• (G)Display of RTC
• (G)RTC synchronization
• (G)RTC drawing edit

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.

The list of icons and status colors is as follows.

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.

(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.

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

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.
  
  
  Move RTC (left) and RTC size (right)

Also, the position and size of the selected RTC are displayed in the 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.
  
  
  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.
  
  
  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.
  
  
  Movement of connecting wire (vertical) (left) and horizontal (right) connecting line