Describe RTC display and RTC drawing and editing operation.
The RTC placed in the system editor is displayed as a rectangle and the port is displayed around that rectangle. Also, each state is expressed in color.
The list of icons and status colors is as follows.
No. | name | shape | state | default color(*) | |
1 | RTC | CREATED | White | ||
INACTIVE | Blue | ||||
ACTIVE | Light Green | ||||
ERROR | Red | ||||
UNKNOWN | Black | ||||
2 | Execution Context (First only) |
(Rectangular outer circumference of RTC) | RUNNING | Gray | |
STOPPED | Black | ||||
3 | InPort | disconnected | Blue | ||
Connected(1 or more) | Light Green | ||||
4 | OutPort | disconnected | Blue | ||
Connected(1 or more) | Light Green | ||||
5 | ServicePort | disconnected | Light Blue | ||
Connected(1 or more) | Cyan |
The color of each state can be changed by display color on the setting screen.
In addition, icon images can be attached according to RTC type and category.
Icon images can be changed in the setting screen by icon.
It monitors the status of the RTC placed in the system editor and updates the display in real time. & br; The monitoring method includes the status notification observer method (OpenRTM - aist 1.1 or later) or the periodic check by polling, and you can change the monitoring parameters by connecting the setting screen. & br; When placing RTC in the system editor, check the middleware version, if observer supported, register the observer to RTC. If the observer is not compatible, we will periodically query the state.
Deleting the RTC from the system editor also releases the observer.
The status notification observer notifies the following.
Notice | Description |
COMPONENT_PROFILE | Notify when RTC component profile changes |
RTC_STATUS | RTC status Notify new status and target EC's ID |
EC_STATUS | status of execution context change execution rate, EC start/stop, RTC attach/detach notification |
PORT_PROFILE | port state notify of port addition/deletion, connection connection/disconnection |
CONFIGURATION | Configuration state Notification of addition/change/deletion of configuration, switching of active configuration |
Here, we will explain RTC drawing editing. (I am daring to "drawing editing" instead of "editing" because the work described here is drawing editing, since there is no influence on the system at all)
Also, the position and size of the selected RTC are displayed in the status bar.