C++ naoqi框架如何处理RPC？

最近我正在学习nao机器人的naoqi框架。下面是如何在文档中访问自定义模块的示例。 （）

#包括
#包括
#包括
int main（int argc，char*argv[]）{
如果（argc！=2）
{
我建议你注册并直接在论坛上提问，在那里你会找到Naoqi开发者。Naoqi基于SOAP。。。
#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;
  }
}