Classes | Functions | Variables
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 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
cdrin CDR format
classnameclass 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
outPIOR of outPort
inPsan IOR or a list of IORs of inPort
subscriptionsubscription type. "flush", "new" or "periodic"
dataflowdataflow type. "Push" or "Pull"
bufferlengthlength of data buffer
raterate[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
datadata 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
portIOR of port
Returns
data type

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

◆ disconnectPorts()

def rtm.disconnectPorts (   outP,
  inP 
)

disconnect ports

Parameters
outPIOR of outPort
inPIOR 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
namename of the object
kindkind of the object
rncroot 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
rtcan object of RTcomponent
namename 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
namename of the RT component
rncroot 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
hostnamehostname where rtcd is running
rncroot 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
rtcIOR of RT component
port_nameport name of the port which provides the service
type_nametype name of the service
instance_namename 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
corbaloclocation 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
Trueconnected
Falsenot 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
iorior
klassclass name
packagepackage 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
portreference of data port
timeouttimeout[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
rtcssequence of RTCs
stopECwhether 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
rtcIOR of RT component
nvlistlist 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
namename of the object
kindkind 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
portreference of data port
datadata to be written
tmafter 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.



hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Sat Dec 17 2022 03:52:22