/** Constructor.
* Initializes and starts the embedded Fawkes, and loads the nao plugin
* without precondition.
* @param broker NaoQi broker to use, will be forwarded to the nao plugin
* @param name name of the module (no idea why NaoQi wants to pass it
* as a parameter)
*/
NaoFawkesModule(AL::ALPtr<AL::ALBroker> broker, const std::string &name)
: AL::ALModule(broker, name), broker(broker)
{
setModuleDescription("Fawkes integration module");
AL::ALPtr<AL::ALLoggerProxy> logger = broker->getLoggerProxy();
try {
logger->info("NaoQiFawkes", "*** Initializing embedded Fawkes");
// The module flags hack is required because otherwise NaoQi segfaults
// due to problems with boost static initialization after a module
// has been closed once, unfortunately that prevents loading a
// new version of a plugin without a restart.
fawkes::runtime::InitOptions init_options =
fawkes::runtime::InitOptions("naofawkes")
.plugin_module_flags(fawkes::Module::MODULE_FLAGS_DEFAULT |
fawkes::Module::MODULE_NODELETE)
.net_service_name("NaoQi Fawkes on %h")
.loggers("console;syslog:NaoQiFawkes")
.load_plugins("naoqi,webview")
.default_plugin("nao_default");
if (fawkes::runtime::init(init_options) != 0) {
//throw AL::ALError(name, "ctor", "Initializing Fawkes failed");
logger->info("NaoQiFawkes", "--- Fawkes initialization failed");
play_sound(RESDIR"/sounds/naoshutdown.wav");
} else {
logger->info("NaoQiFawkes", "*** Starting embedded Fawkes");
fawkes::runtime::main_thread->full_start();
logger->info("NaoQiFawkes", "*** Embedded Fawkes initialization done");
play_sound(RESDIR"/sounds/naostartup.wav");
}
} catch (fawkes::Exception &e) {
std::string message;
for (fawkes::Exception::iterator i = e.begin(); i != e.end(); ++i) {
if (i != e.begin()) message += "\n";
message += *i;
}
logger->info("NaoQiFawkes",
"--- Fawkes initialization failed, exception follows.");
logger->info("NaoQiFawkes", message);
play_sound(RESDIR"/sounds/naoshutdown.wav");
//throw AL::ALError(name, "ctor", e.what());
}
}
int
_createModule(AL::ALPtr<AL::ALBroker> broker)
{
// init broker with the main broker inctance
// from the parent executable
AL::ALPtr<AL::ALLoggerProxy> logger = broker->getLoggerProxy();
logger->info("NaoQiFawkes", "*** Setting broker stuff");
AL::ALBrokerManager::setInstance(broker->fBrokerManager.lock());
AL::ALBrokerManager::getInstance()->addBroker(broker);
fawkes::naoqi::broker = broker;
// create modules instance
logger->info("NaoQiFawkes", "*** Instantiating Module");
AL::ALModule::createModule<NaoFawkesModule>(broker, "NaoFawkesModule");
return 0;
}