Classes
class	RTCmanager
	wrapper class of RTCmanager More...
class	RTcomponent
	wrapper class of RT component More...
Functions
def	cdr2data
	convert data from CDR format
def	connectPorts
	connect ports
def	data2cdr
	convert data into CDR format
def	dataTypeOfPort
	get data type of a port
def	disconnectPorts
	disconnect ports
def	findObject
	get IOR of the object
def	findPort
	get a port of RT component
def	findRTC
	get RT component
def	findRTCmanager
	get RTCmanager
def	findService
	get a service of RT component
def	getRootNamingContext
	get root naming context
def	initCORBA
	initialize ORB
def	isConnected
	check two ports are connected or not
def	isJython
	check if jython or python
def	narrow
	narrow ior
def	readDataPort
	read data from a data port
def	serializeComponents
	set up execution context of the first RTC so that RTCs are executed sequentially
def	setConfiguration
	update default configuration set
def	unbindObject
	unbind an object reference
def	writeDataPort
	write data to a data port
Variables
	nshost = None
	hostname where naming service is running
	rootnc = None
	root naming context

Function Documentation

def rtm.cdr2data	(	cdr,
		classname
	)

convert data from CDR format

Parameters:

cdr	in CDR format
classname	class name of the data

Returns:: converted data

Definition at line 511 of file jython/rtm.py.

def rtm.connectPorts	(	outP,
		inPs,
		subscription = `"flush"`,
		dataflow = `"Push"`,
		bufferlength = `1`,
		rate = `1000`
	)

connect ports

Parameters:

outP	IOR of outPort
inPs	an IOR or a list of IORs of inPort
subscription	subscription type. "flush", "new" or "periodic"
dataflow	dataflow type. "Push" or "Pull"
bufferlength	length of data buffer
rate	rate[Hz] for subscription type "periodic"

Definition at line 433 of file jython/rtm.py.

def rtm.data2cdr ( data )

convert data into CDR format

Parameters:

data	data to be converted

Returns:: converted data in CDR format

Definition at line 494 of file jython/rtm.py.

def rtm.dataTypeOfPort ( port )

get data type of a port

Parameters:

port	IOR of port

Returns:: data type

Definition at line 416 of file jython/rtm.py.

def rtm.disconnectPorts	(	outP,
		inP
	)

disconnect ports

Parameters:

outP	IOR of outPort
inP	IOR of inPort

Definition at line 404 of file jython/rtm.py.

def rtm.findObject	(	name,
		kind = `""`,
		rnc = `None`
	)

get IOR of the object

Parameters:

name	name of the object
kind	kind of the object
rnc	root naming context. If it is not specified, global variable rootnc is used

Returns:: IOR of the object

Definition at line 308 of file jython/rtm.py.

def rtm.findPort	(	rtc,
		name
	)

get a port of RT component

Parameters:

rtc	an object of RTcomponent
name	name of the port

Returns:: IOR of the port if the port is found, None otherwise

Definition at line 358 of file jython/rtm.py.

def rtm.findRTC	(	name,
		rnc = `None`
	)

get RT component

Parameters:

name	name of the RT component
rnc	root naming context. If it is not specified, global variable rootnc is used

Returns:: an object of RTcomponent

Definition at line 341 of file jython/rtm.py.

def rtm.findRTCmanager	(	hostname = `None`,
		rnc = `None`
	)

get RTCmanager

Parameters:

hostname	hostname where rtcd is running
rnc	root naming context. If it is not specified, global variable rootnc is used

Returns:: an object of RTCmanager

Definition at line 321 of file jython/rtm.py.

def rtm.findService	(	rtc,
		port_name,
		type_name,
		instance_name
	)

get a service of RT component

Parameters:

rtc	IOR of RT component
port_name	port name of the port which provides the service
type_name	type name of the service
instance_name	name of the service

Returns:: IOR of the service

Definition at line 641 of file jython/rtm.py.

def rtm.getRootNamingContext ( corbaloc )

get root naming context

Parameters:

corbaloc location of NamingService

Returns:: root naming context

Definition at line 292 of file jython/rtm.py.

def rtm.initCORBA ( )

initialize ORB

Definition at line 272 of file jython/rtm.py.

def rtm.isConnected	(	outP,
		inP
	)

check two ports are connected or not

Return values:

True	connected
False	not connected

Definition at line 392 of file jython/rtm.py.

def rtm.isJython ( )

check if jython or python

Returns:: True if jython

Definition at line 715 of file jython/rtm.py.

def rtm.narrow	(	ior,
		klass,
		package = `"OpenHRP"`
	)

narrow ior

Parameters:

ior	ior
klass	class name
package	package where the class is defined

Definition at line 709 of file jython/rtm.py.

def rtm.readDataPort	(	port,
		timeout = `1.0`
	)

read data from a data port

Parameters:

port	reference of data port
timeout	timeout[s]

Returns:: data

Definition at line 574 of file jython/rtm.py.

def rtm.serializeComponents	(	rtcs,
		stopEC = `True`
	)

set up execution context of the first RTC so that RTCs are executed sequentially

Parameters:

rtcs	sequence of RTCs
stopEC	whether stop owned ECs of slave components

Definition at line 373 of file jython/rtm.py.

def rtm.setConfiguration	(	rtc,
		nvlist
	)

update default configuration set

Parameters:

rtc	IOR of RT component
nvlist	list of pairs of name and value

Definition at line 683 of file jython/rtm.py.

def rtm.unbindObject	(	name,
		kind
	)

unbind an object reference

Parameters:

name	name of the object
kind	kind of the object

Definition at line 263 of file jython/rtm.py.

def rtm.writeDataPort	(	port,
		data,
		tm = `1.0`
	)

write data to a data port

Parameters:

port	reference of data port
data	data to be written
tm	after this time, a connection to write data is disconnected

Definition at line 526 of file jython/rtm.py.

Variable Documentation

rtm::nshost = None

hostname where naming service is running

Definition at line 27 of file jython/rtm.py.

rtm::rootnc = None

root naming context

Definition at line 22 of file jython/rtm.py.

Classes

Functions

Variables

Function Documentation

Variable Documentation