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

Variables
	rootnc = None
	root naming context More...
	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 python.rtm.classFromString().

Referenced by python.rtm.readDataPort().

def python.rtm.classFromString

(

fullname

)

get class object from class name

Parameters

fullname

class name

Returns

class object

Referenced by python.rtm.cdr2data().

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

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

References python.rtm.dataTypeOfPort(), and python.rtm.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 python.rtm.writeDataPort().

def python.rtm.dataTypeOfPort

(

port

)

get data type of a port

Parameters

port	IOR of port

Returns

data type

Referenced by python.rtm.connectPorts().

def python.rtm.disconnectPorts	(		outP,
			inP
	)

disconnect ports

Parameters

outP	IOR of outPort
inP	IOR of inPort

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 python.rtm.findRTC(), and python.rtm.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 python.rtm.findObject().

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

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 python.rtm.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 python.hrpsys_config.HrpsysConfigurator.__init__(), and python.rtm.isJython().

def python.rtm.isConnected	(		outP,
			inP
	)

check two ports are connected or not

Return values

True	connected
False	not connected

Referenced by python.rtm.connectPorts().

def python.rtm.isJython

(

)

check if jython or python

Returns

True if jython

References python.rtm.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 python.rtm.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 python.rtm.data2cdr().

Variable Documentation

python.rtm.nshost = None

python.rtm.nsport = None

python.rtm.rootnc = None

root naming context