Classes | Functions | Variables
python::rtm Namespace Reference

Classes

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

Functions

def cdr2data
 convert data from CDR format
def classFromString
 get class object from class name
def connectPorts
 connect ports
def data2cdr
 convert data into CDR format
def dataTypeOfPort
 get data type of a port
def deleteAllConnector
def disconnectPorts
 disconnect ports
def findObject
 get IOR of the object
def findPort
 get a port of RT component
def findRTC
 get RT component
def findRTCmanager
 get RTCmanager
def findService
 get a service of RT component
def getConfiguration
 get default configuration set
def getRootNamingContext
 get root naming context
def initCORBA
 initialize ORB
def isConnected
 check two ports are connected or not
def isJython
 check if jython or python
def narrow
 narrow ior
def readDataPort
 read data from a data port
def serializeComponents
 set up execution context of the first RTC so that RTCs are executed sequentially
def setConfiguration
 update default configuration set
def unbindObject
 unbind an object reference
def writeDataPort
 write data to a data port

Variables

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

Function Documentation

def python.rtm.cdr2data (   cdr,
  classname 
)

convert data from CDR format

Parameters:
cdrin CDR format
classnameclass 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:
fullnameclass 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:
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
ratecommunication 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:
datadata 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:
portIOR of port
Returns:
data type

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

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

def python.rtm.disconnectPorts (   outP,
  inP 
)

disconnect ports

Parameters:
outPIOR of outPort
inPIOR 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:
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 421 of file python/rtm.py.

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

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

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

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

get default configuration set

Parameters:
rtcIOR 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:
corbaloclocation of NamingService
Returns:
root naming context

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

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:
Trueconnected
Falsenot connected

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

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:
iorior
klassclass name
packagepackage 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:
portreference of data port
timeouttimeout[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:
rtcssequence of RTCs
stopECwhether 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:
rtcIOR of RT component
nvlistlist 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:
namename of the object
kindkind 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:
portreference of data port
datadata to be written
tmIf disconnect==True, a connection to write data is disconnected after this time
disconnectIf 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

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

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

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

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

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

root naming context

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



hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed May 15 2019 05:02:21