System editor (Display/Edit drawing of RTC)

Describe RTC display and RTC drawing and editing operation.

(G)Display of RTC

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.

fig43RTCDisplayExample.png
RTC display example


The list of icons and status colors is as follows.

Component and port icon

No. name shape state default color(*)
RTC
IconShape.png
CREATED
IconWhite.png
White
INACTIVE
IconBlue.png
Blue
ACTIVE
IconLightGreen.png
Light Green
ERROR
IconRed.png
Red
UNKNOWN
IconBlack.png
Black
2 Execution Context
(First only)
(Rectangular outer circumference of RTC) RUNNING
IconGray.png
Gray
STOPPED
IconBlack.png
Black
3 InPort
IconInport.png
disconnected
IconBlue.png
Blue
Connected(1 or more)
IconLightGreen.png
Light Green
4 OutPort
IconOutport.png
disconnected
IconBlue.png
Blue
Connected(1 or more)
IconLightGreen.png
Light Green
5 ServicePort
IconServiceport.png
disconnected
IconLightBlue.png
Light Blue
Connected(1 or more)
IconCyan.png
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.

fig44RTCDisplayIconExample.png
RTC icon image example


Icon images can be changed in the setting screen by icon.

(G)RTC synchronization

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.

fig45StatusObserver.png
State Notification Observer


Deleting the RTC from the system editor also releases the observer.
The status notification observer notifies the following.

Notification contents of status notification observer

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
Also, in order to confirm the survival of RTC, we will notify the heartbeat at regular intervals. & br; If heartbeat is not notified for a certain number of times, RTC assumes abnormal termination and deletes it from the system editor.

(G)RTC drawing edit

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)

  • Changing and moving the size of RTC (No effect on system)
    To move RTC, select RTC and drag to move it. To change the size of the RTC, drag the handle displayed by selecting RTC and move it.
    fig46RTCMoveResize.png
    Move RTC (left) and RTC size (right)


Also, the position and size of the selected RTC are displayed in the status bar.

fig47StatusBar.png
status bar


  • RTC rotation (no effect on system)
    Select the target component and rotate it horizontally by holding down the Ctrl key and clicking the right mouse button. Rotate to the vertical direction by holding down the Shift key and clicking the right mouse button. By repeating the same operation for each, you can change to the opposite horizontal direction and the opposite vertical direction, you can operate in the upward, downward, leftward and rightward direction.
    fig48RTCRotate.png
    Rotated RTC

  • Delete RTC (No effect on system)
    To delete the RTC, select RTC and click the [Delete] button, or select [Delete] from the context menu.
    fig49DeleteComponent.png
    Delete RTC

  • Move connections between ports (no effect on system)
    To move the connection line, select the connection line and move the displayed handler. You can move the vertical line to the left and right, and the horizontal line up and down.
    fig50MoveConnection.png
    Movement of connecting wire (vertical) (left) and horizontal (right) connecting line

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