OpenRTM_aist.RTObject.RTObject_impl Class Reference

Inheritance diagram for OpenRTM_aist.RTObject.RTObject_impl:

Classes
class	deactivate_comps
class	ec_copy
class	ec_find
class	nv_name
class	svc_name

Public Member Functions
def	__del__ (self)
	destructor More...
def	__init__ (self, manager=None, orb=None, poa=None)
	Consructor. More...
def	activate (self, ec_id)
	[local interface] Make transition to Active state More...
def	addConfigurationParamListener (self, type, memfunc, autoclean=True)
	Adding ConfigurationParamListener. More...
def	addConfigurationSetListener (self, listener_type, memfunc, autoclean=True)
	Adding ConfigurationSetListener. More...
def	addConfigurationSetNameListener (self, type, memfunc, autoclean=True)
	Adding ConfigurationSetNameListener. More...
def	addExecutionContextActionListener (self, listener_type, memfunc, autoclean=True)
	Adding ExecutionContextAction type listener. More...
def	addInPort (self, name, inport)
def	addOutPort (self, name, outport)
def	addPort (self, port)
def	addPortActionListener (self, listener_type, memfunc, autoclean=True)
	Adding PortAction type listener. More...
def	addPortConnectListener (self, listener_type, memfunc, autoclean=True)
	Adding PortConnect type listener. More...
def	addPortConnectRetListener (self, listener_type, memfunc, autoclean=True)
	Adding PortConnectRet type listener. More...
def	addPostComponentActionListener (self, listener_type, memfunc, autoclean=True)
	Adding PostComponentAction type listener. More...
def	addPreComponentActionListener (self, listener_type, memfunc, autoclean=True)
	Adding PreComponentAction type listener. More...
def	addSdoServiceConsumer (self, prof)
	[local interface] Set a SDO service consumerbool addSdoServiceConsumer(const SDOPackage::ServiceProfile& prof); More...
def	addSdoServiceProvider (self, prof, provider)
	[local interface] Set a SDO service providerbool addSdoServiceProvider(const SDOPackage::ServiceProfile& prof, SdoServiceProviderBase* provider); More...
def	attach_context (self, exec_context)
	[CORBA interface] Attach ExecutionContext. More...
def	bindContext (self, exec_context)
def	bindParameter (self, param_name, var, def_val, trans=None)
	template <typename vartype>=""> bool bindParameter(const char* param_name, VarType& var, const char* def_val, bool (trans)(VarType&, const char) = coil::stringTo) More...
def	deactivate (self, ec_id)
	[local interface] Make transition to Inactive state More...
def	deletePort (self, port)
	[local interface] Unregister Port More...
def	deletePortByName (self, port_name)
def	detach_context (self, ec_id)
	[CORBA interface] Attach ExecutionContext. More...
def	exit (self)
	Stop the RTC's execution context(s) and finalize it along with its contents. More...
def	finalize (self)
	Finalize the RTC for preparing it for destruction. More...
def	finalizeContexts (self)
def	finalizePorts (self)
	Unregister the All Portse. More...
def	get_component_profile (self)
	[RTObject CORBA interface] Get RTC's profile More...
def	get_configuration (self)
	[SDO interface] Getting Configuration object More...
def	get_context (self, ec_id)
	[CORBA interface] Get ExecutionContextList. More...
def	get_context_handle (self, cxt)
def	get_device_profile (self)
	[SDO interface] Getting SDO DeviceProfile More...
def	get_monitoring (self)
	[SDO interface] Get Monitoring object More...
def	get_organizations (self)
	[SDO interface] Getting Organizations More...
def	get_owned_contexts (self)
	[CORBA interface] Get ExecutionContextList. More...
def	get_owned_organizations (self)
	[SDO interface] Getting Organizations More...
def	get_participating_contexts (self)
	[CORBA interface] Get participating ExecutionContextList. More...
def	get_ports (self)
	[RTObject CORBA interface] Get Ports More...
def	get_sdo_id (self)
	[SDO interface] Getting SDO ID More...
def	get_sdo_service (self, _id)
	[SDO interface] Getting specified SDO Service's reference More...
def	get_sdo_type (self)
	[SDO interface] Getting SDO type More...
def	get_service_profile (self, _id)
	[SDO interface] Getting Organizations More...
def	get_service_profiles (self)
	[SDO interface] Getting SDO ServiceProfile More...
def	get_status (self, name)
	[SDO interface] Get SDO Status More...
def	get_status_list (self)
	[SDO interface] Get SDO Status More...
def	getCategory (self)
	const char* getCategory() More...
def	getDescription (self)
	const char* getDescription() More...
def	getExecutionContext (self, ec_id)
	[local interface] Getting current execution context More...
def	getExecutionRate (self, ec_id)
	[local interface] Getting current context' execution rate More...
def	getInstanceName (self)
	const char* getInstanceName() More...
def	getNamingNames (self)
	std::vector<std::string> getNamingNames(); More...
def	getObjRef (self)
	RTObject_ptr getObjRef() const;. More...
def	getProperties (self)
	[local interface] Get RTC property More...
def	getTypeName (self)
	const char* getTypeName() More...
def	getVendor (self)
	const char* getVendor() More...
def	getVersion (self)
	const char* getVersion() More...
def	initialize (self)
	Initialize the RTC that realizes this interface. More...
def	is_alive (self, exec_context)
	Confirm whether RTC is an Alive state or NOT. More...
def	isOwnExecutionContext (self, ec_id)
	[local interface] Checking if the current context is own context More...
def	on_aborting (self, ec_id)
	[ComponentAction CORBA interface] Transition Error State More...
def	on_activated (self, ec_id)
	[ComponentAction CORBA interface] Activate RTC More...
def	on_deactivated (self, ec_id)
	[ComponentAction CORBA interface] Deactivate RTC More...
def	on_error (self, ec_id)
	[ComponentAction CORBA interface] Error Processing of RTC More...
def	on_execute (self, ec_id)
	[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC More...
def	on_finalize (self)
	[ComponentAction CORBA interface] Finalize RTC More...
def	on_initialize (self)
	[ComponentAction CORBA interface] Initialize RTC More...
def	on_rate_changed (self, ec_id)
	[DataFlowComponentAction CORBA interface] Notify rate chenged More...
def	on_reset (self, ec_id)
	[ComponentAction CORBA interface] Resetting RTC More...
def	on_shutdown (self, ec_id)
	[ComponentAction CORBA interface] ShutDown RTC More...
def	on_startup (self, ec_id)
	[ComponentAction CORBA interface] StartUp RTC More...
def	on_state_update (self, ec_id)
	[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC More...
def	onAborting (self, ec_id)
def	onActivated (self, ec_id)
def	onAddPort (self, pprof)
def	onAttachExecutionContext (self, ec_id)
def	onDeactivated (self, ec_id)
def	onDetachExecutionContext (self, ec_id)
def	onError (self, ec_id)
def	onExecute (self, ec_id)
def	onFinalize (self)
def	onInitialize (self)
def	onRateChanged (self, ec_id)
def	onRemovePort (self, pprof)
def	onReset (self, ec_id)
def	onShutdown (self, ec_id)
def	onStartup (self, ec_id)
def	onStateUpdate (self, ec_id)
def	postOnAborting (self, ec_id, ret)
def	postOnActivated (self, ec_id, ret)
def	postOnDeactivated (self, ec_id, ret)
def	postOnError (self, ec_id, ret)
def	postOnExecute (self, ec_id, ret)
def	postOnFinalize (self, ec_id, ret)
def	postOnInitialize (self, ec_id, ret)
def	postOnRateChanged (self, ec_id, ret)
def	postOnReset (self, ec_id, ret)
def	postOnShutdown (self, ec_id, ret)
def	postOnStartup (self, ec_id, ret)
def	postOnStateUpdate (self, ec_id, ret)
def	preOnAborting (self, ec_id)
def	preOnActivated (self, ec_id)
def	preOnDeactivated (self, ec_id)
def	preOnError (self, ec_id)
def	preOnExecute (self, ec_id)
def	preOnFinalize (self, ec_id)
def	preOnInitialize (self, ec_id)
def	preOnRateChanged (self, ec_id)
def	preOnReset (self, ec_id)
def	preOnShutdown (self, ec_id)
def	preOnStartup (self, ec_id)
def	preOnStateUpdate (self, ec_id)
def	readAll (self)
	Readout the value from All InPorts. More...
def	registerInPort (self, name, inport)
def	registerOutPort (self, name, outport)
	void registerOutPort(const char* name, OutPortBase& outport); More...
def	registerPort (self, port)
	[local interface] Register Port More...
def	removeConfigurationParamListener (self, type, listener)
	Removing ConfigurationParamListener. More...
def	removeConfigurationSetListener (self, type, listener)
	Removing ConfigurationSetListener. More...
def	removeConfigurationSetNameListener (self, type, listener)
	Removing ConfigurationSetNameListener. More...
def	removeExecutionContextActionListener (self, listener_type, listener)
	Removing ExecutionContextAction type listener. More...
def	removeInPort (self, port)
	[local interface] Unregister InPort More...
def	removeOutPort (self, port)
	[local interface] Unregister OutPort More...
def	removePort (self, port)
def	removePortActionListener (self, listener_type, listener)
	Removing PortAction type listener. More...
def	removePortConnectListener (self, listener_type, listener)
	Removing PortConnect type listener. More...
def	removePortConnectRetListener (self, listener_type, listener)
	Removing PortConnectRet type listener. More...
def	removePostComponentActionListener (self, listener_type, listener)
	Removing PostComponentAction type listener. More...
def	removePreComponentActionListener (self, listener_type, listener)
	Removing PreComponentAction type listener. More...
def	removeSdoServiceConsumer (self, id)
	[local interface] Remove a SDO service consumerbool removeSdoServiceConsumer(const char* id); More...
def	removeSdoServiceProvider (self, id)
	[local interface] Remove a SDO service providerbool removeSdoServiceProvider(const char* id); More...
def	reset (self, ec_id)
	[local interface] Resetting and go to Inactive state More...
def	setExecutionRate (self, ec_id, rate)
	[local interface] Setting current context' execution rate More...
def	setInstanceName (self, instance_name)
	void setInstanceName(const char* instance_name); More...
def	setObjRef (self, rtobj)
	void setObjRef(const RTObject_ptr rtobj); More...
def	setProperties (self, prop)
	[local interface] Set RTC property More...
def	setReadAll (self, read=True, completion=False)
	Set whether to execute the readAll() method. More...
def	setWriteAll (self, write=True, completion=False)
	Set whether to execute the writeAll() method. More...
def	shutdown (self)
def	updateParameters (self, config_set)
	void updateParameters(const char* config_set); More...
def	writeAll (self)
	The write() method of all OutPort is called. More...

Private Attributes
	_actionListeners
	_configsets
	_created
	_eclist
	_ecMine
	_ecOther
	_execContexts
	_exiting
	_inports
	_manager
	_memfunc
	_objref
	_orb
	_outports
	_poa
	_portAdmin
	_portconnListeners
	_profile
	_properties
	_readAll
	_readAllCompletion
	_rtcout
	_SdoConfig
	_SdoConfigImpl
	_sdoOrganizations
	_sdoOwnedOrganizations
	_sdoservice
	_sdoStatus
	_sdoSvcProfiles
	_writeAll
	_writeAllCompletion

Detailed Description

Definition at line 68 of file RTObject.py.

Constructor & Destructor Documentation

__init__()

def OpenRTM_aist.RTObject.RTObject_impl.__init__	(		self,
			manager = None,
			orb = None,
			poa = None
	)

Consructor.

Parameters

orb	ORB
poa	POA

Definition at line 91 of file RTObject.py.

__del__()

def OpenRTM_aist.RTObject.RTObject_impl.__del__

(

self

)

destructor

Definition at line 149 of file RTObject.py.

Member Function Documentation

activate()

def OpenRTM_aist.RTObject.RTObject_impl.activate	(		self,
			ec_id
	)

[local interface] Make transition to Active state

This function makes transition from Inactive to Active state. This function is assumed to be called from the following functions.

• onStartup()
• onDeactivated()

The argument of this function should be the first argument (UniqueId ec_id) of the above function.

Parameters

ec_id

The above functions' first argument "exec_handle."

Returns

Return code

ReturnCode_t activate(RTC::UniqueId ec_id);

Definition at line 3234 of file RTObject.py.

addConfigurationParamListener()

def OpenRTM_aist.RTObject.RTObject_impl.addConfigurationParamListener	(		self,
			type,
			memfunc,
			autoclean = True
	)

Adding ConfigurationParamListener.

This function adds a listener object which is called when update(const char* config_set, const char* config_param) is called. In the type argument, currently only ON_UPDATE_CONFIG_PARAM is allowed.

Parameters

type	ConfigurationParamListenerType value ON_UPDATE_CONFIG_PARAM is only allowed.
memfunc	member function object
autoclean	a flag whether if the listener object autocleaned.

template <class listener>=""> ConfigurationParamListener* addConfigurationParamListener(ConfigurationParamListenerType listener_type, void (Listener::memfunc)(const char, const char*), bool autoclean = true)

Definition at line 4207 of file RTObject.py.

addConfigurationSetListener()

def OpenRTM_aist.RTObject.RTObject_impl.addConfigurationSetListener	(		self,
			listener_type,
			memfunc,
			autoclean = True
	)

Adding ConfigurationSetListener.

This function add a listener object which is called when ConfigurationSet is updated. Available events are the followings.

Parameters

type	ConfigurationSetListenerType value
memfunc	member function object
autoclean	a flag whether if the listener object autocleaned.

template <class listener>=""> ConfigurationSetListener* addConfigurationSetListener(ConfigurationSetListenerType listener_type, void (Listener::*memfunc) (const coil::Properties& config_set))

Definition at line 4290 of file RTObject.py.

addConfigurationSetNameListener()

def OpenRTM_aist.RTObject.RTObject_impl.addConfigurationSetNameListener	(		self,
			type,
			memfunc,
			autoclean = True
	)

Adding ConfigurationSetNameListener.

This function add a listener object which is called when ConfigurationSetName is updated. Available events are the followings.

• ON_UPDATE_CONFIG_SET: A ConfigurationSet has been updated.
• ON_REMOVE_CONFIG_SET: A ConfigurationSet has been deleted.
• ON_ACTIVATE_CONFIG_SET: A ConfigurationSet has been activated.

Parameters

type	ConfigurationSetNameListenerType value
memfunc	member function object
autoclean	a flag whether if the listener object autocleaned.

template <class listener>=""> ConfigurationSetNameListener* addConfigurationSetNameListener(ConfigurationSetNameListenerType type, void (Listener::memfunc)(const char))

Definition at line 4372 of file RTObject.py.

addExecutionContextActionListener()

def OpenRTM_aist.RTObject.RTObject_impl.addExecutionContextActionListener	(		self,
			listener_type,
			memfunc,
			autoclean = True
	)

Adding ExecutionContextAction type listener.

This operation adds certain listeners related to ComponentActions post events. The following listener types are available.

• ADD_PORT: At adding ExecutionContext
• REMOVE_PORT: At removing ExecutionContext

Listeners should have the following function operator().

ExecutionContextActionListener::operator()(UniqueId ec_id)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removeExecutionContextActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
memfunc	member function object
autoclean	A flag for automatic listener destruction

template <class listener>=""> ECActionListener* addExecutionContextActionListener(ECActionListenerType listener_type, void (Listener::*memfunc)(UniqueId), bool autoclean = true);

Definition at line 3916 of file RTObject.py.

addInPort()

def OpenRTM_aist.RTObject.RTObject_impl.addInPort	(		self,
			name,
			inport
	)

Definition at line 2721 of file RTObject.py.

addOutPort()

def OpenRTM_aist.RTObject.RTObject_impl.addOutPort	(		self,
			name,
			outport
	)

Definition at line 2765 of file RTObject.py.

addPort()

def OpenRTM_aist.RTObject.RTObject_impl.addPort	(		self,
			port
	)

Definition at line 2667 of file RTObject.py.

addPortActionListener()

def OpenRTM_aist.RTObject.RTObject_impl.addPortActionListener	(		self,
			listener_type,
			memfunc,
			autoclean = True
	)

Adding PortAction type listener.

This operation adds certain listeners related to ComponentActions post events. The following listener types are available.

• ADD_PORT: At adding Port
• REMOVE_PORT: At removing Port

Listeners should have the following function operator().

PortActionListener::operator()(RTC::PortProfile pprof)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePortActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
memfunc	member function object
autoclean	A flag for automatic listener destruction

template <class listener>=""> PortActionListener* addPortActionListener(PortActionListenerType listener_type, void (Listener::*memfunc)(const RTC::PortProfile&), bool autoclean=true)

Definition at line 3816 of file RTObject.py.

addPortConnectListener()

def OpenRTM_aist.RTObject.RTObject_impl.addPortConnectListener	(		self,
			listener_type,
			memfunc,
			autoclean = True
	)

Adding PortConnect type listener.

This operation adds certain listeners related to Port's connect actions. The following listener types are available.

• ON_NOTIFY_CONNECT: right after entering into notify_connect()
• ON_NOTIFY_DISCONNECT: right after entering into notify_disconnect()
• ON_UNSUBSCRIBE_INTERFACES: unsubscribing IF in notify_disconnect()

Listeners should have the following function operator().

PortConnectListener::operator()(const char*, ConnectorProfile)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePortConnectListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
memfunc	member function object
autoclean	A flag for automatic listener destruction

template <class listener>=""> PortConnectListener* addPortConnectListener(PortConnectListenerType listener_type, void (Listener::memfunc)(const char, ConnectorProfile&), bool autoclean = true)

Definition at line 4019 of file RTObject.py.

addPortConnectRetListener()

def OpenRTM_aist.RTObject.RTObject_impl.addPortConnectRetListener	(		self,
			listener_type,
			memfunc,
			autoclean = True
	)

Adding PortConnectRet type listener.

This operation adds certain listeners related to Port's connect actions. The following listener types are available.

• ON_CONNECT_NEXTPORT: after cascade-call in notify_connect()
• ON_SUBSCRIBE_INTERFACES: after IF subscribing in notify_connect()
• ON_CONNECTED: completed nofity_connect() connection process
• ON_DISCONNECT_NEXT: after cascade-call in notify_disconnect()
• ON_DISCONNECTED: completed notify_disconnect() disconnection process

Listeners should have the following function operator().

PortConnectRetListener::operator()(const char*, ConnectorProfile)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePortConnectRetListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
memfunc	member function object
autoclean	A flag for automatic listener destruction

template <class listener>=""> PortConnectRetListener* addPortConnectRetListener(PortConnectRetListenerType listener_type, void (Listener::memfunc)(const char, ConnectorProfile&, ReturnCode_t))

Definition at line 4126 of file RTObject.py.

addPostComponentActionListener()

def OpenRTM_aist.RTObject.RTObject_impl.addPostComponentActionListener	(		self,
			listener_type,
			memfunc,
			autoclean = True
	)

Adding PostComponentAction type listener.

This operation adds certain listeners related to ComponentActions post events. The following listener types are available.

• POST_ON_INITIALIZE: after onInitialize
• POST_ON_FINALIZE: after onFinalize
• POST_ON_STARTUP: after onStartup
• POST_ON_SHUTDOWN: after onShutdown
• POST_ON_ACTIVATED: after onActivated
• POST_ON_DEACTIVATED: after onDeactivated
• POST_ON_ABORTING: after onAborted
• POST_ON_ERROR: after onError
• POST_ON_RESET: after onReset
• POST_ON_EXECUTE: after onExecute
• POST_ON_STATE_UPDATE: after onStateUpdate

Listeners should have the following function operator().

PostComponentActionListener::operator()(UniqueId ec_id, ReturnCode_t ret)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePostComponentActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
memfunc	member function object
autoclean	A flag for automatic listener destruction

template <class listener>=""> PostComponentActionListener* addPostComponentActionListener(PostCompActionListenerType listener_type, void (Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret), bool autoclean = true)

Definition at line 3716 of file RTObject.py.

addPreComponentActionListener()

def OpenRTM_aist.RTObject.RTObject_impl.addPreComponentActionListener	(		self,
			listener_type,
			memfunc,
			autoclean = True
	)

Adding PreComponentAction type listener.

This operation adds certain listeners related to ComponentActions pre events. The following listener types are available.

• PRE_ON_INITIALIZE: before onInitialize
• PRE_ON_FINALIZE: before onFinalize
• PRE_ON_STARTUP: before onStartup
• PRE_ON_SHUTDOWN: before onShutdown
• PRE_ON_ACTIVATED: before onActivated
• PRE_ON_DEACTIVATED: before onDeactivated
• PRE_ON_ABORTING: before onAborted
• PRE_ON_ERROR: before onError
• PRE_ON_RESET: before onReset
• PRE_ON_EXECUTE: before onExecute
• PRE_ON_STATE_UPDATE: before onStateUpdate

Listeners should have the following function operator().

PreComponentActionListener::operator()(UniqueId ec_id)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePreComponentActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
memfunc	member function object
autoclean	A flag for automatic listener destruction

template <class listener>=""> PreComponentActionListener* addPreComponentActionListener(PreCompActionListenerType listener_type, void (Listener::*memfunc)(UniqueId ec_id), bool autoclean = true)

Definition at line 3596 of file RTObject.py.

addSdoServiceConsumer()

def OpenRTM_aist.RTObject.RTObject_impl.addSdoServiceConsumer	(		self,
			prof
	)

[local interface] Set a SDO service consumerbool addSdoServiceConsumer(const SDOPackage::ServiceProfile& prof);

Definition at line 3316 of file RTObject.py.

addSdoServiceProvider()

def OpenRTM_aist.RTObject.RTObject_impl.addSdoServiceProvider	(		self,
			prof,
			provider
	)

[local interface] Set a SDO service providerbool addSdoServiceProvider(const SDOPackage::ServiceProfile& prof, SdoServiceProviderBase* provider);

Definition at line 3292 of file RTObject.py.

attach_context()

def OpenRTM_aist.RTObject.RTObject_impl.attach_context	(		self,
			exec_context
	)

[CORBA interface] Attach ExecutionContext.

Inform this RTC that it is participating in the given execution context. Return a handle that represents the association of this RTC with the context. This operation is intended to be invoked by ExecutionContextOperations::add_component. It is not intended for use by other clients.

Parameters

exec_context

Prticipating ExecutionContext

Returns

ExecutionContext Handle

UniqueId attach_context(ExecutionContext_ptr exec_context)

Definition at line 994 of file RTObject.py.

bindContext()

def OpenRTM_aist.RTObject.RTObject_impl.bindContext	(		self,
			exec_context
	)

Definition at line 1021 of file RTObject.py.

bindParameter()

def OpenRTM_aist.RTObject.RTObject_impl.bindParameter	(		self,
			param_name,
			var,
			def_val,
			trans = None
	)

template <typename vartype>=""> bool bindParameter(const char* param_name, VarType& var, const char* def_val, bool (trans)(VarType&, const char) = coil::stringTo)

Definition at line 2588 of file RTObject.py.

deactivate()

def OpenRTM_aist.RTObject.RTObject_impl.deactivate	(		self,
			ec_id
	)

[local interface] Make transition to Inactive state

This function makes transition from Active to Inactive state. This function is assumed to be called from the following functions.

• onActivated()
• onExecute()
• onStateUpdate()

The argument of this function should be the first argument (UniqueId ec_id) of the above function.

Parameters

ec_id

The above functions' first argument "exec_handle."

Returns

Return code

ReturnCode_t deactivate(RTC::UniqueId ec_id);

Definition at line 3190 of file RTObject.py.

deletePort()

def OpenRTM_aist.RTObject.RTObject_impl.deletePort	(		self,
			port
	)

[local interface] Unregister Port

This operation unregisters a Port to be held by this RTC.

Parameters

port	Port which is unregistered in the RTC

void RTObject_impl::deletePort(PortBase& port)

Definition at line 2881 of file RTObject.py.

deletePortByName()

def OpenRTM_aist.RTObject.RTObject_impl.deletePortByName	(		self,
			port_name
	)

Definition at line 2908 of file RTObject.py.

detach_context()

def OpenRTM_aist.RTObject.RTObject_impl.detach_context	(		self,
			ec_id
	)

[CORBA interface] Attach ExecutionContext.

Inform this RTC that it is no longer participating in the given execution context. This operation is intended to be invoked by ExecutionContextOperations::remove_component. It is not intended for use by other clients. Constraints

• This operation may not be invoked if this RTC is not already participating in the execution context. Such a call shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
• This operation may not be invoked if this RTC is Active in the indicated execution context. Otherwise, it shall fail with ReturnCode_t::PRECONDITION_NOT_MET.

Parameters

ec_id

Dettaching ExecutionContext Handle

Returns

ReturnCode_t detach_context(UniqueId exec_handle)

Definition at line 1090 of file RTObject.py.

exit()

def OpenRTM_aist.RTObject.RTObject_impl.exit

(

self

)

Stop the RTC's execution context(s) and finalize it along with its contents.

Any execution contexts for which the RTC is the owner shall be stopped. If the RTC participates in any execution contexts belonging to another RTC that contains it, directly or indirectly (i.e. the containing RTC is the owner of the ExecutionContext), it shall be deactivated in those contexts. After the RTC is no longer Active in any Running execution context, it and any RTCs contained transitively within it shall be finalized.

Constraints

• An RTC cannot be exited if it has not yet been initialized. Any attempt to exit an RTC that is in the Created state shall fail with ReturnCode_t::PRECONDITION_NOT_MET.

Returns

Definition at line 633 of file RTObject.py.

finalize()

def OpenRTM_aist.RTObject.RTObject_impl.finalize

(

self

)

Finalize the RTC for preparing it for destruction.

This invocation of this operation shall result in the invocation of the callback ComponentAction::on_finalize.

Constraints

• An RTC may not be finalized while it is participating in any execution context. It must first be removed with ExecutionContextOperations::remove_component. Otherwise, this operation shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
• An RTC may not be finalized while it is in the Created state. Any attempt to invoke this operation while in that state shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
• Application developers are not expected to call this operation directly; it exists for use by the RTC infrastructure.

Returns

Definition at line 570 of file RTObject.py.

finalizeContexts()

def OpenRTM_aist.RTObject.RTObject_impl.finalizeContexts

(

self

)

Definition at line 3501 of file RTObject.py.

finalizePorts()

def OpenRTM_aist.RTObject.RTObject_impl.finalizePorts

(

self

)

Unregister the All Portse.

This operation deactivates the all Port and deletes the all Port's registrations in the RTC..

Definition at line 3493 of file RTObject.py.

get_component_profile()

def OpenRTM_aist.RTObject.RTObject_impl.get_component_profile

(

self

)

[RTObject CORBA interface] Get RTC's profile

This operation returns the ComponentProfile of the RTC

Returns

ComponentProfile

virtual ComponentProfile* get_component_profile()

Definition at line 897 of file RTObject.py.

get_configuration()

def OpenRTM_aist.RTObject.RTObject_impl.get_configuration

(

self

)

[SDO interface] Getting Configuration object

This operation returns an object implementing the Configuration interface. The Configuration interface is one of the interfaces that each SDO maintains. The interface is used to configure the attributes defined in DeviceProfile, ServiceProfile, and Organization. See OMG SDO specification Section 2.3.5, "Configuration Interface," on page 2-24 for more details about the Configuration interface.

Returns

The Configuration interface of an SDO.

Exceptions

InterfaceNotImplemented	The target SDO has no Configuration interface.
SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error. virtual SDOPackage::Configuration_ptr get_configuration()

Definition at line 2089 of file RTObject.py.

get_context()

def OpenRTM_aist.RTObject.RTObject_impl.get_context	(		self,
			ec_id
	)

[CORBA interface] Get ExecutionContextList.

This operation returns a list of all execution contexts owned by this RTC.

Returns

ExecutionContext List

def get_contexts(self): execlist = [] OpenRTM_aist.CORBA_SeqUtil.for_each(self._execContexts, self.ec_copy(execlist)) return execlist [CORBA interface] Get ExecutionContext.

Obtain a reference to the execution context represented by the given handle. The mapping from handle to context is specific to a particular RTC instance. The given handle must have been obtained by a previous call to attach_context on this RTC.

Parameters

ec_id

ExecutionContext handle

Returns

ExecutionContext

virtual ExecutionContext_ptr get_context(UniqueId exec_handle)

Definition at line 764 of file RTObject.py.

get_context_handle()

def OpenRTM_aist.RTObject.RTObject_impl.get_context_handle	(		self,
			cxt
	)

Definition at line 858 of file RTObject.py.

get_device_profile()

def OpenRTM_aist.RTObject.RTObject_impl.get_device_profile

(

self

)

[SDO interface] Getting SDO DeviceProfile

This operation returns the DeviceProfile of the SDO. If the SDO does not represent any hardware device, then a DeviceProfile with empty values are returned. This operation throws SDOException with one of the following types.

Returns

The DeviceProfile of the SDO.

Exceptions

SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	if the target SDO is reachable but cannot respond.
InternalError	if the target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::DeviceProfile* get_device_profile()

Definition at line 1851 of file RTObject.py.

get_monitoring()

def OpenRTM_aist.RTObject.RTObject_impl.get_monitoring

(

self

)

[SDO interface] Get Monitoring object

This operation returns an object implementing the Monitoring interface. The Monitoring interface is one of the interfaces that each SDO maintains. The interface is used to monitor the properties of an SDO. See OMG SDO specification Section 2.3.7, "Monitoring Interface," on page 2-35 for more details about the Monitoring interface.

Returns

The Monitoring interface of an SDO.

Exceptions

InterfaceNotImplemented	The target SDO has no Configuration interface.
SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error. virtual SDOPackage::Monitoring_ptr get_monitoring()

Definition at line 2146 of file RTObject.py.

get_organizations()

def OpenRTM_aist.RTObject.RTObject_impl.get_organizations

(

self

)

[SDO interface] Getting Organizations

An SDO belongs to zero or more organizations. If the SDO belongs to one or more organizations, this operation returns the list of organizations that the SDO belongs to. An empty list is returned if the SDO does not belong to any Organizations.

Returns

The list of Organizations that the SDO belong to.

Exceptions

SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error. virtual SDOPackage::OrganizationList* get_organizations()

Definition at line 2189 of file RTObject.py.

get_owned_contexts()

def OpenRTM_aist.RTObject.RTObject_impl.get_owned_contexts

(

self

)

[CORBA interface] Get ExecutionContextList.

This operation returns a list of all execution contexts owned by this RTC.

Returns

ExecutionContext List

virtual ExecutionContextList* get_owned_contexts()

Definition at line 803 of file RTObject.py.

get_owned_organizations()

def OpenRTM_aist.RTObject.RTObject_impl.get_owned_organizations

(

self

)

[SDO interface] Getting Organizations

SDOSystemElement can be the owner of zero or more organizations. If the SDOSystemElement owns one or more Organizations, this operation returns the list of Organizations that the SDOSystemElement owns. If it does not own any Organization, it returns empty list.

Returns

Owned Organization List

Exceptions

SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	if the target SDO is reachable but cannot respond.
InternalError	if the target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::OrganizationList* get_owned_organizations()

Definition at line 1706 of file RTObject.py.

get_participating_contexts()

def OpenRTM_aist.RTObject.RTObject_impl.get_participating_contexts

(

self

)

[CORBA interface] Get participating ExecutionContextList.

This operation returns a list of all execution contexts in which this RTC participates.

Returns

ExecutionContext List

virtual ExecutionContextList* get_participating_contexts()

Definition at line 827 of file RTObject.py.

get_ports()

def OpenRTM_aist.RTObject.RTObject_impl.get_ports

(

self

)

[RTObject CORBA interface] Get Ports

This operation returns a list of the RTCs ports.

Returns

PortList

virtual PortServiceList* get_ports()

Definition at line 949 of file RTObject.py.

get_sdo_id()

def OpenRTM_aist.RTObject.RTObject_impl.get_sdo_id

(

self

)

[SDO interface] Getting SDO ID

This operation returns id of the SDO. This operation throws SDOException with one of the following types.

Returns

id of the SDO defined in the resource data model.

Exceptions

SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	if the target SDO is reachable but cannot respond.
InternalError	if the target SDO cannot execute the operation completely due to some internal error.

virtual char* get_sdo_id()

Definition at line 1757 of file RTObject.py.

get_sdo_service()

def OpenRTM_aist.RTObject.RTObject_impl.get_sdo_service	(		self,
			_id
	)

[SDO interface] Getting specified SDO Service's reference

This operation returns an object implementing an SDO's service that is identified by the identifier specified as an argument. Different services provided by an SDO are distinguished with different identifiers. See OMG SDO specification Section 2.2.8, "ServiceProfile," on page 2-12 for more details.

Parameters

_id	The identifier referring to one of the SDO Service

Returns

The object implementing the requested service.

Exceptions

InvalidParameter	if argument ¡Èid¡É is null, or if the ServiceProfile that is specified by argument ¡Èid¡É does not exist.
SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	If the target SDO is reachable but cannot respond.
InternalError	If the target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::SDOService_ptr get_sdo_service(const char* id)

Definition at line 2023 of file RTObject.py.

get_sdo_type()

def OpenRTM_aist.RTObject.RTObject_impl.get_sdo_type

(

self

)

[SDO interface] Getting SDO type

This operation returns sdoType of the SDO. This operation throws SDOException with one of the following types.

Returns

Type of the SDO defined in the resource data model.

Exceptions

SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	if the target SDO is reachable but cannot respond.
InternalError	if the target SDO cannot execute the operation completely due to some internal error.

virtual char* get_sdo_type()

Definition at line 1802 of file RTObject.py.

get_service_profile()

def OpenRTM_aist.RTObject.RTObject_impl.get_service_profile	(		self,
			_id
	)

[SDO interface] Getting Organizations

This operation returns the ServiceProfile that is specified by the argument "id."

Parameters

_id	The identifier referring to one of the ServiceProfiles.

Returns

The profile of the specified service.

Exceptions

InvalidParameter	if the ServiceProfile that is specified by the argument 'id' does not exist or if 'id' is 'null.'
SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	If the target SDO is reachable but cannot respond.
InternalError	If the target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::ServiceProfile* get_service_profile(const char* id)

Definition at line 1956 of file RTObject.py.

get_service_profiles()

def OpenRTM_aist.RTObject.RTObject_impl.get_service_profiles

(

self

)

[SDO interface] Getting SDO ServiceProfile

This operation returns a list of ServiceProfiles that the SDO has. If the SDO does not provide any service, then an empty list is returned. This operation throws SDOException with one of the following types.

Returns

List of ServiceProfiles of all the services the SDO is providing.

Exceptions

SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	if the target SDO is reachable but cannot respond.
InternalError	if the target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::ServiceProfileList* get_service_profiles()

Definition at line 1901 of file RTObject.py.

get_status()

def OpenRTM_aist.RTObject.RTObject_impl.get_status	(		self,
			name
	)

[SDO interface] Get SDO Status

Parameters

name	One of the parameters defining the "status" of an SDO.

Returns

The value of the specified status parameter.

Exceptions

SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InvalidParameter	The parameter defined by "name" is null or does not exist.
InternalError	The target SDO cannot execute the operation completely due to some internal error.

virtual CORBA::Any* get_status(const char* name)

Definition at line 2280 of file RTObject.py.

get_status_list()

def OpenRTM_aist.RTObject.RTObject_impl.get_status_list

(

self

)

[SDO interface] Get SDO Status

This operation returns an NVlist describing the status of an SDO.

Returns

The actual status of an SDO.

Exceptions

SDONotExists	if the target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::NVList* get_status_list()

Definition at line 2233 of file RTObject.py.

getCategory()

def OpenRTM_aist.RTObject.RTObject_impl.getCategory

(

self

)

const char* getCategory()

Definition at line 2434 of file RTObject.py.

getDescription()

def OpenRTM_aist.RTObject.RTObject_impl.getDescription

(

self

)

const char* getDescription()

Definition at line 2374 of file RTObject.py.

getExecutionContext()

def OpenRTM_aist.RTObject.RTObject_impl.getExecutionContext	(		self,
			ec_id
	)

[local interface] Getting current execution context

This function is the local version of get_context(). completely same as get_context() function. This function is assumed to be called from the following functions.

• onStartup()
• onShutdown()
• onActivated()
• onDeactivated()
• onExecute()
• onAborting()
• onError()
• onReset()
• onStateUpdate()
• onRateChanged()

The argument of this function should be the first argument (UniqueId ec_id) of the above functions.

Parameters

ec_id

The above functions' first argument "exec_handle."

ExecutionContext_ptr getExecutionContext(RTC::UniqueId ec_id);

Definition at line 2965 of file RTObject.py.

getExecutionRate()

def OpenRTM_aist.RTObject.RTObject_impl.getExecutionRate	(		self,
			ec_id
	)

[local interface] Getting current context' execution rate

This function returns current execution rate in this context. If this context's kind is not PERIODC, behavior is not defined. This function is assumed to be called from the following functions.

• onStartup()
• onShutdown()
• onActivated()
• onDeactivated()
• onExecute()
• onAborting()
• onError()
• onReset()
• onStateUpdate()
• onRateChanged()

The argument of this function should be the first argument (UniqueId ec_id) of the above functions.

Parameters

ec_id

The above functions' first argument "exec_handle."

double getExecutionRate(RTC::UniqueId ec_id);

Definition at line 3021 of file RTObject.py.

getInstanceName()

def OpenRTM_aist.RTObject.RTObject_impl.getInstanceName

(

self

)

const char* getInstanceName()

Definition at line 2313 of file RTObject.py.

getNamingNames()

def OpenRTM_aist.RTObject.RTObject_impl.getNamingNames

(

self

)

std::vector<std::string> getNamingNames();

Definition at line 2454 of file RTObject.py.

getObjRef()

def OpenRTM_aist.RTObject.RTObject_impl.getObjRef

(

self

)

RTObject_ptr getObjRef() const;.

Definition at line 2494 of file RTObject.py.

getProperties()

def OpenRTM_aist.RTObject.RTObject_impl.getProperties

(

self

)

[local interface] Get RTC property

This operation returns the properties of the RTC. Empty property would be returned, if RTC has no property.

Returns

Property for RTC.

coil::Properties& getProperties();

Definition at line 2559 of file RTObject.py.

getTypeName()

def OpenRTM_aist.RTObject.RTObject_impl.getTypeName

(

self

)

const char* getTypeName()

Definition at line 2354 of file RTObject.py.

getVendor()

def OpenRTM_aist.RTObject.RTObject_impl.getVendor

(

self

)

const char* getVendor()

Definition at line 2414 of file RTObject.py.

getVersion()

def OpenRTM_aist.RTObject.RTObject_impl.getVersion

(

self

)

const char* getVersion()

Definition at line 2394 of file RTObject.py.

initialize()

def OpenRTM_aist.RTObject.RTObject_impl.initialize

(

self

)

Initialize the RTC that realizes this interface.

The invocation of this operation shall result in the invocation of the callback ComponentAction::on_initialize.

Constraints

• An RTC may be initialized only while it is in the Created state. Any attempt to invoke this operation while in another state shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
• Application developers are not expected to call this operation directly; it exists for use by the RTC infrastructure.

Returns

Definition at line 487 of file RTObject.py.

is_alive()

def OpenRTM_aist.RTObject.RTObject_impl.is_alive	(		self,
			exec_context
	)

Confirm whether RTC is an Alive state or NOT.

A component is alive or not regardless of the execution context from which it is observed. However, whether or not it is Active, Inactive, or in Error is dependent on the execution context(s) in which it is running. That is, it may be Active in one context but Inactive in another. Therefore, this operation shall report whether this RTC is either Active, Inactive or in Error; which of those states a component is in with respect to a particular context may be queried from the context itself.

Returns

Result of Alive state confirmation

virtual CORBA::Boolean is_alive(ExecutionContext_ptr exec_context)

Definition at line 698 of file RTObject.py.

isOwnExecutionContext()

def OpenRTM_aist.RTObject.RTObject_impl.isOwnExecutionContext	(		self,
			ec_id
	)

[local interface] Checking if the current context is own context

This function checks if the current context is own execution context. This function is assumed to be called from the following functions.

• onStartup()
• onShutdown()
• onActivated()
• onDeactivated()
• onExecute()
• onAborting()
• onError()
• onReset()
• onStateUpdate()
• onRateChanged()

The argument of this function should be the first argument (UniqueId ec_id) of the above functions.

Parameters

ec_id

The above functions' first argument "exec_handle."

Returns

true: Own context, false: other's context

bool isOwnExecutionContext(RTC::UniqueId ec_id);

Definition at line 3144 of file RTObject.py.

on_aborting()

def OpenRTM_aist.RTObject.RTObject_impl.on_aborting	(		self,
			ec_id
	)

[ComponentAction CORBA interface] Transition Error State

The RTC is transitioning from the Active state to the Error state in some execution context. This callback is invoked only a single time for time that the RTC transitions into the Error state from another state. This behavior is in contrast to that of on_error.

Parameters

ec_id

Returns

Definition at line 1387 of file RTObject.py.

on_activated()

def OpenRTM_aist.RTObject.RTObject_impl.on_activated	(		self,
			ec_id
	)

[ComponentAction CORBA interface] Activate RTC

The RTC has been activated in the given execution context.

Parameters

ec_id

Returns

Definition at line 1302 of file RTObject.py.

on_deactivated()

def OpenRTM_aist.RTObject.RTObject_impl.on_deactivated	(		self,
			ec_id
	)

[ComponentAction CORBA interface] Deactivate RTC

The RTC has been deactivated in the given execution context.

Parameters

ec_id

Returns

Definition at line 1342 of file RTObject.py.

on_error()

def OpenRTM_aist.RTObject.RTObject_impl.on_error	(		self,
			ec_id
	)

[ComponentAction CORBA interface] Error Processing of RTC

The RTC remains in the Error state. If the RTC is in the Error state relative to some execution context when it would otherwise be invoked from that context (according to the context¡Çs ExecutionKind), this callback shall be invoked instead. For example,

• If the ExecutionKind is PERIODIC, this operation shall be invoked in sorted order at the rate of the context instead of DataFlowComponentAction::on_execute and on_state_update.
• If the ExecutionKind is EVENT_DRIVEN, this operation shall be invoked whenever FsmParticipantAction::on_action would otherwise have been invoked.

Parameters

ec_id

Returns

Definition at line 1442 of file RTObject.py.

on_execute()

def OpenRTM_aist.RTObject.RTObject_impl.on_execute	(		self,
			ec_id
	)

[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC

This operation will be invoked periodically at the rate of the given execution context as long as the following conditions hold:

• The RTC is Active.
• The given execution context is Running This callback occurs during the first execution pass.

Constraints

• The execution context of the given context shall be PERIODIC.

Parameters

ec_id

Returns

Definition at line 1541 of file RTObject.py.

on_finalize()

def OpenRTM_aist.RTObject.RTObject_impl.on_finalize

(

self

)

[ComponentAction CORBA interface] Finalize RTC

The RTC is being destroyed. Any final RTC-specific tear-down logic should be performed here.

Returns

Definition at line 1184 of file RTObject.py.

on_initialize()

def OpenRTM_aist.RTObject.RTObject_impl.on_initialize

(

self

)

[ComponentAction CORBA interface] Initialize RTC

The RTC has been initialized and entered the Alive state. Any RTC-specific initialization logic should be performed here.

Returns

Definition at line 1138 of file RTObject.py.

on_rate_changed()

def OpenRTM_aist.RTObject.RTObject_impl.on_rate_changed	(		self,
			ec_id
	)

[DataFlowComponentAction CORBA interface] Notify rate chenged

This operation is a notification that the rate of the indicated execution context has changed.

Constraints

• The execution context of the given context shall be PERIODIC.

Parameters

ec_id

Returns

Definition at line 1649 of file RTObject.py.

on_reset()

def OpenRTM_aist.RTObject.RTObject_impl.on_reset	(		self,
			ec_id
	)

[ComponentAction CORBA interface] Resetting RTC

The RTC is in the Error state. An attempt is being made to recover it such that it can return to the Inactive state. If the RTC was successfully recovered and can safely return to the Inactive state, this method shall complete with ReturnCode_t::OK. Any other result shall indicate that the RTC should remain in the Error state.

Parameters

ec_id

Returns

Definition at line 1488 of file RTObject.py.

on_shutdown()

def OpenRTM_aist.RTObject.RTObject_impl.on_shutdown	(		self,
			ec_id
	)

[ComponentAction CORBA interface] ShutDown RTC

The given execution context, in which the RTC is participating, has transitioned from Running to Stopped.

Parameters

ec_id

Returns

Definition at line 1264 of file RTObject.py.

on_startup()

def OpenRTM_aist.RTObject.RTObject_impl.on_startup	(		self,
			ec_id
	)

[ComponentAction CORBA interface] StartUp RTC

The given execution context, in which the RTC is participating, has transitioned from Stopped to Running.

Parameters

ec_id

Returns

Definition at line 1224 of file RTObject.py.

on_state_update()

def OpenRTM_aist.RTObject.RTObject_impl.on_state_update	(		self,
			ec_id
	)

[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC

This operation will be invoked periodically at the rate of the given execution context as long as the following conditions hold:

• The RTC is Active.
• The given execution context is Running This callback occurs during the second execution pass.

Constraints

• The execution context of the given context shall be PERIODIC.

Parameters

ec_id

Returns

Definition at line 1601 of file RTObject.py.

onAborting()

def OpenRTM_aist.RTObject.RTObject_impl.onAborting	(		self,
			ec_id
	)

Definition at line 344 of file RTObject.py.

onActivated()

def OpenRTM_aist.RTObject.RTObject_impl.onActivated	(		self,
			ec_id
	)

Definition at line 270 of file RTObject.py.

onAddPort()

def OpenRTM_aist.RTObject.RTObject_impl.onAddPort	(		self,
			pprof
	)

Definition at line 4585 of file RTObject.py.

onAttachExecutionContext()

def OpenRTM_aist.RTObject.RTObject_impl.onAttachExecutionContext	(		self,
			ec_id
	)

Definition at line 4597 of file RTObject.py.

onDeactivated()

def OpenRTM_aist.RTObject.RTObject_impl.onDeactivated	(		self,
			ec_id
	)

Definition at line 294 of file RTObject.py.

onDetachExecutionContext()

def OpenRTM_aist.RTObject.RTObject_impl.onDetachExecutionContext	(		self,
			ec_id
	)

Definition at line 4603 of file RTObject.py.

onError()

def OpenRTM_aist.RTObject.RTObject_impl.onError	(		self,
			ec_id
	)

Definition at line 367 of file RTObject.py.

onExecute()

def OpenRTM_aist.RTObject.RTObject_impl.onExecute	(		self,
			ec_id
	)

Definition at line 320 of file RTObject.py.

onFinalize()

def OpenRTM_aist.RTObject.RTObject_impl.onFinalize

(

self

)

Definition at line 198 of file RTObject.py.

onInitialize()

def OpenRTM_aist.RTObject.RTObject_impl.onInitialize

(

self

)

Definition at line 175 of file RTObject.py.

onRateChanged()

def OpenRTM_aist.RTObject.RTObject_impl.onRateChanged	(		self,
			ec_id
	)

Definition at line 442 of file RTObject.py.

onRemovePort()

def OpenRTM_aist.RTObject.RTObject_impl.onRemovePort	(		self,
			pprof
	)

Definition at line 4591 of file RTObject.py.

onReset()

def OpenRTM_aist.RTObject.RTObject_impl.onReset	(		self,
			ec_id
	)

Definition at line 390 of file RTObject.py.

onShutdown()

def OpenRTM_aist.RTObject.RTObject_impl.onShutdown	(		self,
			ec_id
	)

Definition at line 246 of file RTObject.py.

onStartup()

def OpenRTM_aist.RTObject.RTObject_impl.onStartup	(		self,
			ec_id
	)

Definition at line 222 of file RTObject.py.

onStateUpdate()

def OpenRTM_aist.RTObject.RTObject_impl.onStateUpdate	(		self,
			ec_id
	)

Definition at line 416 of file RTObject.py.

postOnAborting()

def OpenRTM_aist.RTObject.RTObject_impl.postOnAborting	(		self,
			ec_id,
			ret
	)

Definition at line 4549 of file RTObject.py.

postOnActivated()

def OpenRTM_aist.RTObject.RTObject_impl.postOnActivated	(		self,
			ec_id,
			ret
	)

Definition at line 4537 of file RTObject.py.

postOnDeactivated()

def OpenRTM_aist.RTObject.RTObject_impl.postOnDeactivated	(		self,
			ec_id,
			ret
	)

Definition at line 4543 of file RTObject.py.

postOnError()

def OpenRTM_aist.RTObject.RTObject_impl.postOnError	(		self,
			ec_id,
			ret
	)

Definition at line 4555 of file RTObject.py.

postOnExecute()

def OpenRTM_aist.RTObject.RTObject_impl.postOnExecute	(		self,
			ec_id,
			ret
	)

Definition at line 4567 of file RTObject.py.

postOnFinalize()

def OpenRTM_aist.RTObject.RTObject_impl.postOnFinalize	(		self,
			ec_id,
			ret
	)

Definition at line 4519 of file RTObject.py.

postOnInitialize()

def OpenRTM_aist.RTObject.RTObject_impl.postOnInitialize	(		self,
			ec_id,
			ret
	)

Definition at line 4513 of file RTObject.py.

postOnRateChanged()

def OpenRTM_aist.RTObject.RTObject_impl.postOnRateChanged	(		self,
			ec_id,
			ret
	)

Definition at line 4579 of file RTObject.py.

postOnReset()

def OpenRTM_aist.RTObject.RTObject_impl.postOnReset	(		self,
			ec_id,
			ret
	)

Definition at line 4561 of file RTObject.py.

postOnShutdown()

def OpenRTM_aist.RTObject.RTObject_impl.postOnShutdown	(		self,
			ec_id,
			ret
	)

Definition at line 4531 of file RTObject.py.

postOnStartup()

def OpenRTM_aist.RTObject.RTObject_impl.postOnStartup	(		self,
			ec_id,
			ret
	)

Definition at line 4525 of file RTObject.py.

postOnStateUpdate()

def OpenRTM_aist.RTObject.RTObject_impl.postOnStateUpdate	(		self,
			ec_id,
			ret
	)

Definition at line 4573 of file RTObject.py.

preOnAborting()

def OpenRTM_aist.RTObject.RTObject_impl.preOnAborting	(		self,
			ec_id
	)

Definition at line 4481 of file RTObject.py.

preOnActivated()

def OpenRTM_aist.RTObject.RTObject_impl.preOnActivated	(		self,
			ec_id
	)

Definition at line 4471 of file RTObject.py.

preOnDeactivated()

def OpenRTM_aist.RTObject.RTObject_impl.preOnDeactivated	(		self,
			ec_id
	)

Definition at line 4476 of file RTObject.py.

preOnError()

def OpenRTM_aist.RTObject.RTObject_impl.preOnError	(		self,
			ec_id
	)

Definition at line 4486 of file RTObject.py.

preOnExecute()

def OpenRTM_aist.RTObject.RTObject_impl.preOnExecute	(		self,
			ec_id
	)

Definition at line 4496 of file RTObject.py.

preOnFinalize()

def OpenRTM_aist.RTObject.RTObject_impl.preOnFinalize	(		self,
			ec_id
	)

Definition at line 4456 of file RTObject.py.

preOnInitialize()

def OpenRTM_aist.RTObject.RTObject_impl.preOnInitialize	(		self,
			ec_id
	)

Definition at line 4451 of file RTObject.py.

preOnRateChanged()

def OpenRTM_aist.RTObject.RTObject_impl.preOnRateChanged	(		self,
			ec_id
	)

Definition at line 4507 of file RTObject.py.

preOnReset()

def OpenRTM_aist.RTObject.RTObject_impl.preOnReset	(		self,
			ec_id
	)

Definition at line 4491 of file RTObject.py.

preOnShutdown()

def OpenRTM_aist.RTObject.RTObject_impl.preOnShutdown	(		self,
			ec_id
	)

Definition at line 4466 of file RTObject.py.

preOnStartup()

def OpenRTM_aist.RTObject.RTObject_impl.preOnStartup	(		self,
			ec_id
	)

Definition at line 4461 of file RTObject.py.

preOnStateUpdate()

def OpenRTM_aist.RTObject.RTObject_impl.preOnStateUpdate	(		self,
			ec_id
	)

Definition at line 4501 of file RTObject.py.

readAll()

def OpenRTM_aist.RTObject.RTObject_impl.readAll

(

self

)

Readout the value from All InPorts.

This operation read the value from all InPort registered in the RTC.

Returns

result (Successful:true, Failed:false)

bool readAll();

Definition at line 3353 of file RTObject.py.

registerInPort()

def OpenRTM_aist.RTObject.RTObject_impl.registerInPort	(		self,
			name,
			inport
	)

Definition at line 2714 of file RTObject.py.

registerOutPort()

def OpenRTM_aist.RTObject.RTObject_impl.registerOutPort	(		self,
			name,
			outport
	)

void registerOutPort(const char* name, OutPortBase& outport);

Definition at line 2757 of file RTObject.py.

registerPort()

def OpenRTM_aist.RTObject.RTObject_impl.registerPort	(		self,
			port
	)

[local interface] Register Port

This operation registers a Port to be held by this RTC. In order to enable access to the Port from outside of RTC, the Port must be registered by this operation. The Port that is registered by this operation would be identified by PortProfile.name in the inside of RTC. Therefore, the Port should have unique PortProfile.name in the RTC. The registering Port would be activated properly, and the reference and the object reference would be stored in lists in RTC.

Parameters

port	Port which is registered in the RTC

void registerPort(PortBase& port);

Definition at line 2653 of file RTObject.py.

removeConfigurationParamListener()

def OpenRTM_aist.RTObject.RTObject_impl.removeConfigurationParamListener	(		self,
			type,
			listener
	)

Removing ConfigurationParamListener.

This function removes a listener object which is added by addConfigurationParamListener() function.

Parameters

type	ConfigurationParamListenerType value ON_UPDATE_CONFIG_PARAM is only allowed.
listener	a pointer to ConfigurationParamListener listener object.

void removeConfigurationParamListener(ConfigurationParamListenerType type, ConfigurationParamListener* listener);

Definition at line 4248 of file RTObject.py.

removeConfigurationSetListener()

def OpenRTM_aist.RTObject.RTObject_impl.removeConfigurationSetListener	(		self,
			type,
			listener
	)

Removing ConfigurationSetListener.

This function removes a listener object which is added by addConfigurationSetListener() function.

Parameters

type	ConfigurationSetListenerType value
listener	a pointer to ConfigurationSetListener listener object.

void removeConfigurationSetListener(ConfigurationSetListenerType type, ConfigurationSetListener* listener);

Definition at line 4329 of file RTObject.py.

removeConfigurationSetNameListener()

def OpenRTM_aist.RTObject.RTObject_impl.removeConfigurationSetNameListener	(		self,
			type,
			listener
	)

Removing ConfigurationSetNameListener.

This function removes a listener object which is added by addConfigurationSetNameListener() function.

Parameters

type	ConfigurationSetNameListenerType value ON_UPDATE_CONFIG_PARAM is only allowed.
listener	a pointer to ConfigurationSetNameListener listener object.

void removeConfigurationSetNameListener(ConfigurationSetNameListenerType type, ConfigurationSetNameListener* listener);

Definition at line 4415 of file RTObject.py.

removeExecutionContextActionListener()

def OpenRTM_aist.RTObject.RTObject_impl.removeExecutionContextActionListener	(		self,
			listener_type,
			listener
	)

Removing ExecutionContextAction type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

void removeExecutionContextActionListener(ECActionListenerType listener_type, ECActionListener* listener);

Definition at line 3953 of file RTObject.py.

removeInPort()

def OpenRTM_aist.RTObject.RTObject_impl.removeInPort	(		self,
			port
	)

[local interface] Unregister InPort

This operation unregisters a InPort held by this RTC.

Parameters

port	Port which is unregistered

Returns

Unregister result (Successful:true, Failed:false)

bool removeInPort(InPortBase& port);

Definition at line 2805 of file RTObject.py.

removeOutPort()

def OpenRTM_aist.RTObject.RTObject_impl.removeOutPort	(		self,
			port
	)

[local interface] Unregister OutPort

This operation unregisters a OutPort held by this RTC.

Parameters

port	Port which is unregistered

Returns

Unregister result (Successful:true, Failed:false)

bool removeOutPort(OutPortBase& port);

Definition at line 2844 of file RTObject.py.

removePort()

def OpenRTM_aist.RTObject.RTObject_impl.removePort	(		self,
			port
	)

Definition at line 2888 of file RTObject.py.

removePortActionListener()

def OpenRTM_aist.RTObject.RTObject_impl.removePortActionListener	(		self,
			listener_type,
			listener
	)

Removing PortAction type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

void removePortActionListener(PortActionListenerType listener_type, PortActionListener* listener);

Definition at line 3852 of file RTObject.py.

removePortConnectListener()

def OpenRTM_aist.RTObject.RTObject_impl.removePortConnectListener	(		self,
			listener_type,
			listener
	)

Removing PortConnect type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

void removePortConnectListener(PortConnectListenerType listener_type, PortConnectListener* listener);

Definition at line 4056 of file RTObject.py.

removePortConnectRetListener()

def OpenRTM_aist.RTObject.RTObject_impl.removePortConnectRetListener	(		self,
			listener_type,
			listener
	)

Removing PortConnectRet type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

void removePortConnectRetListener(PortConnectRetListenerType listener_type, PortConnectRetListener* listener);

Definition at line 4163 of file RTObject.py.

removePostComponentActionListener()

def OpenRTM_aist.RTObject.RTObject_impl.removePostComponentActionListener	(		self,
			listener_type,
			listener
	)

Removing PostComponentAction type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

void removePostComponentActionListener(PostComponentActionListenerType listener_type, PostComponentActionListener* listener);

Definition at line 3752 of file RTObject.py.

removePreComponentActionListener()

def OpenRTM_aist.RTObject.RTObject_impl.removePreComponentActionListener	(		self,
			listener_type,
			listener
	)

Removing PreComponentAction type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

void removePreComponentActionListener(PreComponentActionListenerType listener_type, PreComponentActionListener* listener);

Definition at line 3632 of file RTObject.py.

removeSdoServiceConsumer()

def OpenRTM_aist.RTObject.RTObject_impl.removeSdoServiceConsumer	(		self,
			id
	)

[local interface] Remove a SDO service consumerbool removeSdoServiceConsumer(const char* id);

Definition at line 3328 of file RTObject.py.

removeSdoServiceProvider()

def OpenRTM_aist.RTObject.RTObject_impl.removeSdoServiceProvider	(		self,
			id
	)

[local interface] Remove a SDO service providerbool removeSdoServiceProvider(const char* id);

Definition at line 3304 of file RTObject.py.

reset()

def OpenRTM_aist.RTObject.RTObject_impl.reset	(		self,
			ec_id
	)

[local interface] Resetting and go to Inactive state

This function reset RTC and makes transition from Error to Inactive state. This function is assumed to be called from the following functions.

• onError()

The argument of this function should be the first argument (UniqueId ec_id) of the above function.

Parameters

ec_id

The above functions' first argument "exec_handle."

Returns

Return code

ReturnCode_t reset(RTC::UniqueId ec_id);

Definition at line 3276 of file RTObject.py.

setExecutionRate()

def OpenRTM_aist.RTObject.RTObject_impl.setExecutionRate	(		self,
			ec_id,
			rate
	)

[local interface] Setting current context' execution rate

This function sets a execution rate in the context. If this context's kind is not PERIODC, behavior is not defined. This function is assumed to be called from the following functions.

• onStartup()
• onShutdown()
• onActivated()
• onDeactivated()
• onExecute()
• onAborting()
• onError()
• onReset()
• onStateUpdate()
• onRateChanged()

The argument of this function should be the first argument (UniqueId ec_id) of the above functions.

Parameters

ec_id	The above functions' first argument "exec_handle."
rate	Execution rate in [Hz].

ReturnCode_t setExecutionRate(RTC::UniqueId ec_id, double rate);

Definition at line 3083 of file RTObject.py.

setInstanceName()

def OpenRTM_aist.RTObject.RTObject_impl.setInstanceName	(		self,
			instance_name
	)

void setInstanceName(const char* instance_name);

Definition at line 2333 of file RTObject.py.

setObjRef()

def OpenRTM_aist.RTObject.RTObject_impl.setObjRef	(		self,
			rtobj
	)

void setObjRef(const RTObject_ptr rtobj);

Definition at line 2473 of file RTObject.py.

setProperties()

def OpenRTM_aist.RTObject.RTObject_impl.setProperties	(		self,
			prop
	)

[local interface] Set RTC property

This operation sets the properties to the RTC. The given property values should include information for ComponentProfile. Generally, this operation is designed to be called from Manager, when RTC is initialized

Parameters

prop	Property for RTC.

void setProperties(const coil::Properties& prop);

Definition at line 2525 of file RTObject.py.

setReadAll()

def OpenRTM_aist.RTObject.RTObject_impl.setReadAll	(		self,
			read = True,
			completion = False
	)

Set whether to execute the readAll() method.

Set whether to execute the readAll() method.

Parameters

read(default:true)	(readAll() is called:true, readAll() isn't called:false)
completion(default:false)	All InPort::read() calls are completed.:true, If one InPort::read() is False, return false.:false
completion(default:false)

void setReadAll(bool read=true, bool completion=false);

Definition at line 3434 of file RTObject.py.

setWriteAll()

def OpenRTM_aist.RTObject.RTObject_impl.setWriteAll	(		self,
			write = True,
			completion = False
	)

Set whether to execute the writeAll() method.

Set whether to execute the writeAll() method.

Parameters

write(default:true)	(writeAll() is called:true, writeAll() isn't called:false)
completion(default:false)	All OutPort::write() calls are completed.:true, If one OutPort::write() is False, return false.:false

void setWriteAll(bool write=true, bool completion=false);

Definition at line 3471 of file RTObject.py.

shutdown()

def OpenRTM_aist.RTObject.RTObject_impl.shutdown

(

self

)

Definition at line 4434 of file RTObject.py.

updateParameters()

def OpenRTM_aist.RTObject.RTObject_impl.updateParameters	(		self,
			config_set
	)

void updateParameters(const char* config_set);

Definition at line 2613 of file RTObject.py.

writeAll()

def OpenRTM_aist.RTObject.RTObject_impl.writeAll

(

self

)

The write() method of all OutPort is called.

This operation call the write() method of all OutPort registered in the RTC.

Returns

result (Successful:true, Failed:false)

bool writeAll();

Definition at line 3387 of file RTObject.py.

Member Data Documentation

_actionListeners

OpenRTM_aist.RTObject.RTObject_impl._actionListeners

private

Definition at line 132 of file RTObject.py.

_configsets

OpenRTM_aist.RTObject.RTObject_impl._configsets

private

Definition at line 110 of file RTObject.py.

_created

OpenRTM_aist.RTObject.RTObject_impl._created

private

Definition at line 108 of file RTObject.py.

_eclist

OpenRTM_aist.RTObject.RTObject_impl._eclist

private

Definition at line 124 of file RTObject.py.

_ecMine

OpenRTM_aist.RTObject.RTObject_impl._ecMine

private

Definition at line 122 of file RTObject.py.

_ecOther

OpenRTM_aist.RTObject.RTObject_impl._ecOther

private

Definition at line 123 of file RTObject.py.

_execContexts

OpenRTM_aist.RTObject.RTObject_impl._execContexts

private

Definition at line 116 of file RTObject.py.

_exiting

OpenRTM_aist.RTObject.RTObject_impl._exiting

private

Definition at line 125 of file RTObject.py.

_inports

OpenRTM_aist.RTObject.RTObject_impl._inports

private

Definition at line 130 of file RTObject.py.

_manager

OpenRTM_aist.RTObject.RTObject_impl._manager

private

Definition at line 93 of file RTObject.py.

_memfunc

OpenRTM_aist.RTObject.RTObject_impl._memfunc

private

Definition at line 3599 of file RTObject.py.

_objref

OpenRTM_aist.RTObject.RTObject_impl._objref

private

Definition at line 117 of file RTObject.py.

_orb

OpenRTM_aist.RTObject.RTObject_impl._orb

private

Definition at line 94 of file RTObject.py.

_outports

OpenRTM_aist.RTObject.RTObject_impl._outports

private

Definition at line 131 of file RTObject.py.

_poa

OpenRTM_aist.RTObject.RTObject_impl._poa

private

Definition at line 95 of file RTObject.py.

_portAdmin

OpenRTM_aist.RTObject.RTObject_impl._portAdmin

private

Definition at line 96 of file RTObject.py.

_portconnListeners

OpenRTM_aist.RTObject.RTObject_impl._portconnListeners

private

Definition at line 133 of file RTObject.py.

_profile

OpenRTM_aist.RTObject.RTObject_impl._profile

private

Definition at line 111 of file RTObject.py.

_properties

OpenRTM_aist.RTObject.RTObject_impl._properties

private

Definition at line 109 of file RTObject.py.

_readAll

OpenRTM_aist.RTObject.RTObject_impl._readAll

private

Definition at line 126 of file RTObject.py.

_readAllCompletion

OpenRTM_aist.RTObject.RTObject_impl._readAllCompletion

private

Definition at line 128 of file RTObject.py.

_rtcout

OpenRTM_aist.RTObject.RTObject_impl._rtcout

private

Definition at line 104 of file RTObject.py.

_SdoConfig

OpenRTM_aist.RTObject.RTObject_impl._SdoConfig

private

Definition at line 115 of file RTObject.py.

_SdoConfigImpl

OpenRTM_aist.RTObject.RTObject_impl._SdoConfigImpl

private

Definition at line 114 of file RTObject.py.

_sdoOrganizations

OpenRTM_aist.RTObject.RTObject_impl._sdoOrganizations

private

Definition at line 120 of file RTObject.py.

_sdoOwnedOrganizations

OpenRTM_aist.RTObject.RTObject_impl._sdoOwnedOrganizations

private

Definition at line 118 of file RTObject.py.

_sdoservice

OpenRTM_aist.RTObject.RTObject_impl._sdoservice

private

Definition at line 113 of file RTObject.py.

_sdoStatus

OpenRTM_aist.RTObject.RTObject_impl._sdoStatus

private

Definition at line 121 of file RTObject.py.

_sdoSvcProfiles

OpenRTM_aist.RTObject.RTObject_impl._sdoSvcProfiles

private

Definition at line 119 of file RTObject.py.

_writeAll

OpenRTM_aist.RTObject.RTObject_impl._writeAll

private

Definition at line 127 of file RTObject.py.

_writeAllCompletion

OpenRTM_aist.RTObject.RTObject_impl._writeAllCompletion

private

Definition at line 129 of file RTObject.py.

---

The documentation for this class was generated from the following file:

• RTObject.py