├── src ├── lib │ ├── hrtm │ │ ├── idls │ │ │ ├── HRTM.h │ │ │ ├── BasicDataType.h │ │ │ └── ExtendedDataTypes.h │ │ ├── version.h │ │ ├── logger.cpp │ │ ├── properties.cpp │ │ ├── properties.h │ │ └── in_port.h │ ├── rtm │ │ ├── idl │ │ │ ├── RTC.idl │ │ │ ├── Manager.idl │ │ │ ├── DataPort.idl │ │ │ ├── SharedMemory.idl │ │ │ ├── DataPortUDP.idl │ │ │ ├── BasicDataTypeUtil.h │ │ │ └── InterfaceDataTypesUtil.h │ │ ├── ext │ │ │ └── CMakeLists.txt │ │ ├── version_cmake.h.in │ │ ├── DataInPort.h │ │ ├── DataOutPort.h │ │ ├── FactoryInit.h │ │ ├── LocalServiceBase.cpp │ │ ├── DefaultPeriodicTask.h │ │ └── CdrRingBuffer.h │ ├── coil │ │ ├── ace │ │ │ └── coil │ │ │ │ ├── Time.h │ │ │ │ ├── Time.cpp │ │ │ │ ├── Task.cpp │ │ │ │ ├── Mutex.cpp │ │ │ │ ├── UUID.cpp │ │ │ │ ├── DynamicLib.cpp │ │ │ │ ├── Condition.cpp │ │ │ │ ├── Signal.cpp │ │ │ │ ├── DynamicLib.h │ │ │ │ ├── File.h │ │ │ │ └── Task.h │ │ ├── posix │ │ │ └── coil │ │ │ │ ├── OS.h │ │ │ │ ├── File.h │ │ │ │ ├── Process.h │ │ │ │ ├── Routing.h │ │ │ │ ├── Signal.h │ │ │ │ ├── DynamicLib.h │ │ │ │ ├── Signal.cpp │ │ │ │ ├── DynamicLib.cpp │ │ │ │ ├── SharedMemory.h │ │ │ │ ├── SharedMemory.cpp │ │ │ │ └── OS.cpp │ │ ├── vxworks │ │ │ └── coil │ │ │ │ ├── OS.h │ │ │ │ ├── File.h │ │ │ │ ├── Mutex.h │ │ │ │ ├── Task.h │ │ │ │ ├── Affinity.h │ │ │ │ ├── Process.h │ │ │ │ ├── Routing.h │ │ │ │ ├── Signal.h │ │ │ │ ├── Task.cpp │ │ │ │ ├── Condition.h │ │ │ │ ├── OS.cpp │ │ │ │ ├── File.cpp │ │ │ │ ├── Mutex.cpp │ │ │ │ └── Condition.cpp │ │ └── config_coil_cmake.h.in │ └── CMakeLists.txt ├── ext │ ├── transport │ │ ├── ROS2Transport │ │ │ ├── install_manifest.txt.in │ │ │ ├── appexamplekey.pem │ │ │ ├── ROS2MessageInfo.cpp │ │ │ ├── rtc.ros2.conf.in │ │ │ ├── mainexamplecacert.pem │ │ │ └── ROS2Transport.h │ │ ├── ROSTransport │ │ │ ├── install_manifest.txt.in │ │ │ └── rtc.ros.conf.in │ │ ├── OpenSplice │ │ │ ├── ccpp_CORBACdrData.h │ │ │ ├── rtc.opensplice.conf.in │ │ │ ├── OpenSpliceQoSExample.xml │ │ │ ├── CORBACdrDataSplDcps.h │ │ │ ├── CORBACdrData.cpp │ │ │ └── OpenSpliceManagerFunc.h │ │ └── CMakeLists.txt │ ├── ec │ │ ├── logical_time │ │ │ ├── example │ │ │ │ ├── run.sh │ │ │ │ ├── LTTSample.conf │ │ │ │ └── rtc.conf │ │ │ └── LogicalTimeTriggeredEC.idl │ │ ├── rtpreempt │ │ │ ├── rtc.conf.sample │ │ │ └── example │ │ │ │ ├── rtc.conf1 │ │ │ │ └── rtc.conf │ │ └── CMakeLists.txt │ ├── sdo │ │ ├── logger │ │ │ └── Logger.idl │ │ ├── fsm4rtc_observer │ │ │ ├── test │ │ │ │ ├── test.sh │ │ │ │ ├── rtc.conf │ │ │ │ └── idl │ │ │ │ │ └── ComponentObserver.idl │ │ │ └── ComponentObserver.idl │ │ ├── observer │ │ │ ├── ComponentObserver.idl │ │ │ └── test │ │ │ │ ├── idl │ │ │ │ └── ComponentObserver.idl │ │ │ │ ├── consout_obs.sh │ │ │ │ ├── consin_obs.sh │ │ │ │ ├── test.sh │ │ │ │ └── rtc.conf │ │ ├── extended_fsm │ │ │ └── test │ │ │ │ └── test.sh │ │ └── CMakeLists.txt │ ├── logger │ │ ├── CMakeLists.txt │ │ └── fluentbit_stream │ │ │ └── rtc.fluentbit_stream.conf.in │ ├── local_service │ │ └── CMakeLists.txt │ ├── interrupt_task │ │ ├── CMakeLists.txt │ │ └── interrupt_task.cpp │ ├── ssl │ │ ├── rtc.conf │ │ └── rtc.ssl.conf.in │ ├── http │ │ ├── rtc.conf │ │ ├── rtc.ws.conf.in │ │ ├── rtc.http.conf.in │ │ ├── rtc.wss.conf.in │ │ └── rtc.https.conf.in │ └── CMakeLists.txt └── CMakeLists.txt ├── packages └── deb │ └── debian │ ├── compat │ ├── dirs │ └── docs ├── docs └── DevelopersGuide │ ├── ascmac.sty │ ├── Tools.tex │ ├── rtcmac.sty │ ├── Appendix.tex │ ├── Overview.tex │ ├── Tutorial.tex │ ├── icon │ ├── conv.sh │ ├── Blank.eps │ ├── RT.eps │ ├── Module.eps │ ├── RTLogo.eps │ └── Connect.eps │ ├── tascmac.sty │ ├── Programming.tex │ ├── Structure.tex │ ├── IDLReference.tex │ ├── figs │ ├── RTM_Logo.eps │ ├── RT_devel_flow.eps │ ├── ResearchSoshiki.eps │ ├── RTM_Manager_and_NS.eps │ ├── Module_and_Component.eps │ ├── RTM_Standardization.eps │ ├── ResearchOrganization.eps │ ├── RTM_InPort_OutPort_Type.eps │ ├── RT_StandAloneComponent.eps │ ├── RT_ComponentError_Loadable.eps │ ├── RT_LoadableModuleComponent.eps │ ├── RT_RTComponentStateChart.eps │ ├── RT_ComponentError_StandAlone.eps │ └── Connect.eps │ ├── ClassReference.tex │ ├── DevelopersGuide.tex │ ├── DevelopersGuideNoClassRef.tex │ └── dox.awk ├── utils ├── openrtmNames │ ├── rtc.names.tcp.tao.conf.in │ ├── rtc.names.tcp.omniorb.conf.in │ ├── rtc.names.ws.conf.in │ ├── rtc.names.http.conf.in │ ├── rtc.names.http.tao.conf.in │ ├── rtc.names.shm.tao.conf.in │ ├── rtc.names.ssl.tao.conf.in │ ├── rtc.names.ws.omniorb.conf.in │ ├── rtc.names.http.omniorb.conf.in │ ├── rtc.names.ssl.conf.in │ ├── rtc.names.ssl.omniorb.conf.in │ ├── rtc.names.wss.conf.in │ ├── rtc.names.https.conf.in │ ├── rtc.names.wss.omniorb.conf.in │ └── rtc.names.https.omniorb.conf.in ├── rtm-naming │ └── kill-rtm-naming.bat ├── rtcd │ ├── systemd │ │ ├── rtcd.conf │ │ └── rtcd.service │ └── rtcd.cpp ├── rtc-template │ ├── CMakeLists.txt │ └── autotest.sh ├── environment-setup-scripts │ ├── environment-setup.sh.in │ ├── environment-setup.tao.bat.in │ └── environment-setup.omniorb.bat.in ├── CMakeLists.txt └── cmake │ └── OpenRTMConfigVersion.cmake.in ├── examples ├── Throughput │ ├── scripts │ │ ├── rtc_float_direct.bat │ │ ├── rtc_long_direct.bat │ │ ├── rtc_octet_direct.bat │ │ ├── rtc_short_direct.bat │ │ ├── rtc_double_direct.bat │ │ ├── rtc_float_samecomp.bat │ │ ├── rtc_float_sameproc.bat │ │ ├── rtc_long_samecomp.bat │ │ ├── rtc_long_sameproc.bat │ │ ├── rtc_octet_samecomp.bat │ │ ├── rtc_octet_sameproc.bat │ │ ├── rtc_short_samecomp.bat │ │ ├── rtc_short_sameproc.bat │ │ ├── rtc_double_samecomp.bat │ │ ├── rtc_double_sameproc.bat │ │ ├── rtc_long_twonode_1.bat │ │ ├── rtc_double_twonode_1.bat │ │ ├── rtc_float_twonode_1.bat │ │ ├── rtc_octet_twonode_1.bat │ │ ├── rtc_short_twonode_1.bat │ │ ├── rtc_long_twonode_2.bat │ │ ├── rtc_double_twonode_2.bat │ │ ├── rtc_float_twonode_2.bat │ │ ├── rtc_octet_twonode_2.bat │ │ ├── rtc_short_twonode_2.bat │ │ ├── rtc_float_twoproc.bat │ │ ├── rtc_long_twoproc.bat │ │ ├── rtc_octet_twoproc.bat │ │ ├── rtc_short_twoproc.bat │ │ ├── rtc_double_twoproc.bat │ │ ├── rtc_float_twonode_1.conf │ │ ├── rtc_float_twonode_2.conf │ │ ├── rtc_float_twoproc_1.conf │ │ ├── rtc_float_twoproc_2.conf │ │ ├── rtc_long_twonode_1.conf │ │ ├── rtc_long_twonode_2.conf │ │ ├── rtc_long_twoproc_1.conf │ │ ├── rtc_long_twoproc_2.conf │ │ ├── rtc_octet_twonode_1.conf │ │ ├── rtc_octet_twonode_2.conf │ │ ├── rtc_octet_twoproc_1.conf │ │ ├── rtc_octet_twoproc_2.conf │ │ ├── rtc_short_twonode_1.conf │ │ ├── rtc_short_twonode_2.conf │ │ ├── rtc_short_twoproc_1.conf │ │ ├── rtc_short_twoproc_2.conf │ │ ├── rtc_double_twonode_1.conf │ │ ├── rtc_double_twonode_2.conf │ │ ├── rtc_double_twoproc_1.conf │ │ ├── rtc_double_twoproc_2.conf │ │ ├── rtc_float_samecomp.conf │ │ ├── rtc_long_samecomp.conf │ │ ├── rtc_octet_samecomp.conf │ │ ├── rtc_short_samecomp.conf │ │ ├── rtc_double_samecomp.conf │ │ ├── rtc_float_direct.conf │ │ ├── rtc_long_direct.conf │ │ ├── rtc_octet_direct.conf │ │ ├── rtc_short_direct.conf │ │ ├── rtc_float_sameproc.conf │ │ ├── rtc_long_sameproc.conf │ │ ├── rtc_octet_sameproc.conf │ │ ├── rtc_short_sameproc.conf │ │ ├── rtc_double_sameproc.conf │ │ └── rtc_double_direct.conf │ ├── CMakeLists.txt │ ├── rtc.conf │ ├── direct.sh │ ├── cdr_samecomp.sh │ └── cdr_sameproc.sh ├── Motor │ ├── include │ │ ├── Motor │ │ │ └── CMakeLists.txt │ │ └── CMakeLists.txt │ ├── test │ │ ├── include │ │ │ ├── MotorTest │ │ │ │ └── CMakeLists.txt │ │ │ └── CMakeLists.txt │ │ └── CMakeLists.txt │ ├── rtc.conf │ ├── cmake │ │ ├── rt_middleware_dlg.bmp │ │ ├── rt_middleware_logo.ico │ │ ├── rt_middleware_banner.bmp │ │ ├── License.rtf │ │ ├── motor.pc.in │ │ ├── motor-config-version.cmake.in │ │ └── CMakeLists.txt │ ├── .project │ └── scripts │ │ └── ubuntu_1804 │ │ └── Dockerfile ├── Sensor │ ├── include │ │ ├── Sensor │ │ │ └── CMakeLists.txt │ │ └── CMakeLists.txt │ ├── test │ │ ├── include │ │ │ ├── SensorTest │ │ │ │ └── CMakeLists.txt │ │ │ └── CMakeLists.txt │ │ └── CMakeLists.txt │ ├── rtc.conf │ ├── cmake │ │ ├── rt_middleware_dlg.bmp │ │ ├── rt_middleware_banner.bmp │ │ ├── rt_middleware_logo.ico │ │ ├── License.rtf │ │ ├── sensor.pc.in │ │ ├── sensor-config-version.cmake.in │ │ └── CMakeLists.txt │ ├── .project │ └── scripts │ │ └── ubuntu_1804 │ │ └── Dockerfile ├── SeqIn │ ├── include │ │ ├── SeqIn │ │ │ └── CMakeLists.txt │ │ └── CMakeLists.txt │ ├── test │ │ ├── include │ │ │ ├── SeqInTest │ │ │ │ └── CMakeLists.txt │ │ │ └── CMakeLists.txt │ │ └── CMakeLists.txt │ ├── rtc.conf │ ├── cmake │ │ ├── rt_middleware_dlg.bmp │ │ ├── rt_middleware_logo.ico │ │ ├── rt_middleware_banner.bmp │ │ ├── License.rtf │ │ ├── seqin.pc.in │ │ ├── seqin-config-version.cmake.in │ │ └── CMakeLists.txt │ ├── .project │ └── scripts │ │ └── ubuntu_1804 │ │ └── Dockerfile ├── SeqOut │ ├── include │ │ ├── SeqOut │ │ │ └── CMakeLists.txt │ │ └── CMakeLists.txt │ ├── test │ │ ├── include │ │ │ ├── SeqOutTest │ │ │ │ └── CMakeLists.txt │ │ │ └── CMakeLists.txt │ │ └── CMakeLists.txt │ ├── cmake │ │ ├── rt_middleware_dlg.bmp │ │ ├── rt_middleware_banner.bmp │ │ ├── rt_middleware_logo.ico │ │ ├── License.rtf │ │ ├── seqout.pc.in │ │ ├── seqout-config-version.cmake.in │ │ └── CMakeLists.txt │ ├── rtc.conf │ ├── .project │ ├── component.conf │ └── scripts │ │ └── ubuntu_1804 │ │ └── Dockerfile ├── tests │ ├── run.sh │ ├── setup.sh │ ├── RTCTest.sh │ ├── DataPortTest.sh │ ├── ManagerTest.sh │ ├── ConnectRTCTest.sh │ ├── SDOPackageTest.sh │ ├── AddRemoveRTCTest.sh │ ├── AttachDetachRTCTest.sh │ ├── CreateDeleteRTCTest.sh │ ├── SetMemberSDOPackageTest.sh │ ├── ConfigurationSDOPackageTest.sh │ ├── OrganizationSDOPackageTest.sh │ ├── ServiceProfileSDOPackageTest.sh │ ├── AddRemoveMemberSDOPackageTest.sh │ ├── AddRemoveOrganizationSDOPackageTest.sh │ └── rtc.conf ├── AutoTest │ ├── setup.sh │ ├── gen_data.sh │ ├── AutoTestService.idl │ ├── rtc.conf │ ├── original-data │ └── CMakeLists.txt ├── ConsoleIn │ ├── include │ │ ├── ConsoleIn │ │ │ └── CMakeLists.txt │ │ └── CMakeLists.txt │ ├── test │ │ ├── include │ │ │ ├── ConsoleInTest │ │ │ │ └── CMakeLists.txt │ │ │ └── CMakeLists.txt │ │ └── CMakeLists.txt │ ├── cmake │ │ ├── rt_middleware_dlg.bmp │ │ ├── rt_middleware_logo.ico │ │ ├── rt_middleware_banner.bmp │ │ ├── License.rtf │ │ ├── consolein.pc.in │ │ ├── consolein-config-version.cmake.in │ │ └── CMakeLists.txt │ ├── rtc.conf │ ├── consin.conf │ ├── .project │ └── scripts │ │ └── ubuntu_1804 │ │ └── Dockerfile ├── ConsoleOut │ ├── include │ │ ├── ConsoleOut │ │ │ └── CMakeLists.txt │ │ └── CMakeLists.txt │ ├── test │ │ ├── include │ │ │ ├── ConsoleOutTest │ │ │ │ └── CMakeLists.txt │ │ │ └── CMakeLists.txt │ │ └── CMakeLists.txt │ ├── cmake │ │ ├── rt_middleware_dlg.bmp │ │ ├── rt_middleware_logo.ico │ │ ├── rt_middleware_banner.bmp │ │ ├── License.rtf │ │ ├── consoleout.pc.in │ │ ├── consoleout-config-version.cmake.in │ │ └── CMakeLists.txt │ ├── rtc.conf │ ├── .project │ ├── consout.conf │ └── scripts │ │ └── ubuntu_1804 │ │ └── Dockerfile ├── Controller │ ├── include │ │ ├── Controller │ │ │ └── CMakeLists.txt │ │ └── CMakeLists.txt │ ├── rtc.conf │ ├── test │ │ ├── include │ │ │ ├── ControllerTest │ │ │ │ └── CMakeLists.txt │ │ │ └── CMakeLists.txt │ │ └── CMakeLists.txt │ ├── cmake │ │ ├── rt_middleware_dlg.bmp │ │ ├── rt_middleware_logo.ico │ │ ├── rt_middleware_banner.bmp │ │ ├── License.rtf │ │ ├── controller.pc.in │ │ ├── controller-config-version.cmake.in │ │ └── CMakeLists.txt │ ├── .project │ └── scripts │ │ └── ubuntu_1804 │ │ └── Dockerfile ├── ExtTrigger │ ├── rtc.conf.org │ └── rtc.conf ├── Composite │ ├── rtc.conf │ ├── composite.conf │ ├── rtc.composite.linux.conf │ └── rtc_win32.conf ├── MyServiceConsumer │ ├── include │ │ ├── MyServiceConsumer │ │ │ └── CMakeLists.txt │ │ └── CMakeLists.txt │ ├── test │ │ ├── CMakeLists.txt │ │ └── include │ │ │ ├── MyServiceConsumerTest │ │ │ └── CMakeLists.txt │ │ │ └── CMakeLists.txt │ ├── cmake │ │ ├── rt_middleware_dlg.bmp │ │ ├── rt_middleware_logo.ico │ │ ├── rt_middleware_banner.bmp │ │ ├── License.rtf │ │ ├── myserviceconsumer.pc.in │ │ ├── myserviceconsumer-config-version.cmake.in │ │ └── CMakeLists.txt │ ├── .project │ └── idl │ │ └── MyService.idl ├── MyServiceProvider │ ├── test │ │ ├── CMakeLists.txt │ │ └── include │ │ │ ├── MyServiceProviderTest │ │ │ └── CMakeLists.txt │ │ │ └── CMakeLists.txt │ ├── include │ │ ├── MyServiceProvider │ │ │ └── CMakeLists.txt │ │ └── CMakeLists.txt │ ├── cmake │ │ ├── rt_middleware_dlg.bmp │ │ ├── rt_middleware_logo.ico │ │ ├── rt_middleware_banner.bmp │ │ ├── License.rtf │ │ ├── myserviceprovider.pc.in │ │ ├── myserviceprovider-config-version.cmake.in │ │ └── CMakeLists.txt │ ├── .project │ └── idl │ │ └── MyService.idl ├── Fsm │ ├── rtc_shared.conf │ ├── rtc.conf │ ├── camera_functions.h │ └── camera_functions.cc ├── StaticFsm │ ├── display.conf │ ├── inputbutton.conf │ ├── microwave.conf │ ├── CMakeLists.txt │ └── idl │ │ └── ComponentObserver.idl ├── Templates │ └── CMakeLists.txt ├── HelloWorld │ └── CMakeLists.txt ├── StringIO │ └── CMakeLists.txt ├── Analyzer │ ├── CMakeLists.txt │ └── rtc.conf ├── ConfigSample │ ├── CMakeLists.txt │ ├── rtc.conf │ └── VectorConvert.h └── Serializer │ ├── rtc_original_serializer.conf │ ├── rtc.serializer.conf │ ├── rtc_in_serializer.conf │ ├── rtc_out_serializer.conf │ ├── rtc_inout_serializer.conf │ └── rtc_all_serializer.conf ├── scripts ├── README.Debian ├── OpenRTM-build-Windows.bat ├── cmake │ ├── Toolchain-QNX7.cmake │ ├── run_munch_69.sh │ └── run_munch.sh ├── ubuntu_2004 │ └── Dockerfile ├── ubuntu_1804 │ └── Dockerfile ├── ubuntu_2204 │ └── Dockerfile ├── ubuntu_2404 │ └── Dockerfile ├── code_check │ ├── check_AZ.sh │ ├── check__.sh │ └── check_global.sh └── debian_10 │ └── Dockerfile ├── etc ├── tao_shmiop │ ├── svc.conf │ └── rtc.shmiop.conf.in ├── tao_diop │ ├── svc.conf │ └── rtc.diop.conf.in ├── tao_htiop │ ├── svc.conf │ ├── rtc.htiop.conf.in │ └── HT_Config.conf └── tao_ssliop │ ├── rtc.ssliop.conf.in │ └── svc.conf.in └── .github ├── workflows └── openrtm_linux.yml └── PULL_REQUEST_TEMPLATE.md /src/lib/hrtm/idls/HRTM.h: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /packages/deb/debian/compat: -------------------------------------------------------------------------------- 1 | 10 2 | -------------------------------------------------------------------------------- /packages/deb/debian/dirs: -------------------------------------------------------------------------------- 1 | usr/bin 2 | usr/sbin 3 | -------------------------------------------------------------------------------- /docs/DevelopersGuide/ascmac.sty: -------------------------------------------------------------------------------- 1 | \input{tascmac.sty} 2 | -------------------------------------------------------------------------------- /packages/deb/debian/docs: -------------------------------------------------------------------------------- 1 | NEWS 2 | README 3 | README.jp 4 | -------------------------------------------------------------------------------- /src/ext/transport/ROS2Transport/install_manifest.txt.in: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/ext/transport/ROSTransport/install_manifest.txt.in: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/lib/hrtm/idls/BasicDataType.h: -------------------------------------------------------------------------------- 1 | #include 2 | -------------------------------------------------------------------------------- /src/ext/ec/logical_time/example/run.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | python TickApp.py 4 | -------------------------------------------------------------------------------- /utils/openrtmNames/rtc.names.tcp.tao.conf.in: -------------------------------------------------------------------------------- 1 | corba.args: -ORBEndpoint iiop://:2809 -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_float_direct.bat: -------------------------------------------------------------------------------- 1 | .\ThroughputComp.exe -f rtc_float_direct.conf -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_long_direct.bat: -------------------------------------------------------------------------------- 1 | .\ThroughputComp.exe -f rtc_long_direct.conf -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_octet_direct.bat: -------------------------------------------------------------------------------- 1 | .\ThroughputComp.exe -f rtc_octet_direct.conf -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_short_direct.bat: -------------------------------------------------------------------------------- 1 | .\ThroughputComp.exe -f rtc_short_direct.conf -------------------------------------------------------------------------------- /src/lib/hrtm/idls/ExtendedDataTypes.h: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | -------------------------------------------------------------------------------- /examples/Motor/include/Motor/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(hdrs Motor.h 2 | PARENT_SCOPE 3 | ) 4 | -------------------------------------------------------------------------------- /examples/Sensor/include/Sensor/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(hdrs Sensor.h 2 | PARENT_SCOPE 3 | ) 4 | -------------------------------------------------------------------------------- /examples/SeqIn/include/SeqIn/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(hdrs SeqIn.h 2 | PARENT_SCOPE 3 | ) 4 | -------------------------------------------------------------------------------- /examples/SeqOut/include/SeqOut/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(hdrs SeqOut.h 2 | PARENT_SCOPE 3 | ) 4 | -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_double_direct.bat: -------------------------------------------------------------------------------- 1 | .\ThroughputComp.exe -f rtc_double_direct.conf -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_float_samecomp.bat: -------------------------------------------------------------------------------- 1 | .\ThroughputComp.exe -f rtc_float_samecomp.conf -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_float_sameproc.bat: -------------------------------------------------------------------------------- 1 | .\ThroughputComp.exe -f rtc_float_sameproc.conf -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_long_samecomp.bat: -------------------------------------------------------------------------------- 1 | .\ThroughputComp.exe -f rtc_long_samecomp.conf -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_long_sameproc.bat: -------------------------------------------------------------------------------- 1 | .\ThroughputComp.exe -f rtc_long_sameproc.conf -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_octet_samecomp.bat: -------------------------------------------------------------------------------- 1 | .\ThroughputComp.exe -f rtc_octet_samecomp.conf -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_octet_sameproc.bat: -------------------------------------------------------------------------------- 1 | .\ThroughputComp.exe -f rtc_octet_sameproc.conf -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_short_samecomp.bat: -------------------------------------------------------------------------------- 1 | .\ThroughputComp.exe -f rtc_long_sameproc.conf 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-------------------------------------------------------------------------------- 1 | corba.args: -ORBendPoint giop:tcp:localhost:2809 -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_double_samecomp.bat: -------------------------------------------------------------------------------- 1 | .\ThroughputComp.exe -f rtc_double_samecomp.conf -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_double_sameproc.bat: -------------------------------------------------------------------------------- 1 | .\ThroughputComp.exe -f rtc_double_sameproc.conf -------------------------------------------------------------------------------- /examples/tests/setup.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/OpenRTM/OpenRTM-aist/HEAD/examples/tests/setup.sh -------------------------------------------------------------------------------- /src/lib/rtm/idl/RTC.idl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/OpenRTM/OpenRTM-aist/HEAD/src/lib/rtm/idl/RTC.idl -------------------------------------------------------------------------------- /examples/AutoTest/setup.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/OpenRTM/OpenRTM-aist/HEAD/examples/AutoTest/setup.sh -------------------------------------------------------------------------------- /examples/ConsoleIn/include/ConsoleIn/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(hdrs ConsoleIn.h 2 | PARENT_SCOPE 3 | ) 4 | -------------------------------------------------------------------------------- /examples/tests/RTCTest.sh: 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/examples/ConsoleOut/include/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(ConsoleOut) 2 | 3 | MAP_ADD_STR(hdrs "${PROJECT_NAME}/" headers) 4 | set(headers ${headers} PARENT_SCOPE) 5 | -------------------------------------------------------------------------------- /examples/ConsoleOut/rtc.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %h.host_cxt/%n.rtc 3 | logger.enable: NO 4 | example.ConsoleOut.config_file: consout.conf 5 | -------------------------------------------------------------------------------- /examples/Controller/include/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(Controller) 2 | 3 | MAP_ADD_STR(hdrs "${PROJECT_NAME}/" headers) 4 | set(headers ${headers} PARENT_SCOPE) 5 | -------------------------------------------------------------------------------- /examples/Motor/test/include/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(MotorTest) 2 | 3 | MAP_ADD_STR(hdrs "${PROJECT_NAME}Test/" headers) 4 | set(headers ${headers} PARENT_SCOPE) 5 | -------------------------------------------------------------------------------- /examples/MyServiceConsumer/cmake/rt_middleware_banner.bmp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/OpenRTM/OpenRTM-aist/HEAD/examples/MyServiceConsumer/cmake/rt_middleware_banner.bmp -------------------------------------------------------------------------------- /examples/MyServiceProvider/cmake/rt_middleware_banner.bmp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/OpenRTM/OpenRTM-aist/HEAD/examples/MyServiceProvider/cmake/rt_middleware_banner.bmp -------------------------------------------------------------------------------- /examples/SeqIn/test/include/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(SeqInTest) 2 | 3 | MAP_ADD_STR(hdrs "${PROJECT_NAME}Test/" headers) 4 | set(headers ${headers} PARENT_SCOPE) 5 | -------------------------------------------------------------------------------- /examples/SeqOut/rtc.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %h.host_cxt/%n.rtc 3 | logger.enable: NO 4 | example.SeqOut.config_file: component.conf 5 | 6 | -------------------------------------------------------------------------------- /utils/openrtmNames/rtc.names.ws.omniorb.conf.in: -------------------------------------------------------------------------------- 1 | corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:ws://localhost:2809/ws -------------------------------------------------------------------------------- /examples/Sensor/test/include/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(SensorTest) 2 | 3 | MAP_ADD_STR(hdrs "${PROJECT_NAME}Test/" headers) 4 | set(headers ${headers} PARENT_SCOPE) 5 | -------------------------------------------------------------------------------- /examples/SeqOut/test/include/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(SeqOutTest) 2 | 3 | MAP_ADD_STR(hdrs "${PROJECT_NAME}Test/" headers) 4 | set(headers ${headers} PARENT_SCOPE) 5 | -------------------------------------------------------------------------------- /src/ext/ec/logical_time/example/LTTSample.conf: -------------------------------------------------------------------------------- 1 | exec_cxt.periodic.type: ltt_ec 2 | exec_cxt.periodic.rate: 1000 3 | exec_cxt.sync_transition: NO 4 | ec.ltt_ec.sync_tick: NO 5 | -------------------------------------------------------------------------------- /utils/openrtmNames/rtc.names.http.omniorb.conf.in: -------------------------------------------------------------------------------- 1 | corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:http://localhost:2809/call -------------------------------------------------------------------------------- /utils/rtm-naming/kill-rtm-naming.bat: -------------------------------------------------------------------------------- 1 | @echo off 2 | 3 | TASKLIST | FIND "omniNames.exe" > NUL 4 | IF NOT ERRORLEVEL 1 ( 5 | TASKKILL /F /IM omniNames.exe 6 | ) 7 | 8 | -------------------------------------------------------------------------------- /examples/ConsoleIn/test/include/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(ConsoleInTest) 2 | 3 | MAP_ADD_STR(hdrs "${PROJECT_NAME}Test/" headers) 4 | set(headers ${headers} PARENT_SCOPE) 5 | -------------------------------------------------------------------------------- /examples/ConsoleOut/test/include/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(ConsoleOutTest) 2 | 3 | MAP_ADD_STR(hdrs "${PROJECT_NAME}Test/" headers) 4 | set(headers ${headers} PARENT_SCOPE) 5 | -------------------------------------------------------------------------------- /examples/Controller/test/include/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(ControllerTest) 2 | 3 | MAP_ADD_STR(hdrs "${PROJECT_NAME}Test/" headers) 4 | set(headers ${headers} PARENT_SCOPE) 5 | -------------------------------------------------------------------------------- /examples/Composite/composite.conf: -------------------------------------------------------------------------------- 1 | conf.default.exported_ports: Motor0.out, Sensor0.in 2 | #exported_ports: Motor0.out, Sensor0.in 3 | conf.default.members: Sensor0, Controller0, Motor0 4 | -------------------------------------------------------------------------------- /examples/MyServiceConsumer/include/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(MyServiceConsumer) 2 | 3 | MAP_ADD_STR(hdrs "${PROJECT_NAME}/" headers) 4 | set(headers ${headers} PARENT_SCOPE) 5 | -------------------------------------------------------------------------------- /examples/MyServiceConsumer/test/include/MyServiceConsumerTest/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(hdrs 2 | MyServiceConsumerTest.h 3 | MyServiceSVC_impl.h 4 | PARENT_SCOPE 5 | ) 6 | -------------------------------------------------------------------------------- /examples/MyServiceProvider/include/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(MyServiceProvider) 2 | 3 | MAP_ADD_STR(hdrs "${PROJECT_NAME}/" headers) 4 | set(headers ${headers} PARENT_SCOPE) 5 | -------------------------------------------------------------------------------- /examples/AutoTest/gen_data.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | awk 'BEGIN{for(i=0;i<16;++i){printf("%.6f\n%.6f %.6f %.6f %.6f %.6f\nmessage%d\n",i,rand(),rand(),rand(),rand(),rand(),i);}}' > original-data 3 | -------------------------------------------------------------------------------- /src/lib/rtm/ext/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | if(NOT CORBA MATCHES "RtORB") 4 | add_subdirectory(rtmCamera) 5 | add_subdirectory(rtmManipulator) 6 | endif() 7 | -------------------------------------------------------------------------------- /examples/MyServiceConsumer/test/include/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(MyServiceConsumerTest) 2 | 3 | MAP_ADD_STR(hdrs "${PROJECT_NAME}Test/" headers) 4 | set(headers ${headers} PARENT_SCOPE) 5 | -------------------------------------------------------------------------------- /examples/MyServiceProvider/test/include/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(MyServiceProviderTest) 2 | 3 | MAP_ADD_STR(hdrs "${PROJECT_NAME}Test/" headers) 4 | set(headers ${headers} PARENT_SCOPE) 5 | -------------------------------------------------------------------------------- /examples/Fsm/rtc_shared.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %n.rtc 3 | exec_cxt.periodic.rate: 10.0 4 | logger.enable: yes 5 | logging.loggers.HRTM.level: trace 6 | manager.modules.preload: Fsm 7 | -------------------------------------------------------------------------------- /examples/StaticFsm/display.conf: -------------------------------------------------------------------------------- 1 | #============================================================ 2 | # component profile 3 | #============================================================ 4 | # data port configurations 5 | # 6 | -------------------------------------------------------------------------------- /examples/StaticFsm/inputbutton.conf: -------------------------------------------------------------------------------- 1 | #============================================================ 2 | # component profile 3 | #============================================================ 4 | # data port configurations 5 | # 6 | -------------------------------------------------------------------------------- /examples/StaticFsm/microwave.conf: -------------------------------------------------------------------------------- 1 | #============================================================ 2 | # component profile 3 | #============================================================ 4 | # data port configurations 5 | # 6 | -------------------------------------------------------------------------------- /examples/ConsoleIn/consin.conf: -------------------------------------------------------------------------------- 1 | port.dataport.out.tcp_any.byteswap: NO 2 | #port.outport.out.publisher.push_policy: all 3 | #port.outport.dataport.publisher.push_policy: all 4 | #port.outport.out.buffer.write.full_policy: do_nothing 5 | 6 | -------------------------------------------------------------------------------- /etc/tao_diop/rtc.diop.conf.in: -------------------------------------------------------------------------------- 1 | logger.enable: YES 2 | logger.log_level: DEBUG 3 | #logger.file_name: stdout 4 | 5 | corba.args: -ORBEndpoint iiop://: -ORBEndpoint diop://: -ORBSvcConf @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@tao_udp/svc.conf -------------------------------------------------------------------------------- /docs/DevelopersGuide/dox.awk: -------------------------------------------------------------------------------- 1 | { 2 | printf("mv %s %s.org\n", $1, $1); 3 | printf("sed -e \'s/includegraphics\\[\\([a-z\\=0-9]*\\)\\]\{/includegraphics\\[\\1\\]\{\\\\doxygendir\\//g\' %s.org > %s\n", $1, $1); 4 | printf("rm %s.org\n", $1); 5 | } 6 | -------------------------------------------------------------------------------- /etc/tao_htiop/svc.conf: -------------------------------------------------------------------------------- 1 | 2 | dynamic HTIOP_Factory Service_Object * 3 | TAO_HTIOP:_make_TAO_HTIOP_Protocol_Factory () 4 | "-config ./HT_Config.conf" 5 | 6 | static Advanced_Resource_Factory "-ORBProtocolFactory HTIOP_Factory" 7 | -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_long_twonode_2.bat: -------------------------------------------------------------------------------- 1 | start .\ThroughputComp.exe -f rtc_long_twonode_2.conf 2 | TIMEOUT /T 3 3 | cmd /c rtcon /localhost/Throughput0_1.rtc:out /localhost/Throughput0_2.rtc:in 4 | 5 | cmd /c rtact /localhost/Throughput0_1.rtc -------------------------------------------------------------------------------- /scripts/cmake/Toolchain-QNX7.cmake: -------------------------------------------------------------------------------- 1 | set(CMAKE_SYSTEM_NAME QNX) 2 | 3 | set(arch 5.4.0,gcc_ntox86_64) 4 | 5 | set(CMAKE_C_COMPILER qcc) 6 | set(CMAKE_C_COMPILER_TARGET ${arch}) 7 | set(CMAKE_CXX_COMPILER q++) 8 | set(CMAKE_CXX_COMPILER_TARGET ${arch}) 9 | -------------------------------------------------------------------------------- /src/ext/sdo/extended_fsm/test/test.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | rm -f *.log 3 | ../../../../../examples/SimpleIO/ConsoleInComp -o "logger.log_level:DEBUG" -o "manager.local_service.modules:../.libs/ExtendedFsmServiceProvider.so(ExtendedFsmServiceProviderInit)" 4 | 5 | -------------------------------------------------------------------------------- /examples/Fsm/rtc.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %n.rtc 3 | 4 | exec_cxt.periodic.rate: 1.0 5 | 6 | logger.enable: YES 7 | logger.log_level: PARANOID 8 | logging.loggers.root.level: trace 9 | logging.loggers.HRTM.level: trace 10 | -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_double_twonode_2.bat: -------------------------------------------------------------------------------- 1 | start .\ThroughputComp.exe -f rtc_double_twonode_2.conf 2 | TIMEOUT /T 3 3 | cmd /c rtcon /localhost/Throughput0_1.rtc:out /localhost/Throughput0_2.rtc:in 4 | 5 | cmd /c rtact /localhost/Throughput0_1.rtc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_float_twonode_2.bat: -------------------------------------------------------------------------------- 1 | start .\ThroughputComp.exe -f rtc_float_twonode_2.conf 2 | TIMEOUT /T 3 3 | cmd /c rtcon /localhost/Throughput0_1.rtc:out /localhost/Throughput0_2.rtc:in 4 | 5 | cmd /c rtact /localhost/Throughput0_1.rtc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_octet_twonode_2.bat: -------------------------------------------------------------------------------- 1 | start .\ThroughputComp.exe -f rtc_octet_twonode_2.conf 2 | TIMEOUT /T 3 3 | cmd /c rtcon /localhost/Throughput0_1.rtc:out /localhost/Throughput0_2.rtc:in 4 | 5 | cmd /c rtact /localhost/Throughput0_1.rtc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_short_twonode_2.bat: -------------------------------------------------------------------------------- 1 | start .\ThroughputComp.exe -f rtc_short_twonode_2.conf 2 | TIMEOUT /T 3 3 | cmd /c rtcon /localhost/Throughput0_1.rtc:out /localhost/Throughput0_2.rtc:in 4 | 5 | cmd /c rtact /localhost/Throughput0_1.rtc -------------------------------------------------------------------------------- /src/ext/sdo/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | add_subdirectory(logger) 4 | add_subdirectory(extended_fsm) 5 | if(OBSERVER_ENABLE) 6 | add_subdirectory(observer) 7 | endif(OBSERVER_ENABLE) 8 | add_subdirectory(fsm4rtc_observer) 9 | -------------------------------------------------------------------------------- /utils/rtcd/systemd/rtcd.conf: -------------------------------------------------------------------------------- 1 | manager.corba_servant: YES 2 | corba.nameservers: localhost 3 | manager.modules.abs_path_allowed: YES 4 | manager.modules.load_path: /usr/share/openrtm-1.2/components/c++/opencv-rtcs 5 | logger.file_name: /var/log/rtcd.log 6 | 7 | 8 | -------------------------------------------------------------------------------- /src/ext/logger/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | 4 | set(FLUENTBIT_ENABLE FALSE CACHE BOOL "set FLUENTBIT_ENABLE") 5 | if(FLUENTBIT_ENABLE) 6 | add_subdirectory(fluentbit_stream) 7 | endif(FLUENTBIT_ENABLE) 8 | 9 | 10 | -------------------------------------------------------------------------------- /examples/Motor/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | Motor 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /examples/SeqIn/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | SeqIn 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /examples/Sensor/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | Sensor 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /examples/SeqOut/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | SeqOut 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /examples/ConsoleIn/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | ConsoleIn 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /examples/ConsoleOut/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | ConsoleOut 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /examples/Controller/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | Controller 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /examples/Throughput/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | project (Throughput 4 | VERSION ${RTM_VERSION} 5 | LANGUAGES CXX) 6 | 7 | 8 | 9 | set(srcs Throughput.cpp Throughput.h) 10 | examples_build(Throughput SRCS "${srcs}" MAIN ThroughputComp.cpp) -------------------------------------------------------------------------------- /src/ext/sdo/observer/test/consout_obs.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | rm -f *.log 3 | rm -f comp.ior 4 | 5 | (sleep 1 ; ln -s ConsoleOut0.rtc comp.ior ; sleep 1 ; echo "Run ./observer.py in another terminal")& 6 | ../../../../../examples/SimpleIO/ConsoleInComp -f ./rtc.conf 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /src/ext/ec/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | if(NOT CORBA MATCHES "RtORB") 4 | add_subdirectory(logical_time) 5 | endif() 6 | 7 | # RT_PREEMPT EC only supported on Linux 8 | if (CMKAE_SYSTEM_NAME MATCHES "Linux") 9 | add_subdirectory(rtpreempt) 10 | endif() 11 | -------------------------------------------------------------------------------- /src/ext/sdo/observer/test/consin_obs.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | rm -f *.log 3 | rm -f comp.ior 4 | 5 | (sleep 1 ; ln -s ConsoleIn0.rtc comp.ior ; sleep 1 ; echo "Run ./observer.py in another terminal")& 6 | ../../../../../examples/SimpleIO/ConsoleInComp -f ./rtc.conf 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /src/ext/sdo/observer/test/test.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | rm -f *.log 3 | rm -f comp.ior 4 | 5 | ../../../../../examples/SimpleIO/ConsoleInComp -f ./rtc.conf 6 | #comp=`ls *ConsoleOut0.rtc` 7 | #ln -s $comp comp.ior 8 | #../../../../../examples/SimpleIO/ConsoleInComp -f ./rtc.conf 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /examples/Templates/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | file(GLOB XML_FILES "${CMAKE_CURRENT_SOURCE_DIR}/*.xml") 4 | foreach(file_path ${XML_FILES}) 5 | install(FILES ${file_path} DESTINATION ${INSTALL_RTM_EXAMPLE_DIR}/templates COMPONENT sources) 6 | endforeach() 7 | 8 | 9 | -------------------------------------------------------------------------------- /examples/MyServiceConsumer/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | MyServiceConsumer 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /examples/MyServiceProvider/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | MyServiceProvider 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /src/lib/hrtm/version.h: -------------------------------------------------------------------------------- 1 | #ifndef HRTM_VERSION_H_ 2 | #define HRTM_VERSION_H_ 3 | /* 4 | Copyright 2011 Honda R&D Co.,Ltd. 5 | */ 6 | 7 | #define HRTM_VERSION_MAJOR 0 8 | #define HRTM_VERSION_MINOR 6 9 | #define HRTM_VERSION_PATCH 13 10 | #define HRTM_REVISION 11 | 12 | #endif // HRTM_VERSION_H_ 13 | -------------------------------------------------------------------------------- /examples/HelloWorld/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | set(target HelloRTWorld) 3 | project (${target} 4 | VERSION ${RTM_VERSION} 5 | LANGUAGES CXX) 6 | 7 | 8 | set(srcs HelloRTWorld.cpp HelloRTWorld.h) 9 | examples_build(HelloRTWorld SRCS "${srcs}" MAIN HelloRTWorldComp.cpp) 10 | -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_float_twoproc.bat: -------------------------------------------------------------------------------- 1 | start .\ThroughputComp.exe -f rtc_float_twoproc_1.conf 2 | start .\ThroughputComp.exe -f rtc_float_twoproc_2.conf 3 | TIMEOUT /T 3 4 | cmd /c rtcon /localhost/Throughput0_1.rtc:out /localhost/Throughput0_2.rtc:in 5 | 6 | cmd /c rtact /localhost/Throughput0_1.rtc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_long_twoproc.bat: -------------------------------------------------------------------------------- 1 | start .\ThroughputComp.exe -f rtc_long_twoproc_1.conf 2 | start .\ThroughputComp.exe -f rtc_long_twoproc_2.conf 3 | TIMEOUT /T 3 4 | cmd /c rtcon /localhost/Throughput0_1.rtc:out /localhost/Throughput0_2.rtc:in 5 | 6 | cmd /c rtact /localhost/Throughput0_1.rtc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_octet_twoproc.bat: -------------------------------------------------------------------------------- 1 | start .\ThroughputComp.exe -f rtc_octet_twoproc_1.conf 2 | start .\ThroughputComp.exe -f rtc_octet_twoproc_2.conf 3 | TIMEOUT /T 3 4 | cmd /c rtcon /localhost/Throughput0_1.rtc:out /localhost/Throughput0_2.rtc:in 5 | 6 | cmd /c rtact /localhost/Throughput0_1.rtc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_short_twoproc.bat: -------------------------------------------------------------------------------- 1 | start .\ThroughputComp.exe -f rtc_short_twoproc_1.conf 2 | start .\ThroughputComp.exe -f rtc_short_twoproc_2.conf 3 | TIMEOUT /T 3 4 | cmd /c rtcon /localhost/Throughput0_1.rtc:out /localhost/Throughput0_2.rtc:in 5 | 6 | cmd /c rtact /localhost/Throughput0_1.rtc -------------------------------------------------------------------------------- /src/ext/transport/ROS2Transport/appexamplekey.pem: -------------------------------------------------------------------------------- 1 | -----BEGIN PRIVATE KEY----- 2 | MIGHAgEAMBMGByqGSM49AgEGCCqGSM49AwEHBG0wawIBAQQgah4HZYKAhTZwaoIO 3 | CzJB4/P/jYuZCUBO5M8ukWRquxGhRANCAATZ1UD62q1b9hSAJ6FCetdMH1+YVuKf 4 | krzSv38MqBPPR9cYjsT3ntMDlG4DcL1FU1/1jjWGeLuYswTW6toFeHIC 5 | -----END PRIVATE KEY----- 6 | -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_double_twoproc.bat: -------------------------------------------------------------------------------- 1 | start .\ThroughputComp.exe -f rtc_double_twoproc_1.conf 2 | start .\ThroughputComp.exe -f rtc_double_twoproc_2.conf 3 | TIMEOUT /T 3 4 | cmd /c rtcon /localhost/Throughput0_1.rtc:out /localhost/Throughput0_2.rtc:in 5 | 6 | cmd /c rtact /localhost/Throughput0_1.rtc -------------------------------------------------------------------------------- /scripts/cmake/run_munch_69.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | NM=$1 4 | TARGET_NAME=$2 5 | TCLSH=$3 6 | MUNCH=$4 7 | NM_FLAG=$5 8 | TAGS=$6 9 | OUTPUT=$7 10 | 11 | 12 | #echo "$NM $TARGET_NAME | $TCLSH $MUNCH -c $NM_FLAG -tags $TAGS > $OUTPUT" 13 | $NM $TARGET_NAME | $TCLSH $MUNCH -c $NM_FLAG -tags $TAGS > $OUTPUT 14 | -------------------------------------------------------------------------------- /etc/tao_htiop/rtc.htiop.conf.in: -------------------------------------------------------------------------------- 1 | logger.enable: YES 2 | logger.log_level: DEBUG 3 | #logger.file_name: stdout 4 | 5 | corba.args: -ORBEndpoint htiop:// -ORBSvcConf @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@tao_http/svc.conf 6 | 7 | #corba.nameservers: corbaloc:htiop:127.0.0.1:2809 8 | #corba.master_manager: htiop://127.0.0.1:2810 -------------------------------------------------------------------------------- /etc/tao_ssliop/rtc.ssliop.conf.in: -------------------------------------------------------------------------------- 1 | logger.enable: YES 2 | logger.log_level: DEBUG 3 | #logger.file_name: stdout 4 | 5 | corba.args: -ORBEndpoint ssliop://: -ORBSvcConf @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@tao_ssl/svc.conf 6 | 7 | corba.nameservers: corbaloc:ssliop:127.0.0.1:2809 8 | corba.master_manager: ssliop://127.0.0.1:2810 -------------------------------------------------------------------------------- /src/lib/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | add_subdirectory(coil) 4 | add_subdirectory(rtm) 5 | add_subdirectory(hrtm) 6 | 7 | set(RTM_INCLUDE_DIR ${RTM_INCLUDE_DIR} PARENT_SCOPE) 8 | set(DATATYPE_FACTORIES ${DATATYPE_FACTORIES} PARENT_SCOPE) 9 | set(RTM_INCLUDE_IDLS ${RTM_INCLUDE_IDLS} PARENT_SCOPE) 10 | -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_float_twonode_1.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_1.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: float 7 | example.Throughput.conf.default.filesuffix: -twonode -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_float_twonode_2.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_2.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: float 7 | example.Throughput.conf.default.filesuffix: -twonode -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_float_twoproc_1.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_1.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: float 7 | example.Throughput.conf.default.filesuffix: -twoproc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_float_twoproc_2.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_2.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: float 7 | example.Throughput.conf.default.filesuffix: -twoproc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_long_twonode_1.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_1.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: long 7 | example.Throughput.conf.default.filesuffix: -twonode -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_long_twonode_2.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_2.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: long 7 | example.Throughput.conf.default.filesuffix: -twonode -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_long_twoproc_1.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_1.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: long 7 | example.Throughput.conf.default.filesuffix: -twoproc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_long_twoproc_2.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_2.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: long 7 | example.Throughput.conf.default.filesuffix: -twoproc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_octet_twonode_1.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_1.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: octet 7 | example.Throughput.conf.default.filesuffix: -twonode -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_octet_twonode_2.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_2.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: octet 7 | example.Throughput.conf.default.filesuffix: -twonode -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_octet_twoproc_1.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_1.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: octet 7 | example.Throughput.conf.default.filesuffix: -twoproc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_octet_twoproc_2.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_2.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: octet 7 | example.Throughput.conf.default.filesuffix: -twoproc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_short_twonode_1.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_1.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: short 7 | example.Throughput.conf.default.filesuffix: -twonode -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_short_twonode_2.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_2.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: short 7 | example.Throughput.conf.default.filesuffix: -twonode -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_short_twoproc_1.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_1.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: short 7 | example.Throughput.conf.default.filesuffix: -twoproc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_short_twoproc_2.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_2.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: short 7 | example.Throughput.conf.default.filesuffix: -twoproc -------------------------------------------------------------------------------- /etc/tao_shmiop/rtc.shmiop.conf.in: -------------------------------------------------------------------------------- 1 | logger.enable: YES 2 | logger.log_level: DEBUG 3 | #logger.file_name: stdout 4 | 5 | corba.args: -ORBEndpoint shmiop://: -ORBSvcConf @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@tao_shm/svc.conf 6 | 7 | 8 | #corba.nameservers: corbaloc:shmiop:1.0@:2809 9 | #corba.master_manager: shmiop://1.0@hostname:2810 -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_double_twonode_1.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_1.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: double 7 | example.Throughput.conf.default.filesuffix: -twonode -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_double_twonode_2.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_2.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: double 7 | example.Throughput.conf.default.filesuffix: -twonode -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_double_twoproc_1.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_1.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: double 7 | example.Throughput.conf.default.filesuffix: -twoproc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_double_twoproc_2.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n_2.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | example.Throughput.conf.default.maxsize: 100000000 6 | example.Throughput.conf.default.datatype: double 7 | example.Throughput.conf.default.filesuffix: -twoproc -------------------------------------------------------------------------------- /src/ext/transport/OpenSplice/ccpp_CORBACdrData.h: -------------------------------------------------------------------------------- 1 | #ifndef CCPP_CORBACDRDATA_H 2 | #define CCPP_CORBACDRDATA_H 3 | 4 | #include "CORBACdrData.h" 5 | #undef OS_API 6 | #include "CORBACdrDataDcps.h" 7 | #undef OS_API 8 | 9 | #include 10 | #include "CORBACdrDataDcps_impl.h" 11 | 12 | #endif /* CCPP_CORBACDRDATA_H */ 13 | -------------------------------------------------------------------------------- /utils/rtc-template/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | 4 | if(UNIX) 5 | install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/rtc-template DESTINATION ${INSTALL_RTM_BIN_DIR} COMPONENT utils) 6 | elseif(MSVC) 7 | install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/rtc-template DESTINATION ${INSTALL_RTM_SCRIPT_DIR} COMPONENT utils) 8 | endif(UNIX) -------------------------------------------------------------------------------- /src/ext/local_service/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | if(POLICY CMP0144) 4 | cmake_policy(SET CMP0144 NEW) 5 | endif() 6 | if(POLICY CMP0167) 7 | cmake_policy(SET CMP0167 NEW) 8 | endif() 9 | 10 | find_package(Boost COMPONENTS filesystem) 11 | if(Boost_FOUND) 12 | add_subdirectory(nameservice_file) 13 | endif(Boost_FOUND) 14 | -------------------------------------------------------------------------------- /src/ext/interrupt_task/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | 4 | 5 | set(target interrupt_task) 6 | 7 | project (${target} 8 | VERSION ${RTM_VERSION} 9 | LANGUAGES CXX) 10 | 11 | add_executable(${target} ${target}.cpp) 12 | openrtm_common_set_compile_props(${target}) 13 | 14 | set_target_properties(${target} PROPERTIES SUFFIX ".out") -------------------------------------------------------------------------------- /utils/environment-setup-scripts/environment-setup.sh.in: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | export OpenRTM_DIR=@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_CMAKE_DIR@ 4 | export RTM_IDL_DIR=@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_INCLUDE_DIR@/rtm/idl 5 | 6 | export PATH=@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_BIN_DIR@:$PATH 7 | export LD_LIBRARY_PATH=@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_LIB_DIR@:$LD_LIBRARY_PATH -------------------------------------------------------------------------------- /utils/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | add_subdirectory(rtcd) 4 | add_subdirectory(rtcprof) 5 | add_subdirectory(cmake) 6 | add_subdirectory(rtm-skelwrapper) 7 | add_subdirectory(rtm-naming) 8 | add_subdirectory(openrtmNames) 9 | 10 | if(UNIX) 11 | add_subdirectory(rtm-config) 12 | endif() 13 | 14 | add_subdirectory(environment-setup-scripts) -------------------------------------------------------------------------------- /utils/cmake/OpenRTMConfigVersion.cmake.in: -------------------------------------------------------------------------------- 1 | set(PACKAGE_VERSION @RTM_VERSION@) 2 | if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 3 | set(PACKAGE_VERSION_COMPATIBLE FALSE) 4 | else() 5 | set(PACKAGE_VERSION_COMPATIBLE TRUE) 6 | if(PACKAGE_FIND_VERSION STREQUAL PACKAGE_VERSION) 7 | set(PACKAGE_VERSION_EXACT TRUE) 8 | endif() 9 | endif() 10 | 11 | -------------------------------------------------------------------------------- /examples/StringIO/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | project (StringIO 4 | VERSION ${RTM_VERSION} 5 | LANGUAGES CXX) 6 | 7 | 8 | 9 | set(srcs StringIn.cpp StringIn.h) 10 | examples_build(StringIn SRCS "${srcs}" MAIN StringInComp.cpp) 11 | 12 | 13 | set(srcs StringOut.cpp StringOut.h) 14 | examples_build(StringOut SRCS "${srcs}" MAIN StringOutComp.cpp) 15 | -------------------------------------------------------------------------------- /src/ext/ssl/rtc.conf: -------------------------------------------------------------------------------- 1 | logger.enable: YES 2 | logger.log_level: DEBUG 3 | #logger.file_name: stdout 4 | 5 | manager.modules.load_path:./,../../../src/ext/ssl/Release/ 6 | manager.preload.modules: SSLTransport.dll 7 | corba.ssl.certificate_authority_file:root.crt 8 | corba.ssl.key_file:server.pem 9 | corba.ssl.key_file_password:password 10 | corba.args:-ORBclientTransportRule "* ssl, tcp" -------------------------------------------------------------------------------- /utils/openrtmNames/rtc.names.ssl.conf.in: -------------------------------------------------------------------------------- 1 | corba.ssl.certificate_authority_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/root-sample.crt 2 | corba.ssl.key_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/server-sample.pem 3 | corba.ssl.key_file_password:password 4 | corba.args:-ORBserverTransportRule "* ssl" -ORBclientTransportRule "* ssl" -ORBendPoint giop:ssl::2809 5 | -------------------------------------------------------------------------------- /utils/rtcd/systemd/rtcd.service: -------------------------------------------------------------------------------- 1 | [Unit] 2 | Description=OpenRTM-aist master manager daemon 3 | After=network.target omniorb4-nameserver.service 4 | 5 | [Service] 6 | ExecStart=/usr/bin/rtcd -d -f /etc/rtcd/rtcd.conf 7 | ExecReload=/bin/kill -HUP $MAINPID 8 | #KillMode=process 9 | #Restart=on-failure 10 | Restart=always 11 | Type=simple 12 | 13 | [Install] 14 | WantedBy=multi-user.target 15 | -------------------------------------------------------------------------------- /examples/Analyzer/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | project (Analyzer 4 | VERSION ${RTM_VERSION} 5 | LANGUAGES CXX) 6 | 7 | 8 | set(srcs Analyzer.cpp Analyzer.h) 9 | examples_build(Analyzer SRCS "${srcs}" MAIN AnalyzerComp.cpp) 10 | 11 | 12 | 13 | set(srcs Analyzer_test.cpp Analyzer_test.h) 14 | examples_build(Analyzer_test SRCS "${srcs}" MAIN Analyzer_testComp.cpp) 15 | -------------------------------------------------------------------------------- /examples/Composite/rtc.composite.linux.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %h.host_cxt/%n.rtc 3 | logger.enable: NO 4 | manager.modules.load_path: ./, ./rtc 5 | manager.modules.preload: Controller.so, Motor.so, Sensor.so 6 | manager.components.precreate: Controller, Motor, Sensor, PeriodicECSharedComposite 7 | composite.PeriodicECShared.PeriodicECSharedComposite0.config_file: composite.conf 8 | -------------------------------------------------------------------------------- /examples/ConsoleIn/cmake/License.rtf: -------------------------------------------------------------------------------- 1 | {\rtf1\ansi\ansicpg932\deff0\deflang1033\deflangfe1041{\fonttbl{\f0\froman\fprq1\fcharset128 \'82\'6c\'82\'72 \'82\'6f\'83\'53\'83\'56\'83\'62\'83\'4e;}} 2 | {\*\generator Msftedit 5.41.15.1515;}\viewkind4\uc1\pard\lang1041\f0\fs20 LICENSE\par 3 | =======\par 4 | \par 5 | This is an installer created using CPack (http://www.cmake.org). No license provided.\par 6 | \par 7 | } 8 | -------------------------------------------------------------------------------- /examples/Motor/cmake/License.rtf: -------------------------------------------------------------------------------- 1 | {\rtf1\ansi\ansicpg932\deff0\deflang1033\deflangfe1041{\fonttbl{\f0\froman\fprq1\fcharset128 \'82\'6c\'82\'72 \'82\'6f\'83\'53\'83\'56\'83\'62\'83\'4e;}} 2 | {\*\generator Msftedit 5.41.15.1515;}\viewkind4\uc1\pard\lang1041\f0\fs20 LICENSE\par 3 | =======\par 4 | \par 5 | This is an installer created using CPack (http://www.cmake.org). No license provided.\par 6 | \par 7 | } 8 | -------------------------------------------------------------------------------- /examples/Sensor/cmake/License.rtf: -------------------------------------------------------------------------------- 1 | {\rtf1\ansi\ansicpg932\deff0\deflang1033\deflangfe1041{\fonttbl{\f0\froman\fprq1\fcharset128 \'82\'6c\'82\'72 \'82\'6f\'83\'53\'83\'56\'83\'62\'83\'4e;}} 2 | {\*\generator Msftedit 5.41.15.1515;}\viewkind4\uc1\pard\lang1041\f0\fs20 LICENSE\par 3 | =======\par 4 | \par 5 | This is an installer created using CPack (http://www.cmake.org). No license provided.\par 6 | \par 7 | } 8 | -------------------------------------------------------------------------------- /examples/SeqIn/cmake/License.rtf: -------------------------------------------------------------------------------- 1 | {\rtf1\ansi\ansicpg932\deff0\deflang1033\deflangfe1041{\fonttbl{\f0\froman\fprq1\fcharset128 \'82\'6c\'82\'72 \'82\'6f\'83\'53\'83\'56\'83\'62\'83\'4e;}} 2 | {\*\generator Msftedit 5.41.15.1515;}\viewkind4\uc1\pard\lang1041\f0\fs20 LICENSE\par 3 | =======\par 4 | \par 5 | This is an installer created using CPack (http://www.cmake.org). No license provided.\par 6 | \par 7 | } 8 | -------------------------------------------------------------------------------- /examples/SeqOut/cmake/License.rtf: -------------------------------------------------------------------------------- 1 | {\rtf1\ansi\ansicpg932\deff0\deflang1033\deflangfe1041{\fonttbl{\f0\froman\fprq1\fcharset128 \'82\'6c\'82\'72 \'82\'6f\'83\'53\'83\'56\'83\'62\'83\'4e;}} 2 | {\*\generator Msftedit 5.41.15.1515;}\viewkind4\uc1\pard\lang1041\f0\fs20 LICENSE\par 3 | =======\par 4 | \par 5 | This is an installer created using CPack (http://www.cmake.org). No license provided.\par 6 | \par 7 | } 8 | -------------------------------------------------------------------------------- /examples/ConsoleOut/cmake/License.rtf: -------------------------------------------------------------------------------- 1 | {\rtf1\ansi\ansicpg932\deff0\deflang1033\deflangfe1041{\fonttbl{\f0\froman\fprq1\fcharset128 \'82\'6c\'82\'72 \'82\'6f\'83\'53\'83\'56\'83\'62\'83\'4e;}} 2 | {\*\generator Msftedit 5.41.15.1515;}\viewkind4\uc1\pard\lang1041\f0\fs20 LICENSE\par 3 | =======\par 4 | \par 5 | This is an installer created using CPack (http://www.cmake.org). No license provided.\par 6 | \par 7 | } 8 | -------------------------------------------------------------------------------- /examples/Controller/cmake/License.rtf: -------------------------------------------------------------------------------- 1 | {\rtf1\ansi\ansicpg932\deff0\deflang1033\deflangfe1041{\fonttbl{\f0\froman\fprq1\fcharset128 \'82\'6c\'82\'72 \'82\'6f\'83\'53\'83\'56\'83\'62\'83\'4e;}} 2 | {\*\generator Msftedit 5.41.15.1515;}\viewkind4\uc1\pard\lang1041\f0\fs20 LICENSE\par 3 | =======\par 4 | \par 5 | This is an installer created using CPack (http://www.cmake.org). No license provided.\par 6 | \par 7 | } 8 | -------------------------------------------------------------------------------- /src/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | add_subdirectory(lib) 4 | set(EXTLIB_ENABLE TRUE CACHE BOOL "set EXTLIB_ENABLE ") 5 | if(EXTLIB_ENABLE) 6 | add_subdirectory(ext) 7 | endif(EXTLIB_ENABLE) 8 | 9 | 10 | set(RTM_INCLUDE_DIR ${RTM_INCLUDE_DIR} PARENT_SCOPE) 11 | set(DATATYPE_FACTORIES ${DATATYPE_FACTORIES} PARENT_SCOPE) 12 | set(RTM_INCLUDE_IDLS ${RTM_INCLUDE_IDLS} PARENT_SCOPE) -------------------------------------------------------------------------------- /utils/openrtmNames/rtc.names.ssl.omniorb.conf.in: -------------------------------------------------------------------------------- 1 | corba.ssl.certificate_authority_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/root-sample.crt 2 | corba.ssl.key_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/server-sample.pem 3 | corba.ssl.key_file_password:password 4 | corba.args:-ORBserverTransportRule "* ssl" -ORBclientTransportRule "* ssl" -ORBendPoint giop:ssl:localhost:2809 5 | -------------------------------------------------------------------------------- /utils/openrtmNames/rtc.names.wss.conf.in: -------------------------------------------------------------------------------- 1 | corba.http.certificate_authority_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/root-sample.crt 2 | corba.http.key_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/server-sample.pem 3 | corba.http.key_file_password:password 4 | corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:wss://:2809/ws 5 | -------------------------------------------------------------------------------- /utils/openrtmNames/rtc.names.https.conf.in: -------------------------------------------------------------------------------- 1 | corba.http.certificate_authority_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/root-sample.crt 2 | corba.http.key_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/server-sample.pem 3 | corba.http.key_file_password:password 4 | corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:https://:2809/call 5 | -------------------------------------------------------------------------------- /etc/tao_ssliop/svc.conf.in: -------------------------------------------------------------------------------- 1 | dynamic SSLIOP_Factory Service_Object * 2 | TAO_SSLIOP:_make_TAO_SSLIOP_Protocol_Factory() 3 | "-SSLPrivateKey PEM:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/server-sample.pem -SSLCertificate PEM:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/root-sample.crt -SSLPassword passward" 4 | static Advanced_Resource_Factory "-ORBProtocolFactory SSLIOP_Factory" 5 | -------------------------------------------------------------------------------- /examples/AutoTest/AutoTestService.idl: -------------------------------------------------------------------------------- 1 | #ifdef TAO_IDL 2 | #include 3 | #endif 4 | 5 | module AutoTest { 6 | typedef sequence EchoList; 7 | typedef sequence ValueList; 8 | interface MyService 9 | { 10 | string echo(in string msg); 11 | EchoList get_echo_history(); 12 | void set_value(in float value); 13 | float get_value(); 14 | ValueList get_value_history(); 15 | }; 16 | }; 17 | -------------------------------------------------------------------------------- /examples/MyServiceConsumer/cmake/License.rtf: -------------------------------------------------------------------------------- 1 | {\rtf1\ansi\ansicpg932\deff0\deflang1033\deflangfe1041{\fonttbl{\f0\froman\fprq1\fcharset128 \'82\'6c\'82\'72 \'82\'6f\'83\'53\'83\'56\'83\'62\'83\'4e;}} 2 | {\*\generator Msftedit 5.41.15.1515;}\viewkind4\uc1\pard\lang1041\f0\fs20 LICENSE\par 3 | =======\par 4 | \par 5 | This is an installer created using CPack (http://www.cmake.org). No license provided.\par 6 | \par 7 | } 8 | -------------------------------------------------------------------------------- /examples/MyServiceProvider/cmake/License.rtf: -------------------------------------------------------------------------------- 1 | {\rtf1\ansi\ansicpg932\deff0\deflang1033\deflangfe1041{\fonttbl{\f0\froman\fprq1\fcharset128 \'82\'6c\'82\'72 \'82\'6f\'83\'53\'83\'56\'83\'62\'83\'4e;}} 2 | {\*\generator Msftedit 5.41.15.1515;}\viewkind4\uc1\pard\lang1041\f0\fs20 LICENSE\par 3 | =======\par 4 | \par 5 | This is an installer created using CPack (http://www.cmake.org). No license provided.\par 6 | \par 7 | } 8 | -------------------------------------------------------------------------------- /utils/openrtmNames/rtc.names.wss.omniorb.conf.in: -------------------------------------------------------------------------------- 1 | corba.http.certificate_authority_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/root-sample.crt 2 | corba.http.key_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/server-sample.pem 3 | corba.http.key_file_password:password 4 | corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:wss://localhost:2809/ws 5 | -------------------------------------------------------------------------------- /src/ext/http/rtc.conf: -------------------------------------------------------------------------------- 1 | logger.enable: YES 2 | logger.log_level: DEBUG 3 | #logger.file_name: stdout 4 | 5 | manager.modules.load_path:./,../../../src/ext/http/Release/ 6 | manager.preload.modules: HTTPTransport.dll 7 | corba.http.certificate_authority_file:root.crt 8 | corba.http.key_file:server.pem 9 | corba.http.key_file_password:password 10 | corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -------------------------------------------------------------------------------- /utils/openrtmNames/rtc.names.https.omniorb.conf.in: -------------------------------------------------------------------------------- 1 | corba.http.certificate_authority_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/root-sample.crt 2 | corba.http.key_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/server-sample.pem 3 | corba.http.key_file_password:password 4 | corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:https://localhost:2809/call 5 | -------------------------------------------------------------------------------- /examples/MyServiceConsumer/idl/MyService.idl: -------------------------------------------------------------------------------- 1 | #ifdef TAO_IDL 2 | #include 3 | #endif 4 | 5 | 6 | module SimpleService { 7 | typedef sequence EchoList; 8 | typedef sequence ValueList; 9 | interface MyService 10 | { 11 | string echo(in string msg); 12 | EchoList get_echo_history(); 13 | void set_value(in float value); 14 | float get_value(); 15 | ValueList get_value_history(); 16 | }; 17 | }; 18 | -------------------------------------------------------------------------------- /examples/MyServiceProvider/idl/MyService.idl: -------------------------------------------------------------------------------- 1 | #ifdef TAO_IDL 2 | #include 3 | #endif 4 | 5 | 6 | module SimpleService { 7 | typedef sequence EchoList; 8 | typedef sequence ValueList; 9 | interface MyService 10 | { 11 | string echo(in string msg); 12 | EchoList get_echo_history(); 13 | void set_value(in float value); 14 | float get_value(); 15 | ValueList get_value_history(); 16 | }; 17 | }; 18 | -------------------------------------------------------------------------------- /etc/tao_htiop/HT_Config.conf: -------------------------------------------------------------------------------- 1 | 2 | [htbp] 3 | # The Proxy_port and proxy_host values control how the HTIOP "inside" peers 4 | # to connect to "outside" peers. In situations where the process inside a 5 | # protected enclave is required to vector all HTTP traffic through some 6 | # third-party proxy, such as Squid, then put the host and port for that 7 | # proxy here. 8 | 9 | #proxy_port=3128 10 | #proxy_host=rtai.ociweb.com 11 | -------------------------------------------------------------------------------- /src/lib/rtm/version_cmake.h.in: -------------------------------------------------------------------------------- 1 | // This header file is automatically generated. 2 | // Do not edit this file. 3 | 4 | #ifndef INCLUDE_GUARD_VERSION_H 5 | #define INCLUDE_GUARD_VERSION_H 6 | 7 | namespace RTC { 8 | const char* const openrtm_name = "@OPENRTM_NAME@"; 9 | const char* const openrtm_version = "@OPENRTM_VERSION@"; 10 | const char* const corba_name = "@CORBA_NAME@"; 11 | } 12 | 13 | #endif // INCLUDE_GUARD_VERSION_H 14 | -------------------------------------------------------------------------------- /scripts/ubuntu_2004/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM openrtm/devel-rtm:ubuntu20.04 2 | 3 | COPY OpenRTM-aist /root/OpenRTM-aist 4 | RUN cmake\ 5 | -DSSL_ENABLE=ON\ 6 | -DOBSERVER_ENABLE=ON\ 7 | -DFLUENTBIT_ENABLE=ON\ 8 | -DFLUENTBIT_ROOT=/usr/local\ 9 | -DROS_ENABLE=ON\ 10 | -DFASTRTPS_ENABLE=ON\ 11 | -DROS2_ENABLE=ON\ 12 | -DCMAKE_BUILD_TYPE=Release\ 13 | -S /root/OpenRTM-aist\ 14 | -B /tmp/rtm/build\ 15 | && cmake --build /tmp/rtm/build -j $(nproc) 16 | -------------------------------------------------------------------------------- /scripts/ubuntu_1804/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM openrtm/devel-rtm:ubuntu18.04 2 | 3 | COPY OpenRTM-aist /root/OpenRTM-aist 4 | RUN cmake\ 5 | -DSSL_ENABLE=ON\ 6 | -DOBSERVER_ENABLE=ON\ 7 | -DFLUENTBIT_ENABLE=ON\ 8 | -DFLUENTBIT_ROOT=/usr/local\ 9 | -DROS_ENABLE=ON\ 10 | -DFASTRTPS_ENABLE=ON\ 11 | -DROS2_ENABLE=ON\ 12 | -DCMAKE_BUILD_TYPE=Release\ 13 | -S /root/OpenRTM-aist\ 14 | -B/tmp/rtm/build\ 15 | && cmake --build /tmp/rtm/build -- -j$(nproc) 16 | -------------------------------------------------------------------------------- /.github/workflows/openrtm_linux.yml: -------------------------------------------------------------------------------- 1 | name: OpenRTM on Linux 2 | 3 | on: [push, pull_request] 4 | 5 | jobs: 6 | 7 | build: 8 | 9 | runs-on: ubuntu-latest 10 | strategy: 11 | matrix: 12 | os: [ubuntu_2004, ubuntu_2204, code_analysis] 13 | steps: 14 | - uses: actions/checkout@v1 15 | - name: Build OpenRTM 16 | run: docker build .. --file scripts/${{matrix.os}}/Dockerfile --tag openrtm:${{matrix.os}}-$(date +%s) 17 | -------------------------------------------------------------------------------- /examples/Fsm/camera_functions.h: -------------------------------------------------------------------------------- 1 | #ifndef CAMERA_FUNCTIONS_H_ 2 | #define CAMERA_FUNCTIONS_H_ 3 | 4 | #include 5 | #include 6 | 7 | class Fsm; 8 | 9 | void set_component(Fsm* component); 10 | Fsm* get_component(); 11 | 12 | void OutputData(double val); 13 | void DisplayFocused(RTC::TimedLong param); 14 | bool IsMemoryAvailable(RTC::TimedLong param); 15 | 16 | #endif // CAMERA_FUNCTIONS_H_ 17 | -------------------------------------------------------------------------------- /examples/Motor/cmake/motor.pc.in: -------------------------------------------------------------------------------- 1 | # This file was generated by CMake for @PROJECT_NAME@ 2 | prefix=@CMAKE_INSTALL_PREFIX@ 3 | exec_prefix=${prefix} 4 | libdir=${prefix}/@LIB_INSTALL_DIR@ 5 | includedir=${prefix}/include 6 | 7 | Name: @PROJECT_NAME@ 8 | Description: @PROJECT_DESCRIPTION@ 9 | Version: @PROJECT_VERSION@ 10 | Requires: @PKG_DEPS@ 11 | Libs: -L${libdir} @PKG_LIBS@ 12 | Cflags: -I${includedir}/@PROJECT_NAME_LOWER@-@PROJECT_VERSION_MAJOR@ 13 | 14 | -------------------------------------------------------------------------------- /examples/SeqIn/cmake/seqin.pc.in: -------------------------------------------------------------------------------- 1 | # This file was generated by CMake for @PROJECT_NAME@ 2 | prefix=@CMAKE_INSTALL_PREFIX@ 3 | exec_prefix=${prefix} 4 | libdir=${prefix}/@LIB_INSTALL_DIR@ 5 | includedir=${prefix}/include 6 | 7 | Name: @PROJECT_NAME@ 8 | Description: @PROJECT_DESCRIPTION@ 9 | Version: @PROJECT_VERSION@ 10 | Requires: @PKG_DEPS@ 11 | Libs: -L${libdir} @PKG_LIBS@ 12 | Cflags: -I${includedir}/@PROJECT_NAME_LOWER@-@PROJECT_VERSION_MAJOR@ 13 | 14 | -------------------------------------------------------------------------------- /src/lib/hrtm/logger.cpp: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file logger.cpp 4 | * @brief RTC::Logger wrapper class for hrtm::Logger 5 | * @date $Date$ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2016 9 | * Noriaki Ando 10 | * National Institute of 11 | * Advanced Industrial Science and Technology (AIST), Japan 12 | * All rights reserved. 13 | * 14 | * $Id$ 15 | * 16 | */ 17 | #include 18 | -------------------------------------------------------------------------------- /examples/Sensor/cmake/sensor.pc.in: -------------------------------------------------------------------------------- 1 | # This file was generated by CMake for @PROJECT_NAME@ 2 | prefix=@CMAKE_INSTALL_PREFIX@ 3 | exec_prefix=${prefix} 4 | libdir=${prefix}/@LIB_INSTALL_DIR@ 5 | includedir=${prefix}/include 6 | 7 | Name: @PROJECT_NAME@ 8 | Description: @PROJECT_DESCRIPTION@ 9 | Version: @PROJECT_VERSION@ 10 | Requires: @PKG_DEPS@ 11 | Libs: -L${libdir} @PKG_LIBS@ 12 | Cflags: -I${includedir}/@PROJECT_NAME_LOWER@-@PROJECT_VERSION_MAJOR@ 13 | 14 | -------------------------------------------------------------------------------- /examples/SeqOut/cmake/seqout.pc.in: -------------------------------------------------------------------------------- 1 | # This file was generated by CMake for @PROJECT_NAME@ 2 | prefix=@CMAKE_INSTALL_PREFIX@ 3 | exec_prefix=${prefix} 4 | libdir=${prefix}/@LIB_INSTALL_DIR@ 5 | includedir=${prefix}/include 6 | 7 | Name: @PROJECT_NAME@ 8 | Description: @PROJECT_DESCRIPTION@ 9 | Version: @PROJECT_VERSION@ 10 | Requires: @PKG_DEPS@ 11 | Libs: -L${libdir} @PKG_LIBS@ 12 | Cflags: -I${includedir}/@PROJECT_NAME_LOWER@-@PROJECT_VERSION_MAJOR@ 13 | 14 | -------------------------------------------------------------------------------- /scripts/ubuntu_2204/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM openrtm/devel-rtm:ubuntu22.04 2 | 3 | COPY OpenRTM-aist /root/OpenRTM-aist 4 | RUN cmake\ 5 | -DSSL_ENABLE=ON\ 6 | -DOBSERVER_ENABLE=ON\ 7 | -DFLUENTBIT_ENABLE=ON\ 8 | -DFLUENTBIT_ROOT=/usr/local\ 9 | -DFLUENTBIT_ADD_INCLUDE=ON\ 10 | -DFASTRTPS_ENABLE=ON\ 11 | -DROS2_ENABLE=ON\ 12 | -DCMAKE_BUILD_TYPE=Release\ 13 | -S /root/OpenRTM-aist\ 14 | -B /tmp/rtm/build\ 15 | && cmake --build /tmp/rtm/build -j $(nproc) 16 | -------------------------------------------------------------------------------- /examples/ConsoleIn/cmake/consolein.pc.in: -------------------------------------------------------------------------------- 1 | # This file was generated by CMake for @PROJECT_NAME@ 2 | prefix=@CMAKE_INSTALL_PREFIX@ 3 | exec_prefix=${prefix} 4 | libdir=${prefix}/@LIB_INSTALL_DIR@ 5 | includedir=${prefix}/include 6 | 7 | Name: @PROJECT_NAME@ 8 | Description: @PROJECT_DESCRIPTION@ 9 | Version: @PROJECT_VERSION@ 10 | Requires: @PKG_DEPS@ 11 | Libs: -L${libdir} @PKG_LIBS@ 12 | Cflags: -I${includedir}/@PROJECT_NAME_LOWER@-@PROJECT_VERSION_MAJOR@ 13 | 14 | -------------------------------------------------------------------------------- /examples/ConsoleOut/cmake/consoleout.pc.in: -------------------------------------------------------------------------------- 1 | # This file was generated by CMake for @PROJECT_NAME@ 2 | prefix=@CMAKE_INSTALL_PREFIX@ 3 | exec_prefix=${prefix} 4 | libdir=${prefix}/@LIB_INSTALL_DIR@ 5 | includedir=${prefix}/include 6 | 7 | Name: @PROJECT_NAME@ 8 | Description: @PROJECT_DESCRIPTION@ 9 | Version: @PROJECT_VERSION@ 10 | Requires: @PKG_DEPS@ 11 | Libs: -L${libdir} @PKG_LIBS@ 12 | Cflags: -I${includedir}/@PROJECT_NAME_LOWER@-@PROJECT_VERSION_MAJOR@ 13 | 14 | -------------------------------------------------------------------------------- /examples/Controller/cmake/controller.pc.in: -------------------------------------------------------------------------------- 1 | # This file was generated by CMake for @PROJECT_NAME@ 2 | prefix=@CMAKE_INSTALL_PREFIX@ 3 | exec_prefix=${prefix} 4 | libdir=${prefix}/@LIB_INSTALL_DIR@ 5 | includedir=${prefix}/include 6 | 7 | Name: @PROJECT_NAME@ 8 | Description: @PROJECT_DESCRIPTION@ 9 | Version: @PROJECT_VERSION@ 10 | Requires: @PKG_DEPS@ 11 | Libs: -L${libdir} @PKG_LIBS@ 12 | Cflags: -I${includedir}/@PROJECT_NAME_LOWER@-@PROJECT_VERSION_MAJOR@ 13 | 14 | -------------------------------------------------------------------------------- /utils/environment-setup-scripts/environment-setup.tao.bat.in: -------------------------------------------------------------------------------- 1 | @echo off 2 | 3 | set OpenRTM_DIR=@CMAKE_INSTALL_PREFIX@\@INSTALL_RTM_CMAKE_DIR@ 4 | set RTM_BASE=@CMAKE_INSTALL_PREFIX@ 5 | set RTM_IDL_DIR=@CMAKE_INSTALL_PREFIX@\@INSTALL_RTM_INCLUDE_DIR@\rtm\idl 6 | set RTM_ROOT=@CMAKE_INSTALL_PREFIX@\@INSTALL_RTM_INCLUDE_DIR@ 7 | set RTM_VC_VERSION=@RTM_VC_VER@ 8 | 9 | set PATH=@CMAKE_INSTALL_PREFIX@\@INSTALL_RTM_BIN_DIR@;@CMAKE_INSTALL_PREFIX@\@ORB_INSTALL_DIR@\bin;%PATH% -------------------------------------------------------------------------------- /examples/ConsoleOut/consout.conf: -------------------------------------------------------------------------------- 1 | port.dataport.in.tcp_any.inport_addr: localhost:9990 2 | port.dataport.in.tcp_any.byteswap: NO 3 | port.dataport.in.tcp_any.buffer_size: 4 4 | #port.inport.in.buffer.read.empty_policy: block 5 | #port.inport.in.buffer.read.timeout: 2.0 6 | #port.inport.in.buffer.write.full_policy: block 7 | #port.inport.in.buffer.write.timeout: 2.0 8 | #port.inport.in.buffer.write.full_policy: do_nothing 9 | #port.inport.in.buffer.write.full_policy: overwrite 10 | -------------------------------------------------------------------------------- /scripts/ubuntu_2404/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM openrtm/devel-rtm:ubuntu24.04 2 | 3 | COPY OpenRTM-aist /root/OpenRTM-aist 4 | RUN cmake\ 5 | -DSSL_ENABLE=ON\ 6 | -DHTTP_ENABLE=ON\ 7 | -DOBSERVER_ENABLE=ON\ 8 | -DFLUENTBIT_ENABLE=ON\ 9 | -DFLUENTBIT_ROOT=/usr/local\ 10 | -DFLUENTBIT_ADD_INCLUDE=ON\ 11 | -DFASTRTPS_ENABLE=ON\ 12 | -DROS2_ENABLE=ON\ 13 | -DCMAKE_BUILD_TYPE=Release\ 14 | -S /root/OpenRTM-aist\ 15 | -B /tmp/rtm/build\ 16 | && cmake --build /tmp/rtm/build -j $(nproc) 17 | -------------------------------------------------------------------------------- /docs/DevelopersGuide/icon/Blank.eps: -------------------------------------------------------------------------------- 1 | %!PS-Adobe-2.0 EPSF-2.0 2 | %%BoundingBox: 0 0 16 16 3 | /pstr 4 | 16 string 5 | def 6 | /inputf 7 | currentfile 8 | /ASCII85Decode filter 9 | /RunLengthDecode filter 10 | def 11 | % 12 | % created by bmeps 1.0.7a (SCCS=1.67) 13 | % 14 | gsave 15 | 0 16 translate 16 | 16 16 scale 17 | 16 16 8 [16 0 0 -16 0 0] 18 | { inputf pstr readstring pop } 19 | false 20 | 3 21 | colorimage 22 | K)^H&K)^H&K)^H&qu6 23 | ~> 24 | grestore 25 | showpage 26 | -------------------------------------------------------------------------------- /examples/ConfigSample/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | set(target ConfigSample) 3 | project (${target} 4 | VERSION ${RTM_VERSION} 5 | LANGUAGES CXX) 6 | 7 | 8 | set(srcs ConfigSample.cpp ConfigSample.h) 9 | examples_build(ConfigSample SRCS "${srcs}" MAIN ConfigSampleComp.cpp) 10 | 11 | install(FILES rtc.conf DESTINATION ${INSTALL_RTM_EXAMPLE_DIR} COMPONENT examples) 12 | install(FILES configsample.conf DESTINATION ${INSTALL_RTM_EXAMPLE_DIR} COMPONENT examples) 13 | -------------------------------------------------------------------------------- /examples/tests/rtc.conf: -------------------------------------------------------------------------------- 1 | # memory leak check test only configration 2 | # 3 | #corba.nameservers: localhost 4 | corba.nameservers: localhost:9898 5 | #naming.formats: %h.host_cxt/%n.rtc 6 | naming.formats: %n.rtc 7 | logger.enable: NO 8 | #logger.file_name: rtc.log 9 | #logger.log_level: PARANOID 10 | #manager.modules.load_path: ./ 11 | # 12 | manager.modules.preload: ConsoleIn.so, ConsoleOut.so, SeqIn.so 13 | # 14 | manager.components.precreate: ConsoleIn,ConsoleOut, SeqIn 15 | # 16 | 17 | -------------------------------------------------------------------------------- /examples/MyServiceConsumer/cmake/myserviceconsumer.pc.in: -------------------------------------------------------------------------------- 1 | # This file was generated by CMake for @PROJECT_NAME@ 2 | prefix=@CMAKE_INSTALL_PREFIX@ 3 | exec_prefix=${prefix} 4 | libdir=${prefix}/@LIB_INSTALL_DIR@ 5 | includedir=${prefix}/include 6 | 7 | Name: @PROJECT_NAME@ 8 | Description: @PROJECT_DESCRIPTION@ 9 | Version: @PROJECT_VERSION@ 10 | Requires: @PKG_DEPS@ 11 | Libs: -L${libdir} @PKG_LIBS@ 12 | Cflags: -I${includedir}/@PROJECT_NAME_LOWER@-@PROJECT_VERSION_MAJOR@ 13 | 14 | -------------------------------------------------------------------------------- /examples/MyServiceProvider/cmake/myserviceprovider.pc.in: -------------------------------------------------------------------------------- 1 | # This file was generated by CMake for @PROJECT_NAME@ 2 | prefix=@CMAKE_INSTALL_PREFIX@ 3 | exec_prefix=${prefix} 4 | libdir=${prefix}/@LIB_INSTALL_DIR@ 5 | includedir=${prefix}/include 6 | 7 | Name: @PROJECT_NAME@ 8 | Description: @PROJECT_DESCRIPTION@ 9 | Version: @PROJECT_VERSION@ 10 | Requires: @PKG_DEPS@ 11 | Libs: -L${libdir} @PKG_LIBS@ 12 | Cflags: -I${includedir}/@PROJECT_NAME_LOWER@-@PROJECT_VERSION_MAJOR@ 13 | 14 | -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_float_samecomp.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | manager.components.preconnect: Throughput0.out?port=Throughput0.in&dataflow_type=push&interface_type=corba_cdr 6 | manager.components.preactivation: Throughput0 7 | example.Throughput.conf.default.maxsize: 100000000 8 | example.Throughput.conf.default.datatype: short 9 | example.Throughput.conf.default.filesuffix: -sameproc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_long_samecomp.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | manager.components.preconnect: Throughput0.out?port=Throughput0.in&dataflow_type=push&interface_type=corba_cdr 6 | manager.components.preactivation: Throughput0 7 | example.Throughput.conf.default.maxsize: 100000000 8 | example.Throughput.conf.default.datatype: long 9 | example.Throughput.conf.default.filesuffix: -sameproc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_octet_samecomp.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | manager.components.preconnect: Throughput0.out?port=Throughput0.in&dataflow_type=push&interface_type=corba_cdr 6 | manager.components.preactivation: Throughput0 7 | example.Throughput.conf.default.maxsize: 100000000 8 | example.Throughput.conf.default.datatype: octet 9 | example.Throughput.conf.default.filesuffix: -sameproc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_short_samecomp.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | manager.components.preconnect: Throughput0.out?port=Throughput0.in&dataflow_type=push&interface_type=corba_cdr 6 | manager.components.preactivation: Throughput0 7 | example.Throughput.conf.default.maxsize: 100000000 8 | example.Throughput.conf.default.datatype: short 9 | example.Throughput.conf.default.filesuffix: -samecomp -------------------------------------------------------------------------------- /scripts/code_check/check_AZ.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # This script checks C++ standard coding error 3 | # -> reserved word: such as _ABC 4 | 5 | find . -type f -name '*.h' -exec grep -H " _[A-Z]" {} \; \ 6 | -or -name '*.cpp' -exec grep -H " _[A-Z]" {} \; | \ 7 | egrep -v '(Macho\.h|Macho\.cpp)' | 8 | egrep -v '(_WIN32|_MSC_VER|_MAX_PATH)' | \ 9 | egrep -v '(_GNU_SOURCE|_TRUNCATE)' | \ 10 | egrep -v '(_CORBA_Unbounded_Sequence)' 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /src/ext/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | add_subdirectory(sdo) 4 | add_subdirectory(local_service) 5 | add_subdirectory(ec) 6 | add_subdirectory(logger) 7 | 8 | add_subdirectory(transport) 9 | 10 | if(VXWORKS) 11 | if(RTP) 12 | else(RTP) 13 | add_subdirectory(interrupt_task) 14 | endif(RTP) 15 | endif(VXWORKS) 16 | 17 | if(SSL_ENABLE) 18 | add_subdirectory(ssl) 19 | if(HTTP_ENABLE) 20 | add_subdirectory(http) 21 | endif(HTTP_ENABLE) 22 | endif(SSL_ENABLE) -------------------------------------------------------------------------------- /examples/Composite/rtc_win32.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %n.rtc 3 | logger.enable: NO 4 | #logger.file_name: rtc.log 5 | #logger.log_level: PARANOID 6 | #manager.modules.load_path: ./.libs/ 7 | manager.modules.preload: Controller.dll, Motor.dll, Sensor.dll 8 | manager.components.precreate: Controller, Motor, Sensor, PeriodicECSharedComposite 9 | composite.PeriodicECShared.PeriodicECSharedComposite0.config_file: composite.conf 10 | #example.Motor0.config_file: motor.conf 11 | -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_double_samecomp.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: 5 | manager.components.preconnect: Throughput0.out?port=Throughput0.in&dataflow_type=push&interface_type=corba_cdr 6 | manager.components.preactivation: Throughput0 7 | example.Throughput.conf.default.maxsize: 100000000 8 | example.Throughput.conf.default.datatype: double 9 | example.Throughput.conf.default.filesuffix: -sameproc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_float_direct.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: Throughput 5 | manager.components.preconnect: Throughput0.out?port=Throughput1.in&dataflow_type=push&interface_type=direct 6 | manager.components.preactivation: Throughput0 7 | example.Throughput.conf.default.maxsize: 100000000 8 | example.Throughput.conf.default.datatype: short 9 | example.Throughput.conf.default.filesuffix: -direct -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_long_direct.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: Throughput 5 | manager.components.preconnect: Throughput0.out?port=Throughput1.in&dataflow_type=push&interface_type=direct 6 | manager.components.preactivation: Throughput0 7 | example.Throughput.conf.default.maxsize: 100000000 8 | example.Throughput.conf.default.datatype: long 9 | example.Throughput.conf.default.filesuffix: -direct -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_octet_direct.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: Throughput 5 | manager.components.preconnect: Throughput0.out?port=Throughput1.in&dataflow_type=push&interface_type=direct 6 | manager.components.preactivation: Throughput0 7 | example.Throughput.conf.default.maxsize: 100000000 8 | example.Throughput.conf.default.datatype: octet 9 | example.Throughput.conf.default.filesuffix: -direct -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_short_direct.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: Throughput 5 | manager.components.preconnect: Throughput0.out?port=Throughput1.in&dataflow_type=push&interface_type=direct 6 | manager.components.preactivation: Throughput0 7 | example.Throughput.conf.default.maxsize: 100000000 8 | example.Throughput.conf.default.datatype: short 9 | example.Throughput.conf.default.filesuffix: -direct -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_float_sameproc.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: Throughput 5 | manager.components.preconnect: Throughput0.out?port=Throughput1.in&dataflow_type=push&interface_type=corba_cdr 6 | manager.components.preactivation: Throughput0 7 | example.Throughput.conf.default.maxsize: 100000000 8 | example.Throughput.conf.default.datatype: short 9 | example.Throughput.conf.default.filesuffix: -sameproc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_long_sameproc.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: Throughput 5 | manager.components.preconnect: Throughput0.out?port=Throughput1.in&dataflow_type=push&interface_type=corba_cdr 6 | manager.components.preactivation: Throughput0 7 | example.Throughput.conf.default.maxsize: 100000000 8 | example.Throughput.conf.default.datatype: long 9 | example.Throughput.conf.default.filesuffix: -sameproc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_octet_sameproc.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: Throughput 5 | manager.components.preconnect: Throughput0.out?port=Throughput1.in&dataflow_type=push&interface_type=corba_cdr 6 | manager.components.preactivation: Throughput0 7 | example.Throughput.conf.default.maxsize: 100000000 8 | example.Throughput.conf.default.datatype: octet 9 | example.Throughput.conf.default.filesuffix: -sameproc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_short_sameproc.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: Throughput 5 | manager.components.preconnect: Throughput0.out?port=Throughput1.in&dataflow_type=push&interface_type=corba_cdr 6 | manager.components.preactivation: Throughput0 7 | example.Throughput.conf.default.maxsize: 100000000 8 | example.Throughput.conf.default.datatype: short 9 | example.Throughput.conf.default.filesuffix: -sameproc -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_double_sameproc.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | naming.formats: %n.rtc 3 | corba.args: -ORBgiopMaxMsgSize 209715200 4 | manager.components.precreate: Throughput 5 | manager.components.preconnect: Throughput0.out?port=Throughput1.in&dataflow_type=push&interface_type=corba_cdr 6 | manager.components.preactivation: Throughput0 7 | example.Throughput.conf.default.maxsize: 100000000 8 | example.Throughput.conf.default.datatype: double 9 | example.Throughput.conf.default.filesuffix: -sameproc -------------------------------------------------------------------------------- /src/lib/coil/posix/coil/OS.cpp: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file OS_posix.cpp 4 | * @brief OS class 5 | * @date $Date$ 6 | * @author Nobuhiko Miyamoto 7 | * 8 | * Copyright (C) 2019 9 | * Robot Innovation Research Center, 10 | * Intelligent Systems Research Institute, 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * All rights reserved. 14 | * 15 | * $Id$ 16 | * 17 | */ 18 | 19 | #include 20 | -------------------------------------------------------------------------------- /src/lib/coil/vxworks/coil/OS.cpp: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file OS_vxworks.cpp 4 | * @brief OS class 5 | * @date $Date$ 6 | * @author Nobuhiko Miyamoto 7 | * 8 | * Copyright (C) 2019 9 | * Robot Innovation Research Center, 10 | * Intelligent Systems Research Institute, 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * All rights reserved. 14 | * 15 | * $Id$ 16 | * 17 | */ 18 | 19 | #include 20 | -------------------------------------------------------------------------------- /src/ext/logger/fluentbit_stream/rtc.fluentbit_stream.conf.in: -------------------------------------------------------------------------------- 1 | logger.enable: YES 2 | logger.log_level: DEBUG 3 | #logger.file_name: stdout 4 | 5 | logger.plugins: @FLUENTPLUGIN_PATH@ 6 | 7 | logger.logstream.fluentd.output0.plugin: forward 8 | logger.logstream.fluentd.output0.conf.match:* 9 | logger.logstream.fluentd.output0.conf.retry_limit:Off 10 | 11 | logger.logstream.fluentd.input0.plugin: lib 12 | logger.logstream.fluentd.input0.conf.tag: rtclog 13 | 14 | logger.logstream.fluentd.option.log_level:off 15 | -------------------------------------------------------------------------------- /examples/Motor/cmake/motor-config-version.cmake.in: -------------------------------------------------------------------------------- 1 | set(PACKAGE_VERSION @PROJECT_VERSION@) 2 | if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 3 | set(PACKAGE_VERSION_COMPATIBLE FALSE) 4 | else(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 5 | set(PACKAGE_VERSION_COMPATIBLE TRUE) 6 | if(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 7 | set(PACKAGE_VERSION_EXACT TRUE) 8 | endif(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 9 | endif(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 10 | 11 | -------------------------------------------------------------------------------- /examples/SeqIn/cmake/seqin-config-version.cmake.in: -------------------------------------------------------------------------------- 1 | set(PACKAGE_VERSION @PROJECT_VERSION@) 2 | if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 3 | set(PACKAGE_VERSION_COMPATIBLE FALSE) 4 | else(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 5 | set(PACKAGE_VERSION_COMPATIBLE TRUE) 6 | if(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 7 | set(PACKAGE_VERSION_EXACT TRUE) 8 | endif(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 9 | endif(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 10 | 11 | -------------------------------------------------------------------------------- /src/ext/ec/rtpreempt/example/rtc.conf1: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %h.host_cxt/%n500hz-p10.rtc 3 | logger.enable: YES 4 | logger.log_level: DEBUG 5 | logger.file_name: /tmp/rtc%p.log 6 | exec_cxt.periodic.type: RTPreemptEC 7 | exec_cxt.periodic.rate: 500 8 | exec_cxt.periodic.priority: 10 9 | exec_cxt.periodic.rtpreempt.wait_offset: -22000 10 | exec_cxt.periodic.rtpreempt.sched_policy: rr 11 | manager.modules.load_path: ../ 12 | manager.modules.preload: RTPreemptEC.so 13 | manager.modules.abs_path_allowed: yes 14 | -------------------------------------------------------------------------------- /examples/Sensor/cmake/sensor-config-version.cmake.in: -------------------------------------------------------------------------------- 1 | set(PACKAGE_VERSION @PROJECT_VERSION@) 2 | if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 3 | set(PACKAGE_VERSION_COMPATIBLE FALSE) 4 | else(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 5 | set(PACKAGE_VERSION_COMPATIBLE TRUE) 6 | if(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 7 | set(PACKAGE_VERSION_EXACT TRUE) 8 | endif(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 9 | endif(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 10 | 11 | -------------------------------------------------------------------------------- /examples/SeqOut/cmake/seqout-config-version.cmake.in: -------------------------------------------------------------------------------- 1 | set(PACKAGE_VERSION @PROJECT_VERSION@) 2 | if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 3 | set(PACKAGE_VERSION_COMPATIBLE FALSE) 4 | else(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 5 | set(PACKAGE_VERSION_COMPATIBLE TRUE) 6 | if(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 7 | set(PACKAGE_VERSION_EXACT TRUE) 8 | endif(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 9 | endif(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 10 | 11 | -------------------------------------------------------------------------------- /examples/Throughput/scripts/rtc_double_direct.conf: -------------------------------------------------------------------------------- 1 | logger.enable: NO 2 | #logger.log_level: TRACE 3 | naming.formats: %n.rtc 4 | corba.args: -ORBgiopMaxMsgSize 209715200 5 | manager.components.precreate: Throughput 6 | manager.components.preconnect: Throughput0.out?port=Throughput1.in&dataflow_type=push&interface_type=direct 7 | manager.components.preactivation: Throughput0 8 | example.Throughput.conf.default.maxsize: 100000000 9 | example.Throughput.conf.default.datatype: double 10 | example.Throughput.conf.default.filesuffix: -direct -------------------------------------------------------------------------------- /scripts/code_check/check__.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # This script checks C++ standard coding error 3 | # -> double underscore is illeagal such as __ABC 4 | 5 | grep "__" -r . | \ 6 | egrep "\.(cpp|h):" | \ 7 | egrep -v "(doil|tests)" | \ 8 | egrep -v "(__QNX|__RTP|__NT|__WIN32|__GNU|__gnu|__clang__|__linux|__declspec|__powerpc|__arm|__pragma|__attribute|_____)" | \ 9 | egrep -v "(__widget__|__type__|__constraints__)" | \ 10 | egrep -v "(__rosidl)" | \ 11 | egrep -v "(__restrict)" | \ 12 | egrep -v "(__this())" 13 | 14 | -------------------------------------------------------------------------------- /src/ext/ec/rtpreempt/example/rtc.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %h.host_cxt/%n1000hz-p30.rtc 3 | logger.enable: YES 4 | logger.log_level: DEBUG 5 | logger.file_name: /tmp/rtc%p.log 6 | exec_cxt.periodic.type: RTPreemptEC 7 | exec_cxt.periodic.rate: 1000 8 | exec_cxt.periodic.priority: 30 9 | exec_cxt.periodic.rtpreempt.wait_offset: -22000 10 | exec_cxt.periodic.rtpreempt.sched_policy: rr 11 | manager.modules.load_path: ../ 12 | manager.modules.preload: RTPreemptEC.so 13 | manager.modules.abs_path_allowed: yes 14 | -------------------------------------------------------------------------------- /examples/ConsoleIn/cmake/consolein-config-version.cmake.in: -------------------------------------------------------------------------------- 1 | set(PACKAGE_VERSION @PROJECT_VERSION@) 2 | if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 3 | set(PACKAGE_VERSION_COMPATIBLE FALSE) 4 | else(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 5 | set(PACKAGE_VERSION_COMPATIBLE TRUE) 6 | if(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 7 | set(PACKAGE_VERSION_EXACT TRUE) 8 | endif(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 9 | endif(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 10 | 11 | -------------------------------------------------------------------------------- /examples/ConsoleOut/cmake/consoleout-config-version.cmake.in: -------------------------------------------------------------------------------- 1 | set(PACKAGE_VERSION @PROJECT_VERSION@) 2 | if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 3 | set(PACKAGE_VERSION_COMPATIBLE FALSE) 4 | else(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 5 | set(PACKAGE_VERSION_COMPATIBLE TRUE) 6 | if(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 7 | set(PACKAGE_VERSION_EXACT TRUE) 8 | endif(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 9 | endif(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 10 | 11 | -------------------------------------------------------------------------------- /examples/Controller/cmake/controller-config-version.cmake.in: -------------------------------------------------------------------------------- 1 | set(PACKAGE_VERSION @PROJECT_VERSION@) 2 | if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 3 | set(PACKAGE_VERSION_COMPATIBLE FALSE) 4 | else(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 5 | set(PACKAGE_VERSION_COMPATIBLE TRUE) 6 | if(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 7 | set(PACKAGE_VERSION_EXACT TRUE) 8 | endif(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 9 | endif(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 10 | 11 | -------------------------------------------------------------------------------- /examples/StaticFsm/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | project (StaticFSM 4 | VERSION ${RTM_VERSION} 5 | LANGUAGES CXX) 6 | 7 | examples_build(Display 8 | SRCS Display.cpp Display.h 9 | MAIN DisplayComp.cpp) 10 | 11 | examples_build(Inputbutton 12 | SRCS Inputbutton.cpp Inputbutton.h 13 | MAIN InputbuttonComp.cpp) 14 | 15 | examples_build(Microwave 16 | SRCS Microwave.cpp Microwave.h MicrowaveFsm.cpp MicrowaveFsm.h 17 | MAIN MicrowaveComp.cpp 18 | VXADDFILE ${CMAKE_SOURCE_DIR}/src/lib/rtm/Macho.cpp) 19 | -------------------------------------------------------------------------------- /src/ext/http/rtc.ws.conf.in: -------------------------------------------------------------------------------- 1 | logger.enable: YES 2 | logger.log_level: DEBUG 3 | #logger.file_name: stdout 4 | 5 | naming.formats: %h.host_cxt/%n.rtc 6 | 7 | manager.modules.load_path: @CMAKE_INSTALL_PREFIX@/@INSTALL_HTTPTRANSPORT_DIR@ 8 | manager.preload.modules: HTTPTransport@CMAKE_SHARED_LIBRARY_SUFFIX@ 9 | 10 | corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:ws:///ws 11 | corba.nameservers: ws://localhost:2809/ws 12 | corba.master_manager: giop:http:ws://localhost:2810/ws 13 | -------------------------------------------------------------------------------- /examples/ConfigSample/rtc.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %h.host_cxt/%n.rtc 3 | logger.enable: NO 4 | example.ConfigSample.config_file: configsample.conf 5 | 6 | ## If you want to try to run Composite component, uncomment the following lines. 7 | # manager.modules.load_path: ./.libs/ 8 | # manager.modules.preload: Controller.so, Motor.so, Sensor.so 9 | # manager.components.precreate: Controller, Motor, Sensor, PeriodicECSharedComposite 10 | # composite.PeriodicECShared.PeriodicECSharedComposite0.config_file: composite.conf 11 | -------------------------------------------------------------------------------- /src/lib/coil/vxworks/coil/File.cpp: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file File_vxworks.cpp 4 | * @brief File functions 5 | * @date $Date$ 6 | * @author Nobuhiko Miyamoto 7 | * 8 | * Copyright (C) 2019 9 | * Robot Innovation Research Center, 10 | * Intelligent Systems Research Institute, 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * All rights reserved. 14 | * 15 | * $Id$ 16 | * 17 | */ 18 | 19 | #include 20 | -------------------------------------------------------------------------------- /src/ext/http/rtc.http.conf.in: -------------------------------------------------------------------------------- 1 | logger.enable: YES 2 | logger.log_level: DEBUG 3 | #logger.file_name: stdout 4 | 5 | naming.formats: %h.host_cxt/%n.rtc 6 | 7 | manager.modules.load_path: @CMAKE_INSTALL_PREFIX@/@INSTALL_HTTPTRANSPORT_DIR@ 8 | manager.preload.modules: HTTPTransport@CMAKE_SHARED_LIBRARY_SUFFIX@ 9 | 10 | corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:http:///call 11 | corba.nameservers: http://localhost:2809/call 12 | corba.master_manager: giop:http:http://localhost:2810/call 13 | -------------------------------------------------------------------------------- /utils/environment-setup-scripts/environment-setup.omniorb.bat.in: -------------------------------------------------------------------------------- 1 | @echo off 2 | 3 | set OMNI_ROOT=@CMAKE_INSTALL_PREFIX@\@ORB_INSTALL_DIR@ 4 | set OpenRTM_DIR=@CMAKE_INSTALL_PREFIX@\@INSTALL_RTM_CMAKE_DIR@ 5 | set RTM_BASE=@CMAKE_INSTALL_PREFIX@ 6 | set RTM_IDL_DIR=@CMAKE_INSTALL_PREFIX@\@INSTALL_RTM_INCLUDE_DIR@\rtm\idl 7 | set RTM_ROOT=@CMAKE_INSTALL_PREFIX@\@INSTALL_RTM_INCLUDE_DIR@ 8 | set RTM_VC_VERSION=@RTM_VC_VER@ 9 | 10 | set PATH=@CMAKE_INSTALL_PREFIX@\@INSTALL_RTM_BIN_DIR@;@CMAKE_INSTALL_PREFIX@\@ORB_INSTALL_DIR@/bin/@ARCH_NAME@;%PATH% -------------------------------------------------------------------------------- /examples/Serializer/rtc_original_serializer.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %n.rtc 3 | logger.enable: YES 4 | logger.file_name: stdout 5 | logger.log_level: ERROR 6 | manager.modules.load_path: . 7 | manager.modules.preload: ConsoleOutDouble, TestSerializer 8 | manager.components.precreate: ConsoleOutDouble 9 | #manager.components.preconnect: ConsoleOutDouble0.in?port=ConsoleInShort0.out&outport.marshaling_type=test:dummydata&inport.marshaling_type=test:dummydata 10 | #manager.components.preactivation: ConsoleOutDouble0, ConsoleInShort0 11 | -------------------------------------------------------------------------------- /src/lib/coil/vxworks/coil/Mutex.cpp: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file MutexPosix.h 4 | * @brief RT-Middleware Service interface 5 | * @date $Date$ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2008 9 | * Noriaki Ando 10 | * Task-intelligence Research Group, 11 | * Intelligent Systems Research Institute, 12 | * National Institute of 13 | * Advanced Industrial Science and Technology (AIST), Japan 14 | * All rights reserved. 15 | * 16 | * $Id$ 17 | * 18 | */ 19 | 20 | #include 21 | -------------------------------------------------------------------------------- /examples/MyServiceConsumer/cmake/myserviceconsumer-config-version.cmake.in: -------------------------------------------------------------------------------- 1 | set(PACKAGE_VERSION @PROJECT_VERSION@) 2 | if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 3 | set(PACKAGE_VERSION_COMPATIBLE FALSE) 4 | else(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 5 | set(PACKAGE_VERSION_COMPATIBLE TRUE) 6 | if(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 7 | set(PACKAGE_VERSION_EXACT TRUE) 8 | endif(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 9 | endif(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 10 | 11 | -------------------------------------------------------------------------------- /examples/MyServiceProvider/cmake/myserviceprovider-config-version.cmake.in: -------------------------------------------------------------------------------- 1 | set(PACKAGE_VERSION @PROJECT_VERSION@) 2 | if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 3 | set(PACKAGE_VERSION_COMPATIBLE FALSE) 4 | else(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 5 | set(PACKAGE_VERSION_COMPATIBLE TRUE) 6 | if(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 7 | set(PACKAGE_VERSION_EXACT TRUE) 8 | endif(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION) 9 | endif(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) 10 | 11 | -------------------------------------------------------------------------------- /examples/Serializer/rtc.serializer.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %h.host_cxt/%n.rtc 3 | logger.enable: NO 4 | logger.file_name: stdout 5 | logger.log_level: ERROR 6 | manager.modules.load_path: . 7 | manager.modules.preload: ConsoleOutDouble, ShortToDoubleDeserializer 8 | manager.components.precreate: ConsoleOutDouble 9 | manager.components.preconnect: ConsoleOutDouble0.in?port=ConsoleInShort0.out&inport.marshaling_type=cdr:RTC/TimedShort:RTC/TimedDouble&outport.marshaling_type=cdr 10 | manager.components.preactivation: ConsoleOutDouble0, ConsoleInShort0 11 | -------------------------------------------------------------------------------- /scripts/debian_10/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM debian:10 2 | 3 | RUN apt-get update\ 4 | && apt-get install -y --no-install-recommends\ 5 | g++\ 6 | make\ 7 | cmake\ 8 | uuid-dev\ 9 | libboost-filesystem-dev\ 10 | omniorb-nameserver\ 11 | libomniorb4-dev\ 12 | omniidl\ 13 | && apt-get clean\ 14 | && rm -rf /var/lib/apt/lists/* 15 | 16 | COPY OpenRTM-aist /root/OpenRTM-aist 17 | RUN cmake\ 18 | -DSSL_ENABLE=ON\ 19 | -DOBSERVER_ENABLE=ON\ 20 | -DCMAKE_BUILD_TYPE=Release\ 21 | -S /root/OpenRTM-aist\ 22 | -B /tmp/rtm/build\ 23 | && cmake --build /tmp/rtm/build -j $(nproc) 24 | -------------------------------------------------------------------------------- /src/ext/transport/ROSTransport/rtc.ros.conf.in: -------------------------------------------------------------------------------- 1 | logger.enable: YES 2 | logger.log_level: DEBUG 3 | #logger.file_name: stdout 4 | 5 | manager.modules.load_path: @CMAKE_INSTALL_PREFIX@/@INSTALL_ROSTRANSPORT_DIR@ 6 | manager.preload.modules: ROSTransport@CMAKE_SHARED_LIBRARY_SUFFIX@ 7 | 8 | manager.components.preactivation: ConsoleOut0, ConsoleIn0 9 | manager.components.preconnect: ConsoleOut0.in?interface_type=ros&marshaling_type=ros:std_msgs/Float32&ros.node.name=ConsoleOut0, ConsoleIn0.out?interface_type=ros&marshaling_type=ros:std_msgs/Float32&ros.node.name=ConsoleIn0 10 | -------------------------------------------------------------------------------- /src/lib/coil/config_coil_cmake.h.in: -------------------------------------------------------------------------------- 1 | /* config_coil.h. Generated from config_coil.h.in by CMake. */ 2 | 3 | #ifndef CONFIG_COIL_H 4 | #define CONFIG_COIL_H 5 | 6 | /* OS is Max OS X */ 7 | #cmakedefine COIL_OS_DARWIN TRUE 8 | 9 | /* OS is FreeBSD */ 10 | #cmakedefine COIL_OS_FREEBSD TRUE 11 | 12 | /* OS is Linux */ 13 | #cmakedefine COIL_OS_LINUX TRUE 14 | 15 | /* OS is QNX */ 16 | #cmakedefine COIL_OS_QNX TRUE 17 | 18 | /* OS is Windows */ 19 | #cmakedefine COIL_OS_VXWORKS TRUE 20 | 21 | /* OS is VxWorks */ 22 | #cmakedefine COIL_OS_WIN32 TRUE 23 | 24 | #endif // CONFIG_COIL_H 25 | -------------------------------------------------------------------------------- /examples/Serializer/rtc_in_serializer.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %n.rtc 3 | logger.enable: YES 4 | logger.file_name: stdout 5 | logger.log_level: ERROR 6 | manager.modules.load_path: . 7 | manager.modules.preload: ConsoleOutDouble, ShortToDoubleDeserializer, ShortToShortSerializer 8 | manager.components.precreate: ConsoleOutDouble 9 | #manager.components.preconnect: ConsoleOutDouble0.in?port=ConsoleInShort0.out&inport.marshaling_type=cdr:RTC/TimedShort:RTC/TimedDouble&outport.marshaling_type=cdr 10 | #manager.components.preactivation: ConsoleOutDouble0, ConsoleInShort0 11 | -------------------------------------------------------------------------------- /examples/Serializer/rtc_out_serializer.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %n.rtc 3 | logger.enable: YES 4 | logger.file_name: stdout 5 | logger.log_level: ERROR 6 | manager.modules.load_path: . 7 | manager.modules.preload: ConsoleOutDouble, ShortToDoubleSerializer, DouboleToDoubleDeserializer 8 | manager.components.precreate: ConsoleOutDouble 9 | #manager.components.preconnect: ConsoleOutDouble0.in?port=ConsoleInShort0.out&outport.marshaling_type=cdr:RTC/TimedDouble:RTC/TimedShort&inport.marshaling_type=cdr 10 | #manager.components.preactivation: ConsoleOutDouble0, ConsoleInShort0 11 | -------------------------------------------------------------------------------- /src/lib/coil/vxworks/coil/Condition.cpp: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file Mutex_vxworks.cpp 4 | * @brief Condition variable for VxWorks 5 | * @date $Date$ 6 | * @author Nobuhiko Miyamoto 7 | * 8 | * Copyright (C) 2017 9 | * Nobuhiko Miyamoto 10 | * Robot Innovation Research Center 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * All rights reserved. 14 | * 15 | * $Id$ 16 | * 17 | */ 18 | 19 | #include 20 | 21 | namespace coil 22 | { 23 | // no implementaion 24 | }; 25 | -------------------------------------------------------------------------------- /examples/SeqOut/component.conf: -------------------------------------------------------------------------------- 1 | #============================================================ 2 | # component profile 3 | #============================================================ 4 | # data port configurations 5 | # 6 | # publisher property 7 | # port.[port_name].dataport.publisher.push_rate: freq. 8 | port.outport.dataport.publisher.push_rate: 2000 9 | # port.[port_name].dataport.publisher.push_policy: [all, new, skip, fifo] 10 | port.outport.dataport.publisher.push_policy: skip 11 | # port.[port_name].dataport.publisher.skip_count: [skip count] 12 | port.outport.dataport.publisher.skip_count: 9 13 | 14 | -------------------------------------------------------------------------------- /src/lib/coil/ace/coil/Time.cpp: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file Timevalue.h 4 | * @brief Timevalue class 5 | * @date $Date$ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2008 9 | * Task-intelligence Research Group, 10 | * Intelligent Systems Research Institute, 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * All rights reserved. 14 | * 15 | * $Id$ 16 | * 17 | */ 18 | 19 | #include 20 | 21 | namespace coil 22 | { 23 | // no implementation 24 | }; 25 | -------------------------------------------------------------------------------- /scripts/cmake/run_munch.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | NM=$1 4 | TARGET_NAME=$2 5 | #TCLSH=$3 6 | MUNCH=$3 7 | #NM_FLAG=$5 8 | #TAGS=$6 9 | OUTPUT=$4 10 | 11 | #export WIND_BASE=/home/openrtm/vxworks-6.6-linux/vxworks-6.6 12 | #export WIND_HOST_TYPE=x86-linux2 13 | #/home/openrtm/vxworks-6.6-linux/gnu/4.1.2-vxworks-6.6/x86-linux2/bin/nmppc ConsoleIn_partialImage.o | /home/openrtm/vxworks-6.6-linux/vxworks-6.6/host/x86-linux2/bin/munch > ctdt.c 14 | 15 | #echo "$NM $TARGET_NAME | $TCLSH $MUNCH -c $NM_FLAG -tags $TAGS > $OUTPUT" 16 | #$NM $TARGET_NAME | tclsh $MUNCH > $OUTPUT 17 | $NM $TARGET_NAME | $MUNCH > $OUTPUT 18 | -------------------------------------------------------------------------------- /src/lib/coil/ace/coil/Task.cpp: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file Task.cpp 4 | * @brief Task class 5 | * @date $Date$ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2008 9 | * Task-intelligence Research Group, 10 | * Intelligent Systems Research Institute, 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * All rights reserved. 14 | * 15 | * $Id$ 16 | * 17 | */ 18 | 19 | #include 20 | 21 | namespace coil 22 | { 23 | // no implementation 24 | }; 25 | 26 | 27 | -------------------------------------------------------------------------------- /examples/Serializer/rtc_inout_serializer.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %n.rtc 3 | logger.enable: YES 4 | logger.file_name: stdout 5 | logger.log_level: ERROR 6 | manager.modules.load_path: . 7 | manager.modules.preload: ConsoleOutDouble, ShortToLongSerializer, LongToDoubleDeserializer 8 | manager.components.precreate: ConsoleOutDouble 9 | #manager.components.preconnect: ConsoleOutDouble0.in?port=ConsoleInShort0.out&outport.marshaling_type=cdr:RTC/TimedLong:RTC/TimedShort&inport.marshaling_type=cdr:RTC/TimedLong:RTC/TimedDouble 10 | #manager.components.preactivation: ConsoleOutDouble0, ConsoleInShort0 11 | -------------------------------------------------------------------------------- /src/ext/transport/OpenSplice/rtc.opensplice.conf.in: -------------------------------------------------------------------------------- 1 | logger.enable: YES 2 | logger.log_level: DEBUG 3 | #logger.file_name: stdout 4 | 5 | manager.modules.load_path: @CMAKE_INSTALL_PREFIX@/@INSTALL_OPENSPLICE_DIR@ 6 | manager.preload.modules: OpenSpliceTransport@CMAKE_SHARED_LIBRARY_SUFFIX@ 7 | 8 | manager.components.preactivation: ConsoleOut0, ConsoleIn0 9 | manager.components.preconnect: ConsoleOut0.in?interface_type=opensplice, ConsoleIn0.out?interface_type=opensplice 10 | 11 | opensplice.uri: file://@CMAKE_INSTALL_PREFIX@/@INSTALL_SAMPLEQOSPROFILE_DIR@/OpenSpliceQoSExample.xml 12 | opensplice.profile: testProfile -------------------------------------------------------------------------------- /examples/Analyzer/rtc.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %h.host_cxt/%n.rtc 3 | logger.enable: NO 4 | example.ConsoleOut.config_file: consout.conf 5 | example.ConsoleIn.config_file: consin.conf 6 | example.ConfigSample.config_file: configsample.conf 7 | 8 | ## If you want to try to run Composite component, uncomment the following lines. 9 | # manager.modules.load_path: ./.libs/ 10 | # manager.modules.preload: Controller.so, Motor.so, Sensor.so 11 | # manager.components.precreate: Controller, Motor, Sensor, PeriodicECSharedComposite 12 | # composite.PeriodicECShared.PeriodicECSharedComposite0.config_file: composite.conf 13 | -------------------------------------------------------------------------------- /examples/AutoTest/rtc.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %h.host_cxt/%n.rtc 3 | logger.enable: NO 4 | example.ConsoleOut.config_file: consout.conf 5 | example.ConsoleIn.config_file: consin.conf 6 | example.ConfigSample.config_file: configsample.conf 7 | 8 | ## If you want to try to run Composite component, uncomment the following lines. 9 | # manager.modules.load_path: ./.libs/ 10 | # manager.modules.preload: Controller.so, Motor.so, Sensor.so 11 | # manager.components.precreate: Controller, Motor, Sensor, PeriodicECSharedComposite 12 | # composite.PeriodicECShared.PeriodicECSharedComposite0.config_file: composite.conf 13 | -------------------------------------------------------------------------------- /src/ext/sdo/fsm4rtc_observer/test/rtc.conf: -------------------------------------------------------------------------------- 1 | logger.enable: YES 2 | logger.log_level: TRACE 3 | naming.formats: comp.ior 4 | 5 | manager.local_service.org.openrtm.local_service.nameservice.file_nameservice.base_path: ./ 6 | manager.local_service.org.openrtm.local_service.nameservice.file_nameservice.file_structure: flat 7 | manager.local_service.org.openrtm.local_service.nameservice.file_nameservice.context_delimiter: . 8 | 9 | manager.local_service.modules: \ 10 | ../.libs/ComponentObserverConsumer.so(ComponentObserverConsumerInit), \ 11 | ../../../local_service/nameservice_file/.libs/FileNameservice.so(FileNameserviceInit) 12 | 13 | -------------------------------------------------------------------------------- /src/lib/coil/ace/coil/Mutex.cpp: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file Mutex_ace.h 4 | * @brief Mutex class using ACE 5 | * @date $Date$ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2008 9 | * Noriaki Ando 10 | * Task-intelligence Research Group, 11 | * Intelligent Systems Research Institute, 12 | * National Institute of 13 | * Advanced Industrial Science and Technology (AIST), Japan 14 | * All rights reserved. 15 | * 16 | * $Id$ 17 | * 18 | */ 19 | 20 | #include 21 | 22 | namespace coil 23 | { 24 | // no implementation 25 | }; 26 | 27 | -------------------------------------------------------------------------------- /src/lib/coil/ace/coil/UUID.cpp: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file MutexPosix.h 4 | * @brief RT-Middleware Service interface 5 | * @date $Date$ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2008 9 | * Noriaki Ando 10 | * Task-intelligence Research Group, 11 | * Intelligent Systems Research Institute, 12 | * National Institute of 13 | * Advanced Industrial Science and Technology (AIST), Japan 14 | * All rights reserved. 15 | * 16 | * $Id$ 17 | * 18 | */ 19 | 20 | #include 21 | 22 | namespace coil 23 | { 24 | // no implementation 25 | }; 26 | -------------------------------------------------------------------------------- /src/lib/coil/ace/coil/DynamicLib.cpp: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file DynamicLib_ace.cpp 4 | * @brief DynamicLib class using ACE 5 | * @date $Date$ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2008 Noriaki Ando 9 | * Task-intelligence Research Group, 10 | * Intelligent Systems Research Institute, 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * All rights reserved. 14 | * 15 | * $Id$ 16 | * 17 | */ 18 | 19 | #include 20 | 21 | namespace coil 22 | { 23 | // no implementation 24 | }; 25 | 26 | -------------------------------------------------------------------------------- /scripts/code_check/check_global.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # This script checks C++ standard coding error 3 | # -> reserved word: of global variable such as _abc 4 | 5 | find . -type f -name '*.h' -exec grep -H " _[a-zA-Z]" {} \; \ 6 | -or -name '*.cpp' -exec grep -H " _[a-zA-Z]" {} \; | \ 7 | egrep -v '(Macho\.h|Macho\.cpp)' | 8 | egrep -v '(_WIN32|_MSC_VER|_MAX_PATH|_WINSTATIC)' | \ 9 | egrep -v '(_GNU_SOURCE|_TRUNCATE)' | \ 10 | egrep -v '(_CORBA_Unbounded_Sequence)' | \ 11 | egrep -v '(_var|_ptr|_default_POA|_narrow|_nil|_this)' | \ 12 | egrep -v '(_tscopy|_popen|_pclose)' 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /src/lib/coil/ace/coil/Condition.cpp: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file Condition_ace.h 4 | * @brief Condition variable class using ACE 5 | * @date $Date$ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2008 9 | * Noriaki Ando 10 | * Task-intelligence Research Group, 11 | * Intelligent Systems Research Institute, 12 | * National Institute of 13 | * Advanced Industrial Science and Technology (AIST), Japan 14 | * All rights reserved. 15 | * 16 | * $Id$ 17 | * 18 | */ 19 | 20 | #include 21 | 22 | namespace coil 23 | { 24 | // no implementaion 25 | }; 26 | -------------------------------------------------------------------------------- /src/lib/rtm/DataInPort.h: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file DataInPort.h 4 | * @brief Base class of InPort 5 | * @date $Date: 2008-01-13 15:06:58 $ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2006-2009 9 | * Noriaki Ando 10 | * Task-intelligence Research Group, 11 | * Intelligent Systems Research Institute, 12 | * National Institute of 13 | * Advanced Industrial Science and Technology (AIST), Japan 14 | * All rights reserved. 15 | * 16 | * $Id$ 17 | * 18 | */ 19 | 20 | #ifndef RTC_DATAINPORT_H 21 | #define RTC_DATAINPORT_H 22 | 23 | #include 24 | 25 | #endif // RTC_DATAINPORT_H 26 | -------------------------------------------------------------------------------- /src/lib/rtm/DataOutPort.h: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file DataOutPort.h 4 | * @brief Base class of OutPort 5 | * @date $Date: 2008-01-13 15:06:58 $ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2006-2009 9 | * Noriaki Ando 10 | * Task-intelligence Research Group, 11 | * Intelligent Systems Research Institute, 12 | * National Institute of 13 | * Advanced Industrial Science and Technology (AIST), Japan 14 | * All rights reserved. 15 | * 16 | * $Id$ 17 | * 18 | */ 19 | 20 | #ifndef RTC_DATAOUTPORT_H 21 | #define RTC_DATAOUTPORT_H 22 | 23 | #include 24 | 25 | #endif // RTC_DATAOUTPORT_H 26 | -------------------------------------------------------------------------------- /examples/Throughput/rtc.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %h.host_cxt/%n.rtc 3 | logger.enable: YES 4 | logger.log_level: TRACE 5 | 6 | # CORBA configuration for large data 7 | corba.args: -ORBgiopMaxMsgSize 209715200 8 | 9 | # Component activation and connection 10 | manager.components.preconnect: Throughput0.out?port=Throughput0.in&dataflow_type=push&interface_type=corba_cdr 11 | manager.components.preactivation: Throughput0 12 | 13 | 14 | # Component configuration 15 | example.Throughput.conf.default.maxsize: 1000000 16 | example.Throughput.conf.default.datatype: double 17 | example.Throughput.conf.default.filesuffix: -samecomp 18 | 19 | -------------------------------------------------------------------------------- /examples/ConfigSample/VectorConvert.h: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | namespace std 10 | { 11 | template 12 | std::istream& operator>>(std::istream& is, std::vector& v) 13 | { 14 | std::string s; 15 | std::vector sv; 16 | is >> s; 17 | sv = coil::split(s ,","); 18 | v.resize(sv.size()); 19 | for (size_t i(0), len(sv.size()); i < len; ++i) 20 | { 21 | T tv; 22 | if (coil::stringTo(tv, sv[i].c_str())) 23 | { 24 | v[i] = tv; 25 | } 26 | } 27 | return is; 28 | } 29 | } // namespace std 30 | 31 | -------------------------------------------------------------------------------- /src/ext/transport/OpenSplice/OpenSpliceQoSExample.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /examples/Throughput/direct.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | DATATYPES="octet short long float double" 4 | 5 | #------------------------------------------------------------ 6 | # direct mode 7 | #------------------------------------------------------------ 8 | for d in $DATATYPES ; do 9 | cat < tmp.conf 10 | logger.enable: NO 11 | corba.args: -ORBgiopMaxMsgSize 209715200 12 | manager.components.preconnect: Throughput0.out:Throughput0.in(dataflow_type=push&interface_type=direct 13 | manager.components.preactivation: Throughput0 14 | example.Throughput.conf.default.maxsize: 100000000 15 | example.Throughput.conf.default.datatype: ${d} 16 | EOF 17 | ./ThroughputComp -f tmp.conf 18 | done 19 | rm -f tmp.conf 20 | -------------------------------------------------------------------------------- /examples/ExtTrigger/rtc.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | exec_cxt.periodic.type: ExtTrigExecutionContext 3 | exec_cxt.periodic.rate: 100 4 | naming.formats: %n.rtc 5 | logger.enable: NO 6 | example.ConsoleOut.config_file: consout.conf 7 | example.ConsoleIn.config_file: consin.conf 8 | example.ConfigSample.config_file: configsample.conf 9 | 10 | ## If you want to try to run Composite component, uncomment the following lines. 11 | # manager.modules.load_path: ./.libs/ 12 | # manager.modules.preload: Controller.so, Motor.so, Sensor.so 13 | # manager.components.precreate: Controller, Motor, Sensor, PeriodicECSharedComposite 14 | # composite.PeriodicECShared.PeriodicECSharedComposite0.config_file: composite.conf 15 | -------------------------------------------------------------------------------- /src/ext/ssl/rtc.ssl.conf.in: -------------------------------------------------------------------------------- 1 | logger.enable: YES 2 | logger.log_level: DEBUG 3 | #logger.file_name: stdout 4 | 5 | manager.modules.load_path: @CMAKE_INSTALL_PREFIX@/@INSTALL_SSLTRANSPORT_DIR@ 6 | manager.preload.modules: SSLTransport@CMAKE_SHARED_LIBRARY_SUFFIX@ 7 | 8 | corba.ssl.certificate_authority_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/root-sample.crt 9 | corba.ssl.key_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/server-sample.pem 10 | corba.ssl.key_file_password:password 11 | corba.args:-ORBserverTransportRule "* ssl" -ORBclientTransportRule "* ssl" -ORBendPoint giop:ssl:: 12 | corba.nameservers: corbaloc:ssliop:localhost:2809 13 | corba.master_manager: giop:ssl:localhost:2810 14 | -------------------------------------------------------------------------------- /src/ext/transport/OpenSplice/CORBACdrDataSplDcps.h: -------------------------------------------------------------------------------- 1 | #ifndef CORBACDRDATASPLTYPES_H 2 | #define CORBACDRDATASPLTYPES_H 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | 11 | #include "ccpp_CORBACdrData.h" 12 | 13 | 14 | struct OpenSplice_OpenRTM_CORBACdrData ; 15 | v_copyin_result OpenSplice_OpenRTM_CORBACdrData_copyIn(c_base base, const struct OpenRTM_OpenSplice::CORBACdrData *from, struct OpenSplice_OpenRTM_CORBACdrData *to); 16 | void OpenSplice_OpenRTM_CORBACdrData_copyOut(const void *_from, void *_to); 17 | struct OpenSplice_OpenRTM_CORBACdrData { 18 | c_sequence data; 19 | }; 20 | 21 | #undef OS_API 22 | #endif 23 | -------------------------------------------------------------------------------- /src/lib/rtm/FactoryInit.h: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file FactoryInit.h 4 | * @brief factory initialization function 5 | * @date $Date: 2008-03-06 06:58:40 $ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2009 9 | * Task-intelligence Research Group, 10 | * Intelligent Systems Research Institute, 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * All rights reserved. 14 | * 15 | * $Id: Manager.cpp 1296 2009-04-27 08:43:24Z n-ando $ 16 | * 17 | */ 18 | #ifndef RTM_FACTORYINIT_H 19 | #define RTM_FACTORYINIT_H 20 | 21 | namespace RTM 22 | { 23 | void FactoryInit(); 24 | } // namespace RTM 25 | #endif // RTM_FACTORYINIT_H 26 | -------------------------------------------------------------------------------- /examples/Serializer/rtc_all_serializer.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %n.rtc 3 | logger.enable: YES 4 | logger.file_name: stdout 5 | logger.log_level: ERROR 6 | manager.modules.load_path: . 7 | manager.modules.preload: ConsoleOutDouble, DouboleToDoubleDeserializer, LongToDoubleDeserializer, ShortToDoubleDeserializer, ShortToDoubleSerializer, ShortToLongSerializer, ShortToShortSerializer, TestSerializer, TestSerializer2, TestSerializer3 8 | manager.components.precreate: ConsoleOutDouble 9 | #manager.components.preconnect: ConsoleOutDouble0.in?port=ConsoleInShort0.out&outport.marshaling_type=cdr:RTC/TimedDouble:RTC/TimedShort&inport.marshaling_type=cdr 10 | #manager.components.preactivation: ConsoleOutDouble0, ConsoleInShort0 -------------------------------------------------------------------------------- /utils/rtc-template/autotest.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | testdir=gentest 4 | build_log=build.log 5 | 6 | #------------------------------------------------------------ 7 | # copying *.py into py_helper 8 | if test \! -d py_helper; then 9 | mkdir py_helper 10 | cp *.py py_helper 11 | fi 12 | 13 | #------------------------------------------------------------ 14 | # create build dir 15 | rm -rf $testdir 16 | mkdir $testdir 17 | cd $testdir 18 | 19 | #------------------------------------------------------------ 20 | # generate project 21 | if test \! -f ../test-template.py; then 22 | echo "test-template.py not found. Abort" 23 | exit -1 24 | fi 25 | python ../test-template.py 26 | chmod 755 build.sh 27 | sh build.sh 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /docs/DevelopersGuide/icon/RT.eps: -------------------------------------------------------------------------------- 1 | %!PS-Adobe-2.0 EPSF-2.0 2 | %%BoundingBox: 0 0 15 15 3 | /pstr 4 | 15 string 5 | def 6 | /inputf 7 | currentfile 8 | /ASCII85Decode filter 9 | /RunLengthDecode filter 10 | def 11 | % 12 | % created by bmeps 1.0.7a (SCCS=1.67) 13 | % 14 | gsave 15 | 0 15 translate 16 | 15 15 scale 17 | 15 15 8 [15 0 0 -15 0 0] 18 | { inputf pstr readstring pop } 19 | false 20 | 3 21 | colorimage 22 | K)`sm-A[D0=&Vst;c-Up;-6grXfJJRf%!l&;HHdo=&Vst;c-Up;2Bs[qu?Z\+P>>u 23 | f\"fo_no\_=*&=uqtp6Dg"G$1f>#&5e'latf[p,fq#:`rp\(,GQpj;)OH,;!o(`4g 24 | An,8pc-5k\%cud4:eXH#DJ[J2+@:%."an>Z;^q[U!BP.8DroOAU77+u3 25 | _ta68A78ffb/s>V"i.meDf'7drs6lnb==ocgtUQ[rrlqA?H^L5p&>3Jf@H:RPPG.] 26 | [^EK 28 | grestore 29 | showpage 30 | -------------------------------------------------------------------------------- /src/lib/coil/ace/coil/Signal.cpp: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file Signal_posix.h 4 | * @brief RT-Middleware Service interface 5 | * @date $Date$ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2008 9 | * Noriaki Ando 10 | * Task-intelligence Research Group, 11 | * Intelligent Systems Research Institute, 12 | * National Institute of 13 | * Advanced Industrial Science and Technology (AIST), Japan 14 | * All rights reserved. 15 | * 16 | * $Id$ 17 | * 18 | */ 19 | 20 | #include 21 | #include 22 | 23 | #ifdef COIL_OS_FREEBSD 24 | #define _SIGSET_NWORDS _SIG_WORDS 25 | #endif 26 | 27 | namespace coil 28 | { 29 | // no implementation 30 | }; 31 | -------------------------------------------------------------------------------- /examples/Motor/cmake/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(PKG_DEPS "openrtm-aist") 2 | set(PKG_LIBS -l${PROJECT_NAME_LOWER}) 3 | set(pkg_conf_file ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}.pc) 4 | configure_file(${PROJECT_NAME_LOWER}.pc.in ${pkg_conf_file} @ONLY) 5 | 6 | # Install CMake modules 7 | set(cmake_config ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake) 8 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config.cmake.in 9 | ${cmake_config} @ONLY) 10 | set(cmake_version_config 11 | ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake) 12 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake.in 13 | ${cmake_version_config} @ONLY) 14 | set(cmake_mods ${cmake_config} ${cmake_version_config}) 15 | 16 | -------------------------------------------------------------------------------- /examples/SeqIn/cmake/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(PKG_DEPS "openrtm-aist") 2 | set(PKG_LIBS -l${PROJECT_NAME_LOWER}) 3 | set(pkg_conf_file ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}.pc) 4 | configure_file(${PROJECT_NAME_LOWER}.pc.in ${pkg_conf_file} @ONLY) 5 | 6 | # Install CMake modules 7 | set(cmake_config ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake) 8 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config.cmake.in 9 | ${cmake_config} @ONLY) 10 | set(cmake_version_config 11 | ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake) 12 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake.in 13 | ${cmake_version_config} @ONLY) 14 | set(cmake_mods ${cmake_config} ${cmake_version_config}) 15 | 16 | -------------------------------------------------------------------------------- /examples/ConsoleIn/cmake/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(PKG_DEPS "openrtm-aist") 2 | set(PKG_LIBS -l${PROJECT_NAME_LOWER}) 3 | set(pkg_conf_file ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}.pc) 4 | configure_file(${PROJECT_NAME_LOWER}.pc.in ${pkg_conf_file} @ONLY) 5 | 6 | # Install CMake modules 7 | set(cmake_config ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake) 8 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config.cmake.in 9 | ${cmake_config} @ONLY) 10 | set(cmake_version_config 11 | ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake) 12 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake.in 13 | ${cmake_version_config} @ONLY) 14 | set(cmake_mods ${cmake_config} ${cmake_version_config}) 15 | 16 | -------------------------------------------------------------------------------- /examples/ConsoleOut/cmake/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(PKG_DEPS "openrtm-aist") 2 | set(PKG_LIBS -l${PROJECT_NAME_LOWER}) 3 | set(pkg_conf_file ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}.pc) 4 | configure_file(${PROJECT_NAME_LOWER}.pc.in ${pkg_conf_file} @ONLY) 5 | 6 | # Install CMake modules 7 | set(cmake_config ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake) 8 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config.cmake.in 9 | ${cmake_config} @ONLY) 10 | set(cmake_version_config 11 | ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake) 12 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake.in 13 | ${cmake_version_config} @ONLY) 14 | set(cmake_mods ${cmake_config} ${cmake_version_config}) 15 | 16 | -------------------------------------------------------------------------------- /examples/Controller/cmake/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(PKG_DEPS "openrtm-aist") 2 | set(PKG_LIBS -l${PROJECT_NAME_LOWER}) 3 | set(pkg_conf_file ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}.pc) 4 | configure_file(${PROJECT_NAME_LOWER}.pc.in ${pkg_conf_file} @ONLY) 5 | 6 | # Install CMake modules 7 | set(cmake_config ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake) 8 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config.cmake.in 9 | ${cmake_config} @ONLY) 10 | set(cmake_version_config 11 | ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake) 12 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake.in 13 | ${cmake_version_config} @ONLY) 14 | set(cmake_mods ${cmake_config} ${cmake_version_config}) 15 | 16 | -------------------------------------------------------------------------------- /examples/Sensor/cmake/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(PKG_DEPS "openrtm-aist") 2 | set(PKG_LIBS -l${PROJECT_NAME_LOWER}) 3 | set(pkg_conf_file ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}.pc) 4 | configure_file(${PROJECT_NAME_LOWER}.pc.in ${pkg_conf_file} @ONLY) 5 | 6 | # Install CMake modules 7 | set(cmake_config ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake) 8 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config.cmake.in 9 | ${cmake_config} @ONLY) 10 | set(cmake_version_config 11 | ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake) 12 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake.in 13 | ${cmake_version_config} @ONLY) 14 | set(cmake_mods ${cmake_config} ${cmake_version_config}) 15 | 16 | -------------------------------------------------------------------------------- /examples/SeqOut/cmake/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(PKG_DEPS "openrtm-aist") 2 | set(PKG_LIBS -l${PROJECT_NAME_LOWER}) 3 | set(pkg_conf_file ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}.pc) 4 | configure_file(${PROJECT_NAME_LOWER}.pc.in ${pkg_conf_file} @ONLY) 5 | 6 | # Install CMake modules 7 | set(cmake_config ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake) 8 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config.cmake.in 9 | ${cmake_config} @ONLY) 10 | set(cmake_version_config 11 | ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake) 12 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake.in 13 | ${cmake_version_config} @ONLY) 14 | set(cmake_mods ${cmake_config} ${cmake_version_config}) 15 | 16 | -------------------------------------------------------------------------------- /examples/Throughput/cdr_samecomp.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | DATATYPES="octet short long float double" 4 | 5 | #------------------------------------------------------------ 6 | # corba_cdr with same component 7 | #------------------------------------------------------------ 8 | for d in $DATATYPES ; do 9 | cat < tmp.conf 10 | logger.enable: NO 11 | corba.args: -ORBgiopMaxMsgSize 209715200 12 | manager.components.preconnect: Throughput0.out:Throughput0.in(dataflow_type=push&interface_type=corba_cdr 13 | manager.components.preactivation: Throughput0 14 | example.Throughput.conf.default.maxsize: 100000000 15 | example.Throughput.conf.default.datatype: ${d} 16 | example.Throughput.conf.default.filesuffix: -samecomp 17 | EOF 18 | ./ThroughputComp -f tmp.conf 19 | done 20 | rm -f tmp.conf 21 | -------------------------------------------------------------------------------- /src/lib/rtm/LocalServiceBase.cpp: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file LocalServiceBase.cpp 4 | * @brief Local service provider base class and its factory 5 | * @date $Date$ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2011 9 | * Noriaki Ando 10 | * Intelligent Systems Research Institute, 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * All rights reserved. 14 | * 15 | * $Id$ 16 | * 17 | */ 18 | 19 | #include 20 | 21 | namespace RTM 22 | { 23 | /*! 24 | * @if jp 25 | * @brief デストラクタ 26 | * @else 27 | * @brief destructor 28 | * @endif 29 | */ 30 | LocalServiceProfile::~LocalServiceProfile() = default; 31 | } //namespace RTM 32 | 33 | -------------------------------------------------------------------------------- /utils/rtcd/rtcd.cpp: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file rtcd.cpp 4 | * @brief RT component server daemon 5 | * @date $Date: 2005-05-12 09:06:19 $ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2003-2008 9 | * Task-intelligence Research Group, 10 | * Intelligent Systems Research Institute, 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * All rights reserved. 14 | * 15 | * $Id$ 16 | * 17 | */ 18 | 19 | #include 20 | #include 21 | 22 | 23 | int main (int argc, char** argv) 24 | { 25 | RTC::Manager* manager; 26 | manager = RTC::Manager::init(argc, argv); 27 | 28 | manager->activateManager(); 29 | 30 | manager->runManager(); 31 | 32 | return 0; 33 | } 34 | -------------------------------------------------------------------------------- /src/ext/http/rtc.wss.conf.in: -------------------------------------------------------------------------------- 1 | logger.enable: YES 2 | logger.log_level: DEBUG 3 | #logger.file_name: stdout 4 | 5 | naming.formats: %h.host_cxt/%n.rtc 6 | 7 | manager.modules.load_path: @CMAKE_INSTALL_PREFIX@/@INSTALL_HTTPTRANSPORT_DIR@ 8 | manager.preload.modules: HTTPTransport@CMAKE_SHARED_LIBRARY_SUFFIX@ 9 | 10 | corba.http.certificate_authority_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/root-sample.crt 11 | corba.http.key_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/server-sample.pem 12 | corba.http.key_file_password:password 13 | 14 | corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:wss:///ws 15 | corba.nameservers: wss://localhost:2809/ws 16 | corba.master_manager: giop:http:wss://localhost:2810/ws 17 | -------------------------------------------------------------------------------- /src/ext/transport/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | set(ROS_ENABLE OFF CACHE BOOL "set ROS_ENABLE") 4 | 5 | if(ROS_ENABLE) 6 | add_subdirectory(ROSTransport) 7 | endif() 8 | 9 | 10 | set(FASTRTPS_ENABLE OFF CACHE BOOL "set FASTRTPS_ENABLE") 11 | set(ROS2_ENABLE OFF CACHE BOOL "set ROS2_ENABLE") 12 | 13 | if(FASTRTPS_ENABLE) 14 | add_subdirectory(FastRTPS) 15 | if(ROS2_ENABLE) 16 | add_subdirectory(ROS2Transport) 17 | endif(ROS2_ENABLE) 18 | endif() 19 | 20 | set(OPENSPLICE_ENABLE OFF CACHE BOOL "set OPENSPLICE_ENABLE") 21 | 22 | if(OPENSPLICE_ENABLE) 23 | add_subdirectory(OpenSplice) 24 | endif() 25 | 26 | 27 | if(UNIX) 28 | set(SSM_ENABLE OFF CACHE BOOL "set SSM_ENABLE") 29 | 30 | if(SSM_ENABLE) 31 | add_subdirectory(SSMTransport) 32 | endif() 33 | endif() 34 | -------------------------------------------------------------------------------- /examples/AutoTest/original-data: -------------------------------------------------------------------------------- 1 | 0.0 2 | 0.1 0.2 0.3 0.4 0.5 3 | message0 4 | 1.0 5 | 1.1 1.2 1.3 1.4 1.5 6 | message1 7 | 2.0 8 | 2.1 2.2 2.3 2.4 2.5 9 | message2 10 | 3.0 11 | 3.1 3.2 3.3 3.4 3.5 12 | message3 13 | 4.0 14 | 4.1 4.2 4.3 4.4 4.5 15 | message4 16 | 5.0 17 | 5.1 5.2 5.3 5.4 5.5 18 | message5 19 | 6.0 20 | 6.1 6.2 6.3 6.4 6.5 21 | message6 22 | 7.0 23 | 7.1 7.2 7.3 7.4 7.5 24 | message7 25 | 8.0 26 | 8.1 8.2 8.3 8.4 8.5 27 | message8 28 | 9.0 29 | 9.1 9.2 9.3 9.4 9.5 30 | message9 31 | 10.0 32 | 10.1 10.2 10.3 10.4 10.5 33 | message10 34 | 11.0 35 | 11.1 11.2 11.3 11.4 11.5 36 | message11 37 | 12.0 38 | 12.1 12.2 12.3 12.4 12.5 39 | message12 40 | 13.0 41 | 13.1 13.2 13.3 13.4 13.5 42 | message13 43 | 14.0 44 | 14.1 14.2 14.3 14.4 14.5 45 | message14 46 | 15.0 47 | 15.1 15.2 15.3 15.4 15.5 48 | message15 49 | -------------------------------------------------------------------------------- /examples/MyServiceConsumer/cmake/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(PKG_DEPS "openrtm-aist") 2 | set(PKG_LIBS -l${PROJECT_NAME_LOWER}) 3 | set(pkg_conf_file ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}.pc) 4 | configure_file(${PROJECT_NAME_LOWER}.pc.in ${pkg_conf_file} @ONLY) 5 | 6 | # Install CMake modules 7 | set(cmake_config ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake) 8 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config.cmake.in 9 | ${cmake_config} @ONLY) 10 | set(cmake_version_config 11 | ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake) 12 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake.in 13 | ${cmake_version_config} @ONLY) 14 | set(cmake_mods ${cmake_config} ${cmake_version_config}) 15 | 16 | -------------------------------------------------------------------------------- /examples/MyServiceProvider/cmake/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(PKG_DEPS "openrtm-aist") 2 | set(PKG_LIBS -l${PROJECT_NAME_LOWER}) 3 | set(pkg_conf_file ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}.pc) 4 | configure_file(${PROJECT_NAME_LOWER}.pc.in ${pkg_conf_file} @ONLY) 5 | 6 | # Install CMake modules 7 | set(cmake_config ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake) 8 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config.cmake.in 9 | ${cmake_config} @ONLY) 10 | set(cmake_version_config 11 | ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake) 12 | configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake.in 13 | ${cmake_version_config} @ONLY) 14 | set(cmake_mods ${cmake_config} ${cmake_version_config}) 15 | 16 | -------------------------------------------------------------------------------- /src/ext/http/rtc.https.conf.in: -------------------------------------------------------------------------------- 1 | logger.enable: YES 2 | logger.log_level: DEBUG 3 | #logger.file_name: stdout 4 | 5 | naming.formats: %h.host_cxt/%n.rtc 6 | 7 | manager.modules.load_path: @CMAKE_INSTALL_PREFIX@/@INSTALL_HTTPTRANSPORT_DIR@ 8 | manager.preload.modules: HTTPTransport@CMAKE_SHARED_LIBRARY_SUFFIX@ 9 | 10 | corba.http.certificate_authority_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/root-sample.crt 11 | corba.http.key_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/server-sample.pem 12 | corba.http.key_file_password:password 13 | 14 | corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:https:///call 15 | corba.nameservers: https://localhost:2809/call 16 | corba.master_manager: giop:http:https://localhost:2810/call 17 | -------------------------------------------------------------------------------- /src/lib/rtm/idl/DataPort.idl: -------------------------------------------------------------------------------- 1 | #ifndef _DATA_PORT_IDL_ 2 | #define _DATA_PORT_IDL_ 3 | 4 | #pragma prefix "omg.org" 5 | 6 | module RTC 7 | { 8 | enum PortStatus 9 | { 10 | PORT_OK, 11 | PORT_ERROR, 12 | BUFFER_FULL, 13 | BUFFER_EMPTY, 14 | BUFFER_TIMEOUT, 15 | UNKNOWN_ERROR 16 | }; 17 | #pragma version PortStatus 1.0 18 | 19 | typedef sequence OctetSeq; 20 | 21 | interface DataPushService 22 | { 23 | PortStatus push(in OctetSeq data); 24 | }; 25 | #pragma version DataPushService 1.0 26 | 27 | interface DataPullService 28 | { 29 | PortStatus pull(out OctetSeq data); 30 | }; 31 | #pragma version DataPullService 1.0 32 | }; 33 | 34 | #endif // _DATA_PORT_IDL_ 35 | 36 | -------------------------------------------------------------------------------- /src/lib/hrtm/properties.cpp: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file properties.cpp 4 | * @brief hrtm::Peoperties wrapper class 5 | * @date $Date$ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2016 9 | * Noriaki Ando 10 | * National Institute of 11 | * Advanced Industrial Science and Technology (AIST), Japan 12 | * All rights reserved. 13 | * 14 | * $Id$ 15 | * 16 | */ 17 | 18 | #include 19 | 20 | namespace hrtm 21 | { 22 | namespace utils 23 | { 24 | Properties::Properties() 25 | : coil::Properties("", "") 26 | { 27 | } 28 | Properties::Properties(const char* const defaults[], long num) 29 | : coil::Properties(defaults, num) 30 | { 31 | } 32 | Properties::~Properties() = default; 33 | } // namespace utils 34 | } // namespace hrtm 35 | -------------------------------------------------------------------------------- /src/lib/rtm/idl/SharedMemory.idl: -------------------------------------------------------------------------------- 1 | // -*- IDL -*- 2 | /*! 3 | * @file SharedMemory.idl 4 | * @brief Shared Memory TransPort interface definition 5 | * @date $Date: 2016-02-25 $ 6 | * @author Nobuhiko Miyamoto 7 | * 8 | * 9 | */ 10 | 11 | #ifndef SharedMemory_idl 12 | #define SharedMemory_idl 13 | 14 | 15 | #include "DataPort_OpenRTM.idl" 16 | 17 | module OpenRTM 18 | { 19 | 20 | 21 | interface PortSharedMemory 22 | { 23 | void open_memory(in unsigned long long memory_size, in string shm_address); 24 | void create_memory(in unsigned long long memory_size, in string shm_address); 25 | void close_memory(in boolean unlink); 26 | void setInterface(in PortSharedMemory sm); 27 | void setEndian(in boolean endian); 28 | PortStatus put(); 29 | PortStatus get(); 30 | }; 31 | }; 32 | #endif 33 | -------------------------------------------------------------------------------- /examples/AutoTest/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.16) 2 | 3 | project (AutoTest 4 | VERSION ${RTM_VERSION} 5 | LANGUAGES CXX) 6 | 7 | set(${PROJECT_NAME}_IDLS AutoTestService.idl) 8 | 9 | openrtm_idl_compile_all(${PROJECT_NAME} 10 | "${${PROJECT_NAME}_IDLS}" 11 | "-I${CMAKE_CURRENT_SOURCE_DIR};-I${CMAKE_SOURCE_DIR}/src/lib/rtm/idl" 12 | ${PROJECT_NAME} "") 13 | 14 | set(srcs AutoTestIn.cpp AutoTestServiceSVC_impl.cpp ${${PROJECT_NAME}_IDLSKEL}) 15 | examples_build(AutoTestIn SRCS "${srcs}" MAIN AutoTestInComp.cpp) 16 | target_include_directories(AutoTestIn_objlib SYSTEM PUBLIC ${PROJECT_BINARY_DIR}) 17 | 18 | set(srcs AutoTestOut.cpp ${${PROJECT_NAME}_IDLSTUB}) 19 | examples_build(AutoTestOut SRCS "${srcs}" MAIN AutoTestOutComp.cpp) 20 | target_include_directories(AutoTestOut_objlib SYSTEM PUBLIC ${PROJECT_BINARY_DIR}) 21 | -------------------------------------------------------------------------------- /src/ext/transport/ROS2Transport/ROS2MessageInfo.cpp: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file ROSMessageInfo.cpp 4 | * @brief ROS Massage Type Info class 5 | * @date $Date: 2019-02-05 03:08:03 $ 6 | * @author Nobuhiko Miyamoto 7 | * 8 | * Copyright (C) 2019 9 | * Nobuhiko Miyamoto 10 | * Robot Innovation Research Center, 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * 14 | * All rights reserved. 15 | * 16 | * 17 | */ 18 | 19 | #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__) 20 | #pragma warning(push) 21 | #pragma warning(disable:4996) 22 | #endif 23 | 24 | #include "ROS2MessageInfo.h" 25 | 26 | #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__) 27 | #pragma warning(pop) 28 | #endif -------------------------------------------------------------------------------- /src/ext/transport/ROS2Transport/rtc.ros2.conf.in: -------------------------------------------------------------------------------- 1 | logger.enable: YES 2 | logger.log_level: DEBUG 3 | #logger.file_name: stdout 4 | 5 | manager.modules.load_path: @CMAKE_INSTALL_PREFIX@/@INSTALL_ROS2TRANSPORT_DIR@ 6 | manager.preload.modules: FastRTPSTransport@CMAKE_SHARED_LIBRARY_SUFFIX@, ROS2Transport@CMAKE_SHARED_LIBRARY_SUFFIX@ 7 | 8 | manager.components.preactivation: ConsoleOut0, ConsoleIn0 9 | manager.components.preconnect: ConsoleOut0.in?interface_type=fast-rtps&marshaling_type=ros2:std_msgs/Float32&fast-rtps.subscriber.name=subscriber_openrtm, ConsoleIn0.out?interface_type=fast-rtps&marshaling_type=ros2:std_msgs/Float32&fast-rtps.publisher.name=publisher_openrtm 10 | 11 | fast-rtps.xmlprofile.filename: @CMAKE_INSTALL_PREFIX@/@INSTALL_SAMPLEQOSPROFILE_DIR@/FastRTPsQoSExample.xml 12 | fast-rtps.participant.name: participant_openrtm -------------------------------------------------------------------------------- /src/ext/ec/logical_time/example/rtc.conf: -------------------------------------------------------------------------------- 1 | corba.nameservers: localhost 2 | naming.formats: %n.rtc 3 | logger.log_level: PARANOID 4 | logger.date_format: %b %d %H:%M:%S.%Q.%q 5 | logger.clock_type: logical 6 | exec_cxt.periodic.type: ltt_ec 7 | exec_cxt.periodic.rate: 1000 8 | exec_cxt.sync_transition: NO 9 | manager.modules.load_path: ../.libs, \ 10 | ../../../local_service/nameservice_file/.libs 11 | manager.modules.preload: LogicalTimeTriggeredEC.so 12 | manager.modules.abs_path_allowed: yes 13 | manager.local_service.modules: FileNameservice.so 14 | ec.ltt_ec.sync_tick: YES 15 | example.LTTSample.config_file: LTTSample.conf 16 | manager.local_service.org.openrtm.local_service.nameservice.file_nameservice.base_path: ./ 17 | manager.local_service.org.openrtm.local_service.nameservice.file_nameservice.file_structure: flat 18 | -------------------------------------------------------------------------------- /src/lib/coil/ace/coil/DynamicLib.h: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file DynamicLib_ace.h 4 | * @brief DynamicLib class using ACE 5 | * @date $Date$ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2008 Noriaki Ando 9 | * Task-intelligence Research Group, 10 | * Intelligent Systems Research Institute, 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * All rights reserved. 14 | * 15 | * $Id$ 16 | * 17 | */ 18 | 19 | #ifndef COIL_DYNAMICLIB_H 20 | #define COIL_DYNAMICLIB_H 21 | 22 | #include 23 | #include 24 | 25 | #define COIL_DEFAULT_DYNLIB_MODE ACE_DEFAULT_SHLIB_MODE 26 | 27 | namespace coil 28 | { 29 | typedef ACE_DLL DynamicLib; 30 | }; 31 | 32 | #endif // DynamicLib_h 33 | -------------------------------------------------------------------------------- /docs/DevelopersGuide/icon/Module.eps: -------------------------------------------------------------------------------- 1 | %!PS-Adobe-2.0 EPSF-2.0 2 | %%BoundingBox: 0 0 16 16 3 | /pstr 4 | 16 string 5 | def 6 | /inputf 7 | currentfile 8 | /ASCII85Decode filter 9 | /RunLengthDecode filter 10 | def 11 | % 12 | % created by bmeps 1.0.7a (SCCS=1.67) 13 | % 14 | gsave 15 | 0 16 translate 16 | 16 16 scale 17 | 16 16 8 [16 0 0 -16 0 0] 18 | { inputf pstr readstring pop } 19 | false 20 | 3 21 | colorimage 22 | T)TpfW8!'*gP2Z]L8`j]W8!'*gP2Z]L8`j]W8!'*gOc0Oo)AcGW8$J7!e6roo)AcG 23 | W8$J7!dL3[o)B)PW8!'*gP2Z]L8`kqrsNh1dW:c'F-b3nPKWsrrr;ug#e7L]E,p5Y 24 | W8$J7"`':E`QQm+rrRqRgZJM>Ar=jPbLcFe!f!Z.k5PTkLrREWfCf.FL8`khrrlPY 25 | `5TpOrr3@\W8!'*gP2Z]L8`kqrshqT`)qQ-r%4bLcaarr3%SW8$J7"\F$NZF@UAs!*/lgO5^HEgtKoQ-a3+b$^+I>DU1!J%e[( 27 | _F]'e7 29 | grestore 30 | showpage 31 | -------------------------------------------------------------------------------- /examples/Throughput/cdr_sameproc.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | DATATYPES="octet short long float double" 4 | 5 | #------------------------------------------------------------ 6 | # corba_cdr with two component with same proc 7 | #------------------------------------------------------------ 8 | for d in $DATATYPES ; do 9 | cat < tmp.conf 10 | logger.enable: NO 11 | corba.args: -ORBgiopMaxMsgSize 209715200 12 | manager.components.precreate: Throughput 13 | manager.components.preconnect: Throughput0.out:Throughput1.in(dataflow_type=push&interface_type=corba_cdr 14 | manager.components.preactivation: Throughput0, Throughput1 15 | example.Throughput.conf.default.maxsize: 100000000 16 | example.Throughput.conf.default.datatype: ${d} 17 | example.Throughput.conf.default.filesuffix: -sameproc 18 | 19 | EOF 20 | ./ThroughputComp -f tmp.conf 21 | done 22 | rm -f tmp.conf 23 | 24 | -------------------------------------------------------------------------------- /src/lib/rtm/idl/DataPortUDP.idl: -------------------------------------------------------------------------------- 1 | // -*- IDL -*- 2 | /*! 3 | * @file DataPortUDP.idl 4 | * @brief DataPort interface definition 5 | * @date $Date: 2018-01-15 15:40:14 $ 6 | * @author Nobuhiko Miyamoto 7 | * 8 | * Copyright (C) 2018 9 | * Nobuhiko Miyamoto 10 | * Robot Innovation Research Center, 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * 14 | * All rights reserved. 15 | * 16 | * 17 | */ 18 | 19 | #ifndef DataInPortUDP_idl 20 | #define DataInPortUDP_idl 21 | 22 | #ifdef TAO_IDL 23 | #include 24 | #endif 25 | 26 | #include "DataPort_OpenRTM.idl" 27 | 28 | 29 | #pragma prefix "openrtm.aist.go.jp" 30 | 31 | module OpenRTM 32 | { 33 | 34 | interface InPortCdrUDP 35 | { 36 | oneway void put(in CdrData data); 37 | }; 38 | }; 39 | #endif 40 | -------------------------------------------------------------------------------- /docs/DevelopersGuide/icon/RTLogo.eps: -------------------------------------------------------------------------------- 1 | %!PS-Adobe-2.0 EPSF-2.0 2 | %%BoundingBox: 0 0 16 16 3 | /pstr 4 | 16 string 5 | def 6 | /inputf 7 | currentfile 8 | /ASCII85Decode filter 9 | /RunLengthDecode filter 10 | def 11 | % 12 | % created by bmeps 1.0.7a (SCCS=1.67) 13 | % 14 | gsave 15 | 0 16 translate 16 | 16 16 scale 17 | 16 16 8 [16 0 0 -16 0 0] 18 | { inputf pstr readstring pop } 19 | false 20 | 3 21 | colorimage 22 | K)`Oa.BBJJL4b&.IXQcrI=crsWi2iEda>>(Y(;(NJUW#uIXQcrI>ET1Z*:D.s!c:> 23 | c*O^\Ycb+)UnVjICisf=_8*e4d*Ju#Y,S@sUS4?_XK/b9ZdR7Kqu?Zj&aeuP]tCt1 24 | Jq//lFf;47jQ#;"pC?``nB&blSt);&f[o]bnc&=\s8MNuUnXN<9 26 | _npV?F6)BArq$JmUS 30 | grestore 31 | showpage 32 | -------------------------------------------------------------------------------- /src/ext/transport/OpenSplice/CORBACdrData.cpp: -------------------------------------------------------------------------------- 1 | //****************************************************************** 2 | // 3 | // Generated by IDL to C++ Translator 4 | // 5 | // File name: CORBACdrData.cpp 6 | // Source: CORBACdrData.idl 7 | // Generated: Wed Mar 27 20:28:43 2019 8 | // OpenSplice 6.9.190227OSS 9 | // 10 | //****************************************************************** 11 | 12 | #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__) 13 | #pragma warning(push) 14 | #pragma warning(disable:4819) 15 | #endif 16 | #include "CORBACdrData.h" 17 | #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__) 18 | #pragma warning(pop) 19 | #endif 20 | 21 | #ifdef DDS_USE_EXPLICIT_TEMPLATES 22 | #if DDS_USE_EXPLICIT_TEMPLATES 23 | template class DDS_DCPSUFLSeq < DDS::Octet, struct _data_seq_uniq_>; 24 | #endif 25 | #endif 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /src/ext/transport/ROS2Transport/mainexamplecacert.pem: -------------------------------------------------------------------------------- 1 | -----BEGIN CERTIFICATE----- 2 | MIICHzCCAcUCFBT/51N1/y18QMw53T5sfu+lxvYoMAoGCCqGSM49BAMCMIGRMQsw 3 | CQYDVQQGEwJKUDEOMAwGA1UECAwFVG9reW8xGTAXBgNVBAcMEFRzdWt1YmEsIEli 4 | YXJha2kxDTALBgNVBAoMBEFJU1QxIjAgBgNVBAMMGU9wZW5SVE0tYWlzdCBNYWlu 5 | IFRlc3QgQ0ExJDAiBgkqhkiG9w0BCQEWFW4tbWl5YW1vdG9AYWlzdC5nby5qcDAe 6 | Fw0yMjAyMDgwMzIxMDFaFw0zMjAyMDYwMzIxMDFaMIGRMQswCQYDVQQGEwJKUDEO 7 | MAwGA1UECAwFVG9reW8xGTAXBgNVBAcMEFRzdWt1YmEsIEliYXJha2kxDTALBgNV 8 | BAoMBEFJU1QxIjAgBgNVBAMMGU9wZW5SVE0tYWlzdCBNYWluIFRlc3QgQ0ExJDAi 9 | BgkqhkiG9w0BCQEWFW4tbWl5YW1vdG9AYWlzdC5nby5qcDBZMBMGByqGSM49AgEG 10 | CCqGSM49AwEHA0IABPGgDnMfplqk+eBUfp7Pi5MPJi4XyFxFjyYp1+G9+TeM0342 11 | cyR9mwnf4KHdwGePDjb97DHR3JYa7fyLTVIcuJMwCgYIKoZIzj0EAwIDSAAwRQIh 12 | AMC+VaLCFaDDAJbYwMnfIKOuUOToqNm7GEj+iUQF5yDnAiBtN98skAR+VkRUnDcc 13 | OLdd+I33FS6fkfIFiy/F6NlEIA== 14 | -----END CERTIFICATE----- 15 | -------------------------------------------------------------------------------- /src/lib/rtm/DefaultPeriodicTask.h: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file DefaultPeriodicTask.h 4 | * @brief PeiodicTaskFactory class 5 | * @date $Date$ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2009 9 | * Noriaki Ando 10 | * Task-intelligence Research Group, 11 | * Intelligent Systems Research Institute, 12 | * National Institute of 13 | * Advanced Industrial Science and Technology (AIST), Japan 14 | * All rights reserved. 15 | * 16 | * $Id$ 17 | * 18 | */ 19 | 20 | #ifndef RTC_DEFAULTPERIODICTASK_H 21 | #define RTC_DEFAULTPERIODICTASK_H 22 | 23 | namespace coil 24 | { 25 | class PeriodicTask; 26 | } // namespace coil 27 | namespace RTC 28 | { 29 | using DefaultPeriodicTask = coil::PeriodicTask; 30 | } // namespace RTC 31 | extern "C" 32 | { 33 | void DefaultPeriodicTaskInit(); 34 | } 35 | 36 | #endif // RTC_DEFAULTPERIODICTASK_H 37 | -------------------------------------------------------------------------------- /examples/Fsm/camera_functions.cc: -------------------------------------------------------------------------------- 1 | #include "camera_functions.h" 2 | #include "Fsm.h" 3 | 4 | #include 5 | #include 6 | 7 | static Fsm* s_component = NULL; 8 | 9 | void set_component(Fsm* component) { 10 | std::cout << "set_component()" << std::endl; 11 | s_component = component; 12 | } 13 | 14 | Fsm* get_component() { 15 | assert(s_component); 16 | return s_component; 17 | } 18 | 19 | void OutputData(double val) { 20 | std::cout << "OutputData()" << std::endl; 21 | assert(get_component()); 22 | get_component()->out_data_.data = static_cast(val); 23 | get_component()->out_port_out_.write(); 24 | } 25 | 26 | void DisplayFocused(RTC::TimedLong /* param */) { 27 | std::cout << "DisplayFocused()" << std::endl; 28 | } 29 | 30 | bool IsMemoryAvailable(RTC::TimedLong /* param */) { 31 | std::cout << "IsMemoryAvailable()" << std::endl; 32 | return true; 33 | } 34 | -------------------------------------------------------------------------------- /examples/Motor/scripts/ubuntu_1804/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM ubuntu:18.04 2 | 3 | RUN apt-get update\ 4 | && apt-get install -y --no-install-recommends\ 5 | g++\ 6 | make\ 7 | cmake\ 8 | omniorb-nameserver\ 9 | libomniorb4-dev\ 10 | omniidl\ 11 | doxygen\ 12 | nkf\ 13 | gnupg2\ 14 | python\ 15 | && export repo="http://openrtm.org/pub/Linux/ubuntu/ bionic"\ 16 | && echo "deb $repo main" | tee -a /etc/apt/sources.list\ 17 | && apt-key adv --keyserver keys.gnupg.net --recv-keys 4BCE106E087AFAC0\ 18 | && apt-get autoclean\ 19 | && apt-get -qq update\ 20 | && apt-get install -y --force-yes openrtm-aist-dev\ 21 | && apt-get clean\ 22 | && rm -rf /var/lib/apt/lists/* 23 | 24 | COPY Motor /root/Motor 25 | WORKDIR /root/Motor 26 | RUN mkdir build && cd build && cmake .. -DBUILD_DOCUMENTATION=ON -DBUILD_TESTS=ON && make && make doc && make install && cpack\ 27 | && export CTEST_OUTPUT_ON_FAILURE=1 && make test 28 | -------------------------------------------------------------------------------- /examples/SeqIn/scripts/ubuntu_1804/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM ubuntu:18.04 2 | 3 | RUN apt-get update\ 4 | && apt-get install -y --no-install-recommends\ 5 | g++\ 6 | make\ 7 | cmake\ 8 | omniorb-nameserver\ 9 | libomniorb4-dev\ 10 | omniidl\ 11 | doxygen\ 12 | nkf\ 13 | gnupg2\ 14 | python\ 15 | && export repo="http://openrtm.org/pub/Linux/ubuntu/ bionic"\ 16 | && echo "deb $repo main" | tee -a /etc/apt/sources.list\ 17 | && apt-key adv --keyserver keys.gnupg.net --recv-keys 4BCE106E087AFAC0\ 18 | && apt-get autoclean\ 19 | && apt-get -qq update\ 20 | && apt-get install -y --force-yes openrtm-aist-dev\ 21 | && apt-get clean\ 22 | && rm -rf /var/lib/apt/lists/* 23 | 24 | COPY SeqIn /root/SeqIn 25 | WORKDIR /root/SeqIn 26 | RUN mkdir build && cd build && cmake .. -DBUILD_DOCUMENTATION=ON -DBUILD_TESTS=ON && make && make doc && make install && cpack\ 27 | && export CTEST_OUTPUT_ON_FAILURE=1 && make test 28 | -------------------------------------------------------------------------------- /examples/Sensor/scripts/ubuntu_1804/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM ubuntu:18.04 2 | 3 | RUN apt-get update\ 4 | && apt-get install -y --no-install-recommends\ 5 | g++\ 6 | make\ 7 | cmake\ 8 | omniorb-nameserver\ 9 | libomniorb4-dev\ 10 | omniidl\ 11 | doxygen\ 12 | nkf\ 13 | gnupg2\ 14 | python\ 15 | && export repo="http://openrtm.org/pub/Linux/ubuntu/ bionic"\ 16 | && echo "deb $repo main" | tee -a /etc/apt/sources.list\ 17 | && apt-key adv --keyserver keys.gnupg.net --recv-keys 4BCE106E087AFAC0\ 18 | && apt-get autoclean\ 19 | && apt-get -qq update\ 20 | && apt-get install -y --force-yes openrtm-aist-dev\ 21 | && apt-get clean\ 22 | && rm -rf /var/lib/apt/lists/* 23 | 24 | COPY Sensor /root/Sensor 25 | WORKDIR /root/Sensor 26 | RUN mkdir build && cd build && cmake .. -DBUILD_DOCUMENTATION=ON -DBUILD_TESTS=ON && make && make doc && make install && cpack\ 27 | && export CTEST_OUTPUT_ON_FAILURE=1 && make test 28 | -------------------------------------------------------------------------------- /examples/SeqOut/scripts/ubuntu_1804/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM ubuntu:18.04 2 | 3 | RUN apt-get update\ 4 | && apt-get install -y --no-install-recommends\ 5 | g++\ 6 | make\ 7 | cmake\ 8 | omniorb-nameserver\ 9 | libomniorb4-dev\ 10 | omniidl\ 11 | doxygen\ 12 | nkf\ 13 | gnupg2\ 14 | python\ 15 | && export repo="http://openrtm.org/pub/Linux/ubuntu/ bionic"\ 16 | && echo "deb $repo main" | tee -a /etc/apt/sources.list\ 17 | && apt-key adv --keyserver keys.gnupg.net --recv-keys 4BCE106E087AFAC0\ 18 | && apt-get autoclean\ 19 | && apt-get -qq update\ 20 | && apt-get install -y --force-yes openrtm-aist-dev\ 21 | && apt-get clean\ 22 | && rm -rf /var/lib/apt/lists/* 23 | 24 | COPY SeqOut /root/SeqOut 25 | WORKDIR /root/SeqOut 26 | RUN mkdir build && cd build && cmake .. -DBUILD_DOCUMENTATION=ON -DBUILD_TESTS=ON && make && make doc && make install && cpack\ 27 | && export CTEST_OUTPUT_ON_FAILURE=1 && make test 28 | -------------------------------------------------------------------------------- /examples/ConsoleIn/scripts/ubuntu_1804/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM ubuntu:18.04 2 | 3 | RUN apt-get update\ 4 | && apt-get install -y --no-install-recommends\ 5 | g++\ 6 | make\ 7 | cmake\ 8 | omniorb-nameserver\ 9 | libomniorb4-dev\ 10 | omniidl\ 11 | doxygen\ 12 | nkf\ 13 | gnupg2\ 14 | python\ 15 | && export repo="http://openrtm.org/pub/Linux/ubuntu/ bionic"\ 16 | && echo "deb $repo main" | tee -a /etc/apt/sources.list\ 17 | && apt-key adv --keyserver keys.gnupg.net --recv-keys 4BCE106E087AFAC0\ 18 | && apt-get autoclean\ 19 | && apt-get -qq update\ 20 | && apt-get install -y --force-yes openrtm-aist-dev\ 21 | && apt-get clean\ 22 | && rm -rf /var/lib/apt/lists/* 23 | 24 | COPY ConsoleIn /root/ConsoleIn 25 | WORKDIR /root/ConsoleIn 26 | RUN mkdir build && cd build && cmake .. -DBUILD_DOCUMENTATION=ON -DBUILD_TESTS=ON && make && make doc && make install && cpack\ 27 | && export CTEST_OUTPUT_ON_FAILURE=1 && make test 28 | -------------------------------------------------------------------------------- /examples/ConsoleOut/scripts/ubuntu_1804/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM ubuntu:18.04 2 | 3 | RUN apt-get update\ 4 | && apt-get install -y --no-install-recommends\ 5 | g++\ 6 | make\ 7 | cmake\ 8 | omniorb-nameserver\ 9 | libomniorb4-dev\ 10 | omniidl\ 11 | doxygen\ 12 | nkf\ 13 | gnupg2\ 14 | python\ 15 | && export repo="http://openrtm.org/pub/Linux/ubuntu/ bionic"\ 16 | && echo "deb $repo main" | tee -a /etc/apt/sources.list\ 17 | && apt-key adv --keyserver keys.gnupg.net --recv-keys 4BCE106E087AFAC0\ 18 | && apt-get autoclean\ 19 | && apt-get -qq update\ 20 | && apt-get install -y --force-yes openrtm-aist-dev\ 21 | && apt-get clean\ 22 | && rm -rf /var/lib/apt/lists/* 23 | 24 | COPY ConsoleOut /root/ConsoleOut 25 | WORKDIR /root/ConsoleOut 26 | RUN mkdir build && cd build && cmake .. -DBUILD_DOCUMENTATION=ON -DBUILD_TESTS=ON && make && make doc && make install && cpack\ 27 | && export CTEST_OUTPUT_ON_FAILURE=1 && make test 28 | -------------------------------------------------------------------------------- /examples/Controller/scripts/ubuntu_1804/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM ubuntu:18.04 2 | 3 | RUN apt-get update\ 4 | && apt-get install -y --no-install-recommends\ 5 | g++\ 6 | make\ 7 | cmake\ 8 | omniorb-nameserver\ 9 | libomniorb4-dev\ 10 | omniidl\ 11 | doxygen\ 12 | nkf\ 13 | gnupg2\ 14 | python\ 15 | && export repo="http://openrtm.org/pub/Linux/ubuntu/ bionic"\ 16 | && echo "deb $repo main" | tee -a /etc/apt/sources.list\ 17 | && apt-key adv --keyserver keys.gnupg.net --recv-keys 4BCE106E087AFAC0\ 18 | && apt-get autoclean\ 19 | && apt-get -qq update\ 20 | && apt-get install -y --force-yes openrtm-aist-dev\ 21 | && apt-get clean\ 22 | && rm -rf /var/lib/apt/lists/* 23 | 24 | COPY Controller /root/Controller 25 | WORKDIR /root/Controller 26 | RUN mkdir build && cd build && cmake .. -DBUILD_DOCUMENTATION=ON -DBUILD_TESTS=ON && make && make doc && make install && cpack\ 27 | && export CTEST_OUTPUT_ON_FAILURE=1 && make test 28 | -------------------------------------------------------------------------------- /src/ext/ec/logical_time/LogicalTimeTriggeredEC.idl: -------------------------------------------------------------------------------- 1 | // -*- IDL -*- 2 | /*! 3 | * @file OpenRTM.idl 4 | * @brief OpenRTM interface definition 5 | * @date $Date: 2007-09-21 09:19:33 $ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2007 9 | * Task-intelligence Research Group, 10 | * Intelligent Systems Research Institute, 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * All rights reserved. 14 | * 15 | * $Id: OpenRTM.idl 1338 2009-05-18 05:58:25Z n-ando $ 16 | * 17 | */ 18 | 19 | #include 20 | 21 | #pragma prefix "openrtm.org" 22 | 23 | module OpenRTM 24 | { 25 | 26 | interface LogicalTimeTriggeredEC 27 | : RTC::ExecutionContextService 28 | { 29 | void tick(in unsigned long sec, in unsigned long usec); 30 | void get_time(out unsigned long sec, out unsigned long usec); 31 | }; 32 | 33 | }; 34 | 35 | -------------------------------------------------------------------------------- /src/ext/interrupt_task/interrupt_task.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | #include 6 | 7 | static SEM_ID syncSemId1000; 8 | 9 | 10 | void update_function(void) 11 | { 12 | semFlush(syncSemId1000); 13 | } 14 | 15 | STATUS interrupt_wait(void) 16 | { 17 | return semTake(syncSemId1000, WAIT_FOREVER); 18 | } 19 | 20 | 21 | void start_interrupt_handler(void) 22 | { 23 | const double sleep_time = 2.0; 24 | const int loop_count = 6; 25 | syncSemId1000 = semBCreate(SEM_Q_FIFO, SEM_EMPTY); 26 | 27 | 28 | 29 | while(true) 30 | { 31 | int count = 0; 32 | int tps = sysClkRateGet(); 33 | taskDelay((int)(sleep_time*tps) + 1); 34 | 35 | while(count < loop_count) 36 | { 37 | update_function(); 38 | count++; 39 | } 40 | } 41 | } 42 | 43 | 44 | 45 | -------------------------------------------------------------------------------- /src/lib/coil/ace/coil/File.h: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file Task.cpp 4 | * @brief Task class 5 | * @date $Date$ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2008 9 | * Task-intelligence Research Group, 10 | * Intelligent Systems Research Institute, 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * All rights reserved. 14 | * 15 | * $Id$ 16 | * 17 | */ 18 | 19 | #ifndef COIL_FILE_H 20 | #define COIL_FILE_H 21 | 22 | #include 23 | #include 24 | 25 | namespace coil 26 | { 27 | 28 | inline const char* dirname(const char* path) 29 | { 30 | return ACE::dirname(path); 31 | } 32 | 33 | inline const char* basename(const char* path) 34 | { 35 | return ACE::basename(path); 36 | } 37 | } // namespace coil 38 | 39 | #endif // COIL_FILE_H 40 | -------------------------------------------------------------------------------- /src/lib/rtm/idl/BasicDataTypeUtil.h: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file BasicDataTypeUtil.h 4 | * @brief Data type utility function 5 | * @date $Date: 2020-03-17 15:06:58 $ 6 | * @author Nobuhiko Miyamoto 7 | * 8 | * Copyright (C) 2006-2020 9 | * Nobuhiko Miyamoto 10 | * Robot Innovation Research Center, 11 | * Intelligent Systems Research Institute, 12 | * National Institute of 13 | * Advanced Industrial Science and Technology (AIST), Japan 14 | * All rights reserved. 15 | * 16 | * $Id$ 17 | * 18 | */ 19 | 20 | #ifndef RTC_BASICDATATYPEUTIL_H 21 | #define RTC_BASICDATATYPEUTIL_H 22 | 23 | #include "BasicDataTypeSkel.h" 24 | #include 25 | 26 | namespace CORBA_Util 27 | { 28 | template <> 29 | void copyData(RTC::TimedOctetSeq& data1, const RTC::TimedOctetSeq& data2); 30 | } // namespace CORBA_Util 31 | 32 | 33 | #endif // RTC_BASICDATATYPEUTIL_H 34 | -------------------------------------------------------------------------------- /src/lib/hrtm/properties.h: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file properties.h 4 | * @brief hrtm::Peoperties wrapper class 5 | * @date $Date$ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2016 9 | * Noriaki Ando 10 | * National Institute of 11 | * Advanced Industrial Science and Technology (AIST), Japan 12 | * All rights reserved. 13 | * 14 | * $Id$ 15 | * 16 | */ 17 | 18 | #ifndef HRTM_PROPERTIES_H 19 | #define HRTM_PROPERTIES_H 20 | 21 | #include 22 | 23 | namespace hrtm 24 | { 25 | namespace utils 26 | { 27 | class Properties 28 | : public coil::Properties 29 | { 30 | public: 31 | explicit Properties(); 32 | explicit Properties(const char* const defaults[], 33 | long num = std::numeric_limits::max()); 34 | ~Properties() override; 35 | }; 36 | } // namespace utils 37 | } // namespace hrtm 38 | #endif // HRTM_PROPERTIES_H 39 | -------------------------------------------------------------------------------- /src/ext/transport/OpenSplice/OpenSpliceManagerFunc.h: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file OpenSpliceManagerFunc.h 4 | * @brief OpenSpliceManagerFunc class 5 | * @date $Date: 2019-02-04 03:08:03 $ 6 | * @author Nobuhiko Miyamoto 7 | * 8 | * Copyright (C) 2019 9 | * Nobuhiko Miyamoto 10 | * Robot Innovation Research Center, 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * 14 | * All rights reserved. 15 | * 16 | * 17 | */ 18 | 19 | #ifndef RTC_OPENSPLICEMANAGERFUNC_H 20 | #define RTC_OPENSPLICEMANAGERFUNC_H 21 | 22 | #include 23 | 24 | namespace RTC_OpenSplice 25 | { 26 | void start(coil::Properties& prop); 27 | void shutdown(); 28 | bool registerType(const std::string& datatype, const std::string& idlpath); 29 | bool registeredType(const std::string& datatype); 30 | } 31 | 32 | 33 | #endif // RTC_OPENSPLICEMANAGERFUNC_H 34 | 35 | -------------------------------------------------------------------------------- /src/lib/coil/ace/coil/Task.h: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file Task.cpp 4 | * @brief Task class 5 | * @date $Date$ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2008 9 | * Task-intelligence Research Group, 10 | * Intelligent Systems Research Institute, 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * All rights reserved. 14 | * 15 | * $Id$ 16 | * 17 | */ 18 | 19 | #ifndef COIL_TASK_H 20 | #define COIL_TASK_H 21 | 22 | #include 23 | #if defined (WIN32) 24 | #pragma warning( disable : 4244 ) 25 | #pragma warning( disable : 4312 ) 26 | #endif 27 | #include 28 | #if defined (WIN32) 29 | #pragma warning( default : 4244 ) 30 | #pragma warning( default : 4312 ) 31 | #endif 32 | namespace coil 33 | { 34 | typedef ACE_Task Task; 35 | }; 36 | 37 | #endif // COIL_TASK_H 38 | -------------------------------------------------------------------------------- /docs/DevelopersGuide/figs/Connect.eps: -------------------------------------------------------------------------------- 1 | %!PS-Adobe-2.0 EPSF-2.0 2 | %%BoundingBox: 0 0 16 16 3 | /pstr 4 | 16 string 5 | def 6 | /inputf 7 | currentfile 8 | /ASCII85Decode filter 9 | /RunLengthDecode filter 10 | def 11 | % 12 | % created by bmeps 1.0.7a (SCCS=1.67) 13 | % 14 | gsave 15 | 0 16 translate 16 | 16 16 scale 17 | 16 16 8 [16 0 0 -16 0 0] 18 | { inputf pstr readstring pop } 19 | false 20 | 3 21 | colorimage 22 | K)aC$"m4t/F`D-Urt2oQO0c$Jo'u(IWiRd%+sJ*Al2Mdup?o>hDk<1tNJCDrNFeHB 23 | O?#<_bKJ&ml/mVLFn5PTlfQI#W*lTs?^d0^OG-_dInY$,8$8nXYd(Ar4YeoO,kCsX 24 | ]XDCZWar*!?D!?\OGm1lI8+g(7r;p)='%d('+H32)=meM^oqOYVdcKp?_*HbNegMc 25 | Hqna,7;Q^)?XZ/s<]S.=]^l(F^p[g[W+Dp$@%?3f[rrV[]Tr>rdt.HgL.bo)AuK 29 | JpqKMBT%e*WrE 30 | ~> 31 | grestore 32 | showpage 33 | -------------------------------------------------------------------------------- /docs/DevelopersGuide/icon/Connect.eps: -------------------------------------------------------------------------------- 1 | %!PS-Adobe-2.0 EPSF-2.0 2 | %%BoundingBox: 0 0 16 16 3 | /pstr 4 | 16 string 5 | def 6 | /inputf 7 | currentfile 8 | /ASCII85Decode filter 9 | /RunLengthDecode filter 10 | def 11 | % 12 | % created by bmeps 1.0.7a (SCCS=1.67) 13 | % 14 | gsave 15 | 0 16 translate 16 | 16 16 scale 17 | 16 16 8 [16 0 0 -16 0 0] 18 | { inputf pstr readstring pop } 19 | false 20 | 3 21 | colorimage 22 | K)aC$"m4t/F`D-Urt2oQO0c$Jo'u(IWiRd%+sJ*Al2Mdup?o>hDk<1tNJCDrNFeHB 23 | O?#<_bKJ&ml/mVLFn5PTlfQI#W*lTs?^d0^OG-_dInY$,8$8nXYd(Ar4YeoO,kCsX 24 | ]XDCZWar*!?D!?\OGm1lI8+g(7r;p)='%d('+H32)=meM^oqOYVdcKp?_*HbNegMc 25 | Hqna,7;Q^)?XZ/s<]S.=]^l(F^p[g[W+Dp$@%?3f[rrV[]Tr>rdt.HgL.bo)AuK 29 | JpqKMBT%e*WrE 30 | ~> 31 | grestore 32 | showpage 33 | -------------------------------------------------------------------------------- /examples/StaticFsm/idl/ComponentObserver.idl: -------------------------------------------------------------------------------- 1 | #ifndef _COMPONENT_OBSERVER_IDL_ 2 | #define _COMPONENT_OBSERVER_IDL_ 3 | 4 | #include 5 | 6 | #pragma prefix "omg.org" 7 | 8 | module RTC 9 | { 10 | enum StatusKind 11 | { 12 | COMPONENT_PROFILE, 13 | RTC_STATUS, 14 | EC_STATUS, 15 | PORT_PROFILE, 16 | CONFIGURATION, 17 | RTC_HEARTBEAT, 18 | EC_HEARTBEAT, 19 | FSM_PROFILE, 20 | FSM_STATUS, 21 | FSM_STRUCTURE, 22 | USER_DEFINED, 23 | STATUS_KIND_NUM 24 | }; 25 | #pragma version StatusKind 1.0 26 | 27 | interface ComponentObserver : SDOPackage::SDOService 28 | { 29 | oneway void update_status(in StatusKind status_kind, 30 | in string hint); 31 | }; 32 | #pragma version ComponentObserver 1.0 33 | }; 34 | 35 | #endif // _COMPONENT_OBSERVER_IDL_ 36 | 37 | -------------------------------------------------------------------------------- /src/ext/sdo/observer/test/rtc.conf: -------------------------------------------------------------------------------- 1 | logger.enable: YES 2 | logger.log_level: TRACE 3 | naming.formats: %n.rtc 4 | manager.modules.load_path: ./, ../../../../../examples/SimpleIO/.libs 5 | manager.modules.preload: ConsoleOut.so 6 | manager.components.precreate: ConsoleOut 7 | manager.components.preactivation: ConsoleIn0, ConsoleOut0 8 | manager.components.preconnect: ConsoleIn0.out?port=ConsoleOut0.in&dataflow_type=push&interface_type=corba_cdr 9 | 10 | manager.local_service.org.openrtm.local_service.nameservice.file_nameservice.base_path: ./ 11 | manager.local_service.org.openrtm.local_service.nameservice.file_nameservice.file_structure: flat 12 | manager.local_service.org.openrtm.local_service.nameservice.file_nameservice.context_delimiter: . 13 | 14 | manager.local_service.modules: \ 15 | ../.libs/ComponentObserverConsumer.so(ComponentObserverConsumerInit), \ 16 | ../../../local_service/nameservice_file/.libs/FileNameservice.so(FileNameserviceInit) 17 | 18 | -------------------------------------------------------------------------------- /src/lib/rtm/CdrRingBuffer.h: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file CdrRingBuffer.h 4 | * @brief RingBuffer for CDR 5 | * @date $Date: 2007-12-31 03:08:03 $ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2006-2009 9 | * Noriaki Ando 10 | * Task-intelligence Research Group, 11 | * Intelligent Systems Research Institute, 12 | * National Institute of 13 | * Advanced Industrial Science and Technology (AIST), Japan 14 | * All rights reserved. 15 | * 16 | * $Id: InPortConsumer.h 1225 2009-02-28 02:30:25Z n-ando $ 17 | * 18 | */ 19 | 20 | #ifndef RTC_CDRRINGBUFFER_H 21 | #define RTC_CDRRINGBUFFER_H 22 | 23 | #include 24 | #include 25 | #include 26 | 27 | namespace RTC 28 | { 29 | using CdrRingBuffer = RingBuffer; 30 | } // namespace RTC 31 | 32 | extern "C" 33 | { 34 | void CdrRingBufferInit(); 35 | } 36 | #endif // RTC_CDRRINGBUFFER_H 37 | -------------------------------------------------------------------------------- /src/lib/rtm/idl/InterfaceDataTypesUtil.h: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file InterfaceDataTypesUtil.h 4 | * @brief Data type utility function 5 | * @date $Date: 2020-03-17 15:06:58 $ 6 | * @author Nobuhiko Miyamoto 7 | * 8 | * Copyright (C) 2006-2020 9 | * Nobuhiko Miyamoto 10 | * Robot Innovation Research Center, 11 | * Intelligent Systems Research Institute, 12 | * National Institute of 13 | * Advanced Industrial Science and Technology (AIST), Japan 14 | * All rights reserved. 15 | * 16 | * $Id$ 17 | * 18 | */ 19 | 20 | #ifndef RTC_INTERFACEDATATYPESUTIL_H 21 | #define RTC_INTERFACEDATATYPESUTIL_H 22 | 23 | #include "InterfaceDataTypesSkel.h" 24 | #include 25 | 26 | namespace CORBA_Util 27 | { 28 | template <> 29 | void copyData(RTC::CameraImage& data1, const RTC::CameraImage& data2); 30 | } // namespace CORBA_Util 31 | 32 | 33 | #endif // RTC_INTERFACEDATATYPESUTIL_H 34 | -------------------------------------------------------------------------------- /src/ext/sdo/fsm4rtc_observer/ComponentObserver.idl: -------------------------------------------------------------------------------- 1 | #ifndef _COMPONENT_OBSERVER_IDL_ 2 | #define _COMPONENT_OBSERVER_IDL_ 3 | 4 | #include 5 | 6 | #pragma prefix "omg.org" 7 | 8 | module RTC 9 | { 10 | enum StatusKind 11 | { 12 | COMPONENT_PROFILE, 13 | RTC_STATUS, 14 | EC_STATUS, 15 | PORT_PROFILE, 16 | CONFIGURATION, 17 | RTC_HEARTBEAT, 18 | EC_HEARTBEAT, 19 | FSM_PROFILE, 20 | FSM_STATUS, 21 | FSM_STRUCTURE, 22 | USER_DEFINED, 23 | STATUS_KIND_NUM 24 | }; 25 | #pragma version StatusKind 1.0 26 | 27 | interface ComponentObserver : SDOPackage::SDOService 28 | { 29 | oneway void update_status(in StatusKind status_kind, 30 | in string hint); 31 | }; 32 | #pragma version ComponentObserver 1.0 33 | }; 34 | 35 | #endif // _COMPONENT_OBSERVER_IDL_ 36 | 37 | -------------------------------------------------------------------------------- /src/ext/sdo/fsm4rtc_observer/test/idl/ComponentObserver.idl: -------------------------------------------------------------------------------- 1 | #ifndef _COMPONENT_OBSERVER_IDL_ 2 | #define _COMPONENT_OBSERVER_IDL_ 3 | 4 | #include 5 | 6 | #pragma prefix "omg.org" 7 | 8 | module RTC 9 | { 10 | enum StatusKind 11 | { 12 | COMPONENT_PROFILE, 13 | RTC_STATUS, 14 | EC_STATUS, 15 | PORT_PROFILE, 16 | CONFIGURATION, 17 | RTC_HEARTBEAT, 18 | EC_HEARTBEAT, 19 | FSM_PROFILE, 20 | FSM_STATUS, 21 | FSM_STRUCTURE, 22 | USER_DEFINED, 23 | STATUS_KIND_NUM 24 | }; 25 | #pragma version StatusKind 1.0 26 | 27 | interface ComponentObserver : SDOPackage::SDOService 28 | { 29 | oneway void update_status(in StatusKind status_kind, 30 | in string hint); 31 | }; 32 | #pragma version ComponentObserver 1.0 33 | }; 34 | 35 | #endif // _COMPONENT_OBSERVER_IDL_ 36 | 37 | -------------------------------------------------------------------------------- /.github/PULL_REQUEST_TEMPLATE.md: -------------------------------------------------------------------------------- 1 | 5 | 6 | ## Identify the Bug 7 | 8 | Link to the issue describing the bug that you're fixing. 9 | If there is not yet an issue for your bug, please open a new issue and then link to that issue in your pull request. 10 | 11 | 12 | ## Description of the Change 13 | 14 | We must be able to understand the design of your change from this description. 15 | 16 | 17 | ## Verification 18 | 24 | 25 | - [ ] Did you succeed the build? 26 | - [ ] No warnings for the build? 27 | - [ ] Have you passed the unit tests? 28 | -------------------------------------------------------------------------------- /src/ext/transport/ROS2Transport/ROS2Transport.h: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file ROS2Transport.h 4 | * @brief ROS2Transport class 5 | * @date $Date: 2019-02-04 03:08:03 $ 6 | * @author Nobuhiko Miyamoto 7 | * 8 | * Copyright (C) 2018 9 | * Nobuhiko Miyamoto 10 | * Robot Innovation Research Center, 11 | * National Institute of 12 | * Advanced Industrial Science and Technology (AIST), Japan 13 | * 14 | * All rights reserved. 15 | * 16 | * 17 | */ 18 | 19 | #ifndef RTC_ROS2TRANSPORT_H 20 | #define RTC_ROS2TRANSPORT_H 21 | 22 | 23 | 24 | #include 25 | 26 | 27 | 28 | extern "C" 29 | { 30 | /*! 31 | * @if jp 32 | * @brief モジュール初期化関数 33 | * 34 | * ROS2シリアライザを登録する 35 | * 36 | * @else 37 | * @brief Module initialization 38 | * 39 | * 40 | * 41 | * @endif 42 | */ 43 | DLL_EXPORT void ROS2TransportInit(RTC::Manager* manager); 44 | } 45 | 46 | #endif // RTC_ROS2TRANSPORT_H 47 | 48 | -------------------------------------------------------------------------------- /src/lib/hrtm/in_port.h: -------------------------------------------------------------------------------- 1 | // -*- C++ -*- 2 | /*! 3 | * @file in_port.h 4 | * @brief RTC::InPort wrapper class for hrtm::InPort 5 | * @date $Date$ 6 | * @author Noriaki Ando 7 | * 8 | * Copyright (C) 2016 9 | * Noriaki Ando 10 | * National Institute of 11 | * Advanced Industrial Science and Technology (AIST), Japan 12 | * All rights reserved. 13 | * 14 | * $Id$ 15 | * 16 | */ 17 | #ifndef HRTM_IN_PORT_H 18 | #define HRTM_IN_PORT_H 19 | 20 | #include 21 | 22 | namespace hrtm 23 | { 24 | #ifndef CXX11 25 | template 26 | class InPort 27 | : public RTC::InPort 28 | { 29 | public: 30 | InPort(const char* name, DataType& data) 31 | : RTC::InPort(name, data) 32 | { 33 | } 34 | virtual ~InPort() = default; 35 | }; 36 | #else 37 | template 38 | using InPort = RTC::InPort; 39 | #endif 40 | } // namespace hrtm 41 | 42 | #endif // HRTM_IN_PORT_H 43 | --------------------------------------------------------------------------------