监控

int ALProxy::pCall("method",...);	pCall返回一个方法ID
int ALProxy::post.method(...)	同pCall
ALModule::wait(ID, timeout)	等待，直至方法ID停止超时
ALModule::stop(const std::string& pModuleName, int ID);	如果您想在方法停止时有一个特定的行为，就需要在用户模块中予以运用。
ALModule::isRunning(int ID);	如果方法ID在运行，为“True”
ALModule::isRunning(functionName);	函数名在运行时为“True”（如果若干函数共享一个名称时会很危险）
int getMethodID(void)	使一个方法知道自己的ID
bool ALTaskMonitor::isRequireStop(int ID)	如果有人要求方法ID停止时为“True”

            	    
		// C++ sample
		// walk and play mp3 in the same time. Stop mp3 when walk stop

		#include "almotionproxy.h"

		int IDWalk = motionProxy.post.walk(1); // walk
		int IDMP3 = audioout.playFile("longMusicForWalk.mp3"); // play music

		motionProxy.wait(ID); // wait end of walk
		audioout.stop(IDMP3); // stop music after walk


		//C++ sample
		//bound method that want to know if someone wants to stop it

		void myModule::myMethod(void) // the method must be bound
		{
		myID = getMethodID();
		while (!isRequireStop(myID))
		{
		...
		}
		}


		// if someone call mymodule.stop(myID), isRequireStop() will return true.


		#python sample

		import os
		import sys
		import time

		path = `os.environ.get("AL_DIR")`
		home = `os.environ.get("HOME")`

		# import NAOqi lib
		if path == "None":
		print "the environment variable AL_DIR is not set, aborting..."
		sys.exit(1)
		else:
		alPath = path + "/extern/python/aldebaran"
		alPath = alPath.replace("~", home)
		alPath = alPath.replace("'", "")
		sys.path.append(alPath)
		import naoqi
		from naoqi import ALBroker
		from naoqi import ALModule
		from naoqi import ALProxy

		try:
		broker = ALBroker("pythonBroker","127.0.0.1",9999,"127.0.0.1",9559)
		time.sleep(2)
  
		IDWalk = ALMotion.post.walk(1)
		IDMP3 = audioout.post.playFile("longMusicForWalk.mp3");
		ALMotion.wait(IDWalk,0)  # 0 mean no timeout
		audioout.stop(IDMP3)
		except RuntimeError,e:
		exit(1)

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