rtc operation function (corba_rtcutil) user manual

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#contents

This page explains how to use the CORBA_RTCUtil RTC operation function group of OpenRTM-aist.

The source code used here can be obtained from the following.

  • https://github.com/Nobu19800/testCORBA_RTCUtil

Preparation

C++

For C++, you need an environment for building programs linked with OpenRTM-aist.

Create the following CMakeLists.txt.

 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})

Also, create the source file CORBA_RTCUtil_test.cpp and run CMake. If you are using OpenRTM-aist built from source code, run environment-setup.omniorb.vc.bat**.

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

Write the following content in CORBA_RTCUtil_test.cpp.

 #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;
}

Python

For Python, prepare the following CORBA_RTCUtil_test.py.

 #!/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()

Creating rtc.conf

Create rtc.conf with the following content.

 manager.shutdown_auto: NO

Starting Sample Components

Start the sample components ConsoleIn, ConsoleOut, ConfiguSample, MyServiceProvider, and MyServiceConsumer.

Using CORBA_RTCUtil

Port Operations

Getting a Port Object Reference

To connect data ports, use the get_port_by_name function to obtain the port object reference.

Function Name get_port_by_name
Arguments
Argument Name Type Name Meaning
rtc RTC::RTObject_ptr RTC object reference
name std::string& RTC name.port name
Return Value
Type Name Meaning
RTC::PortService_ptr Port object reference 
  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)

Also, by using the get_port_by_url function, you can obtain an object reference from a string in rtcname format or rtcloc format.

Function Name get_port_by_url
Arguments
Argument Name Type Name Meaning
port_name std::string& Port URI
Return Value
Type Name Meaning
RTC::PortService_ptr > Port object reference 
  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)

Connector Creation

Connect the acquired data ports with the connect function.

Function Name connect
CENTER:Arguments
Argument Name Type Name Meaning
name std::string& Connector name
prop coil::Properties& Connector setting information
port0 RTC::PortService_ptr Port 1 to connect
port1 RTC::PortService_ptr Port 2 to connect
CENTER:Return Value
Type Name CENTER:Meaning
RTC::ReturnCode_t > 
  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)

Connector Deletion

Function Name disconnect_connector_name
Arguments
Argument Name Type Name Meaning
port_ref RTC::PortService_ptr Connected port
conn_name std::string& Connector name
Return Value
Type Name Meaning
RTC::ReturnCode_t >

To delete a connector by specifying the connector name, use the disconnect_connector_name function.

  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")

When obtaining an object reference from a connector URI and deleting the connector, use the disconnect_connector_name function.

Function Name disconnect_connector_name
Arguments
Argument Name Type Name Meaning
port_name std::string& Port URI
conn_name std::string& Connector name
CENTER:Return Value
Type Name Meaning
RTC::ReturnCode_t > 
  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")

Connecting Multiple Ports at Once

To connect multiple ports at once, use the connect_multi function.

Function Name connect_multi
CENTER:Arguments
Argument Name Type Name Meaning
name std::string& Connector name
prop coil::Properties& Connector setting information
port0 RTC::PortService_ptr Port 1 to connect
target_ports RTC::PortServiceList& List of ports to connect to port 1
CENTER:Return Value
Type Name Meaning
RTC::ReturnCode_t > 
  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])

Deleting All Connectors

To delete all connectors of the target port, use the disconnect_all function.

Function Name disconnect_all
Arguments
Argument Name Type Name Meaning
port_ref RTC::PortService_ptr Connected port
Return Value
Type Name Meaning
RTC::ReturnCode_t > 
  CORBA_RTCUtil::disconnect_all(port_in_var.in());

    OpenRTM_aist.CORBA_RTCUtil.disconnect_all_by_ref(port_in_var)
Function Name disconnect_all
Arguments
Argument Name Type Name Meaning
port_name std::string& Port URI
CENTER:Return Value
Type Name Meaning
RTC::ReturnCode_t > 
  CORBA_RTCUtil::disconnect_all("rtcname://localhost:2809/*/ConsoleIn0.out");

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

RTC State Operations

Activation

To activate an RTC, use the activate function.

Function Name activate
CENTER:Arguments
Argument Name Type Name Meaning
rtc RTC::RTObject_ptr RTC object reference
ec_id RTC::UniqueId Execution context ID
CENTER:Return Value
Type Name Meaning
RTC::ReturnCode_t >

Since an RTC has a state for each execution context, specify ec_id when changing the state in an execution context other than the default execution context (ID: 0).

  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)

Deactivation

To deactivate an RTC, use the deactivate function.

Function Name deactivate
Arguments
Argument Name Type Name Meaning
rtc RTC::RTObject_ptr RTC object reference
ec_id RTC::UniqueId Execution context ID
Return Value
Type Name Meaning
RTC::ReturnCode_t > 
  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)

Reset

To reset an RTC, use the reset function.

Function Name reset
Arguments
Argument Name Type Name Meaning
rtc RTC::RTObject_ptr RTC object reference
ec_id RTC::UniqueId Execution context ID
CENTER:Return Value
Type Name Meaning
RTC::ReturnCode_t > 
  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)

Getting the RTC State

To get the current state of an RTC, use the get_state function.

Function Name get_state
CENTER:Arguments
Argument Name Type Name Meaning
state RTC::LifeCycleState State
rtc RTC::RTObject_ptr RTC object reference
ec_id RTC::UniqueId Execution context ID
Return Value
Type Name Meaning
bool true: state retrieval succeeded, false: state retrieval failed 
  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)

Also, you can determine whether the current state is inactive, active, or error using the is_in_inactive, is_in_active, and is_in_error functions.

if (CORBA_RTCUtil::is_in_inactive(consoleout.in()))

 {
    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")

Execution Context Operations

Operating the Execution Period

To change the execution period of an execution context, use the set_default_rate function.

CENTER:Function Name > set_default_rate
> > CENTER:Arguments
CENTER:Argument Name CENTER:Type Name CENTER:Meaning
rtc RTC::RTObject_ptr RTC object reference
rate CORBA::Double Execution period
> > CENTER:Return Value
CENTER:Type Name > CENTER:Meaning
RTC::ReturnCode_t > 
  CORBA_RTCUtil::set_default_rate(consoleout.in(), 20.0);

    OpenRTM_aist.CORBA_RTCUtil.set_default_rate(consoleout, 20.0)

The set_default_rate function gets the execution period of the default execution context, but to get the execution period from the execution context with the specified ID, use the set_current_rate function.

CENTER:Function Name > set_current_rate
> > CENTER:Arguments
CENTER:Argument Name CENTER:Type Name CENTER:Meaning
rtc RTC::RTObject_ptr RTC object reference
ec_id RTC::UniqueId Execution context ID
rate CORBA::Double Execution period
> > CENTER:Return Value
CENTER:Type Name > CENTER:Meaning
RTC::ReturnCode_t > 
  CORBA_RTCUtil::set_current_rate(consoleout.in(), 0, 50.0);

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

To get the current execution period, use the get_default_rate function.

CENTER:Function Name > get_default_rate
> > CENTER:Arguments
CENTER:Argument Name CENTER:Type Name CENTER:Meaning
rtc RTC::RTObject_ptr RTC object reference
> > CENTER:Return Value
CENTER:Type Name > CENTER:Meaning
CORBA::Double > Execution period 
  std::cout << CORBA_RTCUtil::get_default_rate(consoleout.in()) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_default_rate(consoleout))

To get the execution period from the execution context with the specified ID, use the get_current_rate function.

CENTER:Function Name > get_current_rate
> > CENTER:Arguments
CENTER:Argument Name CENTER:Type Name CENTER:Meaning
rtc RTC::RTObject_ptr RTC object reference
ec_id RTC::UniqueId Execution context ID
> > CENTER:Return Value
CENTER:Type Name > CENTER:Meaning
CORBA::Double > Execution period 
  std::cout << CORBA_RTCUtil::get_current_rate(consoleout.in(), 0) << std::endl;

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

Attaching and Detaching Execution Contexts

Normally, the execution context generated by the RTC at startup is associated (attached), but by attaching an external execution context to the RTC, the RTC can be driven by the attached execution context.

To attach an execution context to the specified RTC, use the add_rtc_to_default_ec function.

CENTER:Function Name > add_rtc_to_default_ec
> > CENTER:Arguments
CENTER:Argument Name CENTER:Type Name CENTER:Meaning
localcomp RTC::RTObject_ptr RTC that has the execution context to attach as its default execution context
othercomp RTC::RTObject_ptr RTC to attach
> > CENTER:Return Value
CENTER:Type Name > CENTER:Meaning
RTC::ReturnCode_t > 
  CORBA_RTCUtil::add_rtc_to_default_ec(consoleout.in(), consolein.in());

    OpenRTM_aist.CORBA_RTCUtil.add_rtc_to_default_ec(consoleout, consolein)

To detach the attached execution context, use the remove_rtc_to_default_ec function.

CENTER:Function Name > remove_rtc_to_default_ec
> > CENTER:Arguments
CENTER:Argument Name CENTER:Type Name CENTER:Meaning
localcomp RTC::RTObject_ptr RTC that has the execution context to detach as its default execution context
othercomp RTC::RTObject_ptr RTC to detach
> > CENTER:Return Value
CENTER:Type Name > CENTER:Meaning
RTC::ReturnCode_t > 
  CORBA_RTCUtil::remove_rtc_to_default_ec(consoleout.in(), consolein.in());

    OpenRTM_aist.CORBA_RTCUtil.remove_rtc_to_default_ec(consoleout, consolein)

To get a list of attached external RTCs, use the get_participants_rtc function.

CENTER:Function Name > get_participants_rtc
> > CENTER:Arguments
CENTER:Argument Name CENTER:Type Name CENTER:Meaning
rtc RTC::RTObject_ptr RTC that has the target execution context as its default execution context
> > CENTER:Return Value
CENTER:Type Name > CENTER:Meaning
RTC::RTCList > 
  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

Configuration Parameter Operations

To set configuration parameters, use the set_active_configuration function. This function sets the parameters of the currently active configuration set.

CENTER:Function Name > set_active_configuration
> > CENTER:Arguments
CENTER:Argument Name CENTER:Type Name CENTER:Meaning
rtc RTC::RTObject_ptr RTC object reference
value_name std::string& Parameter name
value std::string& Set value
> > CENTER:Return Value
CENTER:Type Name > CENTER:Meaning
bool > true: setting succeeded, false: setting failed 
  CORBA_RTCUtil::set_active_configuration(configsample.in(), "int_param1", "100");

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

When setting a parameter by specifying a configuration set, use the set_configuration function. When this function is executed, the active configuration set is changed.

CENTER:Function Name > set_configuration
> > CENTER:Arguments
CENTER:Argument Name CENTER:Type Name CENTER:Meaning
rtc RTC::RTObject_ptr RTC object reference
confset_name std::string& Configuration set name
value_name std::string& Parameter name
value std::string& Set value
> > CENTER:Return Value
CENTER:Type Name > CENTER:Meaning
bool > true: setting succeeded, false: setting failed 
  CORBA_RTCUtil::set_configuration(configsample.in(), "mode0", "str_param1", "test");

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

To get the name of the currently active configuration set, use the get_active_configuration_name function.

CENTER:Function Name > get_active_configuration_name
> > CENTER:Arguments
CENTER:Argument Name CENTER:Type Name CENTER:Meaning
rtc RTC::RTObject_ptr RTC object reference
> > CENTER:Return Value
CENTER:Type Name > CENTER:Meaning
std::string > Configuration set name 
  std::cout << CORBA_RTCUtil::get_active_configuration_name(configsample.in()) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_active_configuration_name(configsample))

To get a list of parameters in the active configuration set, use the get_active_configuration function.

CENTER:Function Name > get_active_configuration
> > CENTER:Arguments
CENTER:Argument Name CENTER:Type Name CENTER:Meaning
rtc RTC::RTObject_ptr RTC object reference
> > CENTER:Return Value
CENTER:Type Name > CENTER:Meaning
coil::Properties > Parameter list 
  std::cout << CORBA_RTCUtil::get_active_configuration(configsample.in()) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_active_configuration(configsample))

To get a list of parameters by specifying a configuration set, use the get_configuration function.

CENTER:Function Name > get_configuration
> > CENTER:Arguments
CENTER:Argument Name CENTER:Type Name CENTER:Meaning
rtc RTC::RTObject_ptr RTC object reference
conf_name std::string& Configuration set name
> > CENTER:Return Value
CENTER:Type Name > CENTER:Meaning
coil::Properties > Parameter list 
  std::cout << CORBA_RTCUtil::get_configuration(configsample.in(), "mode1") << std::endl;

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

To get only a specified parameter, use the get_parameter_by_key function.

CENTER:Function Name > get_parameter_by_key
> > CENTER:Arguments
CENTER:Argument Name CENTER:Type Name CENTER:Meaning
rtc RTC::RTObject_ptr RTC object reference
conf_name std::string& Configuration set name
value_name std::string& Parameter name
> > CENTER:Return Value
CENTER:Type Name > CENTER:Meaning
std::string > Parameter value 
  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"))

Getting RTC and Port Information

Getting RTC Information

To get a component profile, use the get_component_profile function.

CENTER:Function Name > get_component_profile
> > CENTER:Arguments
CENTER:Argument Name CENTER:Type Name CENTER:Meaning
rtc RTC::RTObject_ptr RTC object reference
> > CENTER:Return Value
CENTER:Type Name > CENTER:Meaning
coil::Properties > Component profile information 
  std::cout << CORBA_RTCUtil::get_component_profile(consolein.in()) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_component_profile(consolein))

Getting Port Names

To get a list of names of ports held by the specified RTC, use the get_port_names function.

CENTER:Function Name > get_port_names
> > CENTER:Arguments
CENTER:Argument Name CENTER:Type Name CENTER:Meaning
rtc RTC::RTObject_ptr RTC object reference
> > CENTER:Return Value
CENTER:Type Name > CENTER:Meaning
coil::vstring > Port name list 
  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)

To get a list of InPort names, use the get_inport_names function. To get a list of OutPort names, use the get_outport_names function. To get a list of service port names, use the get_svcport_names function.

  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)

Getting a List of Connector Names

To get a list of connector names for a specified port, use the get_connector_names function.

CENTER:Function Name > get_connector_names
> > CENTER:Arguments
CENTER:Argument Name CENTER:Type Name CENTER:Meaning
port RTC::PortService_ptr Port object reference
> > CENTER:Return Value
CENTER:Type Name > CENTER:Meaning
coil::vstring > Connector name list 
  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)

You can also get a list of connector names by specifying the port name.

Function Name
Arguments
CENTER:Argument Name CENTER:Type Name CENTER:Meaning
rtc RTC::RTObject_ptr RTC object reference
port_name std::string& Port name
> > CENTER:Return Value
CENTER:Type Name > CENTER:Meaning
coil::vstring > Connector name list 
  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)

</tr>

引数 引数名 型名 意味 port_ref RTC::PortService_ptr 接続中のポート 戻り値 型名 意味 RTC::ReturnCode_t >

</table>

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

    OpenRTM_aist.CORBA_RTCUtil.disconnect_all_by_ref(port_in_var)
関数名 disconnect_all
引数
引数名 型名 意味
port_name std::string& ポートのURI
CENTER:戻り値
型名 意味
RTC::ReturnCode_t > 
  CORBA_RTCUtil::disconnect_all("rtcname://localhost:2809/*/ConsoleIn0.out");

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

RTCの状態操作

アクティブ化

RTCをアクティブ化するためにはactivate関数を使用します。

関数名 activate
CENTER:引数
引数名 型名 意味
rtc RTC::RTObject_ptr RTCのオブジェクトリファレンス
ec_id RTC::UniqueId 実行コンテキストのID
CENTER:戻り値
型名 意味
RTC::ReturnCode_t >

RTCは状態を実行コンテキストごとに持っているため、デフォルトの実行コンテキスト(ID:0)以外で状態を変更する場合はec_idを指定します。

  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)

非アクティブ化

RTCを非アクティブ化するためにはdeactivate関数を使用します。

関数名 deactivate
引数
引数名 型名 意味
rtc RTC::RTObject_ptr RTCのオブジェクトリファレンス
ec_id RTC::UniqueId 実行コンテキストのID
戻り値
型名 意味
RTC::ReturnCode_t > 
  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)

リセット

RTCをリセットするためにはreset関数を使用します。

関数名 reset
引数
引数名 型名 意味
rtc RTC::RTObject_ptr RTCのオブジェクトリファレンス
ec_id RTC::UniqueId 実行コンテキストのID
CENTER:戻り値
型名 意味
RTC::ReturnCode_t > 
  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の状態取得

RTCの現在の状態を取得するためにはget_state関数を使用します。

関数名 get_state
CENTER:引数
引数名 型名 意味
state RTC::LifeCycleState 状態
rtc RTC::RTObject_ptr RTCのオブジェクトリファレンス
ec_id RTC::UniqueId 実行コンテキストのID
戻り値
型名 意味
bool true：状態取得成功、false：状態取得失敗 
  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)

また、is_in_inactive関数、is_in_active関数、is_in_error関数で現在の状態が非アクティブ状態、アクティブ状態、エラー状態かを判定できます。

if (CORBA_RTCUtil::is_in_inactive(consoleout.in()))

  {
    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")

実行コンテキストの操作

実行周期の操作

実行コンテキストの実行周期を変更するには、set_default_rate関数を使用します。

CENTER:関数名 > set_default_rate
> > CENTER:引数
CENTER:引数名 CENTER:型名 CENTER:意味
rtc RTC::RTObject_ptr RTCのオブジェクトリファレンス
rate CORBA::Double 実行周期
> > CENTER:戻り値
CENTER:型名 > CENTER:意味
RTC::ReturnCode_t > 
  CORBA_RTCUtil::set_default_rate(consoleout.in(), 20.0);

    OpenRTM_aist.CORBA_RTCUtil.set_default_rate(consoleout, 20.0)

set_default_rate関数はデフォルトの実行コンテキストの実行周期を取得しますが、指定IDの実行コンテキストから実行周期を取得するためにはset_current_rate関数を使用します。

CENTER:関数名 > set_current_rate
> > CENTER:引数
CENTER:引数名 CENTER:型名 CENTER:意味
rtc RTC::RTObject_ptr RTCのオブジェクトリファレンス
ec_id RTC::UniqueId 実行コンテキストのID
rate CORBA::Double 実行周期
> > CENTER:戻り値
CENTER:型名 > CENTER:意味
RTC::ReturnCode_t > 
  CORBA_RTCUtil::set_current_rate(consoleout.in(), 0, 50.0);

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

現在の実行周期を取得するためには、get_default_rate関数を使用します。

CENTER:関数名 > get_default_rate
> > CENTER:引数
CENTER:引数名 CENTER:型名 CENTER:意味
rtc RTC::RTObject_ptr RTCのオブジェクトリファレンス
> > CENTER:戻り値
CENTER:型名 > CENTER:意味
CORBA::Double > 実行周期 
  std::cout << CORBA_RTCUtil::get_default_rate(consoleout.in()) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_default_rate(consoleout))

指定IDの実行コンテキストから実行周期を取得するためにはget_current_rate関数を使用します。

CENTER:関数名 > get_current_rate
> > CENTER:引数
CENTER:引数名 CENTER:型名 CENTER:意味
rtc RTC::RTObject_ptr RTCのオブジェクトリファレンス
ec_id RTC::UniqueId 実行コンテキストのID
> > CENTER:戻り値
CENTER:型名 > CENTER:意味
CORBA::Double > 実行周期 
  std::cout << CORBA_RTCUtil::get_current_rate(consoleout.in(), 0) << std::endl;

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

実行コンテキストのアタッチ、デタッチ

通常はRTCが起動時に生成する実行コンテキストが関連付け(アタッチ)されていますが、、外部の実行コンテキストをRTCにアタッチすると、アタッチした実行コンテキストでRTCを駆動できるようになります。

実行コンテキストを指定のRTCにアタッチするためにはadd_rtc_to_default_ec関数を使用します。

CENTER:関数名 > add_rtc_to_default_ec
> > CENTER:引数
CENTER:引数名 CENTER:型名 CENTER:意味
localcomp RTC::RTObject_ptr アタッチする実行コンテキストをデフォルト実行コンテキストとして持つRTC
othercomp RTC::RTObject_ptr アタッチするRTC
> > CENTER:戻り値
CENTER:型名 > CENTER:意味
RTC::ReturnCode_t > 
  CORBA_RTCUtil::add_rtc_to_default_ec(consoleout.in(), consolein.in());

    OpenRTM_aist.CORBA_RTCUtil.add_rtc_to_default_ec(consoleout, consolein)

アタッチした実行コンテキストの関連付け解除(デタッチ)するためにはremove_rtc_to_default_ec関数を使用します。

CENTER:関数名 > remove_rtc_to_default_ec
> > CENTER:引数
CENTER:引数名 CENTER:型名 CENTER:意味
localcomp RTC::RTObject_ptr デタッチする実行コンテキストをデフォルト実行コンテキストとして持つRTC
othercomp RTC::RTObject_ptr デタッチするRTC
> > CENTER:戻り値
CENTER:型名 > CENTER:意味
RTC::ReturnCode_t > 
  CORBA_RTCUtil::remove_rtc_to_default_ec(consoleout.in(), consolein.in());

    OpenRTM_aist.CORBA_RTCUtil.remove_rtc_to_default_ec(consoleout, consolein)

アタッチした外部RTCの一覧を取得するためにはget_participants_rtc関数を使用します。

CENTER:関数名 > get_participants_rtc
> > CENTER:引数
CENTER:引数名 CENTER:型名 CENTER:意味
rtc RTC::RTObject_ptr 対象の実行コンテキストをデフォルト実行コンテキストとして持つRTC
> > CENTER:戻り値
CENTER:型名 > CENTER:意味
RTC::RTCList > 
  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

コンフィギュレーションパラメータの操作

コンフィギュレーションパラメータの設定をするためにはset_active_configuration関数を使用します。 この関数では現在アクティブなコンフィギュレーションセットのパラメータが設定されます。

CENTER:関数名 > set_active_configuration
> > CENTER:引数
CENTER:引数名 CENTER:型名 CENTER:意味
rtc RTC::RTObject_ptr RTCのオブジェクトリファレンス
value_name std::string& パラメータ名
value std::string& 設定値
> > CENTER:戻り値
CENTER:型名 > CENTER:意味
bool > true：設定成功、false：設定失敗 
  CORBA_RTCUtil::set_active_configuration(configsample.in(), "int_param1", "100");

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

コンフィギュレーションセットを指定してパラメータを設定する場合はset_configuration関数を使用します。 この関数を実行すると、アクティブなコンフィギュレーションセットが変更されます。

CENTER:関数名 > set_configuration
> > CENTER:引数
CENTER:引数名 CENTER:型名 CENTER:意味
rtc RTC::RTObject_ptr RTCのオブジェクトリファレンス
confset_name std::string& コンフィギュレーションセット名
value_name std::string& パラメータ名
value std::string& 設定値
> > CENTER:戻り値
CENTER:型名 > CENTER:意味
bool > true：設定成功、false：設定失敗 
  CORBA_RTCUtil::set_configuration(configsample.in(), "mode0", "str_param1", "test");

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

現在アクティブなコンフィギュレーションセットの名前を取得するにはget_active_configuration_name関数を使用します。

CENTER:関数名 > get_active_configuration_name
> > CENTER:引数
CENTER:引数名 CENTER:型名 CENTER:意味
rtc RTC::RTObject_ptr RTCのオブジェクトリファレンス
> > CENTER:戻り値
CENTER:型名 > CENTER:意味
std::string > コンフィギュレーションセット名 
  std::cout << CORBA_RTCUtil::get_active_configuration_name(configsample.in()) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_active_configuration_name(configsample))

アクティブなコンフィギュレーションセットのパラメータ一覧を取得するにはget_active_configuration関数を使用します。

CENTER:関数名 > get_active_configuration
> > CENTER:引数
CENTER:引数名 CENTER:型名 CENTER:意味
rtc RTC::RTObject_ptr RTCのオブジェクトリファレンス
> > CENTER:戻り値
CENTER:型名 > CENTER:意味
coil::Properties > パラメータ一覧 
  std::cout << CORBA_RTCUtil::get_active_configuration(configsample.in()) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_active_configuration(configsample))

コンフィギュレーションセットを指定してパラメータ一覧を取得するにはget_configuration関数を使用します。

CENTER:関数名 > get_configuration
> > CENTER:引数
CENTER:引数名 CENTER:型名 CENTER:意味
rtc RTC::RTObject_ptr RTCのオブジェクトリファレンス
conf_name std::string& コンフィギュレーションセット名
> > CENTER:戻り値
CENTER:型名 > CENTER:意味
coil::Properties > パラメータ一覧 
  std::cout << CORBA_RTCUtil::get_configuration(configsample.in(), "mode1") << std::endl;

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

指定のパラメータのみを取得する場合はget_parameter_by_key関数を使用します。

CENTER:関数名 > get_parameter_by_key
> > CENTER:引数
CENTER:引数名 CENTER:型名 CENTER:意味
rtc RTC::RTObject_ptr RTCのオブジェクトリファレンス
conf_name std::string& コンフィギュレーションセット名
value_name std::string& パラメータ名
> > CENTER:戻り値
CENTER:型名 > CENTER:意味
std::string > パラメータの値 
  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"))

RTC、ポートの情報取得

RTCの情報取得

コンポーネントプロファイルを取得するにはget_component_profile関数を使用します。

CENTER:関数名 > get_component_profile
> > CENTER:引数
CENTER:引数名 CENTER:型名 CENTER:意味
rtc RTC::RTObject_ptr RTCのオブジェクトリファレンス
> > CENTER:戻り値
CENTER:型名 > CENTER:意味
coil::Properties > コンポーネントプロファイルの情報 
  std::cout << CORBA_RTCUtil::get_component_profile(consolein.in()) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_component_profile(consolein))

ポート名取得

指定のRTCが保持しているポートの名前一覧を取得するにはget_port_names関数を使用します。

CENTER:関数名 > get_port_names
> > CENTER:引数
CENTER:引数名 CENTER:型名 CENTER:意味
rtc RTC::RTObject_ptr RTCのオブジェクトリファレンス
> > CENTER:戻り値
CENTER:型名 > CENTER:意味
coil::vstring > ポート名一覧 
  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)

InPortの名前一覧を取得するにはget_inport_names関数、OutPortの名前一覧を取得するにはget_outport_names関数、サービスポートの名前一覧を取得するにはget_svcport_names関数を使用します。

  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)

コネクタの名前一覧取得

指定ポートのコネクタの名前一覧を取得するにはget_connector_names関数を使用します。

CENTER:関数名 > get_connector_names
> > CENTER:引数
CENTER:引数名 CENTER:型名 CENTER:意味
port RTC::PortService_ptr ポートのオブジェクトリファレンス
> > CENTER:戻り値
CENTER:型名 > CENTER:意味
coil::vstring > コネクタ名一覧 
  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)

ポート名を指定してコネクタの名前一覧を取得することもできます。

関数名
引数
CENTER:引数名 CENTER:型名 CENTER:意味
rtc RTC::RTObject_ptr RTCのオブジェクトリファレンス
port_name std::string& ポート名
> > CENTER:戻り値
CENTER:型名 > CENTER:意味
coil::vstring > コネクタ名一覧 
  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)

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