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
 convert data from CDR format
def connectPorts
 connect ports
def data2cdr
 convert data into CDR format
def dataTypeOfPort
 get data type of a port
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 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

 nshost = None
 hostname where naming service is running
 rootnc = None
 root naming context

Function Documentation

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.

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.

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.

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.

def rtm.disconnectPorts (   outP,
  inP 
)

disconnect ports

Parameters:
outPIOR of outPort
inPIOR of inPort

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

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.

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.

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.

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.

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.

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.

def rtm.initCORBA ( )

initialize ORB

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

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.

def rtm.isJython ( )

check if jython or python

Returns:
True if jython

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

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.

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.

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.

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.

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.

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

rtm::nshost = None

hostname where naming service is running

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

rtm::rootnc = None

root naming context

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



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