Overview

void set (const AL::ALValue& commands)

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

commands

AL::ALValue with all data

void setAlias (const AL::ALValue& commands)

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

commands

AL::ALValue with all data

int getTime (const int& offset)

Return the DCM time

offset

optional time in ms (signed) to add/remove

Returns

An integer (could be signed) with the DCM time

AL::ALValue createAlias (const AL::ALValue& alias)

Create or change an alias (list of actuators)

alias

Alias name and description

Returns

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

AL::ALValue getPrefix ()

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)

void special (const string& result)

Special DCM commands

result

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

void calibration (const AL::ALValue& calibrationInput)

Calibration of a joint

calibrationInput

Internal use only

int preferences (const string& action, const string& target, const string& keyName, const AL::ALValue& keyValue)

Save updated value from DCM in XML pref file

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

void exit ()

Exits and unregisters the module.

string version ()

Returns the version of the module.

Returns

A string containing the version of the module.

bool ping ()

Just a ping. Always returns true

Returns

returns true

vector<string> getMethodList ()

Retrieves the module's method list.

Returns

An array of method names.

AL::ALValue getMethodHelp (const string& methodName)

Retrieves a method's description.

methodName

The name of the method.

Returns

A structure containing the method's description.

AL::ALValue getModuleHelp ()

Retrieves the module's description.

Returns

A structure describing the module.

string getBrokerName ()

Gets the name of the parent broker.

Returns

The name of the parent broker.

string getUsage (const string& name)

Gets the method usage string. This summarise how to use the method.

name

The name of the method.

Returns

A string that summarises the usage of the method.