# SoftBank Robotics documentation What's new in NAOqi 2.8?

# NAOqi API & SDKs 2.4.1

## Interaction engines - new services

### New service: ALAutonomousBlinking

ALAutonomousBlinking enables the robot to make its eye LEDs blink when it sees someone and when it is interacting.

For further details, see: ALAutonomousBlinking.

### New service: ALBackgroundMovement

ALBackgroundMovement triggers some slight movements that the robot does autonomously. If the robot makes some other motion (i.e. there is a call to a method of ALMotion), the background movements are stopped until the motion is done.

For further details, see: ALBackgroundMovement.

### New service: ALListeningMovement

ALListeningMovement enables some slight movements showing that the robot is listening.

For further details, see: ALListeningMovement.

### New service: ALSpeakingMovement

ALSpeakingMovement enables to start autonomously movements during the speech of the robot.

For further details, see: ALSpeakingMovement.

## ALBasicAwareness - improvements

### Pausing and resuming ALBasicAwareness

ALBasicAwareness can be paused, which means it will stop making the robot move until it is resumed.

For further details, see: Pausing and Resuming.

### ALBasicAwareness: new methods

- `ALBasicAwarenessProxy::pauseAwareness`
- `ALBasicAwarenessProxy::resumeAwareness`
- `ALBasicAwarenessProxy::isAwarenessPaused`
- `ALBasicAwarenessProxy::setEnabled`
- `ALBasicAwarenessProxy::isEnabled`
- `ALBasicAwarenessProxy::isRunning`

### ALBasicAwareness: deprecated methods

Deprecated Methods | Instead, use ...
--- | ---
`ALBasicAwarenessProxy::startAwareness` | `ALBasicAwarenessProxy::setEnabled`
`ALBasicAwarenessProxy::stopAwareness` | `ALBasicAwarenessProxy::setEnabled`
`ALBasicAwarenessProxy::isAwarenessRunning` | `ALBasicAwarenessProxy::isRunning`

## Interaction engines - deprecated module

### Deprecated module: ALAutonomousMoves

Deprecated modules
ALAutonomousMoves | Use the ALBackgroundMovement and ALListeningMovement instead.

## ALAutonomousLife - improvements

### ALAutonomousLife: new methods

Methods for Autonomous Ability management:

- `ALAutonomousLifeProxy::setAutonomousAbilityEnabled`
- `ALAutonomousLifeProxy::getAutonomousAbilityEnabled`
- `ALAutonomousLifeProxy::getAutonomousAbilitiesStatus`

### rand: new Trigger Condition operator

A new random operator returns a random value according to parameters.

For further details, see: Conditions expression language.

## Audio

### ALAnimatedSpeech: deprecated methods

Deprecated Methods | Instead, use ...
--- | ---
`ALAnimatedSpeechProxy::setBodyLanguageMode` | `ALSpeakingMovementProxy::setMode` and `ALSpeakingMovementProxy::setEnabled`
`ALAnimatedSpeechProxy::setBodyLanguageModeFromStr` | `ALSpeakingMovementProxy::setMode` and `ALSpeakingMovementProxy::setEnabled`
`ALAnimatedSpeechProxy::getBodyLanguageMode` | `ALSpeakingMovementProxy::getMode` and `ALSpeakingMovementProxy::isEnabled`
`ALAnimatedSpeechProxy::getBodyLanguageModeToStr` | `ALSpeakingMovementProxy::getMode` and `ALSpeakingMovementProxy::isEnabled`
`ALAnimatedSpeechProxy::addTagsToWords` | `ALSpeakingMovementProxy::addTagsToWords`

## Motion

### ALMotion move methods improved

Pepper: Leg animations are now supported during move.

The former limitations during a Move command, are now removed. It is now possible to generate animation on the leg joints, using directly: HipPitch, KneePitch and even HipRoll joint.

### ALTracker: new methods

- `ALTrackerProxy::getMaximumAcceleration`
- `ALTrackerProxy::getMaximumVelocity`
- `ALTrackerProxy::setMaximumAcceleration`
- `ALTrackerProxy::setMaximumVelocity`

### Obstacle avoidance for ALRecharge

ALRecharge now uses `ALNavigationProxy::navigateTo` when going to the Charging station from far distance, so he is able to avoid obstacles.

### ALRecharge: new events

- `ALRecharge/CloseToChargingStation()`
- `ALRecharge/MoveFailed()`
- `ALRechargeProxy::adjustDockingPosition`
- `ALRechargeProxy::getUseTrackerSearcher`
- `ALRechargeProxy::setUseTrackerSearcher`
- `ALRechargeProxy::setMaxNumberOfTries`
- `ALRechargeProxy::getMaxNumberOfTries`

## Core

### ALDiagnosis: new method and event

To summarize active and passive diagnostic results:

- `ALDiagnosisProxy::getDiagnosisStatus`
- `ALDiagnosis/DiagnosisErrorChanged()`

### ALStore: deprecated module

ALStore has been deprecated. Do not use it.

## Sensors & LEDs

### ALTouch: new event

- `BackBumperPressed()`

### ALInfrared: deprecated module

ALInfrared has been deprecated and removed, use WiFi instead.

## qi Framework

### New: qi::Clock, guaranteed system-wide, useful for time-stamping things

libqi exposes several clocks, each of which having a distinctive set of properties.

For further details, see: qi clocks and qi Framework - ChangeLog.

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