Specialized proxy
($AL_DIR/modules/proxies)
Using a specialized proxy is the easiest way to call an Aldebaran Robotics method.
- Include the .h header file corresponding to your module
- Create the specialized proxy object
- Call the method
Specialized proxy API:
| Method | Description |
|---|---|
| ALProxy(std::string Module) | Constructor to call in local/remote module |
| ALProxy(std::string Module, std::string IP, int port) | Constructor to call in remote module. Proxy will never make LPC. |
| methodName(parameters) | methodName is .h module method. Call method |
| post.methodName(parameters) | methodName is .h module method. Call method in a thread |
// C++ sample // we suppose user created a module with module generator #include "almemoryproxy.h" // instantiate a new proxy. Poor performance, create it in initialisation ALPtr<ALMemoryProxy> proxy = ALPtr<ALMemoryProxy> (new ALMemoryProxy(getParentBroker())); proxy->insertData("val1", 0); // instantiate a new proxy without smart pointer (same poor performance) ALMemoryProxy proxy2(getParentBroker()); prox2.insertData("val2", 1); // get existing proxy (best performance) getParentBroker()->getMemoryProxy()->insertData("val3", 2);