python.rtm Namespace Reference

Classes
class	RTCmanager
	wrapper class of RTCmanager More...
class	RTcomponent
	wrapper class of RT component More...

Functions
def	cdr2data (cdr, classname)
	convert data from CDR format More...
def	classFromString (fullname)
	get class object from class name More...
def	connectPorts (outP, inPs, subscription="flush", dataflow="Push", bufferlength=1, rate=1000, pushpolicy="new", interfaceType="corba_cdr")
	connect ports More...
def	data2cdr (data)
	convert data into CDR format More...
def	dataTypeOfPort (port)
	get data type of a port More...
def	deleteAllConnector ()
def	disconnectPorts (outP, inP)
	disconnect ports More...
def	findObject (name, kind="", rnc=None)
	get IOR of the object More...
def	findPort (rtc, name)
	get a port of RT component More...
def	findRTC (name, rnc=None)
	get RT component More...
def	findRTCmanager (hostname=None, rnc=None)
	get RTCmanager More...
def	findService (rtc, port_name, type_name, instance_name)
	get a service of RT component More...
def	getConfiguration (rtc)
	get default configuration set More...
def	getRootNamingContext (corbaloc)
	get root naming context More...
def	initCORBA ()
	initialize ORB More...
def	isConnected (outP, inP)
	check two ports are connected or not More...
def	isJython ()
	check if jython or python More...
def	narrow (ior, klass, package="OpenHRP")
	narrow ior More...
def	readDataPort (port, timeout=1.0, disconnect=True)
	read data from a data port More...
def	serializeComponents (rtcs, stopEC=True)
	set up execution context of the first RTC so that RTCs are executed sequentially More...
def	setConfiguration (rtc, nvlist)
	update default configuration set More...
def	unbindObject (name, kind)
	unbind an object reference More...
def	writeDataPort (port, data, tm=1.0, disconnect=True)
	write data to a data port More...

Variables
list	connector_list = []
	mgrhost = None
	mgrport = None
	nshost = None
	nsport = None
	rootnc = None
	root naming context More...

Function Documentation

def python.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 681 of file python/rtm.py.

def python.rtm.classFromString

(

fullname

)

get class object from class name

Parameters

fullname

class name

Returns

class object

Definition at line 660 of file python/rtm.py.

def python.rtm.connectPorts	(		outP,
			inPs,
			subscription = "flush",
			dataflow = "Push",
			bufferlength = 1,
			rate = 1000,
			pushpolicy = "new",
			interfaceType = "corba_cdr"
	)

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	communication rate for periodic mode[Hz]

Definition at line 608 of file python/rtm.py.

def python.rtm.data2cdr

(

data

)

convert data into CDR format

Parameters

data	data to be converted

Returns

converted data in CDR format

Definition at line 652 of file python/rtm.py.

def python.rtm.dataTypeOfPort

(

port

)

get data type of a port

Parameters

port	IOR of port

Returns

data type

Definition at line 591 of file python/rtm.py.

def python.rtm.deleteAllConnector

(

)

Definition at line 826 of file python/rtm.py.

def python.rtm.disconnectPorts	(		outP,
			inP
	)

disconnect ports

Parameters

outP	IOR of outPort
inP	IOR of inPort

Returns

True disconnected successfully, False otherwise

Definition at line 573 of file python/rtm.py.

def python.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 421 of file python/rtm.py.

def python.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 517 of file python/rtm.py.

def python.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 497 of file python/rtm.py.

def python.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 437 of file python/rtm.py.

def python.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 840 of file python/rtm.py.

def python.rtm.getConfiguration

(

rtc

)

get default configuration set

Parameters

rtc	IOR of RT component

Returns

default configuration set

Definition at line 905 of file python/rtm.py.

def python.rtm.getRootNamingContext

(

corbaloc

)

get root naming context

Parameters

corbaloc

location of NamingService

Returns

root naming context

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

def python.rtm.initCORBA

(

)

initialize ORB

Definition at line 315 of file python/rtm.py.

def python.rtm.isConnected	(		outP,
			inP
	)

check two ports are connected or not

Return values

True	connected
False	not connected

Definition at line 558 of file python/rtm.py.

def python.rtm.isJython

(

)

check if jython or python

Returns

True if jython

Definition at line 930 of file python/rtm.py.

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

narrow ior

Parameters

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

Definition at line 923 of file python/rtm.py.

def python.rtm.readDataPort	(		port,
			timeout = 1.0,
			disconnect = True
	)

read data from a data port

Parameters

port	reference of data port
timeout	timeout[s]

Returns

data

Definition at line 756 of file python/rtm.py.

def python.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 533 of file python/rtm.py.

def python.rtm.setConfiguration	(		rtc,
			nvlist
	)

update default configuration set

Parameters

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

Returns

True if all values are set correctly, False otherwise

Definition at line 877 of file python/rtm.py.

def python.rtm.unbindObject	(		name,
			kind
	)

unbind an object reference

Parameters

name	name of the object
kind	kind of the object

Definition at line 306 of file python/rtm.py.

def python.rtm.writeDataPort	(		port,
			data,
			tm = 1.0,
			disconnect = True
	)

write data to a data port

Parameters

port	reference of data port
data	data to be written
tm	If disconnect==True, a connection to write data is disconnected after this time
disconnect	If True, a connection is disconnected after tm and if not, the connection must be disconnected by a user

Definition at line 697 of file python/rtm.py.

Variable Documentation

list python.rtm.connector_list = []

Definition at line 686 of file python/rtm.py.

python.rtm.mgrhost = None

Definition at line 21 of file python/rtm.py.

python.rtm.mgrport = None

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

python.rtm.nshost = None

Definition at line 19 of file python/rtm.py.

python.rtm.nsport = None

Definition at line 20 of file python/rtm.py.

python.rtm.rootnc = None

root naming context

Definition at line 18 of file python/rtm.py.