python::rtm Namespace Reference

Classes
class	RTcomponent
	wrapper class of RT component More...
class	RTCmanager
	wrapper class of RTCmanager More...
Functions
def	unbindObject
	unbind an object reference
def	initCORBA
	initialize ORB
def	getRootNamingContext
	get root naming context
def	findObject
	get IOR of the object
def	findRTCmanager
	get RTCmanager
def	findRTC
	get RT component
def	findPort
	get a port of RT component
def	serializeComponents
	set up execution context of the first RTC so that RTCs are executed sequentially
def	isConnected
	check two ports are connected or not
def	disconnectPorts
	disconnect ports
def	dataTypeOfPort
	get data type of a port
def	connectPorts
	connect ports
def	data2cdr
	convert data into CDR format
def	classFromString
	get class object from class name
def	cdr2data
	convert data from CDR format
def	writeDataPort
	write data to a data port
def	readDataPort
	read data from a data port
def	findService
	get a service of RT component
def	setConfiguration
	update default configuration set
def	narrow
	narrow ior
def	isJython
	check if jython or python
Variables
	rootnc = None
	root naming context
	nshost = None
	nsport = None

---

Function Documentation

def python.rtm.cdr2data	(		cdr,
			classname
	)

convert data from CDR format

Parameters:

cdr	in CDR format
classname	class name of the data

Returns:

converted data

References classFromString().

Referenced by readDataPort().

def python.rtm.classFromString

(

fullname

)

get class object from class name

Parameters:

fullname

class name

Returns:

class object

Referenced by cdr2data().

def python.rtm.connectPorts	(		outP,
			inPs,
			subscription = "flush",
			dataflow = "Push",
			bufferlength = 1,
			rate = 1000,
			pushpolicy = "new",
			interfaceType = "corba_cdr"
	)

connect ports

Parameters:

outP	IOR of outPort
inPs	an IOR or a list of IORs of inPort
subscription	subscription type. "flush", "new" or "periodic"
dataflow	dataflow type. "Push" or "Pull"
bufferlength	length of data buffer
rate	communication rate for periodic mode[Hz]

References dataTypeOfPort(), and isConnected().

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps(), and python.hrpsys_config.HrpsysConfigurator.connectLoggerPort().

def python.rtm.data2cdr

(

data

)

convert data into CDR format

Parameters:

data	data to be converted

Returns:

converted data in CDR format

Referenced by writeDataPort().

def python.rtm.dataTypeOfPort

(

port

)

get data type of a port

Parameters:

port	IOR of port

Returns:

data type

Referenced by connectPorts().

def python.rtm.disconnectPorts	(		outP,
			inP
	)

disconnect ports

Parameters:

outP	IOR of outPort
inP	IOR of inPort

Returns:

True disconnected successfully, False otherwise

def python.rtm.findObject	(		name,
			kind = "",
			rnc = None
	)

get IOR of the object

Parameters:

name	name of the object
kind	kind of the object
rnc	root naming context. If it is not specified, global variable rootnc is used

Returns:

IOR of the object

Referenced by findRTC(), and findRTCmanager().

def python.rtm.findPort	(		rtc,
			name
	)

get a port of RT component

Parameters:

rtc	an object of RTcomponent
name	name of the port

Returns:

IOR of the port if the port is found, None otherwise

Referenced by python.rtm.RTcomponent.port().

def python.rtm.findRTC	(		name,
			rnc = None
	)

get RT component

Parameters:

name	name of the RT component
rnc	root naming context. If it is not specified, global variable rootnc is used

Returns:

an object of RTcomponent

References findObject().

Referenced by python.hrpsys_config.HrpsysConfigurator.checkSimulationMode(), python.rtm.RTCmanager.create(), and python.rtm.RTCmanager.delete().

def python.rtm.findRTCmanager	(		hostname = None,
			rnc = None
	)

get RTCmanager

Parameters:

hostname	hostname where rtcd is running
rnc	root naming context. If it is not specified, global variable rootnc is used

Returns:

an object of RTCmanager

References findObject().

def python.rtm.findService	(		rtc,
			port_name,
			type_name,
			instance_name
	)

get a service of RT component

Parameters:

rtc	IOR of RT component
port_name	port name of the port which provides the service
type_name	type name of the service
instance_name	name of the service

Returns:

IOR of the service

Referenced by python.rtm.RTcomponent.service().

def python.rtm.getRootNamingContext

(

corbaloc

)

get root naming context

Parameters:

corbaloc

location of NamingService

Returns:

root naming context

def python.rtm.initCORBA

(

)

initialize ORB

Referenced by isJython().

def python.rtm.isConnected	(		outP,
			inP
	)

check two ports are connected or not

Return values:

True	connected
False	not connected

Referenced by connectPorts().

def python.rtm.isJython

(

)

check if jython or python

Returns:

True if jython

References initCORBA().

def python.rtm.narrow	(		ior,
			klass,
			package = "OpenHRP"
	)

narrow ior

Parameters:

ior	ior
klass	class name
package	package where the class is defined

Referenced by python.hrpsys_config.HrpsysConfigurator.checkSimulationMode(), python.hrpsys_config.HrpsysConfigurator.createComp(), and python.hrpsys_config.HrpsysConfigurator.findComp().

def python.rtm.readDataPort	(		port,
			timeout = 1.0
	)

read data from a data port

Parameters:

port	reference of data port
timeout	timeout[s]

Returns:

data

References cdr2data().

def python.rtm.serializeComponents	(		rtcs,
			stopEC = True
	)

set up execution context of the first RTC so that RTCs are executed sequentially

Parameters:

rtcs	sequence of RTCs
stopEC	whether stop owned ECs of slave components

def python.rtm.setConfiguration	(		rtc,
			nvlist
	)

update default configuration set

Parameters:

rtc	IOR of RT component
nvlist	list of pairs of name and value

Returns:

True if all values are set correctly, False otherwise

def python.rtm.unbindObject	(		name,
			kind
	)

unbind an object reference

Parameters:

name	name of the object
kind	kind of the object

def python.rtm.writeDataPort	(		port,
			data,
			tm = 1.0,
			disconnect = True
	)

write data to a data port

Parameters:

port	reference of data port
data	data to be written
tm	If disconnect==True, a connection to write data is disconnected after this time
disconnect	If True, a connection is disconnected after tm and if not, the connection must be disconnected by a user

References data2cdr().

---

Variable Documentation

python::rtm::nshost = None

python::rtm::nsport = None

python::rtm::rootnc = None

root naming context