rtls

✏️ Edit this page on GitHub

Format

rtls [OPTION ...] [PATH]

Overview

Lists objects in a directory of the RTC tree. By default, it lists the current working directory.

In long-format display, the following items are also displayed.

 State
 Number of ports/number of connected ports
 Number of InPorts/number of connected InPorts
 Number of OutPorts/number of connected OutPorts
 Number of service ports/number of connected service ports
 Name

Options (OPTION)

 -l　　　Displays detailed information.
 -R, --recurse
 　　　　　　Displays information for subtrees as well.
 --version　Displays the program version number.
 -h, --help	Displays help.
 -v, --verbose	Outputs more detailed information.

Meaning of the Fields Displayed with the -l Option

  • When the l option is used, output such as the following is displayed: 
     C:\>rtls -l /localhost/OPENRTM-AIS57CA.host_cxt
 Active    0/0  0/0  0/0  0/0  ConfigSample0.rtc
 Inactive  1/0  0/0  1/0  0/0  ConsoleIn0.rtc
 Inactive  1/0  1/0  0/0  0/0  ConsoleOut0.rtc

Here, each displayed line is

 STATE  AP/APC　IP/IPC　OP/OPC  SP/SPC NAME

and each field has the following meaning:

  • STATE
    • Displays the component state, which is one of Active, Inactive, or Error.
  • APN/APC
    • Total number of ports/number of connected ports
  • IP/IPC
    • Total number of input ports/number of connected input ports
  • OP/OPC
    • Total number of output ports/number of connected output ports
  • SP/SPC
    • Total number of service ports/number of connected service ports
  • NAME
    • Node name, such as the RTC name

Paths

rtshell indicates objects in the RTC tree using paths. Name servers and name contexts are specified as directory names, and managers and RT Components are specified as file names. Paths passed to commands are specified based on the current working directory of rtshell (for relative paths). The current working directory of rtshell is stored in an environment variable named RTCSH_CWD, and can be changed with the rtcwd command. (At present, the rtcwd command does not work in Linux environments.)

Available paths depend on the name servers referenced when commands are executed. The host name where a name server is running can be specified with the RTCTREE_NAMESERVERS environment variable. You can also specify the host where a name server is running directly as a path under the root, such as //....

For example, /localhost/comp0.rtc indicates an RT Component named comp0.rtc registered with the name server on localhost. /localhost/manager/comp0.rtc indicates an RT Component named comp0.rtc registered in a directory named manager under the name server on localhost. ./comp0.rtc indicates an RT Component named comp0.rtc in the current working directory.

To indicate a port of an RT Component, specify it after the path separated by a colon (“:”). For example, /localhost/comp0.rtc:data means the port named data of the RT Component named comp0.rtc.

Some commands can create new ports. In this case, you can add them to the path with options. The available options are the name of the created port and the formatter. Specify them as follows:

 <path>:<port>.<new_port_name>#<formatter>

Example:

 /localhost/blurg.host_cxt/comp0.rtc:input.stuff#a_printer

This specifies that the name of the newly created port is stuff, and that the data is displayed on the terminal using a function (formatter) named a_printer. (The a_printer function must exist somewhere Python can use it. Normally, the user provides it in a module.) The created port is connected to the input port of comp0.rtc.

The <new_port_name> part is not required. If it is not specified, do not specify “.” either. Example:

 /localhost/blurg.host_cxt/comp0.rtc:input#a_printer

The <formatter> part is not required. If it is not written, do not specify “.” either. Example:

 /localhost/blurg.host_cxt/comp0.rtc:input.stuff

Environment Variables

  • RTCTREE_ORB_ARGS
    • Variables passed when creating the ORB. Separate them with semicolons. This is not required.
  • RTCTREE_NAMESERVERS
    • Addresses of name servers referenced when creating the RTC tree. Separate addresses with semicolons. The listed addresses are added to the RTC tree and can be referenced by rtshell. This is not required because they can also be specified as directory names under the root in paths.
  • RTSH_CWD
    • The current working directory of rtshell. rtshell sets it automatically. Do not set it manually.

In typical use, the only variable that users set is RTCTREE_NAMESERVERS. It is convenient to set frequently used name servers. For example, in the Bash shell, the following command allows rtshell to reference name servers on localhost, port 192.168.0.1:65346, and host example.com.

 $ export RTCTREE_NAMESERVERS=localhost;192.168.0.1:65346;example.com

Return Values

Returns zero on success. Returns a non-zero value on failure.

Debug information and errors are output to stderr.

Examples

  • Displays objects in the current working directory. 
     $ rtls
  • Lists the root directory of the RTC tree. This command displays name servers. 
     $ rtls /
  • Lists objects registered with the localhost name server. 
     $ rtls /localhost
  • Lists all objects registered with the localhost name server. 
     $ rtls -R /localhost
  • Lists detailed information about objects registered with the localhost name server. It is possible to view component states and other information. 
     $ rtls -l /localhost
  • Lists detailed information about all objects registered with the localhost name server. 
     $ rtls -lR /localhost
  • Displays the state of components in the current working directory every second. (POSIX environments only) 
     $ watch -n 1 rtls -l