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Classes | Functions
CORBA_RTCUtil Namespace Reference

Classes

struct  find_port
 

Functions

coil::Properties get_component_profile (RTC::RTObject_ptr rtc)
 RTC handling utility functions.
 
bool is_existing (RTC::RTObject_ptr rtc)
 
bool is_alive_in_default_ec (RTC::RTObject_ptr rtc)
 
RTC::ExecutionContext_ptr get_actual_ec (RTC::RTObject_ptr rtc, RTC::UniqueId ec_id=0)
 
RTC::UniqueId get_ec_id (RTC::RTObject_ptr rtc, 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, RTC::RTObject_ptr rtc, RTC::UniqueId ec_id=0)
 
bool is_in_inactive (RTC::RTObject_ptr rtc, RTC::UniqueId ec_id=0)
 
bool is_in_active (RTC::RTObject_ptr rtc, RTC::UniqueId ec_id=0)
 
bool is_in_error (RTC::RTObject_ptr rtc, RTC::UniqueId ec_id=0)
 
CORBA::Double get_default_rate (RTC::RTObject_ptr rtc)
 
RTC::ReturnCode_t set_default_rate (RTC::RTObject_ptr rtc, CORBA::Double rate)
 
CORBA::Double get_current_rate (RTC::RTObject_ptr rtc, RTC::UniqueId ec_id)
 
RTC::ReturnCode_t set_current_rate (RTC::RTObject_ptr rtc, RTC::UniqueId ec_id, CORBA::Double rate)
 
RTC::ReturnCode_t add_rtc_to_default_ec (RTC::RTObject_ptr localcomp, RTC::RTObject_ptr othercomp)
 
RTC::ReturnCode_t remove_rtc_to_default_ec (RTC::RTObject_ptr localcomp, RTC::RTObject_ptr othercomp)
 
RTC::RTCList get_participants_rtc (RTC::RTObject_ptr rtc)
 
coil::vstring get_port_names (RTC::RTObject_ptr rtc)
 
coil::vstring get_inport_names (RTC::RTObject_ptr rtc)
 
coil::vstring get_outport_names (RTC::RTObject_ptr rtc)
 
coil::vstring get_svcport_names (RTC::RTObject_ptr rtc)
 
coil::vstring get_connector_names (RTC::PortService_ptr port)
 
coil::vstring get_connector_names (RTC::RTObject_ptr rtc, const std::string &port_name)
 
coil::vstring get_connector_ids (RTC::PortService_ptr port)
 
coil::vstring get_connector_ids (RTC::RTObject_ptr rtc, const std::string &port_name)
 
RTC::ConnectorProfile * create_connector (const std::string &name, const coil::Properties &prop_arg, RTC::PortService_ptr port0, RTC::PortService_ptr port1)
 
bool already_connected (RTC::PortService_ptr localport, RTC::PortService_ptr otherport)
 
RTC::ReturnCode_t connect (const std::string &name, const coil::Properties &prop, RTC::PortService_ptr port0, RTC::PortService_ptr port1)
 
RTC::ReturnCode_t disconnect (RTC::ConnectorProfile connector_prof)
 
RTC::ReturnCode_t disconnect_connector_name (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 (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 (RTC::PortService_ptr port_ref)
 
RTC::ReturnCode_t disconnect_all (const std::string &port_name)
 
RTC::PortService_ptr get_port_by_url (const std::string &port_name)
 
RTC::ReturnCode_t disconnect_name (RTC::PortService_ptr localport, const std::string &othername)
 
RTC::ReturnCode_t connect_multi (const std::string &name, const coil::Properties &prop, RTC::PortService_ptr port, RTC::PortServiceList &target_ports)
 
RTC::PortService_ptr get_port_by_name (RTC::RTObject_ptr rtc, const std::string &name)
 
RTC::ReturnCode_t connect_by_name (const std::string &name, const coil::Properties &prop, RTC::RTObject_ptr rtc0, const std::string &portName0, RTC::RTObject_ptr rtc1, const std::string &portName1)
 
coil::Properties get_configuration (RTC::RTObject_ptr rtc, const std::string &conf_name)
 
std::string get_parameter_by_key (RTC::RTObject_ptr rtc, const std::string &confset_name, const std::string &value_name)
 
std::string get_active_configuration_name (RTC::RTObject_ptr rtc)
 
coil::Properties get_active_configuration (RTC::RTObject_ptr rtc)
 
bool set_configuration (RTC::RTObject_ptr rtc, const std::string &confset_name, const std::string &value_name, const std::string &value)
 
bool set_active_configuration (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

◆ activate()

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

◆ add_rtc_to_default_ec()

RTC::ReturnCode_t CORBA_RTCUtil::add_rtc_to_default_ec ( RTC::RTObject_ptr localcomp,
RTC::RTObject_ptr othercomp )
Parameters
localcomp
othercomp
Returns

◆ already_connected()

bool CORBA_RTCUtil::already_connected ( RTC::PortService_ptr localport,
RTC::PortService_ptr otherport )
Parameters
port0
port1
Returns

◆ connect()

RTC::ReturnCode_t CORBA_RTCUtil::connect ( const std::string & name,
const coil::Properties & prop,
RTC::PortService_ptr port0,
RTC::PortService_ptr port1 )
Parameters
name
prop
port0
port1
Returns

◆ connect_by_name()

RTC::ReturnCode_t CORBA_RTCUtil::connect_by_name ( const std::string & name,
const 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

◆ connect_multi()

RTC::ReturnCode_t CORBA_RTCUtil::connect_multi ( const std::string & name,
const coil::Properties & prop,
RTC::PortService_ptr port,
RTC::PortServiceList & target_ports )
Parameters
name
prop
port0
port1
Returns

◆ create_connector()

RTC::ConnectorProfile * CORBA_RTCUtil::create_connector ( const std::string & name,
const coil::Properties & prop_arg,
RTC::PortService_ptr port0,
RTC::PortService_ptr port1 )
Parameters
name
prop_arg
port0
port1
Returns

◆ deactivate()

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

◆ disconnect()

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

◆ disconnect_all() [1/2]

RTC::ReturnCode_t CORBA_RTCUtil::disconnect_all ( const std::string & port_name)
Parameters
port_ref
Returns

◆ disconnect_all() [2/2]

RTC::ReturnCode_t CORBA_RTCUtil::disconnect_all ( RTC::PortService_ptr port_ref)
Parameters
port_ref
Returns

◆ disconnect_connector_id() [1/2]

RTC::ReturnCode_t CORBA_RTCUtil::disconnect_connector_id ( const std::string & port_name,
const std::string & conn_id )
Parameters
port
name
Returns

◆ disconnect_connector_id() [2/2]

RTC::ReturnCode_t CORBA_RTCUtil::disconnect_connector_id ( RTC::PortService_ptr port_ref,
const std::string & conn_id )
Parameters
port
name
Returns

◆ disconnect_connector_name() [1/2]

RTC::ReturnCode_t CORBA_RTCUtil::disconnect_connector_name ( const std::string & port_name,
const std::string & conn_name )
Parameters
port_name
conn_name
Returns

◆ disconnect_connector_name() [2/2]

RTC::ReturnCode_t CORBA_RTCUtil::disconnect_connector_name ( RTC::PortService_ptr port_ref,
const std::string & conn_name )
Parameters
port_ref
conn_name
Returns

◆ disconnect_name()

RTC::ReturnCode_t CORBA_RTCUtil::disconnect_name ( RTC::PortService_ptr localport,
const std::string & othername )
Parameters
localport
othername
Returns

◆ get_active_configuration()

coil::Properties CORBA_RTCUtil::get_active_configuration ( RTC::RTObject_ptr rtc)
Parameters
rtc
Returns

◆ get_active_configuration_name()

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

◆ get_actual_ec()

RTC::ExecutionContext_ptr CORBA_RTCUtil::get_actual_ec ( RTC::RTObject_ptr rtc,
RTC::UniqueId ec_id = 0 )
Parameters
rtc
ec_id
Returns

◆ get_component_profile()

coil::Properties CORBA_RTCUtil::get_component_profile ( 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

◆ get_configuration()

coil::Properties CORBA_RTCUtil::get_configuration ( RTC::RTObject_ptr rtc,
const std::string & conf_name )
Parameters
rtc
conf_name
Returns

◆ get_connector_ids() [1/2]

coil::vstring CORBA_RTCUtil::get_connector_ids ( RTC::PortService_ptr port)
Parameters
port
Returns

◆ get_connector_ids() [2/2]

coil::vstring CORBA_RTCUtil::get_connector_ids ( RTC::RTObject_ptr rtc,
const std::string & port_name )
Parameters
port
port_name
Returns

◆ get_connector_names() [1/2]

coil::vstring CORBA_RTCUtil::get_connector_names ( RTC::PortService_ptr port)
Parameters
port
Returns

◆ get_connector_names() [2/2]

coil::vstring CORBA_RTCUtil::get_connector_names ( RTC::RTObject_ptr rtc,
const std::string & port_name )
Parameters
rtc
port_name
Returns

◆ get_current_rate()

CORBA::Double CORBA_RTCUtil::get_current_rate ( RTC::RTObject_ptr rtc,
RTC::UniqueId ec_id )
Parameters
rtc
ec_id
Returns

◆ get_default_rate()

CORBA::Double CORBA_RTCUtil::get_default_rate ( RTC::RTObject_ptr rtc)
Parameters
rtc
Returns

◆ get_ec_id()

RTC::UniqueId CORBA_RTCUtil::get_ec_id ( RTC::RTObject_ptr rtc,
RTC::ExecutionContext_ptr ec )
Parameters
rtc
ec
Returns

◆ get_inport_names()

coil::vstring CORBA_RTCUtil::get_inport_names ( RTC::RTObject_ptr rtc)
Parameters
rtc
Returns

◆ get_outport_names()

coil::vstring CORBA_RTCUtil::get_outport_names ( RTC::RTObject_ptr rtc)
Parameters
rtc
Returns

◆ get_parameter_by_key()

std::string CORBA_RTCUtil::get_parameter_by_key ( RTC::RTObject_ptr rtc,
const std::string & confset_name,
const std::string & value_name )
Parameters
rtc
conf_name
value_name
Returns

◆ get_participants_rtc()

RTC::RTCList CORBA_RTCUtil::get_participants_rtc ( RTC::RTObject_ptr rtc)
Parameters
rtc
Returns

◆ get_port_by_name()

RTC::PortService_ptr CORBA_RTCUtil::get_port_by_name ( RTC::RTObject_ptr rtc,
const std::string & name )
Parameters
rtc
port_name
Returns

◆ get_port_by_url()

RTC::PortService_ptr CORBA_RTCUtil::get_port_by_url ( const std::string & port_name)
Parameters
port_ref
Returns

◆ get_port_names()

coil::vstring CORBA_RTCUtil::get_port_names ( RTC::RTObject_ptr rtc)
Parameters
rtc
Returns

◆ get_state()

bool CORBA_RTCUtil::get_state ( RTC::LifeCycleState & state,
RTC::RTObject_ptr rtc,
RTC::UniqueId ec_id = 0 )
Parameters
state
rtc
ec_id
Returns

◆ get_svcport_names()

coil::vstring CORBA_RTCUtil::get_svcport_names ( RTC::RTObject_ptr rtc)
Parameters
rtc
Returns

◆ is_alive_in_default_ec()

bool CORBA_RTCUtil::is_alive_in_default_ec ( RTC::RTObject_ptr rtc)
Parameters
rtc
Returns

◆ is_existing()

bool CORBA_RTCUtil::is_existing ( RTC::RTObject_ptr rtc)
Parameters
rtc
Returns

◆ is_in_active()

bool CORBA_RTCUtil::is_in_active ( RTC::RTObject_ptr rtc,
RTC::UniqueId ec_id = 0 )
Parameters
rtc
ec_id
Returns

◆ is_in_error()

bool CORBA_RTCUtil::is_in_error ( RTC::RTObject_ptr rtc,
RTC::UniqueId ec_id = 0 )
Parameters
rtc
ec_id
Returns

◆ is_in_inactive()

bool CORBA_RTCUtil::is_in_inactive ( RTC::RTObject_ptr rtc,
RTC::UniqueId ec_id = 0 )
Parameters
state
rtc
ec_id
Returns

◆ remove_rtc_to_default_ec()

RTC::ReturnCode_t CORBA_RTCUtil::remove_rtc_to_default_ec ( RTC::RTObject_ptr localcomp,
RTC::RTObject_ptr othercomp )
Parameters
localcomp
othercomp
Returns

◆ reset()

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

◆ set_active_configuration()

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

◆ set_configuration()

bool CORBA_RTCUtil::set_configuration ( 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

◆ set_configuration_parameter()

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

◆ set_current_rate()

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

◆ set_default_rate()

RTC::ReturnCode_t CORBA_RTCUtil::set_default_rate ( RTC::RTObject_ptr rtc,
CORBA::Double rate )
Parameters
rtc
rate
Returns
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