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	connectPorts (outP, inPs, subscription="flush", dataflow="Push", bufferlength=1, rate=1000)
	connect ports More...

def	data2cdr (data)
	convert data into CDR format More...

def	dataTypeOfPort (port)
	get data type of a port More...

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	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)
	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)
	write data to a data port More...

Variables
	nshost = None
	hostname where naming service is running More...

	rootnc = None
	root naming context More...

Function Documentation

◆ cdr2data()

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.

◆ connectPorts()

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.

◆ data2cdr()

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.

◆ dataTypeOfPort()

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.

◆ disconnectPorts()

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.

◆ findObject()

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.

◆ findPort()

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.

◆ findRTC()

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.

◆ findRTCmanager()

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.

◆ findService()

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.

◆ getRootNamingContext()

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.

◆ initCORBA()

def rtm.initCORBA ( )

initialize ORB

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

◆ isConnected()

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.

◆ isJython()

def rtm.isJython ( )

check if jython or python

Returns: True if jython

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

◆ narrow()

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.

◆ readDataPort()

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.

◆ serializeComponents()

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.

◆ setConfiguration()

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.

◆ unbindObject()

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.

◆ writeDataPort()

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

◆ nshost

rtm.nshost = None

hostname where naming service is running

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

◆ rootnc

rtm.rootnc = None

root naming context

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

Classes

Functions

Variables

Function Documentation

◆ cdr2data()

◆ connectPorts()

◆ data2cdr()

◆ dataTypeOfPort()

◆ disconnectPorts()

◆ findObject()

◆ findPort()

◆ findRTC()

◆ findRTCmanager()

◆ findService()

◆ getRootNamingContext()

◆ initCORBA()

◆ isConnected()

◆ isJython()

◆ narrow()

◆ readDataPort()

◆ serializeComponents()

◆ setConfiguration()

◆ unbindObject()

◆ writeDataPort()

Variable Documentation

◆ nshost

◆ rootnc