NAOqi Core - Overview | API
ALModule can be used as a base class for user modules to help serve and advertise their methods.
Each module advertises the methods that it wishes to make available to clients participating in the network to a broker within the same process.
The broker then transparently handles directory services so that clients need not know if the module that provides a service is in the same process, on the same machine, or on the same tcp network.
Within the same process, direct method calls are used to provide optimal speed without having to change your method signatures.
Clients exist in a growing number of languages including c++, Python, .Net, Java and Matlab.
To create a new module, see in the programming guide C++ SDK or Python SDK introductions, and more specifically: