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Displaying and Editing RTCs

RTC Display

RTCs added to the System Editor are displayed as rectangles with icons indicating the ports. The colour of the rectangle changes to represent the RTC's current state.

fig18RTCDisplayExample_en.png
RT Components in the System Editor


The icons and colours are described below.

No. Name Shape State Default Color
1 RTC
IconShape1_en.png
CREATED
IconWhite_en.png
White
INACTIVE
IconBlue_en.png
Blue
ACTIVE
IconLightGreen_en.png
Light Green
ERROR
IconRed_en.png
Red
UNKNOWN
IconBlack_en.png
Black
2 Execution context
(First only)
(RTC's outline) RUNNING
IconGray_en.png
Gray
STOPPED
IconBlack_en.png
Black
3 InPort
IconShape2_en.png
Unconnected
IconBlue_en.png
Blue
Connected(1 or more)
IconLightGreen_en.png
Light Green
4 OutPort
IconShape3_en.png
Unconnected
IconBlue_en.png
Blue
Connected(1 or more)
IconLightGreen_en.png
Light Green
5 ServicePort
IconShape4_en.png
Unconnected
IconLightBlue_en.png
Light Blue
Connected(1 or more)
IconCyan_en.png
Cyan

* The colours can be configured in the RT System Editor settings.
The System Editor updates its display of component states in real time. The update period can be configured using the RT System Editor settings.

Editing the RTC Display

The display of each individual RTC can be changed. This has no effect on the system or the actual component, it is merely changing how the RTC is displayed in the System Editor.

  • Move and resize an RTC ~ To move an RTC, drag it with the mouse after selecting it. Resizing is accomplished using the resizing handles around the edges.
    fig19RTCMoveSize_en.png
    Moving (left) and resizing (right) an RTC


The location and size are displayed in the status bar.

fig20StatusBar_en.png
Status bar


- Rotating an RTC ~Select the RTC, then click the middle mouse button to flip the component horizontally. Hold shift while clicking the middle mouse button to flip the component vertically.

A rotated RTC


- Removing an RTC from the System Editor ~ To delete an RTC from the editor, select it and click the Delete button, or right-click on it and select Delete from the context menu. This will not have any effect on the running system.

Delete


-Moving port connection lines ~To move a line connecting two ports, select the line and use the handles to move it around. Vertical lines can be moved side-to-side, while horizontal lines can be moved up and down.

fig56SystemEditer_en.png
Moving port connection lines


Download

latest Releases

For Begginers

Windows msi(installer) package (only trying samples)

C++,Python,Java,
Toolsを含む
1.2.1-RELEASE

Development environment is required for RT-Component development. See download page for details.

Number of Projects

Choreonoid

Motion editor/Dynamics simulator

OpenHRP3

Dynamics simulator

OpenRTP

Integrated Development Platform

AIST RTC collection

RT-Components collection by AIST

TORK

Tokyo Opensource Robotics Association

DAQ-Middleware

Middleware for DAQ (Data Aquisition) by KEK