RTC操作関数(CORBA_RTCUtil)利用マニュアル

 cmake_minimum_required(VERSION 3.1)
 
 set(target CORBA_RTCUtil_test)
 project(${target} CXX)
 
 find_package(OpenRTM REQUIRED)
 
 add_definitions(${OPENRTM_CFLAGS})
 link_directories(${OPENRTM_LIBRARY_DIRS})
 
 add_executable(${target} ${target}.cpp)
 target_link_libraries(${target} ${OPENRTM_LIBRARIES})
 target_include_directories(${target} SYSTEM PRIVATE ${OPENRTM_INCLUDE_DIRS})

 %OPENRTM_INSTALL_DIR%\2.0.0\ext\environment-setup.omniorb.vc16.bat
 mkdir build
 cd build
 cmake ..

 #include <rtm/Manager.h>
 #include <rtm/NamingManager.h>
 #include <rtm/CORBA_RTCUtil.h>
 #include <iostream>
 
 
 int main (int argc, char** argv)
 {
  RTC::Manager* manager;
  manager = RTC::Manager::init(argc, argv);
 
  manager->activateManager();
  manager->runManager(true);
 
  RTC::RTObject_var consolein = RTC::RTObject::_nil();
  RTC::RTObject_var consoleout = RTC::RTObject::_nil();
 
  RTC::NamingManager* nm = RTC::Manager::instance().getNaming();
  RTC::RTCList consoleinlist = nm->string_to_component("rtcname://localhost:2809/*/ConsoleIn0");
 
  if (consoleinlist.length() > 0)
  {
    consolein = consoleinlist[0];
  }
  else
  {
    std::cout << "Could not found ConsoleIn0" << std::endl;
    return 1;
  }
 
  RTC::RTCList consoleoutlist = nm->string_to_component("rtcname://localhost:2809/*/ConsoleOut0");
  
  if (consoleoutlist.length() > 0)
  {
    consoleout = consoleoutlist[0];
  }
  else
  {
    std::cout << "Could not found ConsoleOut0" << std::endl;
    return 1;
  }
  
  RTC::RTObject_var configsample = RTC::RTObject::_nil();
  RTC::RTCList configsamplelist = nm->string_to_component("rtcname://localhost:2809/*/ConfigSample0");
 
  if (configsamplelist.length() > 0)
  {
    configsample = configsamplelist[0];
  }
  else
  {
    std::cout << "Could not found ConfigSample0" << std::endl;
    return 1;
  }
  
  RTC::RTObject_var myserviceprovider = RTC::RTObject::_nil();
  RTC::RTCList myserviceproviderlist = nm->string_to_component("rtcname://localhost:2809/*/MyServiceProvider0");
 
  if (myserviceproviderlist.length() > 0)
  {
    myserviceprovider = myserviceproviderlist[0];
  }
  else
  {
    std::cout << "Could not found MyServiceProvider0" << std::endl;
    return 1;
  }
  
  RTC::RTObject_var myserviceconsumer = RTC::RTObject::_nil();
  RTC::RTCList myserviceconsumerlist = nm->string_to_component("rtcname://localhost:2809/*/MyServiceConsumer0");
 
  if (myserviceconsumerlist.length() > 0)
  {
    myserviceconsumer = myserviceconsumerlist[0];
  }
  else
  {
    std::cout << "Could not found MyServiceConsumer0" << std::endl;
    return 1;
  }
 
  //以降の処理はここに記述する
 
  manager->terminate();
  manager->join();
 
  return 0;
 }

 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
 # -*- Python -*-
 
 import sys
 
 import OpenRTM_aist
 import OpenRTM_aist.CORBA_RTCUtil
 from omniORB import CORBA
 
 def main():
    mgr = OpenRTM_aist.Manager.init(sys.argv)
    mgr.activateManager()
    mgr.runManager(True)
 
 
    nm = OpenRTM_aist.Manager.instance().getNaming()
    consoleinlist = nm.string_to_component(
        "rtcname://localhost:2809/*/ConsoleIn0")
 
    if consoleinlist:
        consolein = consoleinlist[0]
    else:
        print("Could not found ConsoleIn0")
        sys.exit(1)
 
    consoleoutlist = nm.string_to_component(
        "rtcname://localhost:2809/*/ConsoleOut0")
    if consoleoutlist:
        consoleout = consoleoutlist[0]
    else:
        print("Could not found ConsoleOut0")
        sys.exit(1)
    
    configsamplelist = nm.string_to_component(
        "rtcname://localhost:2809/*/ConfigSample0")
    if consoleoutlist:
        configsample = consoleoutlist[0]
    else:
        print("Could not found ConfigSample0")
        sys.exit(1)
 
    myserviceproviderlist = nm.string_to_component(
        "rtcname://localhost:2809/*/MyServiceProvider0")
    if myserviceproviderlist:
        myserviceprovider = myserviceproviderlist[0]
    else:
        print("Could not found MyServiceProvider0")
        sys.exit(1)
 
    myserviceconsumerlist = nm.string_to_component(
        "rtcname://localhost:2809/*/ConsoleOut0")
    if myserviceconsumerlist:
        myserviceconsumer = myserviceconsumerlist[0]
    else:
        print("Could not found ConsoleOut0")
        sys.exit(1)
 
    #以降の処理はここに記述する
 
    mgr.shutdown()
 
 
 if __name__ == "__main__":
    main()

 manager.shutdown_auto: NO

  RTC::PortService_var port_in_var = CORBA_RTCUtil::get_port_by_name(consoleout.in(), "ConsoleOut0.in");
 
  if (CORBA::is_nil(port_in_var))
  {
    std::cout << "Could not found ConsoleOut0.in" << std::endl;
    return 1;
  }
 
  RTC::PortService_var port_out_var = CORBA_RTCUtil::get_port_by_name(consolein.in(), "ConsoleIn0.out");
 
  if (CORBA::is_nil(port_out_var))
  {
    std::cout << "Could not found ConsoleIn0.out" << std::endl;
    return 1;
  }

    port_in_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(
        consoleout, "ConsoleOut0.in")
    if CORBA.is_nil(port_in_var):
        print("Could not found ConsoleOut0.in")
        sys.exit(1)
 
    port_out_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(
        consolein, "ConsoleIn0.out")
    if CORBA.is_nil(port_out_var):
        print("Could not found ConsoleOut0.in")
        sys.exit(1)

  RTC::PortService_var port_in_var = CORBA_RTCUtil::get_port_by_url("rtcname://localhost:2809/*/ConsoleOut0.in");
 
  if (CORBA::is_nil(port_in_var))
  {
    std::cout << "Could not found ConsoleOut0.in" << std::endl;
    return 1;
  }
 
  RTC::PortService_var port_out_var = CORBA_RTCUtil::get_port_by_url("rtcname://localhost:2809/*/ConsoleIn0.out");
 
  if (CORBA::is_nil(port_out_var))
  {
    std::cout << "Could not found ConsoleIn0.out" << std::endl;
    return 1;
  }

    port_in_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_url(
        "rtcname://localhost:2809/*/ConsoleOut0.in")
    if CORBA.is_nil(port_in_var):
        print("Could not found ConsoleOut0.in")
        sys.exit(1)
 
    port_out_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_url(
        "rtcname://localhost:2809/*/ConsoleIn0.out")
    if CORBA.is_nil(port_out_var):
        print("Could not found ConsoleOut0.in")
        sys.exit(1)

  coil::Properties prop;
  prop["dataport.dataflow_type"] = "push";
  prop["dataport.interface_type"] = "corba_cdr";
  prop["dataport.subscription_type"] = "new";
  CORBA_RTCUtil::connect("test_connector", prop, port_in_var.in(), port_out_var.in());

    prop = OpenRTM_aist.Properties()
    prop.setProperty("dataport.dataflow_type", "push")
    prop.setProperty("dataport.interface_type", "corba_cdr")
    prop.setProperty("dataport.subscription_type", "new")
    OpenRTM_aist.CORBA_RTCUtil.connect(
        "test_connector", prop, port_in_var, port_out_var)

  CORBA_RTCUtil::disconnect_connector_name(port_in_var.in(), "test_connector");

    OpenRTM_aist.CORBA_RTCUtil.disconnect_by_portref_connector_name(
        port_in_var, "test_connector")

  CORBA_RTCUtil::disconnect_connector_name("rtcname://localhost:2809/*/ConsoleOut0.in", "test_connector");

    OpenRTM_aist.CORBA_RTCUtil.disconnect_by_portname_connector_name(
        "rtcname://localhost:2809/*/ConsoleOut0.in", "test_connector")

  RTC::PortServiceList target_ports;
  target_ports.length(1);
  target_ports[0] = RTC::PortService::_duplicate(port_out_var.in());
  CORBA_RTCUtil::connect_multi("test_connector", prop, port_in_var.in(), target_ports);

    OpenRTM_aist.CORBA_RTCUtil.connect_multi(
        "test_connector", prop, port_in_var, [port_out_var])

  CORBA_RTCUtil::disconnect_all(port_in_var.in());

    OpenRTM_aist.CORBA_RTCUtil.disconnect_all_by_ref(port_in_var)

  CORBA_RTCUtil::disconnect_all("rtcname://localhost:2809/*/ConsoleIn0.out");

    OpenRTM_aist.CORBA_RTCUtil.disconnect_all_by_name(
        "rtcname://localhost:2809/*/ConsoleIn0.out")

  CORBA_RTCUtil::activate(consolein.in(), 0);
  CORBA_RTCUtil::activate(consoleout.in(), 0);

    OpenRTM_aist.CORBA_RTCUtil.activate(consoleout, 0)
    OpenRTM_aist.CORBA_RTCUtil.activate(consolein, 0)

  CORBA_RTCUtil::deactivate(consolein.in(), 0);
  CORBA_RTCUtil::deactivate(consoleout.in(), 0);

    OpenRTM_aist.CORBA_RTCUtil.deactivate(consoleout, 0)
    OpenRTM_aist.CORBA_RTCUtil.deactivate(consolein, 0)

  CORBA_RTCUtil::reset(consolein.in(), 0);
  CORBA_RTCUtil::reset(consoleout.in(), 0);

    OpenRTM_aist.CORBA_RTCUtil.reset(consoleout, 0)
    OpenRTM_aist.CORBA_RTCUtil.reset(consolein, 0)

  RTC::LifeCycleState state;
  CORBA_RTCUtil::get_state(state, consoleout.in(), 0);
  std::cout << state << std::endl;

    ret, state = OpenRTM_aist.CORBA_RTCUtil.get_state(consoleout, 0)
    print(state)

  {
    std::cout << "Inactive State" << std::endl;
  }
  else if (CORBA_RTCUtil::is_in_active(consoleout.in()))
  {
    std::cout << "Active State" << std::endl;
  }
  else if (CORBA_RTCUtil::is_in_error(consoleout.in()))
  {
    std::cout << "Error State" << std::endl;
  }

    if OpenRTM_aist.CORBA_RTCUtil.is_in_inactive(consoleout):
        print("Inactive State")
    elif OpenRTM_aist.CORBA_RTCUtil.is_in_active(consoleout):
        print("Active State")
    elif OpenRTM_aist.CORBA_RTCUtil.is_in_error(consoleout):
        print("Error State")

  CORBA_RTCUtil::set_default_rate(consoleout.in(), 20.0);

    OpenRTM_aist.CORBA_RTCUtil.set_default_rate(consoleout, 20.0)

  CORBA_RTCUtil::set_current_rate(consoleout.in(), 0, 50.0);

    OpenRTM_aist.CORBA_RTCUtil.set_current_rate(consoleout, 0, 50.0)

  std::cout << CORBA_RTCUtil::get_default_rate(consoleout.in()) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_default_rate(consoleout))

  std::cout << CORBA_RTCUtil::get_current_rate(consoleout.in(), 0) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_current_rate(consoleout, 0))

  CORBA_RTCUtil::add_rtc_to_default_ec(consoleout.in(), consolein.in());

    OpenRTM_aist.CORBA_RTCUtil.add_rtc_to_default_ec(consoleout, consolein)

  CORBA_RTCUtil::remove_rtc_to_default_ec(consoleout.in(), consolein.in());

    OpenRTM_aist.CORBA_RTCUtil.remove_rtc_to_default_ec(consoleout, consolein)

  RTC::RTCList rtclist = CORBA_RTCUtil::get_participants_rtc(consoleout.in());
  for(CORBA::ULong i=0;i < rtclist.length();i++)
  {
    
    std::cout << i << "\t" << CORBA_RTCUtil::get_component_profile(rtclist[i].in()) << std::endl;
  }

    i = 0
    for rtc in OpenRTM_aist.CORBA_RTCUtil.get_participants_rtc(consoleout):
        print(i, OpenRTM_aist.CORBA_RTCUtil.get_component_profile(rtc))
        i += 1

  CORBA_RTCUtil::set_active_configuration(configsample.in(), "int_param1", "100");

    OpenRTM_aist.CORBA_RTCUtil.set_active_configuration(
        configsample, "int_param1", "100")

  CORBA_RTCUtil::set_configuration(configsample.in(), "mode0", "str_param1", "test");

    OpenRTM_aist.CORBA_RTCUtil.set_configuration(
        configsample, "mode0", "str_param1", "test")

  std::cout << CORBA_RTCUtil::get_active_configuration_name(configsample.in()) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_active_configuration_name(configsample))

  std::cout << CORBA_RTCUtil::get_active_configuration(configsample.in()) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_active_configuration(configsample))

  std::cout << CORBA_RTCUtil::get_configuration(configsample.in(), "mode1") << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_configuration(configsample, "mode1"))

  std::cout << CORBA_RTCUtil::get_parameter_by_key(configsample.in(), "mode1", "int_param1") << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_parameter_by_key(
        configsample, "mode1", "int_param1"))

  std::cout << CORBA_RTCUtil::get_component_profile(consolein.in()) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_component_profile(consolein))

  coil::vstring portlist = CORBA_RTCUtil::get_port_names(consolein.in());
  for (auto& port : portlist)
  {
    std::cout << port << std::endl;
  }

    for port in OpenRTM_aist.CORBA_RTCUtil.get_port_names(consolein):
        print(port)

  coil::vstring inportlist = CORBA_RTCUtil::get_inport_names(consoleout.in());
  for (auto& port : inportlist)
  {
    std::cout << port << std::endl;
  }

  coil::vstring outportlist = CORBA_RTCUtil::get_outport_names(consolein.in());
  for (auto& port : outportlist)
  {
    std::cout << port << std::endl;
  }
  
  coil::vstring svcportlist = CORBA_RTCUtil::get_svcport_names(myserviceprovider.in());
  for (auto& port : svcportlist)
  {
    std::cout << port << std::endl;
  }

    for port in OpenRTM_aist.CORBA_RTCUtil.get_inport_names(consoleout):
        print(port)
    for port in OpenRTM_aist.CORBA_RTCUtil.get_outport_names(consolein):
        print(port)
    for port in OpenRTM_aist.CORBA_RTCUtil.get_svcport_names(myserviceprovider):
        print(port)

  coil::vstring inconlist = CORBA_RTCUtil::get_connector_names(port_in_var.in());
  for (auto& connector : inconlist)
  {
    std::cout << connector << std::endl;
  }

    for connector in OpenRTM_aist.CORBA_RTCUtil.get_connector_names_by_portref(port_in_var):
        print(connector)

  coil::vstring outconlist = CORBA_RTCUtil::get_connector_names(consolein.in(), "ConsoleIn0.out");
  for (auto& connector : outconlist)
  {
    std::cout << connector << std::endl;
  }

    for connector in OpenRTM_aist.CORBA_RTCUtil.get_connector_names(consolein, "ConsoleIn0.out"):
        print(connector)