ALBroker serves methods advertised by connected modules to clients participating in the network. All executables create at least one broker in main.cpp. A broker will wait for http request, remote C++ request from PC application... More...

#include <alcommon/albroker.h>

Public Types
typedef boost::shared_ptr < ALBroker >	Ptr
	Shared pointer to ALBroker.
typedef boost::weak_ptr< ALBroker >	WeakPtr
	Weak pointer to ALBroker.
Public Member Functions
boost::shared_ptr< ALBroker >	getThis ()
	Getter to this.
boost::shared_ptr< const ALBroker >	getThis () const
	Getter to this.
	ALBroker ()
	Default Constructor.
virtual	~ALBroker (void)
	Destructor.
void	setBrokerManagerInstance (boost::shared_ptr< ALBrokerManager > pBrokerManager)
	Sets the brokerManager instance.
boost::shared_ptr< ALModuleCore >	getModuleByName (const std::string &pModuleName)
	Another way to get module by name.
int	registerModule (boost::shared_ptr< ALModuleCore > pModule)
	Give to naoqi all the information a module will need to get constructed.
int	unregisterModule (const std::string &pModuleName)
	Called when a module, belonging to this broker, quits.
bool	isModulePresent (const std::string &pModuleName)
	Call to know if a module is present.
int	getModuleList (boost::shared_ptr< std::vector< ALModuleInfo > > pModuleList)
	Return the registered module list.
int	getBrokerList (std::vector< ALModuleInfo > &pBrokerList)
	Return the list of registered Brokers.
int	getGlobalModuleList (boost::shared_ptr< std::vector< ALModuleInfo > > pModuleList)
	Return the registered module list in every broker (global).
bool	isExiting () const
	Check if the application is existing.
int	shutdown ()
	shutdown, close all modules and send exit command to child broker.
std::string	getName () const
	Get the name of the broker.
std::string	getIP () const
	Get the IP address of the broker.
int	getPort () const
	fBorkerPort getter.
boost::shared_ptr< ALProxy >	getProxy (const std::string &pProxyName, int pProxyOption=0)
	Get an existing proxy if it exists, create a proxy with option otherwise.
const std::string	httpGet (const std::string &pPath)
	Call for http get request on server.
QI_API_DEPRECATED boost::shared_ptr < ALMemoryProxy >	getMemoryProxy (void)
	deprecated
QI_API_DEPRECATED boost::shared_ptr< ALLedsProxy >	getLedsProxy (void)
	deprecated
QI_API_DEPRECATED boost::shared_ptr < ALLoggerProxy >	getLoggerProxy (void)
	deprecated
QI_API_DEPRECATED boost::shared_ptr < ALMotionProxy >	getMotionProxy (void)
	deprecated
QI_API_DEPRECATED boost::shared_ptr < ALPreferencesProxy >	getPreferencesProxy (void)
	deprecated
QI_API_DEPRECATED boost::shared_ptr< DCMProxy >	getDcmProxy (void)
	deprecated
Static Public Member Functions
static boost::shared_ptr < ALBroker >	createBroker (const std::string &pName, const std::string &pIP, int pPort, const std::string &pParentIP, int pParentPort, int pKeepAlive=0, std::string pPath="", bool pLoadLib=true)
	CreateBroker helps to broker creation.
Public Attributes
boost::weak_ptr< ALBrokerManager >	fBrokerManager
ALBrokerImpl *	_private

Detailed Description

ALBroker serves methods advertised by connected modules to clients participating in the network. All executables create at least one broker in main.cpp. A broker will wait for http request, remote C++ request from PC application...

Brokers can be connected to each other to form a tree where each broker has parent broker until the base of the tree. Typically there is one broker for each process and any number of attached modules, each with any number of advertised methods.

Brokers transparently handle directory services so that clients need not know if the module that provides a service is in the same process, on the same machine, or on the same tcp network.

Within the same process, direct method calls are used to provide optimal speed without having to change your method signatures.

Remote communication is currently handled by SOAP

In most practical usage, you will never need to explicitly create a broker. The main NAOqi process has one, and module that is compiled as 'remote' and that uses ALToolsMain, will create a broker for you if required.

Definition at line 77 of file albroker.h.

Member Typedef Documentation

AL::ALBroker::Ptr

Shared pointer to ALBroker.

Deprecated:: Use boost::shared_ptr<ALBroker> instead

Definition at line 85 of file albroker.h.

AL::ALBroker::WeakPtr

Weak pointer to ALBroker.

Deprecated:: Use boost::weak_ptr<ALBroker> instead

Definition at line 91 of file albroker.h.

Member Function Documentation

static boost::shared_ptr<ALBroker> AL::ALBroker::createBroker	(	const std::string &	pName,
		const std::string &	pIP,
		int	pPort,
		const std::string &	pParentIP,
		int	pParentPort,
		int	pKeepAlive = `0`,
		std::string	pPath = `""`,
		bool	pLoadLib = `true`
	)		`[static]`

CreateBroker helps to broker creation.

Parameters:

pName	broker name
pIP	broker IP
pPort	broker port
pParentIP	parent broker IP
pParentPort	parent broker port
pKeepAlive	true => broker will not be destroyed if parent broker is destroyed
pPath	deprecated, do not use, will have no effect
pLoadLib	boolean to know if the module is loaded

Returns:: pointer on broker

int AL::ALBroker::getBrokerList ( std::vector< ALModuleInfo > & pBrokerList )

Return the list of registered Brokers.

Parameters:

pBrokerList [out] list of Broker information

Returns:: 0 on success

QI_API_DEPRECATED boost::shared_ptr<DCMProxy> AL::ALBroker::getDcmProxy ( void )

deprecated

Get pointer to DCM. See specialized proxies in AL_DIR/modules/proxies

Returns:: Dcm Proxy

Deprecated:

int AL::ALBroker::getGlobalModuleList ( boost::shared_ptr< std::vector< ALModuleInfo > > pModuleList )

Return the registered module list in every broker (global).

Parameters:

pModuleList list of module information

Returns:: 0 on success

std::string AL::ALBroker::getIP ( ) const

Get the IP address of the broker.

Returns:: A string containing the broker IP.

QI_API_DEPRECATED boost::shared_ptr<ALLedsProxy> AL::ALBroker::getLedsProxy ( void )

deprecated

Get pointer to leds. See specialized proxies in AL_DIR/modules/proxies

Returns:: Leds Proxy

Deprecated:

QI_API_DEPRECATED boost::shared_ptr<ALLoggerProxy> AL::ALBroker::getLoggerProxy ( void )

deprecated

Get pointer to logger. See specialized proxies in AL_DIR/modules/proxies

Returns:: Logger Proxy

Deprecated:

QI_API_DEPRECATED boost::shared_ptr<ALMemoryProxy> AL::ALBroker::getMemoryProxy ( void )

deprecated

Get pointer to memory. See specialized proxies in AL_DIR/modules/proxies

Returns:: Memory Proxy

Deprecated:

boost::shared_ptr<ALModuleCore> AL::ALBroker::getModuleByName ( const std::string & pModuleName )

Another way to get module by name.

Parameters:

pModuleName name of the module

Returns:: A pointer to the module.

int AL::ALBroker::getModuleList ( boost::shared_ptr< std::vector< ALModuleInfo > > pModuleList )

Return the registered module list.

Parameters:

pModuleList list of module information

Returns:: 0 on success

QI_API_DEPRECATED boost::shared_ptr<ALMotionProxy> AL::ALBroker::getMotionProxy ( void )

deprecated

Get pointer to motion. See specialized proxies in AL_DIR/modules/proxies

Returns:: Motion Proxy

Deprecated:

std::string AL::ALBroker::getName ( ) const

Get the name of the broker.

Returns:: A string containing the module name.

int AL::ALBroker::getPort ( ) const

fBorkerPort getter.

Returns:: A integer contain broker port.

QI_API_DEPRECATED boost::shared_ptr<ALPreferencesProxy> AL::ALBroker::getPreferencesProxy ( void )

deprecated

Get pointer to preferences. See specialized proxies in AL_DIR/modules/proxies

Returns:: Preferences Proxy

Deprecated:

boost::shared_ptr<ALProxy> AL::ALBroker::getProxy	(	const std::string &	pProxyName,
		int	pProxyOption = `0`
	)

Get an existing proxy if it exists, create a proxy with option otherwise.

Parameters:

pProxyName	proxy's name
pProxyOption	option for new proxy

Returns:: ALProxy.

boost::shared_ptr<const ALBroker> AL::ALBroker::getThis ( ) const

Getter to this.

Returns:: A const pointer to this

boost::shared_ptr<ALBroker> AL::ALBroker::getThis ( )

Getter to this.

Returns:: A pointer to this

const std::string AL::ALBroker::httpGet ( const std::string & pPath )

Call for http get request on server.

Parameters:

pPath The path requested by the sender

Returns:: http address.

bool AL::ALBroker::isExiting ( ) const

Check if the application is existing.

Returns:: true if application is exiting, false otherwise.

bool AL::ALBroker::isModulePresent ( const std::string & pModuleName )

Call to know if a module is present.

Parameters:

pModuleName name of the module to search

Returns:: true if the module is local or if the module is present in a broker connected.

int AL::ALBroker::registerModule ( boost::shared_ptr< ALModuleCore > pModule )

Give to naoqi all the information a module will need to get constructed.

It should be called upon module declaration.

Parameters:

pModule

information about the module the struct al__moduleInfo is defined with these members:

[string] name
[string] IP address
[int] architecture (see ALTypes.h)
[int] port
[int] Process ID
[int] module pointer

Returns:: 0 on success

void AL::ALBroker::setBrokerManagerInstance ( boost::shared_ptr< ALBrokerManager > pBrokerManager )

Sets the brokerManager instance.

Parameters:

pBrokerManager A pointer to the broker manager.

int AL::ALBroker::shutdown ( )

shutdown, close all modules and send exit command to child broker.

Returns:: 0 on succes

int AL::ALBroker::unregisterModule ( const std::string & pModuleName )

Called when a module, belonging to this broker, quits.

References to the module (proxies, subscriptions to ALMemory, ...) will be deleted

Parameters:

pModuleName name of the module exiting

Returns:: 0 on success

Member Data Documentation

ALBrokerImpl* AL::ALBroker::_private

Private implementation of ALBroker.

Definition at line 315 of file albroker.h.

boost::weak_ptr<ALBrokerManager> AL::ALBroker::fBrokerManager

Pointer on ALBrokerManager.

Definition at line 312 of file albroker.h.

The documentation for this class was generated from the following file:

alcommon/albroker.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

Member Function Documentation

Member Data Documentation