Classes
class	deactivate_comps

class	ec_copy

class	ec_find

class	nv_name

class	svc_name

Public Member Functions
def	__init__ (self, manager=None, orb=None, poa=None)

def	__del__ (self)

def	onInitialize (self)

def	onFinalize (self)

def	onStartup (self, ec_id)

def	onShutdown (self, ec_id)

def	onActivated (self, ec_id)

def	onDeactivated (self, ec_id)

def	onExecute (self, ec_id)

def	onAborting (self, ec_id)

def	onError (self, ec_id)

def	onReset (self, ec_id)

def	onStateUpdate (self, ec_id)

def	onRateChanged (self, ec_id)

def	onAction (self, ec_id)

def	initialize (self)

def	finalize (self)

def	exit (self)

def	is_alive (self, exec_context)

def	get_context (self, ec_id)

def	get_owned_contexts (self)

def	get_participating_contexts (self)

def	get_context_handle (self, cxt)

def	get_component_profile (self)

def	get_ports (self)

def	attach_context (self, exec_context)

def	detach_context (self, ec_id)

def	on_initialize (self)

def	on_finalize (self)

def	on_startup (self, ec_id)

def	on_shutdown (self, ec_id)

def	on_activated (self, ec_id)

def	on_deactivated (self, ec_id)

def	on_aborting (self, ec_id)

def	on_error (self, ec_id)

def	on_reset (self, ec_id)

def	get_owned_organizations (self)

def	get_sdo_id (self)

def	get_sdo_type (self)

def	get_device_profile (self)

def	get_service_profiles (self)

def	get_service_profile (self, _id)

def	get_sdo_service (self, _id)

def	get_configuration (self)

def	get_monitoring (self)

def	get_organizations (self)

def	get_status_list (self)

def	get_status (self, name)

def	getInstanceName (self)
	const char* getInstanceName()

def	setInstanceName (self, instance_name)
	void setInstanceName(const char* instance_name);

def	getTypeName (self)
	const char* getTypeName()

def	getDescription (self)
	const char* getDescription()

def	getVersion (self)
	const char* getVersion()

def	getVendor (self)
	const char* getVendor()

def	getCategory (self)
	const char* getCategory()

def	getNamingNames (self)
	std::vector<std::string> getNamingNames();

def	setObjRef (self, rtobj)
	void setObjRef(const RTObject_ptr rtobj);

def	getObjRef (self)
	RTObject_ptr getObjRef() const;

def	setProperties (self, prop)

def	getProperties (self)

def	bindParameter (self, param_name, var, def_val, trans=None)
	template <typename VarType> bool bindParameter(const char* param_name, VarType& var, const char* def_val, bool (trans)(VarType&, const char) = coil::stringTo)

def	getConfigService (self)

def	updateParameters (self, config_set)
	void updateParameters(const char* config_set);

def	registerPort (self, port)

def	registerInPort (self, name, inport)

def	registerOutPort (self, name, outport)
	void registerOutPort(const char* name, OutPortBase& outport);

def	removeInPort (self, port)

def	removeOutPort (self, port)

def	deletePort (self, port)

def	deletePortByName (self, port_name)

def	getExecutionContext (self, ec_id)

def	getExecutionRate (self, ec_id)

def	setExecutionRate (self, ec_id, rate)

def	isOwnExecutionContext (self, ec_id)

def	deactivate (self, ec_id)

def	activate (self, ec_id)

def	reset (self, ec_id)

def	addSdoServiceProvider (self, prof, provider)

def	removeSdoServiceProvider (self, id)

def	addSdoServiceConsumer (self, prof)

def	removeSdoServiceConsumer (self, id)

def	readAll (self)

def	writeAll (self)

def	setReadAll (self, read=True, completion=False)

def	setWriteAll (self, write=True, completion=False)

def	finalizePorts (self)

def	addPreComponentActionListener (self, listener_type, memfunc)

def	removePreComponentActionListener (self, listener_type, listener)

def	addPostComponentActionListener (self, listener_type, memfunc)

def	removePostComponentActionListener (self, listener_type, listener)

def	addPortActionListener (self, listener_type, memfunc)

def	removePortActionListener (self, listener_type, listener)

def	addExecutionContextActionListener (self, listener_type, memfunc)

def	removeExecutionContextActionListener (self, listener_type, listener)

def	addPortConnectListener (self, listener_type, memfunc)

def	removePortConnectListener (self, listener_type, listener)

def	addPortConnectRetListener (self, listener_type, memfunc)

def	removePortConnectRetListener (self, listener_type, listener)

def	addConfigurationParamListener (self, type, memfunc)

def	removeConfigurationParamListener (self, type, listener)

def	addConfigurationSetListener (self, listener_type, memfunc)

def	removeConfigurationSetListener (self, type, listener)

def	addConfigurationSetNameListener (self, type, memfunc)

def	removeConfigurationSetNameListener (self, type, listener)

def	addPreFsmActionListener (self, listener_type, memfunc)

def	removePreFsmActionListener (self, listener_type, listener)

def	addPostFsmActionListener (self, listener_type, memfunc)

def	removePostFsmActionListener (self, listener_type, listener)

def	addFsmProfileListener (self, listener_type, memfunc)

def	removeFsmProfileListener (self, listener_type, listener)

def	addFsmStructureListener (self, listener_type, memfunc)

def	removeFsmStructureListener (self, listener_type, listener)

def	shutdown (self)

def	getPrivateContextOptions (self, ec_args)
	getting individual EC options from RTC's configuration file More...

def	getGlobalContextOptions (self, global_ec_props)
	getting global EC options from rtc.conf More...

def	getContextOptions (self, ec_args)
	getting EC options More...

def	findExistingEC (self, ec_arg)
	fiding existing EC from the factory More...

def	createContexts (self, ec_args)
	creating, initializing and binding context More...

Detailed Description

Constructor & Destructor Documentation

◆ init()

def OpenRTM_aist.RTObjectBase.RTObjectBase.__init__	(	self,
		manager = `None`,
		orb = `None`,
		poa = `None`
	)

Consructor

Parameters

orb	ORB
poa	POA

◆ del()

def OpenRTM_aist.RTObjectBase.RTObjectBase.__del__ ( self )

destructor

Member Function Documentation

◆ activate()

def OpenRTM_aist.RTObjectBase.RTObjectBase.activate	(	self,
		ec_id
	)

[local interface] Make transition to Active state

This function makes transition from Inactive to Active state. This function is assumed to be called from the following functions.

The argument of this function should be the first argument (UniqueId ec_id) of the above function.

Parameters

ec_id The above functions' first argument "exec_handle."

Returns: Return code

ReturnCode_t activate(RTC::UniqueId ec_id);

◆ addConfigurationParamListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.addConfigurationParamListener	(	self,
		type,
		memfunc
	)

Adding ConfigurationParamListener

This function adds a listener object which is called when update(const char* config_set, const char* config_param) is called. In the type argument, currently only ON_UPDATE_CONFIG_PARAM is allowed.

Parameters

type	ConfigurationParamListenerType value ON_UPDATE_CONFIG_PARAM is only allowed.
memfunc	member function object

template <class Listener> ConfigurationParamListener* addConfigurationParamListener(ConfigurationParamListenerType listener_type, void (Listener::memfunc)(const char, const char*))

◆ addConfigurationSetListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.addConfigurationSetListener	(	self,
		listener_type,
		memfunc
	)

Adding ConfigurationSetListener

This function add a listener object which is called when ConfigurationSet is updated. Available events are the followings.

Parameters

type	ConfigurationSetListenerType value
memfunc	member function object

template <class Listener> ConfigurationSetListener* addConfigurationSetListener(ConfigurationSetListenerType listener_type, void (Listener::*memfunc) (const coil::Properties& config_set))

◆ addConfigurationSetNameListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.addConfigurationSetNameListener	(	self,
		type,
		memfunc
	)

Adding ConfigurationSetNameListener

This function add a listener object which is called when ConfigurationSetName is updated. Available events are the followings.

ON_UPDATE_CONFIG_SET: A ConfigurationSet has been updated.
ON_REMOVE_CONFIG_SET: A ConfigurationSet has been deleted.
ON_ACTIVATE_CONFIG_SET: A ConfigurationSet has been activated.

Parameters

type	ConfigurationSetNameListenerType value
memfunc	member function object

template <class Listener> ConfigurationSetNameListener* addConfigurationSetNameListener(ConfigurationSetNameListenerType type, void (Listener::memfunc)(const char))

◆ addExecutionContextActionListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.addExecutionContextActionListener	(	self,
		listener_type,
		memfunc
	)

Adding ExecutionContextAction type listener

This operation adds certain listeners related to ComponentActions post events. The following listener types are available.

ADD_PORT: At adding ExecutionContext
REMOVE_PORT: At removing ExecutionContext

Listeners should have the following function operator().

ExecutionContextActionListener::operator()(UniqueId ec_id)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removeExecutionContextActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
memfunc	member function object

template <class Listener> ECActionListener* addExecutionContextActionListener(ECActionListenerType listener_type, void (Listener::*memfunc)(UniqueId));

◆ addFsmProfileListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.addFsmProfileListener	(	self,
		listener_type,
		memfunc
	)

Adding FsmProfile type listener

This operation adds certain listeners that is called when setting/getting FsmProfile and stae/transition/event add/remove to/from the FSM itself.

The following listener types are available.

SET_FSM_PROFILE : Setting FSM Profile
GET_FSM_PROFILE : Getting FSM Profile
ADD_FSM_STATE : A State added to the FSM
REMOVE_FSM_STATE : A State removed from FSM
ADD_FSM_TRANSITION : A transition added to the FSM
REMOVE_FSM_TRANSITION : A transition removed from FSM
BIND_FSM_EVENT : An event bounded to the FSM
UNBIND_FSM_EVENT : An event unbounded to the FSM

Listeners should have the following function operator().

FsmProfileListener::operator()(RTC::PortProfile pprof)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removeFsmProfileListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ addFsmStructureListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.addFsmStructureListener	(	self,
		listener_type,
		memfunc
	)

Adding FsmStructure type listener

This operation adds certain listeners related to FSM structure data which are handled by ExtendedFsmService.

The following listener types are available.

SET_FSM_STRUCTURE: Setting FSM structure
GET_FSM_STRUCTURE: Getting FSM structure

Listeners should have the following function operator().

FsmStructureListener::operator()(RTC::FsmStructure structure)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removeFsmStructureListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ addPortActionListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.addPortActionListener	(	self,
		listener_type,
		memfunc
	)

Adding PortAction type listener

This operation adds certain listeners related to ComponentActions post events. The following listener types are available.

ADD_PORT: At adding Port
REMOVE_PORT: At removing Port

Listeners should have the following function operator().

PortActionListener::operator()(RTC::PortProfile pprof)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePortActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
memfunc	member function object

template <class Listener> PortActionListener* addPortActionListener(PortActionListenerType listener_type, void (Listener::*memfunc)(const RTC::PortProfile&))

◆ addPortConnectListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.addPortConnectListener	(	self,
		listener_type,
		memfunc
	)

Adding PortConnect type listener

This operation adds certain listeners related to Port's connect actions. The following listener types are available.

ON_NOTIFY_CONNECT: right after entering into notify_connect()
ON_NOTIFY_DISCONNECT: right after entering into notify_disconnect()
ON_UNSUBSCRIBE_INTERFACES: unsubscribing IF in notify_disconnect()

Listeners should have the following function operator().

PortConnectListener::operator()(const char*, ConnectorProfile)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePortConnectListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
memfunc	member function object

template <class Listener> PortConnectListener* addPortConnectListener(PortConnectListenerType listener_type, void (Listener::memfunc)(const char, ConnectorProfile&))

◆ addPortConnectRetListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.addPortConnectRetListener	(	self,
		listener_type,
		memfunc
	)

Adding PortConnectRet type listener

This operation adds certain listeners related to Port's connect actions. The following listener types are available.

ON_CONNECT_NEXTPORT: after cascade-call in notify_connect()
ON_SUBSCRIBE_INTERFACES: after IF subscribing in notify_connect()
ON_CONNECTED: completed nofity_connect() connection process
ON_DISCONNECT_NEXT: after cascade-call in notify_disconnect()
ON_DISCONNECTED: completed notify_disconnect() disconnection process

Listeners should have the following function operator().

PortConnectRetListener::operator()(const char*, ConnectorProfile)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePortConnectRetListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
memfunc	member function object

template <class Listener> PortConnectRetListener* addPortConnectRetListener(PortConnectRetListenerType listener_type, void (Listener::memfunc)(const char, ConnectorProfile&, ReturnCode_t))

◆ addPostComponentActionListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.addPostComponentActionListener	(	self,
		listener_type,
		memfunc
	)

Adding PostComponentAction type listener

This operation adds certain listeners related to ComponentActions post events. The following listener types are available.

POST_ON_INITIALIZE: after onInitialize
POST_ON_FINALIZE: after onFinalize
POST_ON_STARTUP: after onStartup
POST_ON_SHUTDOWN: after onShutdown
POST_ON_ACTIVATED: after onActivated
POST_ON_DEACTIVATED: after onDeactivated
POST_ON_ABORTING: after onAborted
POST_ON_ERROR: after onError
POST_ON_RESET: after onReset
POST_ON_EXECUTE: after onExecute
POST_ON_STATE_UPDATE: after onStateUpdate

Listeners should have the following function operator().

PostComponentActionListener::operator()(UniqueId ec_id, ReturnCode_t ret)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePostComponentActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
memfunc	member function object

template <class Listener> PostComponentActionListener* addPostComponentActionListener(PostCompActionListenerType listener_type, void (Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))

◆ addPostFsmActionListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.addPostFsmActionListener	(	self,
		listener_type,
		memfunc
	)

Adding PostFsmAction type listener

This operation adds certain listeners related to FsmActions post events. The following listener types are available.

POST_ON_INITIALIZE: after onInitialize
POST_ON_FINALIZE: after onFinalize
POST_ON_STARTUP: after onStartup
POST_ON_SHUTDOWN: after onShutdown
POST_ON_ACTIVATED: after onActivated
POST_ON_DEACTIVATED: after onDeactivated
POST_ON_ABORTED: after onAborted
POST_ON_ERROR: after onError
POST_ON_RESET: after onReset
POST_ON_EXECUTE: after onExecute
POST_ON_STATE_UPDATE: after onStateUpdate

Listeners should have the following function operator().

PostFsmActionListener::operator()(const char* state, ReturnCode_t ret)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePostFsmActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ addPreComponentActionListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.addPreComponentActionListener	(	self,
		listener_type,
		memfunc
	)

Adding PreComponentAction type listener

This operation adds certain listeners related to ComponentActions pre events. The following listener types are available.

PRE_ON_INITIALIZE: before onInitialize
PRE_ON_FINALIZE: before onFinalize
PRE_ON_STARTUP: before onStartup
PRE_ON_SHUTDOWN: before onShutdown
PRE_ON_ACTIVATED: before onActivated
PRE_ON_DEACTIVATED: before onDeactivated
PRE_ON_ABORTING: before onAborted
PRE_ON_ERROR: before onError
PRE_ON_RESET: before onReset
PRE_ON_EXECUTE: before onExecute
PRE_ON_STATE_UPDATE: before onStateUpdate

Listeners should have the following function operator().

PreComponentActionListener::operator()(UniqueId ec_id)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePreComponentActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
memfunc	member function object

template <class Listener> PreComponentActionListener* addPreComponentActionListener(PreCompActionListenerType listener_type, void (Listener::*memfunc)(UniqueId ec_id))

◆ addPreFsmActionListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.addPreFsmActionListener	(	self,
		listener_type,
		memfunc
	)

Adding PreFsmAction type listener

This operation adds certain listeners related to FsmActions pre events. The following listener types are available.

PRE_ON_INITIALIZE: before onInitialize
PRE_ON_FINALIZE: before onFinalize
PRE_ON_STARTUP: before onStartup
PRE_ON_SHUTDOWN: before onShutdown
PRE_ON_ACTIVATED: before onActivated
PRE_ON_DEACTIVATED: before onDeactivated
PRE_ON_ABORTED: before onAborted
PRE_ON_ERROR: before onError
PRE_ON_RESET: before onReset
PRE_ON_EXECUTE: before onExecute
PRE_ON_STATE_UPDATE: before onStateUpdate

Listeners should have the following function operator().

PreFsmActionListener::operator()(UniqueId ec_id)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePreFsmActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ addSdoServiceConsumer()

def OpenRTM_aist.RTObjectBase.RTObjectBase.addSdoServiceConsumer	(	self,
		prof
	)

[local interface] Set a SDO service consumer

bool addSdoServiceConsumer(const SDOPackage::ServiceProfile& prof);

◆ addSdoServiceProvider()

def OpenRTM_aist.RTObjectBase.RTObjectBase.addSdoServiceProvider	(	self,
		prof,
		provider
	)

[local interface] Set a SDO service provider

bool addSdoServiceProvider(const SDOPackage::ServiceProfile& prof, SdoServiceProviderBase* provider);

◆ attach_context()

def OpenRTM_aist.RTObjectBase.RTObjectBase.attach_context	(	self,
		exec_context
	)

[CORBA interface] Attach ExecutionContext.

Inform this RTC that it is participating in the given execution context. Return a handle that represents the association of this RTC with the context. This operation is intended to be invoked by ExecutionContextOperations::add_component. It is not intended for use by other clients.

Parameters

exec_context Prticipating ExecutionContext

Returns: ExecutionContext Handle

UniqueId attach_context(ExecutionContext_ptr exec_context)

◆ createContexts()

def OpenRTM_aist.RTObjectBase.RTObjectBase.createContexts	(	self,
		ec_args
	)

creating, initializing and binding context

ReturnCode_t createContexts(std::vector<coil::Properties>& ec_args);

◆ deactivate()

def OpenRTM_aist.RTObjectBase.RTObjectBase.deactivate	(	self,
		ec_id
	)

[local interface] Make transition to Inactive state

This function makes transition from Active to Inactive state. This function is assumed to be called from the following functions.

The argument of this function should be the first argument (UniqueId ec_id) of the above function.

Parameters

ec_id The above functions' first argument "exec_handle."

Returns: Return code

ReturnCode_t deactivate(RTC::UniqueId ec_id);

◆ deletePort()

def OpenRTM_aist.RTObjectBase.RTObjectBase.deletePort	(	self,
		port
	)

[local interface] Unregister Port

This operation unregisters a Port to be held by this RTC.

Parameters

port	Port which is unregistered in the RTC

void RTObject_impl::deletePort(PortBase& port)

◆ detach_context()

def OpenRTM_aist.RTObjectBase.RTObjectBase.detach_context	(	self,
		ec_id
	)

[CORBA interface] Attach ExecutionContext.

Inform this RTC that it is no longer participating in the given execution context. This operation is intended to be invoked by ExecutionContextOperations::remove_component. It is not intended for use by other clients. Constraints

This operation may not be invoked if this RTC is not already participating in the execution context. Such a call shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
This operation may not be invoked if this RTC is Active in the indicated execution context. Otherwise, it shall fail with ReturnCode_t::PRECONDITION_NOT_MET.

Parameters

ec_id Dettaching ExecutionContext Handle

Returns

ReturnCode_t detach_context(UniqueId exec_handle)

◆ exit()

def OpenRTM_aist.RTObjectBase.RTObjectBase.exit ( self )

Stop the RTC's execution context(s) and finalize it along with its contents.

Any execution contexts for which the RTC is the owner shall be stopped. If the RTC participates in any execution contexts belonging to another RTC that contains it, directly or indirectly (i.e. the containing RTC is the owner of the ExecutionContext), it shall be deactivated in those contexts. After the RTC is no longer Active in any Running execution context, it and any RTCs contained transitively within it shall be finalized.

Constraints

An RTC cannot be exited if it has not yet been initialized. Any attempt to exit an RTC that is in the Created state shall fail with ReturnCode_t::PRECONDITION_NOT_MET.

Returns

◆ finalize()

def OpenRTM_aist.RTObjectBase.RTObjectBase.finalize ( self )

Finalize the RTC for preparing it for destruction

This invocation of this operation shall result in the invocation of the callback ComponentAction::on_finalize.

Constraints

An RTC may not be finalized while it is participating in any execution context. It must first be removed with ExecutionContextOperations::remove_component. Otherwise, this operation shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
An RTC may not be finalized while it is in the Created state. Any attempt to invoke this operation while in that state shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
Application developers are not expected to call this operation directly; it exists for use by the RTC infrastructure.

Returns

◆ finalizePorts()

def OpenRTM_aist.RTObjectBase.RTObjectBase.finalizePorts ( self )

Unregister the All Portse

This operation deactivates the all Port and deletes the all Port's registrations in the RTC..

◆ findExistingEC()

def OpenRTM_aist.RTObjectBase.RTObjectBase.findExistingEC	(	self,
		ec_arg
	)

fiding existing EC from the factory

ReturnCode_t findExistingEC(coil::Properties& ec_arg, RTC::ExecutionContextBase*& ec);

◆ get_component_profile()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_component_profile ( self )

[RTObject CORBA interface] Get RTC's profile

This operation returns the ComponentProfile of the RTC

Returns: ComponentProfile

virtual ComponentProfile* get_component_profile()

◆ get_configuration()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_configuration ( self )

[SDO interface] Getting Configuration object

This operation returns an object implementing the Configuration interface. The Configuration interface is one of the interfaces that each SDO maintains. The interface is used to configure the attributes defined in DeviceProfile, ServiceProfile, and Organization. See OMG SDO specification Section 2.3.5, "Configuration Interface," on page 2-24 for more details about the Configuration interface.

Returns: The Configuration interface of an SDO.

Exceptions

InterfaceNotImplemented	The target SDO has no Configuration interface.
SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error. virtual SDOPackage::Configuration_ptr get_configuration()

◆ get_context()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_context	(	self,
		ec_id
	)

[CORBA interface] Get ExecutionContextList.

This operation returns a list of all execution contexts owned by this RTC.

Returns: ExecutionContext List

def get_contexts(self): execlist = [] OpenRTM_aist.CORBA_SeqUtil.for_each(self._execContexts, self.ec_copy(execlist)) return execlist

[CORBA interface] Get ExecutionContext.

Obtain a reference to the execution context represented by the given handle. The mapping from handle to context is specific to a particular RTC instance. The given handle must have been obtained by a previous call to attach_context on this RTC.

Parameters

ec_id ExecutionContext handle

Returns: ExecutionContext

virtual ExecutionContext_ptr get_context(UniqueId exec_handle)

◆ get_context_handle()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_context_handle	(	self,
		cxt
	)

[CORBA interface] Return a handle of a ExecutionContext

Parameters

ExecutionContext

Returns: ExecutionContextHandle

This operation returns a handle that is associated with the given execution context.

virtual ExecutionContextHandle_t get_context_handle(ExecutionContext_ptr cxt)

◆ get_device_profile()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_device_profile ( self )

[SDO interface] Getting SDO DeviceProfile

This operation returns the DeviceProfile of the SDO. If the SDO does not represent any hardware device, then a DeviceProfile with empty values are returned. This operation throws SDOException with one of the following types.

Returns: The DeviceProfile of the SDO.

Exceptions

SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	if the target SDO is reachable but cannot respond.
InternalError	if the target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::DeviceProfile* get_device_profile()

◆ get_monitoring()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_monitoring ( self )

[SDO interface] Get Monitoring object

This operation returns an object implementing the Monitoring interface. The Monitoring interface is one of the interfaces that each SDO maintains. The interface is used to monitor the properties of an SDO. See OMG SDO specification Section 2.3.7, "Monitoring Interface," on page 2-35 for more details about the Monitoring interface.

Returns: The Monitoring interface of an SDO.

Exceptions

InterfaceNotImplemented	The target SDO has no Configuration interface.
SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error. virtual SDOPackage::Monitoring_ptr get_monitoring()

◆ get_organizations()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_organizations ( self )

[SDO interface] Getting Organizations

An SDO belongs to zero or more organizations. If the SDO belongs to one or more organizations, this operation returns the list of organizations that the SDO belongs to. An empty list is returned if the SDO does not belong to any Organizations.

Returns: The list of Organizations that the SDO belong to.

Exceptions

SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error. virtual SDOPackage::OrganizationList* get_organizations()

◆ get_owned_contexts()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_owned_contexts ( self )

[CORBA interface] Get ExecutionContextList.

This operation returns a list of all execution contexts owned by this RTC.

Returns: ExecutionContext List

virtual ExecutionContextList* get_owned_contexts()

◆ get_owned_organizations()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_owned_organizations ( self )

[SDO interface] Getting Organizations

SDOSystemElement can be the owner of zero or more organizations. If the SDOSystemElement owns one or more Organizations, this operation returns the list of Organizations that the SDOSystemElement owns. If it does not own any Organization, it returns empty list.

Returns: Owned Organization List

Exceptions

SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	if the target SDO is reachable but cannot respond.
InternalError	if the target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::OrganizationList* get_owned_organizations()

◆ get_participating_contexts()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_participating_contexts ( self )

[CORBA interface] Get participating ExecutionContextList.

This operation returns a list of all execution contexts in which this RTC participates.

Returns: ExecutionContext List

virtual ExecutionContextList* get_participating_contexts()

◆ get_ports()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_ports ( self )

[RTObject CORBA interface] Get Ports

This operation returns a list of the RTCs ports.

Returns: PortList

virtual PortServiceList* get_ports()

◆ get_sdo_id()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_sdo_id ( self )

[SDO interface] Getting SDO ID

This operation returns id of the SDO. This operation throws SDOException with one of the following types.

Returns: id of the SDO defined in the resource data model.

Exceptions

SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	if the target SDO is reachable but cannot respond.
InternalError	if the target SDO cannot execute the operation completely due to some internal error.

virtual char* get_sdo_id()

◆ get_sdo_service()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_sdo_service	(	self,
		_id
	)

[SDO interface] Getting specified SDO Service's reference

This operation returns an object implementing an SDO's service that is identified by the identifier specified as an argument. Different services provided by an SDO are distinguished with different identifiers. See OMG SDO specification Section 2.2.8, "ServiceProfile," on page 2-12 for more details.

Parameters

_id	The identifier referring to one of the SDO Service

Returns: The object implementing the requested service.

Exceptions

InvalidParameter	if argument “id” is null, or if the ServiceProfile that is specified by argument “id” does not exist.
SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	If the target SDO is reachable but cannot respond.
InternalError	If the target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::SDOService_ptr get_sdo_service(const char* id)

◆ get_sdo_type()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_sdo_type ( self )

[SDO interface] Getting SDO type

This operation returns sdoType of the SDO. This operation throws SDOException with one of the following types.

Returns: Type of the SDO defined in the resource data model.

Exceptions

SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	if the target SDO is reachable but cannot respond.
InternalError	if the target SDO cannot execute the operation completely due to some internal error.

virtual char* get_sdo_type()

◆ get_service_profile()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_service_profile	(	self,
		_id
	)

[SDO interface] Getting Organizations

This operation returns the ServiceProfile that is specified by the argument "id."

Parameters

_id	The identifier referring to one of the ServiceProfiles.

Returns: The profile of the specified service.

Exceptions

InvalidParameter	if the ServiceProfile that is specified by the argument 'id' does not exist or if 'id' is 'null.'
SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	If the target SDO is reachable but cannot respond.
InternalError	If the target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::ServiceProfile* get_service_profile(const char* id)

◆ get_service_profiles()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_service_profiles ( self )

[SDO interface] Getting SDO ServiceProfile

This operation returns a list of ServiceProfiles that the SDO has. If the SDO does not provide any service, then an empty list is returned. This operation throws SDOException with one of the following types.

Returns: List of ServiceProfiles of all the services the SDO is providing.

Exceptions

SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	if the target SDO is reachable but cannot respond.
InternalError	if the target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::ServiceProfileList* get_service_profiles()

◆ get_status()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_status	(	self,
		name
	)

[SDO interface] Get SDO Status

Parameters

name	One of the parameters defining the "status" of an SDO.

Returns: The value of the specified status parameter.

Exceptions

SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InvalidParameter	The parameter defined by "name" is null or does not exist.
InternalError	The target SDO cannot execute the operation completely due to some internal error.

virtual CORBA::Any* get_status(const char* name)

◆ get_status_list()

def OpenRTM_aist.RTObjectBase.RTObjectBase.get_status_list ( self )

[SDO interface] Get SDO Status

This operation returns an NVlist describing the status of an SDO.

Returns: The actual status of an SDO.

Exceptions

SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::NVList* get_status_list()

◆ getConfigService()

def OpenRTM_aist.RTObjectBase.RTObjectBase.getConfigService ( self )

Getting configuration service

This operation returns configuration service object. By using this service, user can manipulate configuration parameters. Mainly the following operations are supported.

unbindParameter(): Unbinding parameters
update(): Updateing parameters
update(set_name): Updating a specific configuration set
update(set_name, param_name): Updating specific parameter in a set
isExist(): Checking existence of a parameter
isChanged(): Check if a parameter was updated
changedParameters(): Getting changed parameter list
getActiveId(): Getting active configuration set name
haveConfig(config_id): Checking if having a specified configuration set
getConfigurationSets(): getting all the configuration sets
getConfigurationSet(set_id): Getting a configuration set

Callback related member functions

addConfigurationParamListener(): Adding listener
removeConfigurationParamListener(): Removing listener
addConfigurationSetListener(): Adding listener
removeConfigurationSetListener(): Removing listener
addConfigurationSetNameListener(): Adding listener
removeConfigurationSetNameListener(): Removing listener

See details in the ConfigAdmin class reference

Returns: ConfigAdmin object

ConfigAdmin& getConfigService() { return m_configsets; }

◆ getContextOptions()

def OpenRTM_aist.RTObjectBase.RTObjectBase.getContextOptions	(	self,
		ec_args
	)

getting EC options

ReturnCode_t getContextOptions(std::vector<coil::Properties>& ec_args);

◆ getExecutionContext()

def OpenRTM_aist.RTObjectBase.RTObjectBase.getExecutionContext	(	self,
		ec_id
	)

[local interface] Getting current execution context

This function is the local version of get_context(). completely same as get_context() function. This function is assumed to be called from the following functions.

The argument of this function should be the first argument (UniqueId ec_id) of the above functions.

Parameters

ec_id The above functions' first argument "exec_handle."

ExecutionContext_ptr getExecutionContext(RTC::UniqueId ec_id);

◆ getExecutionRate()

def OpenRTM_aist.RTObjectBase.RTObjectBase.getExecutionRate	(	self,
		ec_id
	)

[local interface] Getting current context' execution rate

This function returns current execution rate in this context. If this context's kind is not PERIODC, behavior is not defined. This function is assumed to be called from the following functions.

The argument of this function should be the first argument (UniqueId ec_id) of the above functions.

Parameters

ec_id The above functions' first argument "exec_handle."

double getExecutionRate(RTC::UniqueId ec_id);

◆ getGlobalContextOptions()

def OpenRTM_aist.RTObjectBase.RTObjectBase.getGlobalContextOptions	(	self,
		global_ec_props
	)

getting global EC options from rtc.conf

ReturnCode_t getGlobalContextOptions(coil::Properties& global_ec_props);

◆ getPrivateContextOptions()

def OpenRTM_aist.RTObjectBase.RTObjectBase.getPrivateContextOptions	(	self,
		ec_args
	)

getting individual EC options from RTC's configuration file

ReturnCode_t getPrivateContextOptions(std::vector<coil::Properties>& ec_args);

◆ getProperties()

def OpenRTM_aist.RTObjectBase.RTObjectBase.getProperties ( self )

[local interface] Get RTC property

This operation returns the properties of the RTC. Empty property would be returned, if RTC has no property.

Returns: Property for RTC.

coil::Properties& getProperties();

◆ initialize()

def OpenRTM_aist.RTObjectBase.RTObjectBase.initialize ( self )

Initialize the RTC that realizes this interface.

The invocation of this operation shall result in the invocation of the callback ComponentAction::on_initialize.

Constraints

An RTC may be initialized only while it is in the Created state. Any attempt to invoke this operation while in another state shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
Application developers are not expected to call this operation directly; it exists for use by the RTC infrastructure.

Returns

◆ is_alive()

def OpenRTM_aist.RTObjectBase.RTObjectBase.is_alive	(	self,
		exec_context
	)

Confirm whether RTC is an Alive state or NOT.

A component is alive or not regardless of the execution context from which it is observed. However, whether or not it is Active, Inactive, or in Error is dependent on the execution context(s) in which it is running. That is, it may be Active in one context but Inactive in another. Therefore, this operation shall report whether this RTC is either Active, Inactive or in Error; which of those states a component is in with respect to a particular context may be queried from the context itself.

Returns: Result of Alive state confirmation

virtual CORBA::Boolean is_alive(ExecutionContext_ptr exec_context)

◆ isOwnExecutionContext()

def OpenRTM_aist.RTObjectBase.RTObjectBase.isOwnExecutionContext	(	self,
		ec_id
	)

[local interface] Checking if the current context is own context

This function checks if the current context is own execution context. This function is assumed to be called from the following functions.

The argument of this function should be the first argument (UniqueId ec_id) of the above functions.

Parameters

ec_id The above functions' first argument "exec_handle."

Returns: true: Own context, false: other's context

bool isOwnExecutionContext(RTC::UniqueId ec_id);

◆ on_aborting()

def OpenRTM_aist.RTObjectBase.RTObjectBase.on_aborting	(	self,
		ec_id
	)

[ComponentAction CORBA interface] Transition Error State

The RTC is transitioning from the Active state to the Error state in some execution context. This callback is invoked only a single time for time that the RTC transitions into the Error state from another state. This behavior is in contrast to that of on_error.

Parameters

ec_id

Returns

◆ on_activated()

def OpenRTM_aist.RTObjectBase.RTObjectBase.on_activated	(	self,
		ec_id
	)

[ComponentAction CORBA interface] Activate RTC

The RTC has been activated in the given execution context.

Parameters

ec_id

Returns

◆ on_deactivated()

def OpenRTM_aist.RTObjectBase.RTObjectBase.on_deactivated	(	self,
		ec_id
	)

[ComponentAction CORBA interface] Deactivate RTC

The RTC has been deactivated in the given execution context.

Parameters

ec_id

Returns

◆ on_error()

def OpenRTM_aist.RTObjectBase.RTObjectBase.on_error	(	self,
		ec_id
	)

[ComponentAction CORBA interface] Error Processing of RTC

The RTC remains in the Error state. If the RTC is in the Error state relative to some execution context when it would otherwise be invoked from that context (according to the context’s ExecutionKind), this callback shall be invoked instead. For example,

If the ExecutionKind is PERIODIC, this operation shall be invoked in sorted order at the rate of the context instead of DataFlowComponentAction::on_execute and on_state_update.
If the ExecutionKind is EVENT_DRIVEN, this operation shall be invoked whenever FsmParticipantAction::on_action would otherwise have been invoked.

Parameters

ec_id

Returns

◆ on_finalize()

def OpenRTM_aist.RTObjectBase.RTObjectBase.on_finalize ( self )

[ComponentAction CORBA interface] Finalize RTC

The RTC is being destroyed. Any final RTC-specific tear-down logic should be performed here.

Returns

◆ on_initialize()

def OpenRTM_aist.RTObjectBase.RTObjectBase.on_initialize ( self )

[ComponentAction CORBA interface] Initialize RTC

The RTC has been initialized and entered the Alive state. Any RTC-specific initialization logic should be performed here.

Returns

◆ on_reset()

def OpenRTM_aist.RTObjectBase.RTObjectBase.on_reset	(	self,
		ec_id
	)

[ComponentAction CORBA interface] Resetting RTC

The RTC is in the Error state. An attempt is being made to recover it such that it can return to the Inactive state. If the RTC was successfully recovered and can safely return to the Inactive state, this method shall complete with ReturnCode_t::OK. Any other result shall indicate that the RTC should remain in the Error state.

Parameters

ec_id

Returns

◆ on_shutdown()

def OpenRTM_aist.RTObjectBase.RTObjectBase.on_shutdown	(	self,
		ec_id
	)

[ComponentAction CORBA interface] ShutDown RTC

The given execution context, in which the RTC is participating, has transitioned from Running to Stopped.

Parameters

ec_id

Returns

◆ on_startup()

def OpenRTM_aist.RTObjectBase.RTObjectBase.on_startup	(	self,
		ec_id
	)

[ComponentAction CORBA interface] StartUp RTC

The given execution context, in which the RTC is participating, has transitioned from Stopped to Running.

Parameters

ec_id

Returns

◆ readAll()

def OpenRTM_aist.RTObjectBase.RTObjectBase.readAll ( self )

Readout the value from All InPorts.

This operation read the value from all InPort registered in the RTC.

Returns: result (Successful:true, Failed:false)

bool readAll();

◆ registerPort()

def OpenRTM_aist.RTObjectBase.RTObjectBase.registerPort	(	self,
		port
	)

[local interface] Register Port

This operation registers a Port to be held by this RTC. In order to enable access to the Port from outside of RTC, the Port must be registered by this operation. The Port that is registered by this operation would be identified by PortProfile.name in the inside of RTC. Therefore, the Port should have unique PortProfile.name in the RTC. The registering Port would be activated properly, and the reference and the object reference would be stored in lists in RTC.

Parameters

port	Port which is registered in the RTC

void registerPort(PortBase& port);

◆ removeConfigurationParamListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.removeConfigurationParamListener	(	self,
		type,
		listener
	)

Removing ConfigurationParamListener

This function removes a listener object which is added by addConfigurationParamListener() function.

Parameters

type	ConfigurationParamListenerType value ON_UPDATE_CONFIG_PARAM is only allowed.
listener	a pointer to ConfigurationParamListener listener object.

void removeConfigurationParamListener(ConfigurationParamListenerType type, ConfigurationParamListener* listener);

◆ removeConfigurationSetListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.removeConfigurationSetListener	(	self,
		type,
		listener
	)

Removing ConfigurationSetListener

This function removes a listener object which is added by addConfigurationSetListener() function.

Parameters

type	ConfigurationSetListenerType value
listener	a pointer to ConfigurationSetListener listener object.

void removeConfigurationSetListener(ConfigurationSetListenerType type, ConfigurationSetListener* listener);

◆ removeConfigurationSetNameListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.removeConfigurationSetNameListener	(	self,
		type,
		listener
	)

Removing ConfigurationSetNameListener

This function removes a listener object which is added by addConfigurationSetNameListener() function.

Parameters

type	ConfigurationSetNameListenerType value ON_UPDATE_CONFIG_PARAM is only allowed.
listener	a pointer to ConfigurationSetNameListener listener object.

void removeConfigurationSetNameListener(ConfigurationSetNameListenerType type, ConfigurationSetNameListener* listener);

◆ removeExecutionContextActionListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.removeExecutionContextActionListener	(	self,
		listener_type,
		listener
	)

Removing ExecutionContextAction type listener

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

void removeExecutionContextActionListener(ECActionListenerType listener_type, ECActionListener* listener);

◆ removeFsmProfileListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.removeFsmProfileListener	(	self,
		listener_type,
		listener
	)

Removing FsmProfileListener type listener

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ removeFsmStructureListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.removeFsmStructureListener	(	self,
		listener_type,
		listener
	)

Removing FsmStructureListener type listener

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ removeInPort()

def OpenRTM_aist.RTObjectBase.RTObjectBase.removeInPort	(	self,
		port
	)

[local interface] Unregister InPort

This operation unregisters a InPort held by this RTC.

Parameters

port	Port which is unregistered

Returns: Unregister result (Successful:true, Failed:false)

bool removeInPort(InPortBase& port);

◆ removeOutPort()

def OpenRTM_aist.RTObjectBase.RTObjectBase.removeOutPort	(	self,
		port
	)

[local interface] Unregister OutPort

This operation unregisters a OutPort held by this RTC.

Parameters

port	Port which is unregistered

Returns: Unregister result (Successful:true, Failed:false)

bool removeOutPort(OutPortBase& port);

◆ removePortActionListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.removePortActionListener	(	self,
		listener_type,
		listener
	)

Removing PortAction type listener

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

void removePortActionListener(PortActionListenerType listener_type, PortActionListener* listener);

◆ removePortConnectListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.removePortConnectListener	(	self,
		listener_type,
		listener
	)

Removing PortConnect type listener

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

void removePortConnectListener(PortConnectListenerType listener_type, PortConnectListener* listener);

◆ removePortConnectRetListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.removePortConnectRetListener	(	self,
		listener_type,
		listener
	)

Removing PortConnectRet type listener

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

void removePortConnectRetListener(PortConnectRetListenerType listener_type, PortConnectRetListener* listener);

◆ removePostComponentActionListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.removePostComponentActionListener	(	self,
		listener_type,
		listener
	)

Removing PostComponentAction type listener

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

void removePostComponentActionListener(PostComponentActionListenerType listener_type, PostComponentActionListener* listener);

◆ removePostFsmActionListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.removePostFsmActionListener	(	self,
		listener_type,
		listener
	)

Removing PostFsmActionListener type listener

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ removePreComponentActionListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.removePreComponentActionListener	(	self,
		listener_type,
		listener
	)

Removing PreComponentAction type listener

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

void removePreComponentActionListener(PreComponentActionListenerType listener_type, PreComponentActionListener* listener);

◆ removePreFsmActionListener()

def OpenRTM_aist.RTObjectBase.RTObjectBase.removePreFsmActionListener	(	self,
		listener_type,
		listener
	)

Removing PreFsmAction type listener

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ removeSdoServiceConsumer()

def OpenRTM_aist.RTObjectBase.RTObjectBase.removeSdoServiceConsumer	(	self,
		id
	)

[local interface] Remove a SDO service consumer

bool removeSdoServiceConsumer(const char* id);

◆ removeSdoServiceProvider()

def OpenRTM_aist.RTObjectBase.RTObjectBase.removeSdoServiceProvider	(	self,
		id
	)

[local interface] Remove a SDO service provider

bool removeSdoServiceProvider(const char* id);

◆ reset()

def OpenRTM_aist.RTObjectBase.RTObjectBase.reset	(	self,
		ec_id
	)

[local interface] Resetting and go to Inactive state

This function reset RTC and makes transition from Error to Inactive state. This function is assumed to be called from the following functions.

onError()

The argument of this function should be the first argument (UniqueId ec_id) of the above function.

Parameters

ec_id The above functions' first argument "exec_handle."

Returns: Return code

ReturnCode_t reset(RTC::UniqueId ec_id);

◆ setExecutionRate()

def OpenRTM_aist.RTObjectBase.RTObjectBase.setExecutionRate	(	self,
		ec_id,
		rate
	)

[local interface] Setting current context' execution rate

This function sets a execution rate in the context. If this context's kind is not PERIODC, behavior is not defined. This function is assumed to be called from the following functions.

The argument of this function should be the first argument (UniqueId ec_id) of the above functions.

Parameters

ec_id	The above functions' first argument "exec_handle."
rate	Execution rate in [Hz].

ReturnCode_t setExecutionRate(RTC::UniqueId ec_id, double rate);

◆ setProperties()

def OpenRTM_aist.RTObjectBase.RTObjectBase.setProperties	(	self,
		prop
	)

[local interface] Set RTC property

This operation sets the properties to the RTC. The given property values should include information for ComponentProfile. Generally, this operation is designed to be called from Manager, when RTC is initialized

Parameters

prop	Property for RTC.

void setProperties(const coil::Properties& prop);

◆ setReadAll()

def OpenRTM_aist.RTObjectBase.RTObjectBase.setReadAll	(	self,
		read = `True`,
		completion = `False`
	)

Set whether to execute the readAll() method.

Parameters

read(default:true)	(readAll() is called:true, readAll() isn't called:false)
completion(default:false)	All InPort::read() calls are completed.:true, If one InPort::read() is False, return false.:false
completion(default:false)

void setReadAll(bool read=true, bool completion=false);

◆ setWriteAll()

def OpenRTM_aist.RTObjectBase.RTObjectBase.setWriteAll	(	self,
		write = `True`,
		completion = `False`
	)

Set whether to execute the writeAll() method.

Parameters

write(default:true)	(writeAll() is called:true, writeAll() isn't called:false)
completion(default:false)	All OutPort::write() calls are completed.:true, If one OutPort::write() is False, return false.:false

void setWriteAll(bool write=true, bool completion=false);

◆ writeAll()

def OpenRTM_aist.RTObjectBase.RTObjectBase.writeAll ( self )

The write() method of all OutPort is called.

This operation call the write() method of all OutPort registered in the RTC.

Returns: result (Successful:true, Failed:false)

bool writeAll();

The documentation for this class was generated from the following file:

C:/docs/OpenRTM-aist-Python/OpenRTM_aist/RTObjectBase.py

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

◆ __del__()

Member Function Documentation

◆ activate()

◆ addConfigurationParamListener()

◆ addConfigurationSetListener()

◆ addConfigurationSetNameListener()

◆ addExecutionContextActionListener()

◆ addFsmProfileListener()

◆ addFsmStructureListener()

◆ addPortActionListener()

◆ addPortConnectListener()

◆ addPortConnectRetListener()

◆ addPostComponentActionListener()

◆ addPostFsmActionListener()

◆ addPreComponentActionListener()

◆ addPreFsmActionListener()

◆ addSdoServiceConsumer()

◆ addSdoServiceProvider()

◆ attach_context()

◆ createContexts()

◆ deactivate()

◆ deletePort()

◆ detach_context()

◆ exit()

◆ finalize()

◆ finalizePorts()

◆ findExistingEC()

◆ get_component_profile()

◆ get_configuration()

◆ get_context()

◆ get_context_handle()

◆ get_device_profile()

◆ get_monitoring()

◆ get_organizations()

◆ get_owned_contexts()

◆ get_owned_organizations()

◆ get_participating_contexts()

◆ get_ports()

◆ get_sdo_id()

◆ get_sdo_service()

◆ get_sdo_type()

◆ get_service_profile()

◆ get_service_profiles()

◆ get_status()

◆ get_status_list()

◆ getConfigService()

◆ getContextOptions()

◆ getExecutionContext()

◆ getExecutionRate()

◆ getGlobalContextOptions()

◆ getPrivateContextOptions()

◆ getProperties()

◆ initialize()

◆ is_alive()

◆ isOwnExecutionContext()

◆ on_aborting()

◆ on_activated()

◆ on_deactivated()

◆ on_error()

◆ on_finalize()

◆ on_initialize()

◆ on_reset()

◆ on_shutdown()

◆ on_startup()

◆ readAll()

◆ registerPort()

◆ removeConfigurationParamListener()

◆ removeConfigurationSetListener()

◆ removeConfigurationSetNameListener()

◆ removeExecutionContextActionListener()

◆ removeFsmProfileListener()

◆ removeFsmStructureListener()

◆ removeInPort()

◆ removeOutPort()

◆ removePortActionListener()

◆ init()

◆ del()