Motion editor/Dynamics simulator
Integrated Development Platform
AIST RTC collection
RT-Components collection by AIST
Tokyo Opensource Robotics Association
Middleware for DAQ (Data Aquisition) by KEK
The System Editor graphically displays the state of RTCs in real time. It also allows the ports to be connected and the state of RTCs to be controlled in order to build and contorl a complete system.
The connection method between the ports of RTC and the method of performing RTCare explained.
Opening the System Editor
To open a new System Editor, click the Open New System Editor button in the toolbar or select Open New System Editor from the File menu.
Adding RTCs to the System Editor
To add an RTC to the System Editor, drag and drop them from the Name Service View into the System Editor.
Changing RTC States
Using the system diagram, the selected RTC can be moved between the various states - Activate, Deactivate, Reset, Finalize, Exit, Start and Stop. This can also be done through the Name Service View.
The meaning of these actions is described below.
In addition, in order to easily manage an entire system, the System Editor allows all contained components to be activated, deactivated, started and stopped at once using buttons in the tool bar or the context menu.
Using the "All" actions, ExecutionContexts other than the first can also be used. The result may differ from controlling each component individually.
The System Editor can be used to connect ports. Drag and drop between two ports to connect them.
After dragging and dropping, a dialog will be displayed requesting the necessary information for the connection.
This dialog is used to build a Connector Profile. The Connector Profile must meet the various conditions of the ports. This dialog only allows information that meets these conditions to be entered. If two ports cannot be connected due to conflicting conditions, this is indicated when attempting to drag a connetion between them.
Port connections are broadly divided into data port connections and service port connections. for details, please refer to SystemEditor(PortConnection).
Removing port connections
To remove the connection between two ports, select it and click the Delete button, or right-click it and select Delete from the context menu.
Disconnecting all ports
To disconnect all ports at once, right click on a port and select All Disconnect.