System editor (multiple component version)

Describe operation of composite component.

(G)Create a composite component

Multiple components can be combined into a composite component. & br; Select the component you want to be a composite component, right click and select "Create Composite Component", the composite component generation dialog will be displayed.

fig66CreateCompositeComponent.png
Create composite component


fig67CompositeComponentDialog.png
Composite component creation dialog


The items of the dialog are as follows.

Dialog item and requirement for composite component generation

No. Dialog Description Description
Manager Name service Select the manager from the list of managers displayed in the view. The manager selected here will generate a composite component.
Name Specifies the instance name of the composite component.
Type Specify the type of composite component. The possible types are as follows.
[PeriodicECShared]
Each RTC operates with sharing only ExecutionContext. Because the state of each RTC is independent, there can be multiple states within the composite component.
[PeriodicStateShared]
Each RTC shares the same ExecutionContext and also shares state.
[Grouping]
A composite component that each RTC does not share anything, each RTC holds its own ExecutionContext, state.
Path Specifies the path to be set for the composite component.
Port From the port list of the child component, select the port to display in the composite component.
For the port selected here, a port for the proxy is created in the composite component.
- Select all ports/Release all button

When you create a composite component, the component you selected as a child component disappears from the system editor and a new composite component is drawn.
Double-click the diagram of the composite component, or right-click and choose Open in Editor, a new system diagram will open and the interior of the composite component will be displayed.

fig68CompositeOpenWithSE.png
Open complex component in system editor


fig69ViewCompositeComponent.png
System editor displaying within composite component


However, when saving the system configuration, the rendering information of the component can not be saved for only one component, so rendering information changed by the system diagram displaying inside the composite component will not be saved.

(G)Add a child of a composite component

Displaying inside the composite component Open the system editor and add the children of the composite component by dragging and dropping the RTC from the name service view. All added child RTC ports are set to private.

fig70CompositeComponentAddRTC.png
Add child RTC


(G)Delete child of composite component

Displaying inside the composite component Open the system editor and remove the child components there, so that the children of the composite component are deleted.
The deleted child component disappears from within the composite component and appears in the original system diagram (the diagram in which the composite component itself is displayed).

fig71DeleteChildComponent.png
Remove child components from within composite component


fig72ChildComponent.png
Component display of child on system editor displaying composite component


(G)Delete complex component

If you right-click on a composite component and select "Delete", the composite component is deleted from the diagram.
If you open a composite component in another system diagram at the time of deletion, a confirmation dialog of exit of the editor will be displayed.

fig73DeleteCompositeComponent.png
Delete complex component


fig74CloseCompositeComponentDialog.png
Exit confirmation dialog of editor displaying composite component


(G)Cancel composite component

If you right-click on the composite component and select "Decompose Composite Component", exist () is sent to the composite component and the component itself is terminated.
If you open a composite component in another system diagram at the time of release, a dialogue for confirmation of the exit of the editor will be displayed. & br; When the composite component is released, the child components are displayed in the original system diagram (the diagram in which the composite component was displayed).

fig75DecomposeCompositeComponent.png
Release composite component


fig76CloseCompositeComponentDialog.png
Exit confirmation dialog of editor displaying composite component


(G)Switch public/private port

Displaying inside a composite component If the port of a component in the system editor is exposed on a composite component, it will be displayed as a separate icon as shown below.

Child RTC's published port icon

No. name shape
1 InPort
IconExportedInPort.png
2 OutPort
IconExportedOutPort.png
3 ServicePort
IconExportedServicePort.png

If you right-click on a published port and select "Unexport", the port will change to a state that it is not published. Also, if you right-click on an unpublished port and select "Export", the port will be changed to the published state.

fig77ExportPort.png
fig77UnexportPort.png

port open/closed


However, if the port is connected to a port of another component, it can not be "Unexport".

fig78CantUnexport.png
If there is a port connection


Download

latest Releases

For Begginers

Windows msi(installer) package (only trying samples)

C++,Python,Java,
Toolsを含む
1.2.1-RELEASE

Development environment is required for RT-Component development. See download page for details.

Number of Projects

Choreonoid

Motion editor/Dynamics simulator

OpenHRP3

Dynamics simulator

OpenRTP

Integrated Development Platform

AIST RTC collection

RT-Components collection by AIST

TORK

Tokyo Opensource Robotics Association

DAQ-Middleware

Middleware for DAQ (Data Aquisition) by KEK