OpenRTM_aist.RTObjectBase.RTObjectBase Class Reference

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Classes
class	deactivate_comps
class	ec_copy
class	ec_find
class	nv_name
class	svc_name

Public Member Functions
	__init__ (self, manager=None, orb=None, poa=None)
	__del__ (self)
	onInitialize (self)
	onFinalize (self)
	onStartup (self, ec_id)
	onShutdown (self, ec_id)
	onActivated (self, ec_id)
	onDeactivated (self, ec_id)
	onExecute (self, ec_id)
	onAborting (self, ec_id)
	onError (self, ec_id)
	onReset (self, ec_id)
	onStateUpdate (self, ec_id)
	onRateChanged (self, ec_id)
	onAction (self, ec_id)
	initialize (self)
	finalize (self)
	exit (self)
	is_alive (self, exec_context)
	get_context (self, ec_id)
	get_owned_contexts (self)
	get_participating_contexts (self)
	get_context_handle (self, cxt)
	get_component_profile (self)
	get_ports (self)
	attach_context (self, exec_context)
	detach_context (self, ec_id)
	on_initialize (self)
	on_finalize (self)
	on_startup (self, ec_id)
	on_shutdown (self, ec_id)
	on_activated (self, ec_id)
	on_deactivated (self, ec_id)
	on_aborting (self, ec_id)
	on_error (self, ec_id)
	on_reset (self, ec_id)
	get_owned_organizations (self)
	get_sdo_id (self)
	get_sdo_type (self)
	get_device_profile (self)
	get_service_profiles (self)
	get_service_profile (self, _id)
	get_sdo_service (self, _id)
	get_configuration (self)
	get_monitoring (self)
	get_organizations (self)
	get_status_list (self)
	get_status (self, name)
	getInstanceName (self)
	const char* getInstanceName()
	setInstanceName (self, instance_name)
	void setInstanceName(const char* instance_name);
	getTypeName (self)
	const char* getTypeName()
	getDescription (self)
	const char* getDescription()
	getVersion (self)
	const char* getVersion()
	getVendor (self)
	const char* getVendor()
	getCategory (self)
	const char* getCategory()
	getNamingNames (self)
	std.vector<std.string> getNamingNames();
	setObjRef (self, rtobj)
	void setObjRef(const RTObject_ptr rtobj);
	getObjRef (self)
	RTObject_ptr getObjRef() const;
	setProperties (self, prop)
	getProperties (self)
	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)
	getConfigService (self)
	updateParameters (self, config_set)
	void updateParameters(const char* config_set);
	registerPort (self, port)
	registerInPort (self, name, inport)
	registerOutPort (self, name, outport)
	void registerOutPort(const char* name, OutPortBase& outport);
	removeInPort (self, port)
	removeOutPort (self, port)
	deletePort (self, port)
	deletePortByName (self, port_name)
	getExecutionContext (self, ec_id)
	getExecutionRate (self, ec_id)
	setExecutionRate (self, ec_id, rate)
	isOwnExecutionContext (self, ec_id)
	deactivate (self, ec_id)
	activate (self, ec_id)
	reset (self, ec_id)
	addSdoServiceProvider (self, prof, provider)
	removeSdoServiceProvider (self, id)
	addSdoServiceConsumer (self, prof)
	removeSdoServiceConsumer (self, id)
	readAll (self)
	writeAll (self)
	setReadAll (self, read=True, completion=False)
	setWriteAll (self, write=True, completion=False)
	finalizePorts (self)
	addPreComponentActionListener (self, listener_type, memfunc)
	removePreComponentActionListener (self, listener_type, listener)
	addPostComponentActionListener (self, listener_type, memfunc)
	removePostComponentActionListener (self, listener_type, listener)
	addPortActionListener (self, listener_type, memfunc)
	removePortActionListener (self, listener_type, listener)
	addExecutionContextActionListener (self, listener_type, memfunc)
	removeExecutionContextActionListener (self, listener_type, listener)
	addPortConnectListener (self, listener_type, memfunc)
	removePortConnectListener (self, listener_type, listener)
	addPortConnectRetListener (self, listener_type, memfunc)
	removePortConnectRetListener (self, listener_type, listener)
	addConfigurationParamListener (self, type, memfunc)
	removeConfigurationParamListener (self, type, listener)
	addConfigurationSetListener (self, listener_type, memfunc)
	removeConfigurationSetListener (self, type, listener)
	addConfigurationSetNameListener (self, type, memfunc)
	removeConfigurationSetNameListener (self, type, listener)
	addPreFsmActionListener (self, listener_type, memfunc)
	removePreFsmActionListener (self, listener_type, listener)
	addPostFsmActionListener (self, listener_type, memfunc)
	removePostFsmActionListener (self, listener_type, listener)
	addFsmProfileListener (self, listener_type, memfunc)
	removeFsmProfileListener (self, listener_type, listener)
	addFsmStructureListener (self, listener_type, memfunc)
	removeFsmStructureListener (self, listener_type, listener)
	shutdown (self)
	getPrivateContextOptions (self, ec_args)
	getting individual EC options from RTC's configuration file
	getGlobalContextOptions (self, global_ec_props)
	getting global EC options from rtc.conf
	getContextOptions (self, ec_args)
	getting EC options
	findExistingEC (self, ec_arg)
	fiding existing EC from the factory
	createContexts (self, ec_args)
	creating, initializing and binding context

Detailed Description

Constructor & Destructor Documentation

__init__()

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

Consructor

Parameters

orb	ORB
poa	POA

__del__()

OpenRTM_aist.RTObjectBase.RTObjectBase.__del__

(

self

)

destructor

Member Function Documentation

activate()

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.

• onStartup()
• onDeactivated()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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

[local interface] Set a SDO service consumer

bool addSdoServiceConsumer(const SDOPackage.ServiceProfile& prof);

addSdoServiceProvider()

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()

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()

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

creating, initializing and binding context

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

deactivate()

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.

• onActivated()
• onExecute()
• onStateUpdate()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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

getting EC options

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

getExecutionContext()

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.

• onStartup()
• onShutdown()
• onActivated()
• onDeactivated()
• onExecute()
• onAborting()
• onError()
• onReset()
• onStateUpdate()
• onRateChanged()

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()

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.

• onStartup()
• onShutdown()
• onActivated()
• onDeactivated()
• onExecute()
• onAborting()
• onError()
• onReset()
• onStateUpdate()
• onRateChanged()

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()

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()

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()

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()

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()

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()

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.

• onStartup()
• onShutdown()
• onActivated()
• onDeactivated()
• onExecute()
• onAborting()
• onError()
• onReset()
• onStateUpdate()
• onRateChanged()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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

[local interface] Remove a SDO service consumer

bool removeSdoServiceConsumer(const char* id);

removeSdoServiceProvider()

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

[local interface] Remove a SDO service provider

bool removeSdoServiceProvider(const char* id);

reset()

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()

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.

• onStartup()
• onShutdown()
• onActivated()
• onDeactivated()
• onExecute()
• onAborting()
• onError()
• onReset()
• onStateUpdate()
• onRateChanged()

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()

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()

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

Set whether to execute the readAll() method.

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()

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

Set whether to execute the writeAll() method.

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()

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:

• RTObjectBase.py