github.com/lugu/qiloop (go): Package qiloop is an implementation of the protocol QiMessaging used to interract with the NAO and Pepper robots.  QiMessaging is a software bus which exposes services. Services have methods (to be called), signals (to be watched) and properties (signals with state). A naming service (the service directory) is used to discover and register services. For a detailed description of the protocol, please visit https://github.com/lugu/qiloop/blob/master/doc/about-qimessaging.md  To connect to a service, a Session object is required: it represents the connection to the service directory. Several transport protocols are supported (currently TCP, TLS and UNIX socket).  With a session, one can request a proxy object representing a remote service. The proxy object contains the helper methods needed to make the remote calls and to handle the incomming signal notifications.  Services have methods, signals and properties which are described in an IDL (Interface Description Language) format. This IDL file is process by the `qiloop` command to generate the Go code which allow remote access to the service (i.e. the proxy object).  For example, here is an IDL file which describes a service which have two methods, one signal and one property:  Use 'qiloop proxy' commmand to generate the go code which gives access to the service:  The file proxy_gen.go contains a method called Services which gives access to the RoboticService service. The example bellow illustrate this.  In order to communicate with an existing service for which the IDL file is unknown, the `scan` command can be use to introspect a running instance of the service and generate its IDL description. The following produce the IDL file of LogManager service:  In order to implement a new service, create an IDL file and run the `stub` command to generate the helper method to register the service:  The file stub_gen.go defines the interface to implement as well as the helper methods to register the service.  When offering a service, a Server is be used to handle incomming connection and to dispatch the requests.  The actual implementation of a service is provided by a object (Actor interface) which responds to call requests and emits the signals.  This example llustrates how to make a method call to a remote object. It uses the specialized proxy of the text to speech service.
Keywords: golang|libqi|nao|naoqi|pepper|qimessaging