Manual

5
Developer’s guide - C++, Urbi, Flex, Java - V2.0
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2.3 Urbi
All the functionalities on Reeti have been developed on URBI, a middleware by GOSTAI.
(http://www.gostai.com/products/urbi) allowing to easily develop robotics codes.
When starting, Reeti runs an URBI server and loads Modules and URBI script functions containing
the functionalities of Reeti. Reeti gets his order from interfaces that act on the server. A local
interface (IHM Flex, console URBI) or a mobile one (iPad/iPhone) can send orders to Reeti via the
Urbi Server.
Lots of functionalities are natively available on Reeti and are introduced later in this document. An
exhaustive list of functions is available on the API :
 on reeti open /home/reeti/reetiDocuments/DevelopmentDoc/ReetiAPI/index.html.
2.4 URBI’s principles
URBI works as a code interpreter: you send the code to a central server and it will be interpreted. The
instructions can be sent through several channels:
- through Urbi’s debug console
- through a remote TCP/IP connection
- through libraries
URBI includes natively a number of built-in instructions, but it is possible to create your own
instructions to complete and enrich the interpreter code. For more information see directly the
UrbiSDK document available on Reeti.
2.5 Possible developments on Reeti
There are three axis of development in Reeti:
- New Interfaces: graphical software to use Reeti’s functionalities (Flex, iPad/ iPhone).
- New functions: giving Reeti new functionalities (Modules, URBIscript)
- New Standalone applications: integrate interactions with Reeti in your own application