uabstractclient.hh File Reference

Definition of the URBI interface class. More...

#include <libport/cstdio>
#include <libport/sys/types.h>
#include <libport/cstring>
#include <libport/cstdlib>
#include <cstdarg>
#include <list>
#include <iostream>
#include <string>
#include <libport/compiler.hh>
#include <libport/fwd.hh>
#include <libport/lockable.hh>
#include <libport/traits.hh>
#include <urbi/fwd.hh>
#include <urbi/export.hh>
#include <urbi/ubinary.hh>
#include <urbi/umessage.hh>
#include <urbi/uabstractclient.hxx>

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Classes
class	urbi::UCallbackInfo
class	urbi::LockableOstream
class	urbi::UAbstractClient
	Interface for an Urbi wrapper object. More...
class	urbi::UCallbackWrapper
	Wrapper around a callback function. Use callback() to create them. More...
class	urbi::UCallbackWrapperF
class	urbi::UCallbackWrapperCF
class	urbi::UCallbackWrapper0< C >
class	urbi::UCallbackWrapper1< C, P1 >
class	urbi::UCallbackWrapper2< C, P1, P2 >
class	urbi::UCallbackWrapper3< C, P1, P2, P3 >
class	urbi::UCallbackWrapper4< C, P1, P2, P3, P4 >
Namespaces
namespace	urbi
	Global definition of the starterlist.
Defines
#define	UINVALIDCALLBACKID   0
#define	URBI(A)   ::urbi::unarmorAndSend(#A)
	Conveniant macro for easy insertion of Urbi code in C.
Typedefs
typedef unsigned int	urbi::UCallbackID
typedef UCallbackAction(*	urbi::UCallback )(const UMessage &msg)
	Callback prototypes.
typedef UCallbackAction(*	urbi::UCustomCallback )(void *callbackData, const UMessage &msg)
Enumerations
enum	urbi::UCallbackAction { urbi::URBI_CONTINUE = 0, urbi::URBI_REMOVE }
	Return values for the callcack functions. More...
enum	{ urbi::URBI_MAX_TAG_LENGTH = 64 }
	Maximum length of an URBI tag. More...
Functions
void	urbi::execute (void)
	Must be called at the last line of your main() function.
void	urbi::exit (int code)
	Terminate your Urbi program.
UClient &	urbi::connect (const std::string &host)
	Create a new UClient object.
void	urbi::disconnect (UClient &client)
	Destroy an UClient object Be careful: don't use client after called this function.
UClient *	urbi::getDefaultClient ()
	Return the first UClient created by the program.
UClient &	urbi::get_default_client ()
	Same as getDefaultClient(), but as a reference.
void	urbi::setDefaultClient (UClient *cl)
	Redefine the default client.
std::string	urbi::getClientConnectionID (const UAbstractClient *cli)
std::ostream &	urbi::unarmorAndSend (const char *str, UAbstractClient *c=(UAbstractClient *) getDefaultClient())
	Send a possibly armored string to the default client.
std::ostream &	urbi::default_stream ()
	Return a stream for error, preferrably the one the defaultClient.
UCallbackWrapper &	urbi::callback (UCallback cb)
	Generate a callback wrapper used by UAbstractClient::setCallback().
UCallbackWrapper &	urbi::callback (UCustomCallback cb, void *data)
template<class C >
UCallbackWrapper &	urbi::callback (C &ref, UCallbackAction(C::*func)(const UMessage &))
template<class C , class P1 >
UCallbackWrapper &	urbi::callback (C &ref, UCallbackAction(C::*func)(P1, const UMessage &), P1 p1)
template<class C , class P1 , class P2 >
UCallbackWrapper &	urbi::callback (C &ref, UCallbackAction(C::*func)(P1, P2, const UMessage &), P1 p1, P2 p2)
template<class C , class P1 , class P2 , class P3 >
UCallbackWrapper &	urbi::callback (C &ref, UCallbackAction(C::*func)(P1, P2, P3, const UMessage &), P1 p1, P2 p2, P3 p3)
template<class C , class P1 , class P2 , class P3 , class P4 >
UCallbackWrapper &	urbi::callback (C &ref, UCallbackAction(C::*func)(P1, P2, P3, P4, const UMessage &), P1 p1, P2 p2, P3 p3, P4 p4)
Variables
static const char	urbi::semicolon = ';'
static const char	urbi::pipe = '|'
static const char	urbi::parallel = '&'
static const char	urbi::comma = ','

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Detailed Description

Definition of the URBI interface class.

Definition in file uabstractclient.hh.

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Define Documentation

#define UINVALIDCALLBACKID   0

Definition at line 66 of file uabstractclient.hh.

Referenced by urbi::UAbstractClient::sendCommand().

#define URBI

(

A

)

::urbi::unarmorAndSend(#A)

Conveniant macro for easy insertion of Urbi code in C.

With this macro, the following code is enough to send a simple command to a robot using URBI:

int main() { urbi::connect("robot"); URBI(headPan.val'n = 0 time:1000 | headTilt.val'n = 0 time:1000, speaker.play("test.wav"), echo "test"; ); }

The following construct is also valid: URBI(()) << "headPan.val="<<12<<";";

Definition at line 793 of file uabstractclient.hh.