ALPreferenceManager

NAOqi Core - Overview | API

What it does

ALPreferenceManager allows managing the robot preferences.

What are the robot preferences

Robot preferences are used to store, among other, all the settings for the applications running on the robot.

Robot preferences are stored both locally in a database, and in the Aldebaran Cloud; ALPreferenceManager ensures the consistency between the different copies.

Note

Your robot must be associated to your Aldebaran Robotics user account in order for preferences to be synchronized and saved in the. See Aldebaran Robotics Web Services. Otherwise preferences will only be stored locally, and won’t be available from Cloud.

How it works

A preference is defined by its:

  • Domain: it can be the name of the application using the preference setting.
  • Name: it is the name of the setting.
  • Value. Only string value are currently supported.

For instance, if you are developing a chess application, you could have the following preferences:

  • Domain: “com.aldebaran.apps.chess”
  • Name: “/game/level/default”
  • Value: “medium”

On the robot the preferences are stored in an SQLite database under path `` /home/nao/.local/share/PreferenceManager/prefs.db``. You are advised not to modify this file directly since it must be consistent with the copy of the preferences stored in the Cloud.

Example of use

import sys
import time
from naoqi *

NAO_IP = "nao.local"

Dummy = None
memory = None

# Create a dummy module, just to subscribe to events emitted by PreferenceManager
class DummyModule(ALModule):
    """ Dummy module """
    def __init__(self, name):
        ALModule.__init__(self, name)
        global memory
        memory = ALProxy("ALMemory")
        memory.subscribeToMicroEvent("preferenceAdded", "Dummy", "", "onPreferenceAdded")
        memory.subscribeToMicroEvent("preferenceChanged", "Dummy", "", "onPreferenceChanged")
        memory.subscribeToMicroEvent("preferenceRemoved", "Dummy", "", "onPreferenceRemoved")
        memory.subscribeToMicroEvent("preferenceDomainRemoved", "Dummy", "", "onPreferenceDomainRemoved")
    def onPreferenceAdded(self, event, value, message):
        print "Preference added: " + str(value)
    def onPreferenceChanged(self, event, value, message):
        print "Preference changed: " + str(value)
    def onPreferenceRemoved(self, event, value, message):
        print "Preference removed: " + str(value)
    def onPreferenceDomainRemoved(self, event, value, message):
        print "Preference domain removed: " + str(value)

def main():
    myBroker = ALBroker("myBroker", "0.0.0.0", 0, NAO_IP, 9559)

    global Dummy
    Dummy = DummyModule("Dummy")

    # Play with preference manager
    pm = ALProxy("ALPreferenceManager")
    pm.setValue("com.apps.chess", "level", "hard")
    pm.setValue("com.apps.chess", "treedepth", "10")
    pm.setValue("foo.bar", "foo", "bar")
    pm.setValue("com.apps.chess", "level", "easy")
    print "com.apps.chess - level: " + pm.getValue("com.apps.chess", "level")
    pm.removeValue("foo.bar", "foo")
    pm.removeDomainValues("com.apps.chess")
    print "com.apps.chess - level: " + str(pm.getValue("com.apps.chess", "level"))

    time.sleep(1)
    myBroker.shutdown()
    sys.exit(0)

if __name__ == "__main__":
    main()
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