The RTC Profile Editor is made up of several tabs.
Tab | Explanation |
Basic profile | Enter the RT Component's profile information, such as name and author. |
Data ports | Configure the data ports provided by the component. |
Service ports | Configure the service ports provided and interfaces used by the component. |
Configuration parameters | Configure the user-settable parameters of the component and configuration sets. |
Language and environment | Choose the programming language and operating systems that the component will be generated for. |
RTC Profile XML editor | View and edit the XML that is created based on the information entered in the other tabs. |
Document settings | Enter any extra documentation and information that should be included with the generated component. |
Item | Default value | Explanation |
RT-Component Basic Profile | ||
Module name | ModuleName | A name to differentiate this component. Required. This name will be used in source code. |
Module description | ModuleDescription | Brief description of the component. |
Module version | 1.0.0 | Version of the component. Ideally, an x.y.z format should be used. |
Module vender | VenderName | Name of the component vendor. |
Module category | Category | Category of the component. Required. |
Component type | DataFlowComponent | Type of the component. Choose from DataFlowComponent, STATIC, UNIQUE or COMMUTATIVE. |
Component’s activity type | PERIODIC | Choose from PERIODIC, SPORADIC or EVENT_DRIVEN. |
Number of maximum instance | 1 | Number of simultaneous instances this component can have. |
Execution type | PeriodicExecutionContext | Type of execution context this component will use. Choose from PeriodicExecutionContext or ExtTrigExecutionContext. |
Execution Rate | 1.0 | The ExecutionContext's rate in Hertz. Entered as a floating-point number. |
Output Project | ||
None | Project name for the generated code. If the project does not exist, it will be created. Required. |
Item | Explanation | fundamental |
Activity Profile | ||
onInitialize | Initialization processing. Only once called at the time of the start of a component life cycle. | - |
onFinalize | End processing. Only once called at the time of the end of a component life cycle. | - |
onStartup | When ExecutionContext starts execution, it is called only once. | - |
onShutdown | When ExecutionContext stops execution, it is called only once. | - |
onActivated | When becoming active from an inactive state, it is called only once. | - |
onDeactivated | When becoming inactive from an active state, it is called only once. | - |
onAborting | Before going into an ERROR state, it is called only once. | - |
onError | It continues being called during ERROR state. | - |
onReset | When it is reset from an ERROR state and shifts to an inactive state, it is called only once. | - |
onExecute | It is periodically called in an active state. | - |
onStateUpdate | It is called after on_execute each time. | - |
onRateChanged | It is called when rate of ExecutionContext is changed. | - |
onAction | It is called in order to perform operation according to the state of corresponding. | - |
onModeChanged | It is called when the mode is changed. | - |
To add a port of the desired type (Inport/Output), click the Add button beside that type. The Delete button can be used to remove the selected port. The Documentation section allows you to enter documentation for the selected port.
Item | Default value | Explanation |
RT-Component Data InPort Profile | ||
Port name | dp_name | Data InPort name. Required. Cannot conflict with any OutPort names. |
Data Type | dp_type | Data InPort data type. Timed[ Short / Long / UShort / ULong / Float / Double / Char / Boolean / Octet / String ], as well as their Seq variants, are available. Required. |
Var Name | dp_vname | Variable name for interaction with the port. |
Disp. Position | left | Where this port will be displayed in the Build View. |
RT-Component Data OutPort Profile | ||
Port name | dp_name | Data OutPort name. Required. Cannot conflict with any InPort names. |
Data Type | dp_type | Data OutPort data type. Timed[ Short / Long / UShort / ULong / Float / Double / Char / Boolean / Octet / String ], as well as their Seq variants, are available. Required. |
Var Name | dp_vname | Variable name for interaction with the port. |
Disp. Position | right | Where this port will be displayed in the Build View. |
Documentation | ||
Outline | None | Brief description of the port. |
Data type | None | Description of the data type used. |
Data count | None | For sequence types, the expected number of items. |
Meaning | None | Meaning of the data. |
Units | None | Any units used by the data. |
Frequency | None | Frequency at which data will be produced. |
Processing speed | None | Processing speed/period for the data. |
New service ports can be added by clicking the Add Port button in the left half of the screen. Select a port under RT-Component Service Ports and click Add Interface to add a new interface to that port. The Delete buuton can be used to remove selected interfaces and ports.
Item | Default value | Explanation |
RT-Component Service Port Profile | ||
Name | sv_name | Service port name. Required. Must be unique. |
Position | left | Position to display this port in the Build View. |
Documentation | ||
Outline | None | Brief description of the service port. |
I/F Outline | None | Brief description of the interfaces attached to the service port. |
Item | Default value | Explanation |
RT-Component Service Port Interface Profile | ||
Interface Name | if_name | Interface name. Required. Must be unique. |
Direction | Provided | Type of service interface. ・Provided:Offered interface (Service Provider) ・Required:Used interface (Service Consumer) |
Instance Name | if_instance | Instance name used by the service interface. Required. |
Var Name | if_varname | Variable to use for the interface. If ommitted, the instance name will be used. |
IDL file | None | File name of the IDL file that defines the interface. Use the Browse button to find it if necessary. |
Interface Type | None | Type of interface used by the service interface. Required. |
IDL Path | None | IDL search path. Use the Browse button to search for and select directories. |
Documentation | ||
Outline | None | Brief description of the service interface. |
Arguments | None | Description of the interface arguments. |
Return value | None | Description of the interface's return value. |
Exceptions | None | Description of any exceptions used by the interface. |
Preconditions | None | Preconditions that should be satisfied before using the interface. |
Postconditions | None | Postconditions that should be satisfied after using the interface. |
User-settable configuration parameters and other system configuration parameters can be added and removed using this tab. The documentation section allows documentation for the selected setting to be provided.
Item | Default value | Explanation |
RT-Component Configuration Parameter Definitions | ||
Name | conf_name | Configuration parameter name. Required. Must be unique. |
Type | conf_type | Data type of the parameter. |
Var Name | conf_vname | Variable used to store the parameter's value. |
Default Value | conf_default | Default value of the parameter. |
RT-Component Configuration Parameter | ||
Configuration | manager.name | Name of the configuration. |
Default Value | None | Default value of the settings for this configuration. For settings with defaults already defined, the default will be set when the name is selected. |
Documentation | ||
Data name | None | Description of the data name. |
Default value | None | Description of the default value. |
Outline | None | Description of the parameter. |
Units | None | Units used. |
Data range | None | Range of allowable values. |
Constraints | None | Description of constraints on the parameter. |
The available languages that templates can be generated for are displayed, and one should be selected. The details for the selected language will be opened.
Item | Default value | Explanation |
C++ | ||
OS | None | Select the OS this component will be generated for. |
Dependency | None | Enter any extra libraries this component will depend on. |
Python | ||
--- | --- | --- |
Java | ||
Jar File | None | Enter any extra jar files this component will depend on. |
In the Java section, jar files can be added and removed using the Add and Delete buttons.
Ruby and C# are not currently supported.
The XML file (RTC.xml) based on the entered component information can be viewed and edited in this tab. Information that can't be entered using one of the other tabs can be directly entered here.
Anything entered in this tab will be saved only if the component is saved while this tab is visible. If, after editing the XML in this tab, another tab is opened and the component is saved, the values from that tab will take precedence. All changes made to the XML in this tab must follow the RTC.xml scheema. The contents will be validated when saved. If validation follows, an error similar to that shown below will appear. Fix the error and try saving again.
General documentation about the RT Component can be entered in this tab.
The information entered in this tab is included in the generated code as doxygen comments.
Item | Default value | Explanation |
Component outline | ||
Outline | None | Description of the component. |
Inputs and outputs | None | Description of the component's inputs and outputs. |
Algorithms, etc | None | Description of algorithms used, etc. |
Activity (on_initialize,on_finalize,on_startup,on_shutdown,on_activated,on_deactivated,on_execute,on_aborting,on_error,on_reset,on_state_update,on_rate_changed) | ||
Execution outline | None | Description of the behaviour of each activity state. |
Preconditions | None | Pre-conditions for each activity state. |
Postconditions | None | Post-conditions for each activity state. |
Other | ||
Author/Contact address | None | Name of the component author and a contact address. |
License | None | License for the component and usage conditions. |
References | None | Cited works. |