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About This Part

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 (Section 20).

  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 API.
  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 a middleware.