Data port (Advanced)

Use of original data type
Using data port and connector callbacks
Creating your own data port interface

(GA) In the Data Port (Basic), the basic usage of the data port was explained. In the advanced section, I will explain how to use it a little more.

Use of original data type

In addition to the predefined data types (eg TimedLong, TimedDouble, etc.), you can also use your own defined data types in the data port. However, before creating a new data type yourself, make sure that a similar data type is not already defined, and define a new data type only if the required data type is not found in it. Is recommended.

In OpenRTM-aist, the data type used for the data port is defined in the following IDL file.

BasicDataType.idl
ExtendedDataTypes.idl
InterfaceDataTypes.idl

The storage location is as follows. This is called the IDL directory.

UNIX: {prefix}/include/rtm/idl, {prefix}/include/openrtm-x.y/rtm/idl ({prefix} is /usr/, /usr/local/, /opt/local/etc.)
For Windows: {ProgramFiles} /OpenRTM-aist/x.y/rtm/idl. ({Program Files} is C:/ ProgramFiles, C:/Program Files (x86), etc.)

Create folder

Create a folder for the component. Here, we will create a folder called “UserDefType” directly under the C drive. (C: \UserDefType)

Create IDL file

Create an IDL file that defines the data type. The data type is defined by the struct keyword. The following basic types, string types, and sequence types are available.

Type	Meaning	Declaration Example
short	short integer	short shortVariable;
long	long integer	long longVariable;
unsinged short	short integer	unsigned short ushortVariable;
unsigned long	long integer	unsigned long ulongVariable;
float	Single precision floating point	float floatVariable;
double	double precision floating point number	double doubleVariable;
char	Character type	char charVariable;
wchar	wchar character type	char charVariable;
boolean	bool type	bool shortVariable;
octet	octet type	octet octetVariable;
longlong	longlong integer	longlong longlongVariable;
ulonglong	unsinged longlong integer	ulonglong ulonglongVariable;
sequence <T>	Sequence type	sequence <double> doubleSeqVariable;

In this example, MyDataType.idl defines a data type called MyData.

// @file MyDataType.idl

 #include "BasicDataType.idl"
 
 struct MyData
 {
   RTC::Time tm;
   short shortVariable;
   long longVariable;
   sequence<double> data;
 };

On the second line #include "BasicDataType.idl" Is necessary to use the first field tm of MyData type (RTC::Time type). Unless you have a specific reason, declare the first field as RTC::Time tm; to store the time stamp, even for custom data types.

Create a project with RTC Builder

Create a project with RTCBuilder.

Click the "RTC Builder Project" icon, enter the project name in the displayed window, and click "Finish" to display the generated project file in the left window.

Show RTC Builder Project window

Check idl folder

Since there is an idl folder where you can place your own data type, please place the IDL file (MyDataType.idl) of your own data type by dragging and dropping or [Right click]> [Paste].

The project folder is located under the [c: \ Users \ username \ workspase] folder if you proceed by default with "Select directory as workspace" to be displayed immediately after starting RTC Builder.

Creating a data port

Create a component using idl of the original data type in RTCBuilder.

Open the Data Port Settings tab and define the data port (InPort / OutPort).

If you want to use your own data type in the created data port, click [Reload] to load MyDataType.idl in the idl folder, and you can select the newly defined MyData from the * data type pull-down.

Click [Reload] and select the data type of MyData

After setting the other items required for component creation, return to the basic tab and click the [Code Generation] button to generate the code.

Using data port and connector callbacks

We have already mentioned that InPort checks for data arrival with isNew() and reads it with read(), or OutPort sends out data with write().

For example, InPort cannot obtain data until it is called by read function after calling isNew() in a function such as onExecute(). Even if the onExecute() cycle is very fast, the timing at which data arrives at InPort and the timing at which the actual processing is performed are asynchronous.

What if you want to process data as soon as it arrives, that is, synchronously? As a way to achieve this, OpenRTM-aist defines callbacks that are called at various data port and connector processing timings.

There are four types of callbacks: 1) InPort, 2) OutPort, 3) connector, and 4) port.

InPort callback

InPort provides two types of callbacks: These are defined in rtm / PortCallback.h.

LEFT: 55	LEFT: 150	c
OnRead	Set by InPort :: setOnRead () function that is called when InPort read () is called.
OnReadConvert	Called to convert data when InPort read () is called. Set by InPort :: setOnReadConvert () function.

The OnRead callback is a callback used to return data with some conversion to the caller when read() is called and OnReadConvert is called when read() is called.

Each callback is implemented by inheriting the base class of each functor defined in rtm/PortCallback.h.

A functor makes an object callable in the same syntax as a normal function. In C ++, it can be realized by overloading operator (). In C language, a callback is realized by giving a function pointer to the caller, but it is difficult to give a state variable to the callback itself by using only the function pointer. Since functors are themselves objects, they can have state variables, and can be called like C functions.

Each implementation example is shown below.

 #include <rtm/Portcallback.h>
 
 template <class T>
 class MyOnRead
  : public RTC::OnRead<T>
 {
 public:
   MyOnRead(std::ostream& os) : m_os(os) {};
   virtual void operator()()
   {
     m_os      << "read() function was called." << std::endl;
     std::cout << "read() function was called." << std::endl;
   }
 private:
   std::ostream& m_os;
 };
 
 template <class T> 
 class MyOnReadConvert
  : public RTC::OnReadConvert<T>
 {
 public:
   virtual T operator()(const T& value)
   {
     T tmp;
     tmp.data = value.data * value.data;
     return tmp;
   }
 };

In MyOnRead functor that inherits OnRead, output stream std :: ostream is passed in the constructor. It is intended to pass a file output stream std :: ofstream etc. opened somewhere. The functor entity operator()() outputs a character string to the output stream and standard output. In this way, functors can also call other objects by passing state variables in advance in the constructor.

On the other hand, MyOnReadConvert which inherits OnReadConvert<T> implements only operator()(const T&). The argument of this function is passed the data before being read into the InPort variable when read() is called. Some processing is performed in this function, and the data returned by return is written to the InPort variable. In this example, the square is calculated and returned assuming that the data type has a member called data and the multiplication operator is defined. If you use a variable type that does not have an appropriate member, you will get a compilation error.

Now, let's actually incorporate this functor into the component. As a sample using InPort, ConsoleOut, which is a sample included in OpenRTM-aist, is used here. When ConsoleOut expands the OpenRTM-aist source,

 OpenRTM-aist-<version>/examples/SimpleIO/

If you install from a package etc.

 /usr/share/OpenRTM-aist/examples/src/

Below is the source code.

First, write the above class definition in ConsoleOut.h. It is better to describe the class definition in a separate source, but the functor class is only used in this component and its content is short. In such cases, define it including the implementation in the header. It does n’t matter.

 // ConsoleOut.h
 
   Omission
 // Service Consumer stub headers
 // <rtc-template block="consumer_stub_h">
 
 // </rtc-template>
 
 using namespace RTC; 
 
 // Add from here
 template <class T>
 class MyOnRead
  : public RTC::OnRead<T>
 {
 public:
   MyOnRead(std::ostream& os) : m_os(os) {};
   virtual void operator()()
   {
     m_os      << "read() function was called." << std::endl;
     std::cout << "read() function was called" << std::endl;
   }
 private:
   std::ostream& m_os;
 };
 
 template <class T> 
 class MyOnReadConvert
  : public RTC::OnReadConvert<T>
 {
 public:
   virtual T operator()(const T& value)
   {
     T tmp;
     tmp.data = value.data * value.data;
     return tmp;
   }
 };
 // up to here
 
 class ConsoleOut
   : public RTC::DataFlowComponentBase
 {
 
   Omission
 
  protected:
   // DataInPort declaration
   // <rtc-template block="inport_declare">
   TimedLong m_in;
   InPort<TimedLong> m_inIn;
 
   Omission
 
  private:
   //Added from here
   MyOnRead<TimedLong>* m_onread;
   MyOnReadConvert<TimedLong>* m_onreadconv;
   //Added upto here
 };

First, declare the callback functors MyOnRead and MyOnReadConvert before declaring the ConsoleOut class. In order to have pointer variables of these classes as members, declare each pointer variable in the private part. At this time, please note that both MyOnRead / MyOnReadConvert give TimedLong, which is the same as the InPort type of this component, to the type argument of the class template.

OutPort callback

OutPort provides the following two types of callbacks. These are defined in rtm / PortCallback.h.

LEFT: 40	LEFT: 150	c
OnWrite	Set by OutPort :: setOnWrite () function that is called when OutPort's write () is called.
OnWriteConvert	Called to convert data when OutPort write () is called. Set by OutPort :: setOnWriteConvert () function.

The OnWrite callback is a callback used to send data with some sort of conversion when write () is called, and OnWriteConvert is called when write () is called.

Each callback is implemented by inheriting the base class of each functor defined in rtm / PortCallback.h like InPort.

Each implementation example is shown below.

 #include <rtm/Portcallback.h>
 
 template <class T>
 class MyOnWrite
  : public RTC::OnWrite<T>
 {
 public:
   MyOnWrite(std::ostream& os) : m_os(os) {};
   virtual void operator()()
   {
     m_os      << "write() was called. " << std::endl;
     std::cout << "write() was called. " << std::endl;
   }
 private:
   std::ostream& m_os;
 };
 
 template <class T> 
 class MyOnWriteConvert
  : public RTC::OnWriteConvert<T>
 {
 public:
   virtual T operator()(const T& value)
   {
     T tmp;
     tmp.data = 2 * value.data;
     return tmp;
   }
 };

The way to write a callback functor is almost the same as InPort OnRead / OnReadConvert. MyOnWrite functor that inherits OnWrite passes the output stream std :: ostream in the constructor. It is intended to pass a file output stream std :: ofstream etc. opened somewhere. The functor entity operator () outputs a character string to the output stream and standard output. In this way, functors can also call other objects by passing state variables in advance in the constructor.

On the other hand, MyOnReadConvert which inherits OnReadConvert <T> implements only operator () (constT &). The argument of this function is passed the data before being read into the InPort variable when read () is called. Some processing is performed in this function, and the data returned by return is written to the InPort variable. In this example, the square is calculated and returned assuming that the data type has a member called data and the multiplication operator is defined. If you use a variable type that does not have an appropriate member, you will get a compilation error.

Connector buffer callback

connector

A connector is an object that abstracts buffers and communication paths. As shown in the figure, it exists between OutPort and InPort, data is written from OutPort by write () function, and data is read from InPort by read () function. The connector abstracts and hides how the data is transmitted from OutPort to InPort.

OutPort is a buffer in the connector

writing
Various controls (readback, access to unread data, etc.)
You can notify (or receive notifications) of buffer full status and timeout.
Reading data
Various controls (readback, access to unread data, etc.)
You can send (or receive notifications) buffer empty status notifications and timeout notifications.

OutPort can be connected to multiple InPorts, but one connector is created for each connection. (In fact, InPort can have multiple connections at the same time, but since there is no way to distinguish the data, it is not normally used.) In other words, if there are three connections, there are three connectors, each with a write status.

You can also see that for these functions, there must be one connector for each OutPort / InPort pair. Furthermore, when modeling the connector at the implementation level corresponding to the subscription type, we introduced an object for asynchronous communication called publisher.

A data port creates one connector object per connection when a connection is established. A connector is an abstract channel of data stream that connects OutPort and InPort.

ON_BUFFER_WRITE	When writing to the buffer
ON_BUFFER_FULL	When buffer is full
ON_BUFFER_WRITE_TIMEOUT	Buffer write timeout
ON_BUFFER_OVERWRITE	When buffer is overwritten
ON_BUFFER_READ	When reading buffer
ON_SEND	When sending to InProt
ON_RECEIVED	When sending to InProt is complete
ON_RECEIVER_FULL	InProt side buffer full
ON_RECEIVER_TIMEOUT	InProt side buffer timeout
ON_RECEIVER_ERROR	InProt side error

ON_BUFFER_EMPTY	If the buffer is empty
ON_BUFFER_READTIMEOUT	If the buffer times out and is empty
ON_SENDER_EMPTY	OutPort buffer is empty
ON_SENDER_TIMEOUT	OutPort side timeout
ON_SENDER_ERROR	OutPort side error
ON_CONNECT	When establishing a connection
ON_DISCONNECT	When disconnected

Port callback

status

The data port returns a status when data is sent and received. The status is defined in rtm/DataPortStatus.h.

LEFT: 80	LEFT: 150	c
PORT_OK	Successful completion
PORT_ERROR	Abnormal termination
BUFFER_ERROR	Buffer error
BUFFER_FULL
BUFFER_EMPTY	Buffer Empty
BUFFER_TIMEOUT	Buffer timeout
SEND_FULL	Sending data but buffer is full
SEND_TIMEOUT	Sending data but the other side timed out
RECV_EMPTY	Data sent but data is empty
RECV_TIMEOUT	Trying to receive data but timed out
INVALID_ARGS	Invalid argument
PRECONDITION_NOT_MET	Precondition not met
CONNECTION_LOST	Connection lost
UNKNOWN_ERROR	Unknown error

This error code is used to convey error information from the location of the error on the data port data path to the caller. Mainly errors on the transmission line and errors at the transmission destination can be considered. The errors that occur in each part are shown below.

Push type
Return code between InPortConsumer and Publisher / Activity
PORT_OK, PORT_ERROR, SEND_FULL, SEND_TIMEOUT, CONNECTION_LOST, UNKNOWN_ERROR
Return code generated between Activity and OutPort Buffer / Connector
PORT_OK, PORT_ERROR, BUFFER_ERROR, BUFFER_FULL, BUFFER_TIMEOUT, UNKNOWN_ERROR
Pull type
Return code generated between Activity and InPort
PORT_OK, PORT_ERROR, RECV_EMPTY, RECV_TIMEOUT, CONNETION_LOST, UNKNOWN_ERROR

Creating your own data port interface

An example of creating a custom data port interface is shown below.

The following functions and classes must be defined.

Provider class (InPortTestProvider)
Consumer class (InPortTestConsumer)
Provider, consumer registration function (InPortTestInterfaceInit)

Provider class (InPortTestProvider)

Provider class of data port interface (Push type). When the put function is called on the consumer side, it is necessary to transfer data to the provider side in some way. In this sample, data is written to the file when the put function is called on the consumer side, and data is transferred by reading data from the file on the provider side.

 //InPortTestProvider.cpp
 
 #include "InPortTestProvider.h"
 #ifdef WIN32
 #pragma warning( disable : 4290 )
 #endif
 
 namespace RTC
 {
   InPortTestProvider::InPortTestProvider(void)
      : m_buffer(0), m_running(true), m_filename("data.dat")
  {
    setInterfaceType("test");
    activate();
  }
  
  InPortTestProvider::~InPortTestProvider(void)
  {
      m_running = false;
      wait();
  }
 
  //function called when provider is created
  //Receive information on connector profile and port properties
  void InPortTestProvider::init(coil::Properties& prop)
  {
  }
 
  void InPortTestProvider::
  setBuffer(BufferBase<cdrMemoryStream>* buffer)
  {
    m_buffer = buffer;
  }
 
  void InPortTestProvider::setListener(ConnectorInfo& info, ConnectorListeners* listeners)
  {
    m_profile = info;
    m_listeners = listeners;
  }
 
  void InPortTestProvider::setConnector(InPortConnector* connector)
  {
    m_connector = connector;
  }
 
  //Function executed by another thread
  //Read data from file periodically and write to buffer
  //This function is necessary for this sample, but to create your own interface
  //not required
  int InPortTestProvider::svc()
  {
     coil::sleep(1);
     while (m_running)
     {
      std::ifstream  fin;
      fin.open(m_filename, std::ios::in | std::ios::binary);
          if (fin)
          {
               while (!fin.eof())
               {
                    int data_size = 0;
                    fin.read((char*)&data_size, sizeof(int));
                    if (data_size > 0)
                    {
                        CORBA::OctetSeq data;
                        data.length(data_size);
                        fin.read((char*)&data[0], data_size);
 
                        //cdrMemoryStream型変数にデータを格納してバッファに書き込む
                        //以下の記述方法はomniORB特有なため、TAOやORBexpressに対応する場合は
                        //分ける必要がある
                        cdrMemoryStream cdr;
                        //エンディアンの設定を行う
                        bool endian_type = m_connector->isLittleEndian();
                        cdr.setByteSwapFlag(endian_type);
                        //データを書き込む
                        cdr.put_octet_array(&(data[0]), data.length());
                        //バッファに書き込む
                        m_buffer->write(cdr);
                    }
               }
               fin.close();
      }
     }
     return 0;
  }
 
  //Function called when connector is connected
  //This function is called before the consumer side subscribeInterface function
  //For this reason, the information set with the publishInterface function
  //can get
  //If something goes wrong, return false and disconnect the connector
  bool InPortTestProvider::
              publishInterface(SDOPackage::NVList& properties)
   {
        //Store the name information of the file which data is written to  
        CORBA_SeqUtil::
                  push_back(properties,
                  NVUtil::newNV("dataport.test.filename", m_filename.c_str()));
    return true;
   }
 };
 
 extern "C"
 {
     //This function must be called when the module is loaded
    void InPortTestProviderInit(void)
    {
         RTC::InPortProviderFactory& factory(RTC::InPortProviderFactory::instance());
         factory.addFactory("test",
                       ::coil::Creator< ::RTC::InPortProvider,
                                        ::RTC::InPortTestProvider>,
                       ::coil::Destructor< ::RTC::InPortProvider,
                                           ::RTC::InPortTestProvider>);
     }
 };

Consumer class of data port interface (Push type). Must inherit from InPortProvider. Inheritance of the Task class is not required because it is unique to this sample.

 //InPortTestProvider.h
 
 #ifndef RTC_INPORTTESTPROVIDER_H
 #define RTC_INPORTTESTPROVIDER_H
 #include <rtm/BufferBase.h>
 #include <rtm/InPortProvider.h>
 #include <rtm/CORBA_SeqUtil.h>
 #include <rtm/Manager.h>
 #include <rtm/ConnectorListener.h>
 #include <rtm/ConnectorBase.h>
 #include <fstream>
 #ifdef WIN32
 #pragma warning( disable : 4290 )
 #endif
 
 namespace RTC
 {
    class InPortTestProvider
      : public InPortProvider,
    public coil::Task
    {
    public:
       InPortTestProvider(void);
       virtual ~InPortTestProvider(void);
       virtual void init(coil::Properties& prop);
       virtual void setBuffer(BufferBase<cdrMemoryStream>* buffer);
       virtual void setListener(ConnectorInfo& info,
                             ConnectorListeners* listeners);
       virtual void setConnector(InPortConnector* connector);
       virtual bool publishInterface(SDOPackage::NVList& properties);
       virtual int svc();
 
  private:
      CdrBufferBase* m_buffer;
      ConnectorListeners* m_listeners;
      ConnectorInfo m_profile;
      InPortConnector* m_connector;
      bool m_running;
      std::string m_filename;
   }; 
 };
 
 extern "C"
 {
    DLL_EXPORT void InPortTestProviderInit(void);
 };
 
 #ifdef WIN32
 #pragma warning( default : 4290 )
 #endif
 #endif

Consumer class (InPortTestConsumer)

Consumer class of data port interface (Push type). In case of Push type, a consumer is created on the InPort side and a provider is created on the OutPort side. When the put function is called on the consumer side, it is necessary to transfer data to the provider side in some way. In this sample, data is written to the file when the put function is called on the consumer side, and data is transferred by reading data from the file on the provider side.

 //InPortTestConsumer.cpp
 
 #include <rtm/NVUtil.h>
 #include "InPortTestConsumer.h"
 
 namespace RTC
 {
    InPortTestConsumer::InPortTestConsumer(void)
    : rtclog("InPortTestConsumer")
    {
    }
  
    InPortTestConsumer::~InPortTestConsumer(void)
    {
       RTC_PARANOID(("~InPortTestConsumer()"));
    }
 
    //コネクタプロファイル、ポートのプロパティの情報を受け取る
    void InPortTestConsumer::init(coil::Properties& prop)
    {
       m_properties = prop;
    }
  
    //データ転送時に呼び出される関数
    //put関数内でプロバイダ側にデータを転送する処理を記述する
    InPortConsumer::ReturnCode InPortTestConsumer::
      put(const cdrMemoryStream& data)
    {
         RTC_PARANOID(("put()"));
 
         //このサンプルでは、コンシュマー側でファイルにデータを書き込んで、プロバイダ側で
         //ファイル内のデータを読み込むことにしている
         //バイナリファイルを開く
         m_file.open(m_filename, std::ios::out | std::ios::binary | std::ios::trunc);
         //データサイズと生データをファイルに書き込む
         int data_size = data.bufSize();    
         m_file.write((char*)&data_size, sizeof(int));
         m_file.write((char*)data.bufPtr(), data_size);
         //ファイルを閉じる
         m_file.close();
 
         return PORT_OK;
      }
 
      //コネクタ接続時に呼び出される関数
      //この関数はプロバイダ側のpublishInterface関数よりも後に呼び出される
      //このため、プロバイダ側のpublishInterface関数で設定した情報を取得することができる
      //return: 何か問題があった時はfalseを返してコネクタを切断する
 
      bool InPortTestConsumer::
      subscribeInterface(const SDOPackage::NVList& properties)
      {
          //プロバイダ側で設定したファイル名を取得する
          CORBA::Long index = NVUtil::find_index(properties,
                                          "dataport.test.filename");
          const char* filename(0);
          properties[index].value >>= filename;
 
          //取得したファイル名のファイルを開く
          m_filename = filename;
          m_file.open(m_filename, std::ios::out | std::ios::binary | std::ios::trunc);
          m_file.close();
  
         return true;
     }
  
     //コネクタ切断時に呼び出される関数
     void InPortTestConsumer::
     unsubscribeInterface(const SDOPackage::NVList& properties)
     {
     }
 
     void InPortTestConsumer::publishInterfaceProfile(SDOPackage::NVList& properties)
     {
     }
 };
 
 extern "C"
 { 
     //コンシューマ登録関数
     //この関数をモジュールロード時に呼び出す必要がある
     void InPortTestConsumerInit(void)
    {
        RTC::InPortConsumerFactory& factory(RTC::InPortConsumerFactory::instance());
        factory.addFactory("test",
                       ::coil::Creator< ::RTC::InPortConsumer,
                                        ::RTC::InPortTestConsumer>,
                       ::coil::Destructor< ::RTC::InPortConsumer,
                                           ::RTC::InPortTestConsumer>);
     }
 };

Consumer class of data port interface (Push type). Must inherit from InPortConsumer.

 //InPortTestProvider.h
 
 #ifndef RTC_INPORTTESTPROVIDER_H
 #define RTC_INPORTTESTPROVIDER_H
 #include <rtm/BufferBase.h>
 #include <rtm/InPortProvider.h>
 #include <rtm/CORBA_SeqUtil.h>
 #include <rtm/Manager.h>
 #include <rtm/ConnectorListener.h>
 #include <rtm/ConnectorBase.h>
 #include <fstream>
 #ifdef WIN32
 #pragma warning( disable : 4290 )
 #endif
 
 namespace RTC
 {
    class InPortTestProvider
      : public InPortProvider,
    public coil::Task
    {
    public:
       InPortTestProvider(void);
       virtual ~InPortTestProvider(void);
       virtual void init(coil::Properties& prop);
       virtual void setBuffer(BufferBase<cdrMemoryStream>* buffer);
       virtual void setListener(ConnectorInfo& info,
                             ConnectorListeners* listeners);
       virtual void setConnector(InPortConnector* connector);
       virtual bool publishInterface(SDOPackage::NVList& properties);
       virtual int svc();
 
  private:
      CdrBufferBase* m_buffer;
      ConnectorListeners* m_listeners;
      ConnectorInfo m_profile;
      InPortConnector* m_connector;
      bool m_running;
      std::string m_filename;
   }; 
 };
 
 extern "C"
 {
    DLL_EXPORT void InPortTestProviderInit(void);
 };
 
 #ifdef WIN32
 #pragma warning( default : 4290 )
 #endif
 #endif

Provider and consumer registration function (InPortTestInterfaceInit)

The OpenRTM-aist manager calls the “XXXInit” function when the dynamic link library “XXX.dll” is loaded. For this sample, load "InPortTestInterface.dll" and call the following "InPortTestInterfaceInit" function.

 //InPortTestInterface.cpp
 
 #include "InPortTestConsumer.h"
 #include "InPortTestProvider.h"
 
 extern "C"
 {
    DLL_EXPORT void InPortTestInterfaceInit(RTC::Manager* manager)
    {
        InPortTestProviderInit();
        InPortTestConsumerInit();
    }
 };

Confirmation procedure

1. Prepare an environment where OpenRTM-aist is installed.

2. Create a CMake configuration file (CMakeLists.txt) for building.
The following is a CMake configuration file for building a custom interface sample.

 //Description to find OpenRTM-aist library
 
 cmake_minimum_required (VERSION 2.6)
 
 find_package(OpenRTM HINTS /usr/lib64/openrtm-1.1/cmake)
 if(${OpenRTM_FOUND})
   MESSAGE(STATUS "OpenRTM configuration Found")
 else(${OpenRTM_FOUND})
   message(STATUS "Use cmake/Modules/FindOpenRTM.cmake in the project")
   list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake/Modules)
   find_package(OpenRTM REQUIRED)
 endif(${OpenRTM_FOUND})
 
 if (DEFINED OPENRTM_INCLUDE_DIRS)
   string(REGEX REPLACE "-I" ";"
     OPENRTM_INCLUDE_DIRS "${OPENRTM_INCLUDE_DIRS}")
   string(REGEX REPLACE " ;" ";"
     OPENRTM_INCLUDE_DIRS "${OPENRTM_INCLUDE_DIRS}")
 endif (DEFINED OPENRTM_INCLUDE_DIRS)
 
 if (DEFINED OPENRTM_LIBRARY_DIRS)
   string(REGEX REPLACE "-L" ";"
     OPENRTM_LIBRARY_DIRS "${OPENRTM_LIBRARY_DIRS}")
   string(REGEX REPLACE " ;" ";"
     OPENRTM_LIBRARY_DIRS "${OPENRTM_LIBRARY_DIRS}")
 endif (DEFINED OPENRTM_LIBRARY_DIRS)
 
 if (DEFINED OPENRTM_LIBRARIES)
   string(REGEX REPLACE "-l" ";"
     OPENRTM_LIBRARIES "${OPENRTM_LIBRARIES}")
   string(REGEX REPLACE " ;" ";"
     OPENRTM_LIBRARIES "${OPENRTM_LIBRARIES}")
 endif (DEFINED OPENRTM_LIBRARIES)
 
 include_directories(${OPENRTM_INCLUDE_DIRS})
 include_directories(${OMNIORB_INCLUDE_DIRS})
 add_definitions(${OPENRTM_CFLAGS})
 add_definitions(${OMNIORB_CFLAGS})
 
 link_directories(${OPENRTM_LIBRARY_DIRS})
 link_directories(${OMNIORB_LIBRARY_DIRS})
 
 //Project name setting
 project (InPortTestInterface)
 
 //Create a dynamic library
 add_library(InPortTestInterface SHARED InPortTestProvider.cpp InPortTestConsumer.cpp InPortTestProvider.h InPortTestConsumer.h InPortTestInterface.cpp)
 
 //Set library to link
 target_link_libraries(InPortTestInterface ${OPENRTM_LIBRARIES})

3. Generate a Visual Studio project file with CMake.

4. Build with Visual Studio.
After building, InPortTestInterface.dll is generated in the Debug folder.

5. Create rtc.conf # br Create rtc.conf and specify InPortTestInterface.dll in the module that loads when Manager starts.

 manager.modules.preload: InPortTestInterface.dll

If InPortTestInterface.dll is different from the directory where RTC is executed, set the module search path separately.

 manager.modules.load_path: C:¥workspace¥InPortTestInterface¥build¥Debug

6. Load the above rtc.conf and start RTC.

 ConsoleInComp.exe -f ../rtc.conf

7. Specify "test" for Interface Type when connecting the port.
Interface Type can be specified from RTSystemEditor.

RT-Component	154
RT-Middleware	35
Tools	23
Documentation	2

OpenRTM-aist