Classes | |
class | deactivate_comps |
class | ec_copy |
class | ec_find |
class | nv_name |
class | svc_name |
Public Member Functions | |
def | __init__ |
Consructor. | |
def | __del__ |
destructor | |
def | initialize |
Initialize the RTC that realizes this interface. | |
def | finalize |
Finalize the RTC for preparing it for destruction. | |
def | exit |
Stop the RTC's execution context(s) and finalize it along with its contents. | |
def | is_alive |
Confirm whether RTC is an Alive state or NOT. | |
def | get_context |
[CORBA interface] Get ExecutionContextList. | |
def | get_owned_contexts |
[CORBA interface] Get ExecutionContextList. | |
def | get_participating_contexts |
[CORBA interface] Get participating ExecutionContextList. | |
def | get_component_profile |
[RTObject CORBA interface] Get RTC's profile | |
def | get_ports |
[RTObject CORBA interface] Get Ports | |
def | attach_context |
[CORBA interface] Attach ExecutionContext. | |
def | detach_context |
[CORBA interface] Attach ExecutionContext. | |
def | on_initialize |
[ComponentAction CORBA interface] Initialize RTC | |
def | on_finalize |
[ComponentAction CORBA interface] Finalize RTC | |
def | on_startup |
[ComponentAction CORBA interface] StartUp RTC | |
def | on_shutdown |
[ComponentAction CORBA interface] ShutDown RTC | |
def | on_activated |
[ComponentAction CORBA interface] Activate RTC | |
def | on_deactivated |
[ComponentAction CORBA interface] Deactivate RTC | |
def | on_aborting |
[ComponentAction CORBA interface] Transition Error State | |
def | on_error |
[ComponentAction CORBA interface] Error Processing of RTC | |
def | on_reset |
[ComponentAction CORBA interface] Resetting RTC | |
def | on_execute |
[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC | |
def | on_state_update |
[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC | |
def | on_rate_changed |
[DataFlowComponentAction CORBA interface] Notify rate chenged | |
def | get_owned_organizations |
[SDO interface] Getting Organizations | |
def | get_sdo_id |
[SDO interface] Getting SDO ID | |
def | get_sdo_type |
[SDO interface] Getting SDO type | |
def | get_device_profile |
[SDO interface] Getting SDO DeviceProfile | |
def | get_service_profiles |
[SDO interface] Getting SDO ServiceProfile | |
def | get_service_profile |
[SDO interface] Getting Organizations | |
def | get_sdo_service |
[SDO interface] Getting specified SDO Service's reference | |
def | get_configuration |
[SDO interface] Getting Configuration object | |
def | get_monitoring |
[SDO interface] Get Monitoring object | |
def | get_organizations |
[SDO interface] Getting Organizations | |
def | get_status_list |
[SDO interface] Get SDO Status | |
def | get_status |
[SDO interface] Get SDO Status | |
def | getInstanceName |
const char* getInstanceName() | |
def | setInstanceName |
void setInstanceName(const char* instance_name); | |
def | getTypeName |
const char* getTypeName() | |
def | getDescription |
const char* getDescription() | |
def | getVersion |
const char* getVersion() | |
def | getVendor |
const char* getVendor() | |
def | getCategory |
const char* getCategory() | |
def | getNamingNames |
std.vector<std.string> getNamingNames(); | |
def | setObjRef |
void setObjRef(const RTObject_ptr rtobj); | |
def | getObjRef |
RTObject_ptr getObjRef() const;. | |
def | setProperties |
[local interface] Set RTC property | |
def | getProperties |
[local interface] Get RTC property | |
def | bindParameter |
template <typename vartype>=""> bool bindParameter(const char* param_name, VarType& var, const char* def_val, bool (*trans)(VarType&, const char*) = coil.stringTo) | |
def | updateParameters |
void updateParameters(const char* config_set); | |
def | registerPort |
[local interface] Register Port | |
def | registerOutPort |
void registerOutPort(const char* name, OutPortBase& outport); | |
def | removeInPort |
[local interface] Unregister InPort | |
def | removeOutPort |
[local interface] Unregister OutPort | |
def | deletePort |
[local interface] Unregister Port | |
def | readAll |
Readout the value from All InPorts. | |
def | writeAll |
The write() method of all OutPort is called. | |
def | setReadAll |
Set whether to execute the readAll() method. | |
def | setWriteAll |
Set whether to execute the writeAll() method. | |
def | finalizePorts |
Unregister the All Portse. |
def OpenRTM_aist.RTObject.RTObject_impl.__del__ | ( | self | ) |
destructor
Reimplemented in OpenRTM_aist.PeriodicECSharedComposite.PeriodicECSharedComposite.
def OpenRTM_aist.RTObject.RTObject_impl.__init__ | ( | self, | ||
manager = None , |
||||
orb = None , |
||||
poa = None | ||||
) |
Consructor.
orb | ORB | |
poa | POA |
def OpenRTM_aist.RTObject.RTObject_impl.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.
exec_context | Prticipating ExecutionContext |
UniqueId attach_context(ExecutionContext_ptr exec_context)
def OpenRTM_aist.RTObject.RTObject_impl.deletePort | ( | self, | ||
port | ||||
) |
def OpenRTM_aist.RTObject.RTObject_impl.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
ec_id | Dettaching ExecutionContext Handle |
ReturnCode_t detach_context(UniqueId exec_handle)
def OpenRTM_aist.RTObject.RTObject_impl.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
def OpenRTM_aist.RTObject.RTObject_impl.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
def OpenRTM_aist.RTObject.RTObject_impl.finalizePorts | ( | self | ) |
Unregister the All Portse.
This operation deactivates the all Port and deletes the all Port's registrations in the RTC..
def OpenRTM_aist.RTObject.RTObject_impl.get_component_profile | ( | self | ) |
[RTObject CORBA interface] Get RTC's profile
This operation returns the ComponentProfile of the RTC
virtual ComponentProfile* get_component_profile()
def OpenRTM_aist.RTObject.RTObject_impl.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.
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()
def OpenRTM_aist.RTObject.RTObject_impl.get_context | ( | self, | ||
ec_id | ||||
) |
[CORBA interface] Get ExecutionContextList.
This operation returns a list of all execution contexts owned by this RTC.
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.
ec_id | ExecutionContext handle |
virtual ExecutionContext_ptr get_context(UniqueId exec_handle)
def OpenRTM_aist.RTObject.RTObject_impl.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.
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()
def OpenRTM_aist.RTObject.RTObject_impl.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.
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()
def OpenRTM_aist.RTObject.RTObject_impl.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.
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()
def OpenRTM_aist.RTObject.RTObject_impl.get_owned_contexts | ( | self | ) |
[CORBA interface] Get ExecutionContextList.
This operation returns a list of all execution contexts owned by this RTC.
virtual ExecutionContextList* get_owned_contexts()
def OpenRTM_aist.RTObject.RTObject_impl.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.
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()
def OpenRTM_aist.RTObject.RTObject_impl.get_participating_contexts | ( | self | ) |
[CORBA interface] Get participating ExecutionContextList.
This operation returns a list of all execution contexts in which this RTC participates.
virtual ExecutionContextList* get_participating_contexts()
def OpenRTM_aist.RTObject.RTObject_impl.get_ports | ( | self | ) |
[RTObject CORBA interface] Get Ports
This operation returns a list of the RTCs ports.
virtual PortServiceList* get_ports()
def OpenRTM_aist.RTObject.RTObject_impl.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.
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()
def OpenRTM_aist.RTObject.RTObject_impl.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.
_id | The identifier referring to one of the SDO Service |
InvalidParameter | if argument ¡Èid¡É is null, or if the ServiceProfile that is specified by argument ¡Èid¡É 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)
def OpenRTM_aist.RTObject.RTObject_impl.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.
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()
def OpenRTM_aist.RTObject.RTObject_impl.get_service_profile | ( | self, | ||
_id | ||||
) |
[SDO interface] Getting Organizations
This operation returns the ServiceProfile that is specified by the argument "id."
_id | The identifier referring to one of the ServiceProfiles. |
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)
def OpenRTM_aist.RTObject.RTObject_impl.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.
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()
def OpenRTM_aist.RTObject.RTObject_impl.get_status | ( | self, | ||
name | ||||
) |
[SDO interface] Get SDO Status
name | One of the parameters defining the "status" of an SDO. |
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)
def OpenRTM_aist.RTObject.RTObject_impl.get_status_list | ( | self | ) |
[SDO interface] Get SDO Status
This operation returns an NVlist describing the status of an SDO.
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()
def OpenRTM_aist.RTObject.RTObject_impl.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.
coil.Properties& getProperties();
def OpenRTM_aist.RTObject.RTObject_impl.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
def OpenRTM_aist.RTObject.RTObject_impl.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.
virtual CORBA.Boolean is_alive(ExecutionContext_ptr exec_context)
def OpenRTM_aist.RTObject.RTObject_impl.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.
ec_id |
def OpenRTM_aist.RTObject.RTObject_impl.on_activated | ( | self, | ||
ec_id | ||||
) |
def OpenRTM_aist.RTObject.RTObject_impl.on_deactivated | ( | self, | ||
ec_id | ||||
) |
def OpenRTM_aist.RTObject.RTObject_impl.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¡Çs ExecutionKind), this callback shall be invoked instead. For example,
ec_id |
def OpenRTM_aist.RTObject.RTObject_impl.on_execute | ( | self, | ||
ec_id | ||||
) |
[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC
This operation will be invoked periodically at the rate of the given execution context as long as the following conditions hold:
Constraints
ec_id |
def OpenRTM_aist.RTObject.RTObject_impl.on_finalize | ( | self | ) |
def OpenRTM_aist.RTObject.RTObject_impl.on_initialize | ( | self | ) |
def OpenRTM_aist.RTObject.RTObject_impl.on_rate_changed | ( | self, | ||
ec_id | ||||
) |
[DataFlowComponentAction CORBA interface] Notify rate chenged
This operation is a notification that the rate of the indicated execution context has changed.
Constraints
ec_id |
def OpenRTM_aist.RTObject.RTObject_impl.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.
ec_id |
def OpenRTM_aist.RTObject.RTObject_impl.on_shutdown | ( | self, | ||
ec_id | ||||
) |
def OpenRTM_aist.RTObject.RTObject_impl.on_startup | ( | self, | ||
ec_id | ||||
) |
def OpenRTM_aist.RTObject.RTObject_impl.on_state_update | ( | self, | ||
ec_id | ||||
) |
[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC
This operation will be invoked periodically at the rate of the given execution context as long as the following conditions hold:
Constraints
ec_id |
def OpenRTM_aist.RTObject.RTObject_impl.readAll | ( | self | ) |
def OpenRTM_aist.RTObject.RTObject_impl.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.
port | Port which is registered in the RTC |
void registerPort(PortBase& port);
def OpenRTM_aist.RTObject.RTObject_impl.removeInPort | ( | self, | ||
port | ||||
) |
[local interface] Unregister InPort
This operation unregisters a InPort held by this RTC.
port | Port which is unregistered |
bool removeInPort(InPortBase& port);
def OpenRTM_aist.RTObject.RTObject_impl.removeOutPort | ( | self, | ||
port | ||||
) |
[local interface] Unregister OutPort
This operation unregisters a OutPort held by this RTC.
port | Port which is unregistered |
bool removeOutPort(OutPortBase& port);
def OpenRTM_aist.RTObject.RTObject_impl.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
prop | Property for RTC. |
void setProperties(const coil.Properties& prop);
def OpenRTM_aist.RTObject.RTObject_impl.setReadAll | ( | self, | ||
read = True , |
||||
completion = False | ||||
) |
Set whether to execute the readAll() method.
Set whether to execute the readAll() method.
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);
def OpenRTM_aist.RTObject.RTObject_impl.setWriteAll | ( | self, | ||
write = True , |
||||
completion = False | ||||
) |
Set whether to execute the writeAll() method.
Set whether to execute the writeAll() method.
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);
def OpenRTM_aist.RTObject.RTObject_impl.writeAll | ( | self | ) |
The write() method of all OutPort is called.
This operation call the write() method of all OutPort registered in the RTC.
bool writeAll();