jp.go.aist.rtm.RTC.util

Class CORBA_RTCUtil

java.lang.Object

jp.go.aist.rtm.RTC.util.CORBA_RTCUtil

public class CORBA_RTCUtil
extends java.lang.Object

Constructor Summary

Constructors

Constructor and Description
CORBA_RTCUtil()

Method Summary

Modifier and Type	Method and Description
static ReturnCode_t	activate(RTObject rtc) Activates RTC
static ReturnCode_t	activate(RTObject rtc, int ec_id) Activates RTC via Specified ExecutionContext.
static ReturnCode_t	add_rtc_to_default_ec(RTObject localcomp, RTObject othercomp) Add an RT-component to The target RT-Component of ExecutionContext
static boolean	already_connected(PortService localport, PortService otherport) S Cconfirms the connection in specified ports.
static ReturnCode_t	connect_by_name(java.lang.String name, Properties prop, RTObject rtc0, java.lang.String portName0, RTObject rtc1, java.lang.String portName1) Connects the ports specified by the name.
static ReturnCode_t	connect_multi(java.lang.String name, Properties prop, PortService port, PortServiceListHolder target_ports) Connects all specified ports.
static ReturnCode_t	connect(java.lang.String name, Properties prop, PortService port0, PortService port1) Connects specified ports.
static ConnectorProfile	create_connector(java.lang.String name, Properties prop_arg, PortService port0, PortService port1) Gets ConnectorProfile for connect specified ports
static ReturnCode_t	deactivate(RTObject rtc) Deactivates RTC.
static ReturnCode_t	deactivate(RTObject rtc, int ec_id) Deactivates RTC via Specified ExecutionContext.
static ReturnCode_t	disconnect_all_by_name(java.lang.String port_name) Disconnect all connectors in the target port name.
static ReturnCode_t	disconnect_all_by_ref(PortService port_ref) Disconnect all connectors in the target port.
static ReturnCode_t	disconnect_by_port_name(PortService localport, java.lang.String othername) Disconnects a connection in specified by port.
static ReturnCode_t	disconnect_by_portname_connector_id(java.lang.String port_name, java.lang.String conn_id) Disconnects the connectionis specified by id.
static ReturnCode_t	disconnect_by_portname_connector_name(java.lang.String port_name, java.lang.String conn_name) Disconnects the connectionis specified by name.
static ReturnCode_t	disconnect_by_portref_connector_id(PortService port, java.lang.String id) Disconnects the connectionis specified by id.
static ReturnCode_t	disconnect_by_portref_connector_name(PortService port, java.lang.String name) Disconnects the connectionis specified by name.
static ReturnCode_t	disconnect(ConnectorProfile connector_prof) Disconnects specified connections.
static java.lang.String	get_active_configuration_name(RTObject rtc) Get Configuration object
static Properties	get_active_configuration(RTObject rtc) Get Configuration object
static ExecutionContext	get_actual_ec(RTObject rtc) Get ExecutionContext. Obtain a reference to the execution context represented by the given handle and RTC.
static ExecutionContext	get_actual_ec(RTObject rtc, int ec_id) Get ExecutionContext. Obtain a reference to the execution context represented by the given handle and RTC.
static Properties	get_component_profile(RTObject rtc) Get RTC's profile
static Configuration	get_configuration(RTObject rtc) Get Configuration object
Properties	get_configuration(RTObject rtc, java.lang.String conf_name) Get Configuration object
static java.util.Vector<java.lang.String>	get_connector_ids_by_portref(PortBase port) Gets a list of the connectorIDs specified port maintains.
static java.util.Vector<java.lang.String>	get_connector_ids(RTObject rtc, java.lang.String port_name) Gets a list of the connectorIDs specified port maintains of target RTC.
static java.util.Vector<java.lang.String>	get_connector_names_by_portref(PortBase port) Gets a list of the ports name specified port maintains.
static java.util.Vector<java.lang.String>	get_connector_names(RTObject rtc, java.lang.String port_name) Gets a list of the ports name specified port maintains.
static double	get_current_rate(RTObject rtc, int ec_id) Get execution rate(Hz) of specified ExecutionContext
static double	get_default_rate(RTObject rtc) Get execution rate(Hz) of ExecutionContext
static int	get_ec_id(RTObject rtc, ExecutionContext ec)
static java.util.Vector<java.lang.String>	get_inport_names(RTObject rtc) Gets the inport name a specified RTC maintains.
static java.util.Vector<java.lang.String>	get_outport_names(RTObject rtc) Gets the outport name a specified RTC maintains.
static java.lang.String	get_parameter_by_key(RTObject rtc, java.lang.String confset_name, java.lang.String value_name) Get Configuration object
static RTObject[]	get_participants_rtc(RTObject rtc) Getting participant RTC list
static PortService	get_port_by_name(RTObject rtc, java.lang.String name) Get a port of the specified name from ports Component maintains.
static PortService	get_port_by_url(java.lang.String port_name) Gets a port of the designated name.
static java.util.Vector<java.lang.String>	get_port_names(RTObject rtc) Gets the port name a specified RTC maintains.
static LifeCycleState	get_state(RTObject rtc) Get RTC's status
static LifeCycleState	get_state(RTObject rtc, int ec_id) Get RTC's status
static java.util.Vector<java.lang.String>	get_svcport_names(RTObject rtc) Gets names of service port a specified RTC maintains.
static boolean	is_alive_in_default_ec(RTObject rtc) Confirms the existence of EC of RTC.
static boolean	is_existing(RTObject rtc) Check if the component is alive
static boolean	is_in_active(RTObject rtc) Confirm to ACTIVE
static boolean	is_in_active(RTObject rtc, int ec_id) Confirm to ACTIVE
static boolean	is_in_error(RTObject rtc) Confirm to ERROR
static boolean	is_in_error(RTObject rtc, int ec_id) Confirm to ERROR
static boolean	is_in_inactive(RTObject rtc) Confirm to INACTIVE
static boolean	is_in_inactive(RTObject rtc, int ec_id) Confirm to INACTIVE
static ReturnCode_t	remove_rtc_to_default_ec(RTObject localcomp, RTObject othercomp) Remove the RT-Component from participant list of ExecutionContext
static ReturnCode_t	reset(RTObject rtc) Resets RTC
static ReturnCode_t	reset(RTObject rtc, int ec_id) Resets RTC via Specified RTC.
static boolean	set_active_configuration(RTObject rtc, java.lang.String value_name, java.lang.String value) SetConfiguration object
static boolean	set_configuration_parameter(Configuration conf, ConfigurationSet confset, java.lang.String value_name, java.lang.String value) Set configuration paramters.
static boolean	set_configuration(RTObject rtc, java.lang.String confset_name, java.lang.String value_name, java.lang.String value) Set Configuration
static ReturnCode_t	set_current_rate(RTObject rtc, int ec_id, double rate) Set execution rate(Hz) of specified ExecutionContext
static ReturnCode_t	set_default_rate(RTObject rtc, double rate) Set execution rate(Hz) of ExecutionContext

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

CORBA_RTCUtil

public CORBA_RTCUtil()

Method Detail

get_component_profile

public static Properties get_component_profile(RTObject rtc)

Get RTC's profile

This operation returns the ComponentProfile of the RTC.

Parameters:

rtc -

Returns:

ComponentProfile coil::Properties get_component_profile(const RTC::RTObject_ptr rtc)

is_existing

public static boolean is_existing(RTObject rtc)

Check if the component is alive

Parameters:

rtc - RTComponent

Returns:

true: alive, false:non not alive

is_alive_in_default_ec

public static boolean is_alive_in_default_ec(RTObject rtc)

Confirms the existence of EC of RTC.

Parameters:

rtc -

Returns:

Result of Alive state confirmation

get_actual_ec

public static ExecutionContext get_actual_ec(RTObject rtc,
                                             int ec_id)

Get ExecutionContext. Obtain a reference to the execution context represented by the given handle and RTC.

Parameters:

rtc - Target RT-Component's instances

ec_id - ExecutionContext handle

Returns:

ExecutionContext RTC::ExecutionContext_var get_actual_ec(const RTC::RTObject_ptr rtc,RTC::UniqueId ec_id = 0)

get_actual_ec

public static ExecutionContext get_actual_ec(RTObject rtc)

Get ExecutionContext. Obtain a reference to the execution context represented by the given handle and RTC.

Parameters:

rtc - Target RT-Component's instances

Returns:

ExecutionContext

get_ec_id

public static int get_ec_id(RTObject rtc,
                            ExecutionContext ec)

Parameters:

rtc - Target RT-Component's instances

ec - ExecutionContext

Returns:

ID of ExecutionContext

activate

public static ReturnCode_t activate(RTObject rtc,
                                    int ec_id)

Activates RTC via Specified ExecutionContext.

Parameters:

rtc - Target RT-Component's instances

ec_id - ExecutionContext handle

Returns:

Return code RTC::ReturnCode_t activate(RTC::RTObject_ptr rtc, RTC::UniqueId ec_id = 0)

activate

public static ReturnCode_t activate(RTObject rtc)

Activates RTC

Parameters:

rtc - Target RT-Component's instances

Returns:

Return code RTC::ReturnCode_t activate(RTC::RTObject_ptr rtc, RTC::UniqueId ec_id = 0)

deactivate

public static ReturnCode_t deactivate(RTObject rtc,
                                      int ec_id)

Deactivates RTC via Specified ExecutionContext.

Parameters:

rtc - Target RT-Component's instances

ec_id - ExecutionContext handle

Returns:

Return code RTC::ReturnCode_t deactivate(RTC::RTObject_ptr rtc, RTC::UniqueId ec_id = 0)

deactivate

public static ReturnCode_t deactivate(RTObject rtc)

Deactivates RTC.

Parameters:

rtc - Target RT-Component's instances

Returns:

Return code RTC::ReturnCode_t deactivate(RTC::RTObject_ptr rtc, RTC::UniqueId ec_id = 0)

reset

public static ReturnCode_t reset(RTObject rtc,
                                 int ec_id)

Resets RTC via Specified RTC.

Parameters:

rtc - Target RT-Component's instances

ec_id - ExecutionContext handle

Returns:

Return code RTC::ReturnCode_t reset(RTC::RTObject_ptr rtc, RTC::UniqueId ec_id = 0)

reset

public static ReturnCode_t reset(RTObject rtc)

Resets RTC

Parameters:

rtc - Target RT-Component's instances

Returns:

Return code

get_state

public static LifeCycleState get_state(RTObject rtc,
                                       int ec_id)

Get RTC's status

Parameters:

rtc - Target RT-Component's instances

ec_id - ExecutionContext handle

Returns:

RTC's status

get_state

public static LifeCycleState get_state(RTObject rtc)

Get RTC's status

Parameters:

rtc - Target RT-Component's instances

Returns:

RTC's status

is_in_inactive

public static boolean is_in_inactive(RTObject rtc,
                                     int ec_id)

Confirm to INACTIVE

Parameters:

rtc - Target RT-Component's instances

ec_id - ExecutionContext handle

Returns:

Result of state confirmation (INACTIVE state:true, other state:false)

is_in_inactive

public static boolean is_in_inactive(RTObject rtc)

Confirm to INACTIVE

Parameters:

rtc - Target RT-Component's instances

Returns:

Result of state confirmation (INACTIVE state:true, other state:false)

is_in_active

public static boolean is_in_active(RTObject rtc,
                                   int ec_id)

Confirm to ACTIVE

Parameters:

rtc - Target RT-Component's instances

ec_id - ExecutionContext handle

Returns:

Result of state confirmation (ACTIVE state:true, other state:false)

is_in_active

public static boolean is_in_active(RTObject rtc)

Confirm to ACTIVE

Parameters:

rtc - Target RT-Component's instances

Returns:

Result of state confirmation (ACTIVE state:true, other state:false)

is_in_error

public static boolean is_in_error(RTObject rtc,
                                  int ec_id)

Confirm to ERROR

Parameters:

rtc - Target RT-Component's instances

ec_id - ExecutionContext handle

Returns:

Result of state confirmation (ERROR state:true, other state:false)

is_in_error

public static boolean is_in_error(RTObject rtc)

Confirm to ERROR

Parameters:

rtc - Target RT-Component's instances

Returns:

Result of state confirmation (ERROR state:true, other state:false)

get_default_rate

public static double get_default_rate(RTObject rtc)

Get execution rate(Hz) of ExecutionContext

Parameters:

rtc - Target RT-Component's instances

Returns:

Execution cycle(Unit:Hz)

set_default_rate

public static ReturnCode_t set_default_rate(RTObject rtc,
                                            double rate)

Set execution rate(Hz) of ExecutionContext

Parameters:

rtc - Target RT-Component's instances

rate - Execution cycle(Unit:Hz)

Returns:

Return code

get_current_rate

public static double get_current_rate(RTObject rtc,
                                      int ec_id)

Get execution rate(Hz) of specified ExecutionContext

Parameters:

rtc - Target RT-Component's instances

ec_id - ExecutionContext handle

Returns:

Execution cycle(Unit:Hz)

set_current_rate

public static ReturnCode_t set_current_rate(RTObject rtc,
                                            int ec_id,
                                            double rate)

Set execution rate(Hz) of specified ExecutionContext

Parameters:

rtc - Target RT-Component's instances

ec_id - ExecutionContext handle

Returns:

Return code

add_rtc_to_default_ec

public static ReturnCode_t add_rtc_to_default_ec(RTObject localcomp,
                                                 RTObject othercomp)

Add an RT-component to The target RT-Component of ExecutionContext

Parameters:

localcomp - Target RT-Component's instances

othercomp - The target RT-Component for add

Returns:

The return code of ReturnCode_t type

remove_rtc_to_default_ec

public static ReturnCode_t remove_rtc_to_default_ec(RTObject localcomp,
                                                    RTObject othercomp)

Remove the RT-Component from participant list of ExecutionContext

Parameters:

localcomp - Target RT-Component's instances

othercomp - The target RT-Component for delete

Returns:

The return code of ReturnCode_t type

get_participants_rtc

public static RTObject[] get_participants_rtc(RTObject rtc)

Getting participant RTC list

Parameters:

rtc - Target RT-Component's instances

Returns:

Participants RTC list

get_port_names

public static java.util.Vector<java.lang.String> get_port_names(RTObject rtc)

Gets the port name a specified RTC maintains.

Parameters:

rtc - Target RT-Component's instances

Returns:

List of port names

get_inport_names

public static java.util.Vector<java.lang.String> get_inport_names(RTObject rtc)

Gets the inport name a specified RTC maintains.

Parameters:

rtc - Target RT-Component's instances

Returns:

List of port names

get_outport_names

public static java.util.Vector<java.lang.String> get_outport_names(RTObject rtc)

Gets the outport name a specified RTC maintains.

Parameters:

rtc - Target RT-Component's instances

Returns:

List of port names

get_svcport_names

public static java.util.Vector<java.lang.String> get_svcport_names(RTObject rtc)

Gets names of service port a specified RTC maintains.

Parameters:

rtc - Target RT-Component's instances

Returns:

List of port names

get_port_by_name

public static PortService get_port_by_name(RTObject rtc,
                                           java.lang.String name)

Get a port of the specified name from ports Component maintains.

Parameters:

rtc - Target RT-Component's instances

name - the name of port

Returns:

PortService RTC::PortService_var get_port_by_name(const RTC::RTObject_ptr rtc, std::string name)

get_connector_names_by_portref

public static java.util.Vector<java.lang.String> get_connector_names_by_portref(PortBase port)

Gets a list of the ports name specified port maintains.

Parameters:

port - Target Port

Returns:

List of port names

get_connector_names

public static java.util.Vector<java.lang.String> get_connector_names(RTObject rtc,
                                                                     java.lang.String port_name)

Gets a list of the ports name specified port maintains.

Parameters:

rtc - Target RT-Component's instances

port_name - Target Port

Returns:

List of port names

get_connector_ids_by_portref

public static java.util.Vector<java.lang.String> get_connector_ids_by_portref(PortBase port)

Gets a list of the connectorIDs specified port maintains.

Parameters:

port - 対象のポート Target Port

Returns:

List of connectorIDs

get_connector_ids

public static java.util.Vector<java.lang.String> get_connector_ids(RTObject rtc,
                                                                   java.lang.String port_name)

Gets a list of the connectorIDs specified port maintains of target RTC.

Parameters:

rtc - Target RT-Component's instances

port_name - the name of port

Returns:

List of connectorIDs

create_connector

public static ConnectorProfile create_connector(java.lang.String name,
                                                Properties prop_arg,
                                                PortService port0,
                                                PortService port1)

Gets ConnectorProfile for connect specified ports

Parameters:

name - connector name

prop_arg - connection properties

port0 - Target Port

port1 - Target Port

Returns:

ConnectorProfile RTC::ConnectorProfile_var create_connector(const std::string name,const coil::Properties prop_arg,const RTC::PortService_ptr port0,const RTC::PortService_ptr port1)

already_connected

public static boolean already_connected(PortService localport,
                                        PortService otherport)

S Cconfirms the connection in specified ports.

Parameters:

localport - Target Port

otherport - Target Port

Returns:

{p.en already connected:true}

connect

public static ReturnCode_t connect(java.lang.String name,
                                   Properties prop,
                                   PortService port0,
                                   PortService port1)

Connects specified ports.

Parameters:

name - connector name

prop - connection properties

port0 - Target Port

port1 - Target Port

Returns:

Return code RTC::ReturnCode_t connect(const std::string name,const coil::Properties prop,const RTC::PortService_ptr port0,const RTC::PortService_ptr port1)

connect_multi

public static ReturnCode_t connect_multi(java.lang.String name,
                                         Properties prop,
                                         PortService port,
                                         PortServiceListHolder target_ports)

Connects all specified ports.

Parameters:

name - コネクタ名 connector name

prop - connection properties

port - Target Port

target_ports - List of connected ports

Returns:

Return code RTC::ReturnCode_t connect_multi(const std::string name,const coil::Properties prop,const RTC::PortService_ptr port,RTC::PortServiceList_var& target_ports)

connect_by_name

public static ReturnCode_t connect_by_name(java.lang.String name,
                                           Properties prop,
                                           RTObject rtc0,
                                           java.lang.String portName0,
                                           RTObject rtc1,
                                           java.lang.String portName1)

Connects the ports specified by the name.

Parameters:

name - connector name

prop - connection properties

rtc0 - Target RT-Component's instances

portName0 - Target Port name

rtc1 - Target RT-Component's instances

portName1 - Target Port name

Returns:

Return code RTC::ReturnCode_t connect_by_name(std::string name, coil::Properties prop,RTC::RTObject_ptr rtc0,const std::string portName0,RTC::RTObject_ptr rtc1,const std::string portName1)

disconnect

public static ReturnCode_t disconnect(ConnectorProfile connector_prof)

Disconnects specified connections.

Parameters:

connector_prof - Conenctor Profile

Returns:

Return code

disconnect_by_portref_connector_name

public static ReturnCode_t disconnect_by_portref_connector_name(PortService port,
                                                                java.lang.String name)

Disconnects the connectionis specified by name.

Parameters:

port - Target Port

name - Connector name

Returns:

Return code

disconnect_by_portname_connector_name

public static ReturnCode_t disconnect_by_portname_connector_name(java.lang.String port_name,
                                                                 java.lang.String conn_name)

Disconnects the connectionis specified by name.

Parameters:

port_name - Target Port name

conn_name - Connector name

Returns:

Return code

disconnect_by_portref_connector_id

public static ReturnCode_t disconnect_by_portref_connector_id(PortService port,
                                                              java.lang.String id)

Disconnects the connectionis specified by id.

Parameters:

port - Target Port

id - connector id

Returns:

Return code

disconnect_by_portname_connector_id

public static ReturnCode_t disconnect_by_portname_connector_id(java.lang.String port_name,
                                                               java.lang.String conn_id)

Disconnects the connectionis specified by id.

Parameters:

port_name - Target Port Name

conn_id - connector id

Returns:

Return code

disconnect_all_by_ref

public static ReturnCode_t disconnect_all_by_ref(PortService port_ref)

Disconnect all connectors in the target port.

Parameters:

port_ref - Object reference of port

Returns:

Return code

disconnect_all_by_name

public static ReturnCode_t disconnect_all_by_name(java.lang.String port_name)

Disconnect all connectors in the target port name.

Parameters:

port_name - port name

Returns:

Return code

get_port_by_url

public static PortService get_port_by_url(java.lang.String port_name)

Gets a port of the designated name.

Parameters:

port_name - a port name

Returns:

Object reference of port

disconnect_by_port_name

public static ReturnCode_t disconnect_by_port_name(PortService localport,
                                                   java.lang.String othername)

Disconnects a connection in specified by port.

Parameters:

localport - Target Port

othername - port name

Returns:

Return code

get_configuration

public static Configuration get_configuration(RTObject rtc)

Get Configuration object

Parameters:

rtc - Target RTComponent

Returns:

The Configuration interface of an SDO.

get_configuration

public Properties get_configuration(RTObject rtc,
                                    java.lang.String conf_name)

Get Configuration object

Parameters:

rtc - Target RTComponent

conf_name - name of ConfigurationSet

Returns:

Properties

get_parameter_by_key

public static java.lang.String get_parameter_by_key(RTObject rtc,
                                                    java.lang.String confset_name,
                                                    java.lang.String value_name)

Get Configuration object

Parameters:

rtc - Configuration

confset_name - ConfigurationSet name

value_name - Paramter name

Returns:

パラメータ Property value

get_active_configuration_name

public static java.lang.String get_active_configuration_name(RTObject rtc)

Get Configuration object

Parameters:

rtc - RTComponent

Returns:

configuration name

get_active_configuration

public static Properties get_active_configuration(RTObject rtc)

Get Configuration object

Parameters:

rtc - Target RTComponent

Returns:

ConfigurationSet

set_configuration

public static boolean set_configuration(RTObject rtc,
                                        java.lang.String confset_name,
                                        java.lang.String value_name,
                                        java.lang.String value)

Set Configuration

Parameters:

confset_name - ConfigurationSet name

value_name - ParamterName

value - パラメータ Paramter

Returns:

true: succeeded, false: failed

set_active_configuration

public static boolean set_active_configuration(RTObject rtc,
                                               java.lang.String value_name,
                                               java.lang.String value)

SetConfiguration object

Parameters:

rtc - Target RTComponent

value_name - ParamterName

value - パラメータ Paramter

Returns:

true: succeeded, false: failed

set_configuration_parameter

public static boolean set_configuration_parameter(Configuration conf,
                                                  ConfigurationSet confset,
                                                  java.lang.String value_name,
                                                  java.lang.String value)

Set configuration paramters.

Parameters:

conf - コンフィギュレーション Configurationme

confset - ConfigurationSete

value_name - ParamterName

value -

Returns:

True:設定に成功、False:設定に失敗 true: succeeded, false: failed