OpenRTM-aist  1.2.1
Classes | Functions
CORBA_RTCUtil Namespace Reference

Classes

struct  find_port
 

Functions

coil::Properties get_component_profile (const RTC::RTObject_ptr rtc)
 RTC handling utility functions. More...
 
bool is_existing (const RTC::RTObject_ptr rtc)
 
bool is_alive_in_default_ec (const RTC::RTObject_ptr rtc)
 
RTC::ExecutionContext_var get_actual_ec (const RTC::RTObject_ptr rtc, RTC::UniqueId ec_id=0)
 
RTC::UniqueId get_ec_id (const RTC::RTObject_ptr rtc, const RTC::ExecutionContext_ptr ec)
 
RTC::ReturnCode_t activate (RTC::RTObject_ptr rtc, RTC::UniqueId ec_id=0)
 
RTC::ReturnCode_t deactivate (RTC::RTObject_ptr rtc, RTC::UniqueId ec_id=0)
 
RTC::ReturnCode_t reset (RTC::RTObject_ptr rtc, RTC::UniqueId ec_id=0)
 
bool get_state (RTC::LifeCycleState &state, const RTC::RTObject_ptr rtc, RTC::UniqueId ec_id=0)
 
bool is_in_inactive (const RTC::RTObject_ptr rtc, RTC::UniqueId ec_id=0)
 
bool is_in_active (const RTC::RTObject_ptr rtc, RTC::UniqueId ec_id=0)
 
bool is_in_error (const RTC::RTObject_ptr rtc, RTC::UniqueId ec_id=0)
 
CORBA::Double get_default_rate (const RTC::RTObject_ptr rtc)
 
RTC::ReturnCode_t set_default_rate (RTC::RTObject_ptr rtc, const CORBA::Double rate)
 
CORBA::Double get_current_rate (const RTC::RTObject_ptr rtc, RTC::UniqueId ec_id)
 
RTC::ReturnCode_t set_current_rate (RTC::RTObject_ptr rtc, RTC::UniqueId ec_id, const CORBA::Double rate)
 
RTC::ReturnCode_t add_rtc_to_default_ec (const RTC::RTObject_ptr localcomp, const RTC::RTObject_ptr othercomp)
 
RTC::ReturnCode_t remove_rtc_to_default_ec (const RTC::RTObject_ptr localcomp, const RTC::RTObject_ptr othercomp)
 
const RTC::RTCList get_participants_rtc (const RTC::RTObject_ptr rtc)
 
coil::vstring get_port_names (const RTC::RTObject_ptr rtc)
 
coil::vstring get_inport_names (const RTC::RTObject_ptr rtc)
 
coil::vstring get_outport_names (const RTC::RTObject_ptr rtc)
 
coil::vstring get_svcport_names (const RTC::RTObject_ptr rtc)
 
coil::vstring get_connector_names (const RTC::PortService_ptr port)
 
coil::vstring get_connector_names (const RTC::RTObject_ptr rtc, const std::string port_name)
 
coil::vstring get_connector_ids (const RTC::PortService_ptr port)
 
coil::vstring get_connector_ids (const RTC::RTObject_ptr rtc, const std::string port_name)
 
RTC::ConnectorProfile_var create_connector (const std::string name, const coil::Properties prop_arg, const RTC::PortService_ptr port0, const RTC::PortService_ptr port1)
 
bool already_connected (const RTC::PortService_ptr localport, const RTC::PortService_ptr otherport)
 
RTC::ReturnCode_t connect (const std::string name, const coil::Properties prop, const RTC::PortService_ptr port0, const RTC::PortService_ptr port1)
 
RTC::ReturnCode_t disconnect (RTC::ConnectorProfile connector_prof)
 
RTC::ReturnCode_t disconnect_connector_name (const RTC::PortService_ptr port_ref, const std::string conn_name)
 
RTC::ReturnCode_t disconnect_connector_name (const std::string port_name, const std::string conn_name)
 
RTC::ReturnCode_t disconnect_connector_id (const RTC::PortService_ptr port_ref, const std::string conn_id)
 
RTC::ReturnCode_t disconnect_connector_id (const std::string port_name, const std::string conn_id)
 
RTC::ReturnCode_t disconnect_all (const RTC::PortService_ptr port_ref)
 
RTC::ReturnCode_t disconnect_all (const std::string port_name)
 
RTC::PortService_var get_port_by_url (std::string port_name)
 
RTC::ReturnCode_t disconnect_name (const RTC::PortService_ptr localport, const std::string othername)
 
RTC::ReturnCode_t connect_multi (const std::string name, const coil::Properties prop, const RTC::PortService_ptr port, RTC::PortServiceList_var &target_ports)
 
RTC::PortService_var get_port_by_name (const RTC::RTObject_ptr rtc, std::string name)
 
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)
 
coil::Properties get_configuration (const RTC::RTObject_ptr rtc, const std::string conf_name)
 
std::string get_parameter_by_key (const RTC::RTObject_ptr rtc, const std::string confset_name, const std::string value_name)
 
std::string get_active_configuration_name (const RTC::RTObject_ptr rtc)
 
coil::Properties get_active_configuration (const RTC::RTObject_ptr rtc)
 
bool set_configuration (const RTC::RTObject_ptr rtc, const std::string confset_name, const std::string value_name, const std::string value)
 
bool set_active_configuration (const RTC::RTObject_ptr rtc, const std::string value_name, const std::string value)
 
bool set_configuration_parameter (SDOPackage::Configuration_ptr conf, SDOPackage::ConfigurationSet *confset, const std::string value_name, const std::string value)
 

Function Documentation

RTC::ReturnCode_t CORBA_RTCUtil::activate ( RTC::RTObject_ptr  rtc,
RTC::UniqueId  ec_id = 0 
)
Parameters
rtc
ec_id
Returns

Referenced by RTC::RTObject_impl::getOutPorts(), RTC::Manager::OrbRunner::open(), RTC::Manager::Terminator::open(), RTC::ConnectorBase::~ConnectorBase(), coil::PeriodicTaskBase::~PeriodicTaskBase(), and RTC::PublisherBase::~PublisherBase().

RTC::ReturnCode_t CORBA_RTCUtil::add_rtc_to_default_ec ( const RTC::RTObject_ptr  localcomp,
const RTC::RTObject_ptr  othercomp 
)
Parameters
localcomp
othercomp
Returns
bool CORBA_RTCUtil::already_connected ( const RTC::PortService_ptr  localport,
const RTC::PortService_ptr  otherport 
)
Parameters
port0
port1
Returns
RTC::ReturnCode_t CORBA_RTCUtil::connect ( const std::string  name,
const coil::Properties  prop,
const RTC::PortService_ptr  port0,
const RTC::PortService_ptr  port1 
)
Parameters
name
prop
port0
port1
Returns
RTC::ReturnCode_t CORBA_RTCUtil::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 
)
Parameters
name
prop
rtc0
portName0
rtc1
portName1
Returns

Referenced by CORBA_RTCUtil::find_port::find_port().

RTC::ReturnCode_t CORBA_RTCUtil::connect_multi ( const std::string  name,
const coil::Properties  prop,
const RTC::PortService_ptr  port,
RTC::PortServiceList_var &  target_ports 
)
Parameters
name
prop
port0
port1
Returns
RTC::ConnectorProfile_var CORBA_RTCUtil::create_connector ( const std::string  name,
const coil::Properties  prop_arg,
const RTC::PortService_ptr  port0,
const RTC::PortService_ptr  port1 
)
Parameters
name
prop_arg
port0
port1
Returns
RTC::ReturnCode_t CORBA_RTCUtil::deactivate ( RTC::RTObject_ptr  rtc,
RTC::UniqueId  ec_id = 0 
)
Parameters
rtc
ec_id
Returns

Referenced by RTC::RTObject_impl::getOutPorts(), RTC::ConnectorBase::~ConnectorBase(), and RTC::PublisherBase::~PublisherBase().

RTC::ReturnCode_t CORBA_RTCUtil::disconnect ( RTC::ConnectorProfile  connector_prof)
Parameters
port
port_name
Returns

Referenced by RTC::ConnectorBase::~ConnectorBase().

RTC::ReturnCode_t CORBA_RTCUtil::disconnect_all ( const RTC::PortService_ptr  port_ref)
Parameters
port_ref
Returns
RTC::ReturnCode_t CORBA_RTCUtil::disconnect_all ( const std::string  port_name)
Parameters
port_ref
Returns
RTC::ReturnCode_t CORBA_RTCUtil::disconnect_connector_id ( const RTC::PortService_ptr  port_ref,
const std::string  conn_id 
)
Parameters
port
name
Returns
RTC::ReturnCode_t CORBA_RTCUtil::disconnect_connector_id ( const std::string  port_name,
const std::string  conn_id 
)
Parameters
port
name
Returns
RTC::ReturnCode_t CORBA_RTCUtil::disconnect_connector_name ( const RTC::PortService_ptr  port_ref,
const std::string  conn_name 
)
Parameters
port_ref
conn_name
Returns
RTC::ReturnCode_t CORBA_RTCUtil::disconnect_connector_name ( const std::string  port_name,
const std::string  conn_name 
)
Parameters
port_name
conn_name
Returns
RTC::ReturnCode_t CORBA_RTCUtil::disconnect_name ( const RTC::PortService_ptr  localport,
const std::string  othername 
)
Parameters
localport
othername
Returns
coil::Properties CORBA_RTCUtil::get_active_configuration ( const RTC::RTObject_ptr  rtc)
Parameters
rtc
Returns

Referenced by CORBA_RTCUtil::find_port::find_port().

std::string CORBA_RTCUtil::get_active_configuration_name ( const RTC::RTObject_ptr  rtc)
Parameters
rtc
Returns

Referenced by CORBA_RTCUtil::find_port::find_port().

RTC::ExecutionContext_var CORBA_RTCUtil::get_actual_ec ( const RTC::RTObject_ptr  rtc,
RTC::UniqueId  ec_id = 0 
)
Parameters
rtc
ec_id
Returns
coil::Properties CORBA_RTCUtil::get_component_profile ( const RTC::RTObject_ptr  rtc)

RTC handling utility functions.

Getting component profile This is an example obtained properties from a RTC.

  • implementation_id: ConsoleOut
  • type_name: ConsoleOut
  • description: Console output component
  • version: 1.0
  • vendor: Noriaki Ando, AIST
  • category: example
  • activity_type: DataFlowComponent
  • max_instance: 10
  • language: C++
  • lang_type: compile
  • conf:
  • instance_name: ConsoleOut1
  • sdo
    • service
      • provider
        • enabled_services:
        • available_services:
      • consumer
        • enabled_services:
        • available_services:
  • config
    • version: 1.1.1
  • openrtm
    • name: OpenRTM-aist-1.1.1
    • version: 1.1.1
  • os
    • name: Linux
    • release: 3.13.0-24-generic
    • version: #46-Ubuntu SMP Thu Apr 10 19:11:08 UTC 2014
    • arch: x86_64
    • hostname: ubuntu1404
  • corba
    • endpoint:
    • id: omniORB
  • exec_cxt
    • periodic
      • type: PeriodicExecutionContext
      • rate: 1000
    • sync_transition: YES
    • transition_timeout: 0.5
  • logger
    • enable: YES
    • log_level: PARANOID
  • naming
    • enable: YES
    • type: corba
    • formats: h.host_cxt/n.rtc
    • names: ubuntu1404.host_cxt/ConsoleOut1.rtc
  • port
    • inport
      • in
        • buffer
          • read
            • empty_policy: block
            • timeout: 2.0
          • write
            • full_policy: overwrite
            • timeout: 2.0
        • subscribe_topic: TimedLong
  • config_file: consout.conf
Parameters
rtc
Returns
coil::Properties CORBA_RTCUtil::get_configuration ( const RTC::RTObject_ptr  rtc,
const std::string  conf_name 
)
Parameters
rtc
conf_name
Returns

Referenced by CORBA_RTCUtil::find_port::find_port().

coil::vstring CORBA_RTCUtil::get_connector_ids ( const RTC::PortService_ptr  port)
Parameters
port
Returns
coil::vstring CORBA_RTCUtil::get_connector_ids ( const RTC::RTObject_ptr  rtc,
const std::string  port_name 
)
Parameters
port
port_name
Returns
coil::vstring CORBA_RTCUtil::get_connector_names ( const RTC::PortService_ptr  port)
Parameters
port
Returns
coil::vstring CORBA_RTCUtil::get_connector_names ( const RTC::RTObject_ptr  rtc,
const std::string  port_name 
)
Parameters
rtc
port_name
Returns
CORBA::Double CORBA_RTCUtil::get_current_rate ( const RTC::RTObject_ptr  rtc,
RTC::UniqueId  ec_id 
)
Parameters
rtc
ec_id
Returns
CORBA::Double CORBA_RTCUtil::get_default_rate ( const RTC::RTObject_ptr  rtc)
Parameters
rtc
Returns
RTC::UniqueId CORBA_RTCUtil::get_ec_id ( const RTC::RTObject_ptr  rtc,
const RTC::ExecutionContext_ptr  ec 
)
Parameters
rtc
ec
Returns
coil::vstring CORBA_RTCUtil::get_inport_names ( const RTC::RTObject_ptr  rtc)
Parameters
rtc
Returns
coil::vstring CORBA_RTCUtil::get_outport_names ( const RTC::RTObject_ptr  rtc)
Parameters
rtc
Returns
std::string CORBA_RTCUtil::get_parameter_by_key ( const RTC::RTObject_ptr  rtc,
const std::string  confset_name,
const std::string  value_name 
)
Parameters
rtc
conf_name
value_name
Returns

Referenced by CORBA_RTCUtil::find_port::find_port().

const RTC::RTCList CORBA_RTCUtil::get_participants_rtc ( const RTC::RTObject_ptr  rtc)
Parameters
rtc
Returns
RTC::PortService_var CORBA_RTCUtil::get_port_by_name ( const RTC::RTObject_ptr  rtc,
std::string  name 
)
Parameters
rtc
port_name
Returns

Referenced by CORBA_RTCUtil::find_port::find_port().

RTC::PortService_var CORBA_RTCUtil::get_port_by_url ( std::string  port_name)
Parameters
port_ref
Returns
coil::vstring CORBA_RTCUtil::get_port_names ( const RTC::RTObject_ptr  rtc)
Parameters
rtc
Returns
bool CORBA_RTCUtil::get_state ( RTC::LifeCycleState &  state,
const RTC::RTObject_ptr  rtc,
RTC::UniqueId  ec_id = 0 
)
Parameters
state
rtc
ec_id
Returns
coil::vstring CORBA_RTCUtil::get_svcport_names ( const RTC::RTObject_ptr  rtc)
Parameters
rtc
Returns
bool CORBA_RTCUtil::is_alive_in_default_ec ( const RTC::RTObject_ptr  rtc)
Parameters
rtc
Returns
bool CORBA_RTCUtil::is_existing ( const RTC::RTObject_ptr  rtc)
Parameters
rtc
Returns
bool CORBA_RTCUtil::is_in_active ( const RTC::RTObject_ptr  rtc,
RTC::UniqueId  ec_id = 0 
)
Parameters
rtc
ec_id
Returns
bool CORBA_RTCUtil::is_in_error ( const RTC::RTObject_ptr  rtc,
RTC::UniqueId  ec_id = 0 
)
Parameters
rtc
ec_id
Returns
bool CORBA_RTCUtil::is_in_inactive ( const RTC::RTObject_ptr  rtc,
RTC::UniqueId  ec_id = 0 
)
Parameters
state
rtc
ec_id
Returns
RTC::ReturnCode_t CORBA_RTCUtil::remove_rtc_to_default_ec ( const RTC::RTObject_ptr  localcomp,
const RTC::RTObject_ptr  othercomp 
)
Parameters
localcomp
othercomp
Returns
RTC::ReturnCode_t CORBA_RTCUtil::reset ( RTC::RTObject_ptr  rtc,
RTC::UniqueId  ec_id = 0 
)
Parameters
rtc
ec_id
Returns

Referenced by RTC::RTObject_impl::getOutPorts().

bool CORBA_RTCUtil::set_active_configuration ( const RTC::RTObject_ptr  rtc,
const std::string  value_name,
const std::string  value 
)
Parameters
rtc
value_name
value
Returns

Referenced by CORBA_RTCUtil::find_port::find_port().

bool CORBA_RTCUtil::set_configuration ( const RTC::RTObject_ptr  rtc,
const std::string  confset_name,
const std::string  value_name,
const std::string  value 
)
Parameters
rtc
confset_name
value_name
value
Returns

Referenced by CORBA_RTCUtil::find_port::find_port().

bool CORBA_RTCUtil::set_configuration_parameter ( SDOPackage::Configuration_ptr  conf,
SDOPackage::ConfigurationSet *  confset,
const std::string  value_name,
const std::string  value 
)
Parameters
rtc
conf
confset
value_name
value
Returns

Referenced by CORBA_RTCUtil::find_port::find_port().

RTC::ReturnCode_t CORBA_RTCUtil::set_current_rate ( RTC::RTObject_ptr  rtc,
RTC::UniqueId  ec_id,
const CORBA::Double  rate 
)
Parameters
rtc
ec_id
rate
Returns
RTC::ReturnCode_t CORBA_RTCUtil::set_default_rate ( RTC::RTObject_ptr  rtc,
const CORBA::Double  rate 
)
Parameters
rtc
rate
Returns
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