Monitoring

int ALProxy::pCall("method",...);	Pcall return a method ID
int ALProxy::post.method(...)	Identical to pCall
ALModule::wait(ID, timeout)	Wait until timeout for method ID stop.
ALModule::stop(const std::string& pModuleName, int ID);	To be implemented in user module if you want a specific behavior when the method is stopped.
ALModule::isRunning(int ID);	True if method ID is running
ALModule::isRunning(functionName);	True if function name is running (dangerous if several functions share the same name)
int getMethodID(void)	Allow a method to know its ID.
bool ALTaskMonitor::isRequireStop(int ID)	True if someone asks the method ID to stop


// 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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