OpenRTM-aist » OpenRTM-aist (Java)

dataport.timestamp_policy=on_writeについて¶

on_writeは、ConnectorDataListenerのON_BUFFER_WRITEのコールバックリスナーでタイムスタンプ打刻をしています。
サブスクリプション型がflushの接続の場合は、バッファがなく、直接、InPortへデータをpushしますので、ON_BUFFER_WRITEのコールバックイベントは発生しません。
そのため、サブスクリプション型がflushの接続の場合は、「dataport.timestamp_policy=on_write」は無効です。

dataport.timestamp_policy=on_sendについて¶

on_sendは、ConnectorDataListenerのON_SENDのコールバックリスナーでタイムスタンプ打刻をしています。

• データフロー型がPull接続の場合は、InPortでデータを取り込むために、ON_SENDのコールバックイベントは発生しません。
  そのため、データフロー型がPullの接続の場合は、「dataport.timestamp_policy=on_send」は無効です。

• インターフェース型がdirect接続でデータフロー型がPush接続の場合、直接、OutPortは直接InPortへ書込むため、ON_SENDのコールバックイベントは発生しません。
  そのため、「dataport.timestamp_policy=on_send」は無効です。

dataport.timestamp_policy=on_readについて¶

on_readは、ConnectorDataListenerのON_BUFFER_READのコールバックリスナーでタイムスタンプ打刻をしています。

• データフロー型がPull接続の場合は、OutPort側でバッファを保持するので、InPort側ではON_BUFFER_READのコールバックイベントは発生しません。
  そのため、「dataport.timestamp_policy=on_read」は無効です。

• インターフェース型がdirect接続でデータフロー型がPush接続の場合、直接、OutPortは直接InPortへ書込むため、ON_BUFFER_READのコールバックイベントは発生しません。
  そのため、「dataport.timestamp_policy=on_read」は無効です。

動作確認¶

別々のターミナルで ConsoleOut ConsoleIn を起動する。
rtcon でポートを接続する

on_received¶

• [corba_cdr][push][flush]
  

  $ rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=flush --property dataport.timestamp_policy=on_received
  

• [corba_cdr][push][new][all]
  

  $ rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in  --property dataport.subscription_type=new --property dataport.publisher.push_policy=all --property dataport.timestamp_policy=on_received
  

• [corba_cdr][push][new][fifo]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=new --property dataport.publisher.push_policy=fifo --property dataport.timestamp_policy=on_received
  

• [corba_cdr][push][new][skip]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=new --property dataport.publisher.push_policy=skip --property dataport.publisher.skip_count=1 --property dataport.timestamp_policy=on_received
  

• [corba_cdr][push][new][new]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in  --property dataport.subscription_type=new --property dataport.publisher.push_policy=new --property dataport.timestamp_policy=on_received
  

• [corba_cdr][push][periodic][all]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=periodic --property dataport.push_rate=1 --property dataport.publisher.push_policy=all --property dataport.timestamp_policy=on_received
  

• [corba_cdr][push][periodic][fifo]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=periodic --property dataport.push_rate=1 --property dataport.publisher.push_policy=fifo --property dataport.timestamp_policy=on_received
  

• [corba_cdr][push][periodic][skip]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=periodic --property dataport.push_rate=1 --property dataport.publisher.push_policy=skip --property dataport.timestamp_policy=on_received
  

• [corba_cdr][push][periodic][new]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=periodic --property dataport.push_rate=1 --property dataport.publisher.push_policy=new --property dataport.timestamp_policy=on_received
  

• [shared_memory][push][periodic][new]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.interface_type=shared_memory  --property dataport.timestamp_policy=on_received
  

• [direct][push][new][][on_received]
  • ConsoleInのrtc.confに以下を追加してConsoleInを起動する。
    

    manager.modules.load_path:./RTMExamples/SimpleIO
    manager.modules.preload: ConsoleOut
    manager.components.precreate: ConsoleOut
    

  • rtcon でポートを接続する
    

    rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.interface_type=direct  --property dataport.dataflow_type=push  --property dataport.timestamp_policy=on_received
    

on_send¶

• [corba_cdr][push][flush]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=flush --property dataport.timestamp_policy=on_send
  

• [corba_cdr][push][new][all]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=new --property dataport.publisher.push_policy=all --property dataport.timestamp_policy=on_send
  

• [corba_cdr][push][new][fifo]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=new --property dataport.publisher.push_policy=fifo --property dataport.timestamp_policy=on_send
  

• [corba_cdr][push][new][skip]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=new --property dataport.publisher.push_policy=skip --property dataport.publisher.skip_count=1 --property dataport.timestamp_policy=on_send
  

• [corba_cdr][push][new][new]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=new --property dataport.publisher.push_policy=new --property dataport.timestamp_policy=on_send
  

• [corba_cdr][push][periodic][all]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=periodic --property dataport.push_rate=1 --property dataport.publisher.push_policy=all --property dataport.timestamp_policy=on_send
  

• [corba_cdr][push][periodic][fifo]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=periodic --property dataport.push_rate=1 --property dataport.publisher.push_policy=fifo --property dataport.timestamp_policy=on_send
  

• [corba_cdr][push][periodic][skip]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=periodic --property dataport.push_rate=1 --property dataport.publisher.push_policy=skip --property dataport.timestamp_policy=on_send
  

• [corba_cdr][push][periodic][new]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=periodic --property dataport.push_rate=1 --property dataport.publisher.push_policy=new --property dataport.timestamp_policy=on_send
  

• [shared_memory][push][periodic][new]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.interface_type=shared_memory --property dataport.timestamp_policy=on_send
  

• [direct][push][new][][on_received]
  • ConsoleInのrtc.confに以下を追加してConsoleInを起動する。
    

    manager.modules.load_path:./RTMExamples/SimpleIO
    manager.modules.preload: ConsoleOut
    manager.components.precreate: ConsoleOut
    

  • rtcon でポートを接続する
    

    rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.interface_type=direct --property dataport.dataflow_type=push --property dataport.timestamp_policy=on_send
    

on_read¶

• [corba_cdr][push][flush]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in  --property dataport.subscription_type=flush --property dataport.timestamp_policy=on_read
  

• [corba_cdr][push][new][new]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in  --property dataport.subscription_type=new --property dataport.publisher.push_policy=new --property dataport.timestamp_policy=on_read
  

• [corba_cdr][push][new][skip]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in  --property dataport.subscription_type=new --property dataport.publisher.push_policy=skip --property dataport.publisher.skip_count=1 --property dataport.timestamp_policy=on_read
  

• [corba_cdr][push][new][all]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in  --property dataport.subscription_type=new --property dataport.publisher.push_policy=all --property dataport.timestamp_policy=on_read
  

• [corba_cdr][push][new][fifo]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=new --property dataport.publisher.push_policy=fifo --property dataport.timestamp_policy=on_read
  

• [corba_cdr][push][periodic][all]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=periodic --property dataport.push_rate=1 --property dataport.publisher.push_policy=all --property dataport.timestamp_policy=on_read
  

• [corba_cdr][push][periodic][fifo]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=periodic --property dataport.push_rate=1 --property dataport.publisher.push_policy=fifo --property dataport.timestamp_policy=on_read
  

• [corba_cdr][push][periodic][skip]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=periodic --property dataport.push_rate=1 --property dataport.publisher.push_policy=skip --property dataport.timestamp_policy=on_read
  

• [corba_cdr][push][periodic][new]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=periodic --property dataport.push_rate=1 --property dataport.publisher.push_policy=new --property dataport.timestamp_policy=on_read
  

• [shared_memory][push]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.interface_type=shared_memory --property dataport.timestamp_policy=on_read
  

on_write¶

• [corba_cdr][push][new][all]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=new --property dataport.publisher.push_policy=all --property dataport.timestamp_policy=on_write
  

• [corba_cdr][push][new][fifo]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=new --property dataport.publisher.push_policy=fifo --property dataport.timestamp_policy=on_write
  

• [corba_cdr][push][new][skip]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=new --property dataport.publisher.push_policy=skip --property dataport.publisher.skip_count=1 --property dataport.timestamp_policy=on_write
  

• [corba_cdr][push][new][new]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=new --property dataport.publisher.push_policy=new --property dataport.timestamp_policy=on_write
  

• [corba_cdr][push][periodic][all]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=periodic --property dataport.push_rate=1 --property dataport.publisher.push_policy=all --property dataport.timestamp_policy=on_write
  

• [corba_cdr][push][periodic][fifo]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=periodic --property dataport.push_rate=1 --property dataport.publisher.push_policy=fifo --property dataport.timestamp_policy=on_write
  

• [corba_cdr][push][periodic][skip]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=periodic --property dataport.push_rate=1 --property dataport.publisher.push_policy=skip --property dataport.timestamp_policy=on_write
  

• [corba_cdr][push][periodic][new]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.subscription_type=periodic --property dataport.push_rate=1 --property dataport.publisher.push_policy=new --property dataport.timestamp_policy=on_write
  

• [shared_memory][push][periodic][new]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.interface_type=shared_memory --property dataport.timestamp_policy=on_write
  

• [direct][push][new][][on_write]
• [direct][pull][new][][on_write]
  • ConsoleInのrtc.confに以下を追加してConsoleInを起動する。
    

    manager.modules.load_path:./RTMExamples/SimpleIO
    manager.modules.preload: ConsoleOut
    manager.components.precreate: ConsoleOut
    

  • rtcon でポートを接続する
    

    rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.interface_type=direct --property dataport.dataflow_type=push --property dataport.timestamp_policy=on_write
    

    
    

    rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in  --property dataport.interface_type=direct --property dataport.dataflow_type=pull --property dataport.timestamp_policy=on_write
    

• [corba_cdr][pull][new][][on_write]
  

  rtcon ./localhost/.host_cxt/ConsoleIn0.rtc:out ./localhost/.host_cxt/ConsoleOut0.rtc:in --property dataport.dataflow_type=pull --property dataport.timestamp_policy=on_write