-naoqi-sdk/toolchain-pc.cmake ..
$~ make
After compilation, your jnaoqi/build/sdk/java folder contains the java naoqi SDK. It should be the same as precompile /java folder at the root.
Do not forget to define jnaoqi library path for java.
For a precompiled project:
$~ export LD_LIBRARY_PATH=/your-jnaoqi-path/java/com/aldebaran/proxy:/path-to-naoqi-SDK/lib
For a compiled project:
$~ export LD_LIBRARY_PATH=/your-jnaoqi-path/build/sdk/java/com/aldebaran/proxy
add /your-jnaoqi-path/java/com/aldebaran/proxy to environement variable %PATH%
If you have compiled yourself the wrapper, you needn’t to add naoqi SDK lib folder in the LD_LIBRARY_PATH
$~ export LD_LIBRARY_PATH=/your-jnaoqi-path/java/com/aldebaran/proxy
$~ path-to-naoqi-SDK/naoqi &
$~ javac TestProxy.java
$~ java TestProxy
ALMemory from local naoqi should contain a java variable.
import com.aldebaran.proxy.*;
public class tts
{
static
{
System.loadLibrary("JNaoQi");
}
public static void main(String[] args)
{
// TTS proxy
ALTextToSpeechProxy ttsProxy = new ALTextToSpeechProxy("myRobotIP.local", 9559);
// Talk
ttsProxy.say("hello world");
}
}
import com.aldebaran.proxy.*;
public class TestProxy
{
static
{
System.loadLibrary("JNaoQi");
}
public static void main(String[] args)
{
ALMemoryProxy memory;
memory = new ALMemoryProxy("127.0.0.1",9559);
memory.insertData("javavariable", 12);
}
}
import com.aldebaran.proxy.*;
public class video
{
static
{
System.loadLibrary("JNaoQi");
}
public static void main(String[] args)
{
// video proxy
ALVideoDeviceProxy video;
video = new ALVideoDeviceProxy("myRobotIP.local", 9559);
// subscribe only once
video.subscribe("java", 1, 11, 250);
// get Image in Variant (also named ALValue)
Variant ret = video.getImageRemote("java");
// unsubscribe only once
video.unsubscribe("java");
// Video device documentation explain that image is element 6
Variant imageV = ret.getElement(6);
// display image from byte array
AwtImage image;
byte[] binaryImage = imageV.toBinary();
image = new AwtImage(binaryImage);
}
}
// don't forget to set stiffness before
// connect to NaoQi
ALMotionProxy motionProxy;
motionProxy = new ALMotionProxy("127.0.0.1", 9559);
String effector = "LArm";
int space = motion.SPACE_NAO;
int axisMask = motion.AXIS_MASK_VEL; // just control position
boolean isAbsolute = false;
//Since we are in relative, the current position is zero
float[] currentPos = {0.01f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
// Define the changes relative to the current position
float dx = 0.03f; // translation axis X (meters)
float dy = 0.03f; // translation axis Y (meters)
float dz = 0.0f; // translation axis Z (meters)
float dwx = 0.0f; // rotation axis X (radians)
float dwy = 0.0f; // rotation axis Y (radians)
float dwz = 0.0f; // rotation axis Z (radians)
float[] targetPos = {dx, dy, dz, dwx, dwy, dwz};
// Go to the target and back again
Variant targetPosV = new Variant(targetPos);
Variant currentPosV = new Variant(currentPos);
Variant pathV = new Variant();
pathV.push_back(targetPosV);
pathV.push_back(currentPosV);
Variant t1 = new Variant(2.0f);
Variant t2 = new Variant(4.0f);
Variant timesV = new Variant();
timesV.push_back(t1);
timesV.push_back(t2);
motionProxy.positionInterpolation(effector, space, pathV, axisMask, timesV, isAbsolute);
import com.aldebaran.proxy;
public class MotionStiffness
{
static
{
System.loadLibrary("JNaoQi");
}
public static void main(String[] args)
{
ALMotionProxy motionProxy;
motionProxy = new ALMotionProxy("myRobotIP.local",9559);
// We use the "Body" name to signify the collection of all joints
motionProxy.stiffnessInterpolation(new Variant("Body"), new Variant(1.0f), new Variant (1.0f));
}
}
jnaoqi.jar contains dynamic library libJNaoqi.so on Linux, JNaoqi.dll on windows, libJNaoQi.dylib on MacOS. Java cannot load a Library from .jar. You’ll have to make it by yourself. First import jnaoqi.jar in Eclipse. If you try to run an example that use jnaoqi.jar, java will raise a link error. The following example load dynamicaly the dynamic library:
import com.aldebaran.proxy;
import com.aldebaran.proxy.ALMemoryProxy;
import java.util.ArrayList;
import java.io.*;
public class main
{
static {
try {
// load library
System.loadLibrary("JNaoQi");
} catch (UnsatisfiedLinkError e)
{
// if we use .jar we firt copy the library from package before load it
loadBinaries();
}
}
public static void loadBinaries()
{
String os = System.getProperty("os.name").toLowerCase();
ArrayList<String> bins = new ArrayList<String>(){{
add("libJNaoQi.so");
}};
File f = null;
for(String bin : bins)
{
InputStream in = ALMemoryProxy.class.getResourceAsStream(bin);
byte[] buffer = new byte[1024];
int read = -1;
try
{
String[] temp = bin.split("/");
f = new File("./", temp[temp.length-1]);
FileOutputStream fos = new FileOutputStream(f);
while((read = in.read(buffer)) != -1)
{
fos.write(buffer, 0, read);
}
fos.close();
in.close();
} catch (IOException e)
{
e.printStackTrace();
}
}
// now load the file
System.load(f.getAbsolutePath());
}
public static void main(String[] args)
{
// ALMemory proxy
ALMemoryProxy memory;
// connect to local Naoqi
memory = new ALMemoryProxy("10.0.252.130",9559);
// call method ALMemory::insertData
memory.insertData("Hello from Java", 14);
}
}
Module API methods sometimes require or return an ALValue. ALValue is a Variant in Java and can be converted in a simple java type.
| C++ | JNI | Java | Variant conversion |
|---|---|---|---|
| bool | jbool | Boolean | Variant::toBool() |
| int | jint | int | Variant::toInt() |
| float | jfloat | float | Variant::toFloat() |
| string | jstring | String | Variant::toString() |
| ALValue::binary | jbytearray | byte[] | Variant::toByteArray() |
| vector<float> | jfloatarray | float[] | Variant::toFloatArray() |
| vector<int> | jintarray | int[] | Variant::toIntArray() |
| vector<string> | jobjectarray | String[] | Variant::toStringArray() |
| ALValue | None | Variant | Any conversion method |
Your LD_LIBRARY_PATH (linux) or %path% (windows) needs to be updated and point to /com/aldebaran/proxy folder. The folder should contain JNaoQi.dll (windows) or libJNaoQi.so (linux).