RT Profile Editor

Basic profile tab
Activity profile tab
Data ports tab
Service ports tab
Configuration parameters tab
Language and environment tab
RTC Profile XML Editor tab
Documentation settings tab

RTC Profile Editor

The RTC Profile Editor is made up of several tabs.

RTC Profile Editor 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.

Basic profile tab

Basic profile tab

Basic profile items

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.

Activity profile tab

Activity profile tab

Activity profile tab items

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.	-

Data ports tab

Data ports tab

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.

Data port items

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.

Service ports tab

Service ports tab (service port entry)

Service ports tab (service interface entry)

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.

Service port items (service port)

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.

Service port items (service interface)

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.

Configuration parameters tab

Configuration parameters tab

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.

Configuration parameter items

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.

Language and environment tab

Language and environment tab

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.

Language and environment items

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.

RTC Profile XML Editor tab

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.

RTC Profile XML Editor tab

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.

XML validation error dialog

Documentation settings tab

General documentation about the RT Component can be entered in this tab.

Document settings tab

The information entered in this tab is included in the generated code as doxygen comments.

Document settings items

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.

RT-Component	152
RT-Middleware	33
Tools	22
Documentation	2

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