This part covers the Urbi architecture: its core components
(client/server architecture), how its middleware works, how to include extensions as UObjects (C++
components) and so forth.
No knowledge of the urbiscript language is needed. As a matter of fact, Urbi can be used as a
standalone middleware architecture to orchestrate the execution of existing components.
Yet urbiscript is a feature that “comes for free”: it is easy using it to experiment, prototype, and
even program fully-featured applications that orchestrate native components. The interested
reader should read either the urbiscript user manual (Listing I), or the reference manual
Listing 24 — Quick Start
This chapter, self-contained, shows the potential of Urbi used as a middleware.
Section 25 — The UObject API
This section shows the various steps of writing an Urbi C++ component using the UObject
Listing 26 — The UObject Java API
UObjects can also be written in Java. This section demonstrates it all.
Section 27 — Use Cases
Interfacing a servomotor device as an example of how to use the UObject architecture as