Motion editor/Dynamics simulator
Integrated Development Platform
AIST RTC collection
RT-Components collection by AIST
Tokyo Opensource Robotics Association
Middleware for DAQ (Data Aquisition) by KEK
This document describes the configuration file of each component options. This filename can be given any name, but for convenience, it will be named "component.conf". The "component.conf" is specified in the rtc.conf file by the option with the category name of the component and the component name or instance name as the key as follows.
The following basic profiles could be overwritten from component.conf
Execution Context options
Specifying the Periodic type ExecutionContext. This option specifies the type of EC to be used. The following type available.
The execution cycle of ExecutionContext.
This option specifies the system wide EC's period. If RTC does not specifies EC's periodic rate, this periodic rate will be used.
State transition mode settings (YES/NO). Activating, deactivating, and resetting of RTC makes state transition. Some execution contexts execute main logic in different threads. If these flags set to YES, activation, deactivation, and resetting will be performed synchronously. In other words, if these flags are YES, activation/deactivation/resetting-operations must be returned after state transition completed.
Timeout of synchronous state transition [s]
When synchronous transition flags are set to YES, the following timeout settings are valid. If "transition_timeout" is set, the value will be set to all other timeouts of activation/deactivation and resetting
Manager process's CPU affinity setting
This option makes the EC bound to a specific CPU(s). Options must be one or more comma-separated numbers to identify CPU ID. CPU ID is started from 0, and the maximum number is the number of CPU core -1. If an invalid CPU ID is specified, all the CPU will be used for the EC.
Specifying Execution Contexts# execution_contexts: None or <EC0>,<EC1>,... # <EC?>: ECtype(ECname) #
RTC can be attached with zero or more Execution Contexts. "execution_contexts" option specifies RTC-specific attached ECs and its name. If the option is not specified, the internal global options or rtc.conf options related to EC will be used. If None is specified, no EC will be created. The EC types that can be specified are the same as those that can be specified with "exec_cxt.type". You can also specify the name of the EC as well as its name. The name is used as an optional key that specifies the EC cycle etc.
EC specific configurations/ Each EC can have its own configuration. Individual configuration can be specified by using EC type name or EC instance name. Attached ECs would be specified in execution_context option like <EC type name>(<EC instance name>), ... EC specific options can be specified as follows.
Service Port options
Configuration sets GUI settings for RTSystemEditor
Configuration parameters can be operated by GUI widgets on RTSystemEditor's configuration-set dialog. Normally, when designing RTC with RTCBuilder, you can specify what kind of the GUI widget is assigned to each parameter, but you can also specify GUI widget assignment from component.conf.
Available GUI control options [widget]
GUI control constraint options [constraints]
Examples of constraints
Available constraint formats (substitute variable name: "x"):