RTT Namespace Reference

Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute. More...

Namespaces
namespace	base
namespace	corba
namespace	detail
namespace	dev
namespace	extras
namespace	internal
namespace	marsh
namespace	mqueue
namespace	OperationCallerC
namespace	os
	OS Abstractions such as Mutexes, Semaphores and Threads.
namespace	plugin
namespace	scripting
namespace	SendHandleC
namespace	StatementProcessor
namespace	TinyDemarshaller
namespace	types
Classes
class	Activity
	An Activity is an object that represents a thread. More...
class	Alias
struct	ArgumentDescription
	Description of one Argument of a Command. More...
class	Attribute
class	CleanupHandle
class	ComponentFactories
class	ComponentFactoryLoader
class	ConfigurationInterface
	A class for keeping track of Attribute, Constant and Property objects of a TaskContext. It allows plugins and remote components to browse the attributes and properties of a TaskContext. More...
class	ConnPolicy
class	Constant
class	DataFlowInterface
class	ExecutionEngine
struct	FakeAnalogDevice
class	FakeDigitalDevice
class	file_parse_exception
struct	finder
struct	get_capacity
struct	get_size
class	Handle
	The Handle holds the information, and allows manipulation, of a connection between a internal::Signal Handler function and the Signal itself. More...
class	InputPort
struct	invalid_handle_exception
class	Logger
class	Marshalling
struct	name_not_found_exception
struct	no_asynchronous_operation_exception
struct	non_lvalue_args_exception
class	Operation
class	OperationCaller
class	OperationInterface
	Holds all exported operations of a component and is able to produce callers for these operations. More...
class	OperationInterfacePart
class	OutputPort
class	parse_exception
class	Property
	A property represents a named value of any type with a description. More...
class	PropertyBag
	A container for holding references to properties. More...
struct	RemoveMsg
class	ScopedHandle
class	Scripting
class	SendHandle
	The SendHandle is used to collect the result values of an asynchronous invocation. The template argument Signature must have the same type as the method being invoked. More...
class	Service
class	ServiceRequester
class	TaskContext
struct	wrong_number_of_args_exception
struct	wrong_types_of_args_exception
Typedefs
typedef TaskContext (	ComponentLoaderSignature )(std::string instance_name)
typedef std::map< std::string, ComponentLoaderSignature >	FactoryMap
typedef long	msecs
typedef long long	nsecs
typedef long long	psecs
typedef std::basic_ostringstream< char, std::char_traits< char > , RTT::os::rt_allocator< char > >	rt_ostringstream
	Real-time allocatable, dynamically-size output string stream.
typedef std::basic_string < char, std::char_traits< char > , RTT::os::rt_allocator< char > >	rt_string
	Real-time allocatable, dynamically-sized string.
typedef double	Seconds
typedef long	secs
typedef boost::shared_ptr < Service >	ServicePtr
typedef long	usecs
Enumerations
enum	ExecutionThread { OwnThread, ClientThread, OwnThread, ClientThread }
enum	ExecutionThread { OwnThread, ClientThread, OwnThread, ClientThread }
enum	FlowStatus { NoData = 0, OldData = 1, NewData = 2, NoData = 0, OldData = 1, NewData = 2 }
enum	FlowStatus { NoData = 0, OldData = 1, NewData = 2, NoData = 0, OldData = 1, NewData = 2 }
enum	LoggerLevel { Never = 0, Fatal, Critical, Error, Warning, Info, Debug, RealTime, Never = 0, Fatal, Critical, Error, Warning, Info, Debug, RealTime }
enum	LoggerLevel { Never = 0, Fatal, Critical, Error, Warning, Info, Debug, RealTime, Never = 0, Fatal, Critical, Error, Warning, Info, Debug, RealTime }
enum	SendStatus { SendFailure = -1, SendNotReady = 0, SendSuccess = 1, SendFailure = -1, SendNotReady = 0, SendSuccess = 1 }
enum	SendStatus { SendFailure = -1, SendNotReady = 0, SendSuccess = 1, SendFailure = -1, SendNotReady = 0, SendSuccess = 1 }
Functions
RTT_API bool	connectPeers (TaskContext A, TaskContext B)
RTT_API bool	connectPorts (TaskContext A, TaskContext B)
RTT_API bool	copyProperties (PropertyBag &target, const PropertyBag &source)
RTT_API void	deleteProperties (PropertyBag &target)
RTT_API void	deletePropertyBag (PropertyBag &target)
static Logger::LogFunction	endlog (LoggerLevel ll)
static Logger::LogFunction	endlog ()
RTT_API base::PropertyBase *	findProperty (const PropertyBag &bag, const std::string &path, const std::string &separator=std::string("."))
RTT_API void	flattenPropertyBag (PropertyBag &target, const std::string &separator=".")
static Logger::LogFunction	flushlog ()
RTT_API std::vector< std::string >	listProperties (const PropertyBag &bag, const std::string &separator=std::string("."))
RTT_API std::vector< std::string >	listPropertyDescriptions (const PropertyBag &bag, const std::string &separator=std::string("."))
static Logger &	log (LoggerLevel ll)
static Logger &	log ()
std::string	makeString (const RTT::rt_string &str)
	convert from real-time string to std::string
nsecs	msecs_to_nsecs (const msecs ms)
psecs	msecs_to_psecs (const msecs ms)
usecs	msecs_to_usecs (const msecs ms)
static Logger::LogFunction	nlog ()
psecs	nsecs_to_psecs (const nsecs ns)
Seconds	nsecs_to_Seconds (const nsecs ns)
RTT_API std::ostream &	operator<< (std::ostream &os, SendStatus fs)
RTT_API std::ostream &	operator<< (std::ostream &os, const PropertyBag &bag)
template<typename T >
std::ostream &	operator<< (std::ostream &os, Property< T > &p)
RTT_API std::ostream &	operator<< (std::ostream &os, FlowStatus fs)
bool	operator== (const PropertyBag &a, const PropertyBag &b)
RTT_API std::istream &	operator>> (std::istream &os, SendStatus &fs)
RTT_API std::istream &	operator>> (std::istream &is, PropertyBag &bag)
RTT_API std::istream &	operator>> (std::istream &os, FlowStatus &fs)
OperatorRepository::shared_ptr	operators ()
Seconds	psecs_to_Seconds (const psecs ps)
RTT_API bool	refreshProperties (const PropertyBag &target, const PropertyBag &source, bool strict=false)
RTT_API bool	refreshProperty (PropertyBag &target, const PropertyBag &source, const std::string &path, const std::string &separator=".")
RTT_API bool	refreshProperty (const PropertyBag &target, const base::PropertyBase &source)
RTT_API bool	removeProperty (PropertyBag &bag, const std::string &path, const std::string &separator=std::string("."))
nsecs	Seconds_to_nsecs (const Seconds s)
psecs	Seconds_to_psecs (const Seconds s)
msecs	secs_to_msecs (const secs s)
nsecs	secs_to_nsecs (const secs s)
psecs	secs_to_psecs (const secs s)
usecs	secs_to_usecs (const secs s)
RTT_API bool	storeProperty (PropertyBag &bag, const std::string &path, base::PropertyBase *item, const std::string &separator=std::string("."))
bool	updateOrRefreshProperty (PropertyBase source, PropertyBase target, bool update)
RTT_API bool	updateProperties (PropertyBag &target, const PropertyBag &source)
RTT_API bool	updateProperty (PropertyBag &target, const PropertyBag &source, const std::string &path, const std::string &separator=".")
nsecs	usecs_to_nsecs (const usecs us)
psecs	usecs_to_psecs (const usecs us)
Variables
const long	MSECS_IN_SECS = 1000
const long	NSECS_IN_MSECS = 1000 * USECS_IN_MSECS
const long	NSECS_IN_SECS = 1000 * USECS_IN_SECS
const long	NSECS_IN_USECS = 1000
const long	PSECS_IN_MSECS = 1000 * NSECS_IN_MSECS
const long	PSECS_IN_NSECS = 1000
const long long	PSECS_IN_SECS = 1000LL * NSECS_IN_SECS
const long	PSECS_IN_USECS = 1000 * NSECS_IN_USECS
static std::vector < TransportPlugin * >	Transports
static std::vector < TypekitPlugin * >	Typekits
const long	USECS_IN_MSECS = 1000
const long	USECS_IN_SECS = 1000 * MSECS_IN_SECS

Detailed Description

Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.

The Real-Time Toolkit is documented in The Orocos Real-Time Toolkit Online Manual

Typedef Documentation

typedef TaskContext *(* RTT::ComponentLoaderSignature)(std::string instance_name)

This signature defines how a component can be instantiated.

Definition at line 53 of file install/include/rtt/Component.hpp.

typedef std::map< std::string, ComponentLoaderSignature > RTT::FactoryMap

Definition at line 54 of file install/include/rtt/Component.hpp.

typedef long RTT::msecs

milliseconds as a signed long.

Definition at line 59 of file install/include/rtt/os/Time.hpp.

typedef long long RTT::nsecs

nanoseconds as a signed long long.

Definition at line 67 of file install/include/rtt/os/Time.hpp.

typedef long long RTT::psecs

picoseconds as a signed long long

Definition at line 71 of file install/include/rtt/os/Time.hpp.

typedef std::basic_ostringstream< char, std::char_traits< char >, RTT::os::rt_allocator< char > > RTT::rt_ostringstream

Real-time allocatable, dynamically-size output string stream.

Definition at line 52 of file install/include/rtt/rt_string.hpp.

typedef std::basic_string< char, std::char_traits< char >, RTT::os::rt_allocator< char > > RTT::rt_string

Real-time allocatable, dynamically-sized string.

Definition at line 49 of file install/include/rtt/rt_string.hpp.

typedef double RTT::Seconds

Seconds are stored as a double precision float.

Definition at line 51 of file install/include/rtt/os/Time.hpp.

typedef long RTT::secs

seconds as a signed long.

Definition at line 55 of file install/include/rtt/os/Time.hpp.

typedef boost::shared_ptr< Service > RTT::ServicePtr

Definition at line 81 of file install/include/rtt/rtt-fwd.hpp.

typedef long RTT::usecs

microseconds as a signed long.

Definition at line 63 of file install/include/rtt/os/Time.hpp.

Enumeration Type Documentation

enum RTT::ExecutionThread

Users can choose if an operation is executed in the component's thread or in the thread of the caller.

Enumerator:

OwnThread
ClientThread
OwnThread
ClientThread

Definition at line 58 of file rtt/base/OperationBase.hpp.

enum RTT::ExecutionThread

Users can choose if an operation is executed in the component's thread or in the thread of the caller.

Enumerator:

OwnThread
ClientThread
OwnThread
ClientThread

Examples:: /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt/install/include/rtt/TaskContext.hpp, and /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt/rtt/TaskContext.hpp.

Definition at line 56 of file install/include/rtt/base/OperationBase.hpp.

enum RTT::FlowStatus

Returns the status of a data flow read. NoData means that the channel is disconnected or never written to. NewData means that the returned data is new data. OldData means that the returned data was already read.

Enumerator:

NoData
OldData
NewData
NoData
OldData
NewData

Definition at line 54 of file rtt/FlowStatus.hpp.

enum RTT::FlowStatus

Returns the status of a data flow read. NoData means that the channel is disconnected or never written to. NewData means that the returned data is new data. OldData means that the returned data was already read.

Enumerator:

NoData
OldData
NewData
NoData
OldData
NewData

Definition at line 54 of file install/include/rtt/FlowStatus.hpp.

enum RTT::LoggerLevel

Enumerate all log-levels from absolute silence to everything.

Warning:: If you enable 'RealTime' logging, this may break realtime performance. Use With Care and NOT on production systems.

See also:: Logger::allowRealTime()

Enumerator:

Never
Fatal
Critical
Error
Warning
Info
Debug
RealTime
Never
Fatal
Critical
Error
Warning
Info
Debug
RealTime

Definition at line 338 of file rtt/Logger.hpp.

enum RTT::LoggerLevel

Enumerate all log-levels from absolute silence to everything.

Warning:: If you enable 'RealTime' logging, this may break realtime performance. Use With Care and NOT on production systems.

See also:: Logger::allowRealTime()

Enumerator:

Never
Fatal
Critical
Error
Warning
Info
Debug
RealTime
Never
Fatal
Critical
Error
Warning
Info
Debug
RealTime

Definition at line 334 of file install/include/rtt/Logger.hpp.

enum RTT::SendStatus

Returns the status of a send() invocation.

Enumerator:

SendFailure
SendNotReady
SendSuccess
SendFailure
SendNotReady
SendSuccess

Definition at line 53 of file rtt/SendStatus.hpp.

enum RTT::SendStatus

Returns the status of a send() invocation.

Enumerator:

SendFailure
SendNotReady
SendSuccess
SendFailure
SendNotReady
SendSuccess

Definition at line 53 of file install/include/rtt/SendStatus.hpp.

Function Documentation

RTT_API bool RTT::connectPeers	(	TaskContext *	A,
		TaskContext *	B
	)

Set up the Execution Flow (who knows who) between A and B in both directions. Both will be able to use each other's interface.

See also:: TaskContext::connectPeers

Examples:: /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt/install/include/rtt/TaskContext.hpp, and /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt/rtt/TaskContext.hpp.

Definition at line 388 of file TaskContext.cpp.

RTT_API bool RTT::connectPorts	(	TaskContext *	A,
		TaskContext *	B
	)

Connect the Data Flow Ports of A and B in both directions, by matching port names.

See also:: TaskContext::connectPorts

Examples:: /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt/install/include/rtt/TaskContext.hpp, and /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt/rtt/TaskContext.hpp.

Definition at line 384 of file TaskContext.cpp.

static Logger::LogFunction RTT::endlog ( LoggerLevel ll ) [inline, static]

Function to tell the logger that the log message ended and specify the LoggerLevel of that message Usage: log() << "Error Message" << endlog(Error);

Definition at line 362 of file rtt/Logger.hpp.

static Logger::LogFunction RTT::endlog ( ) [inline, static]

Function to tell the logger that the log message ended. Usage: log() << "Message" << endlog();

Definition at line 355 of file rtt/Logger.hpp.

static Logger::LogFunction RTT::flushlog ( ) [inline, static]

Function to tell the logger that the logs may be flushed. Usage: log() << "Message on line 1" << flushlog();

Definition at line 374 of file rtt/Logger.hpp.

static Logger& RTT::log ( LoggerLevel ll ) [inline, static]

Free function in order to access the Logger instance and set the LoggerLevel of next message.

Definition at line 349 of file rtt/Logger.hpp.

static Logger& RTT::log ( ) [inline, static]

Free function in order to access the Logger instance.

Definition at line 343 of file rtt/Logger.hpp.

std::string RTT::makeString ( const RTT::rt_string & str ) [inline]

convert from real-time string to std::string

Definition at line 55 of file rtt/rt_string.hpp.

nsecs RTT::msecs_to_nsecs ( const msecs ms ) [inline]

Definition at line 93 of file rtt/os/Time.hpp.

psecs RTT::msecs_to_psecs ( const msecs ms ) [inline]

Definition at line 94 of file rtt/os/Time.hpp.

usecs RTT::msecs_to_usecs ( const msecs ms ) [inline]

Definition at line 92 of file rtt/os/Time.hpp.

static Logger::LogFunction RTT::nlog ( ) [inline, static]

Function to tell the logger that a newline may be inserted in the log message. Usage: log() << "Message on line 1" << nlog() << "Message on line 2" << endlog();

Definition at line 368 of file rtt/Logger.hpp.

psecs RTT::nsecs_to_psecs ( const nsecs ns ) [inline]

Definition at line 99 of file rtt/os/Time.hpp.

Seconds RTT::nsecs_to_Seconds ( const nsecs ns ) [inline]

Definition at line 102 of file rtt/os/Time.hpp.