我最近正在学习nao机器人的naoqi框架 . 以下是如何在其文档中访问自定义模块的示例 . （https://community.aldebaran-robotics.com/doc/1-14/dev/cpp/examples/core/helloworld/example.html#cpp-examples-helloworld）

#include <iostream>
#include <alerror/alerror.h>
#include <alcommon/alproxy.h>

int main(int argc, char* argv[]) {
  if(argc != 2)
  {
    std::cerr << "Wrong number of arguments!" << std::endl;
    std::cerr << "Usage: testhelloworld NAO_IP" << std::endl;
    exit(2);
  }

  const std::string robotIP = argv[1];
  int port = 9559;

  try {
    boost::shared_ptr<AL::ALProxy> testProxy
    = boost::shared_ptr<AL::ALProxy>(new AL::ALProxy("HelloWorld", robotIP, port));

    /** Call the sayHello method from the module using its bound name.
    * Since it returns nothing, use the callVoid method.
    */
    testProxy->callVoid("sayHello");

    testProxy->callVoid("sayText", std::string("This is a test."));

    int sentenceLength = testProxy->call<int>("sayTextAndReturnLength",
                         std::string("This is another test"));
    std::cout << "Sentence length is " << sentenceLength << std::endl;
  }
  catch (const AL::ALError& e) {
    std::cerr << e.what() << std::endl;
  }
}

此代码使用“代理”来调用另一个模块中定义的某些函数 . 并且模块在不同的进程中加载 . 所以我认为它必须处理RPC问题 . 有谁知道底层机制（如CORBA或XML-RPC）？我正在尝试在我自己的项目中实现类似的机制 . 任何线索都没问题 . 提前致谢！

c++ rpc nao-robot