Generating code, Saving and Loading

Generating code

Generating code

Once all the necessary information for the new RT Component has been specified, the template code can be generated. On the Basic Profile tab, click the Generate button to generate the template code.

fig4-1GenerateTemplate_en.png
Generating template code


The generated template files are as follows, dependent on the language selected:

Generated files

  • All
Filename Explanation
README_<RTC name> README file. Contains the information entered before generation.
  • C++
Filename Explanation
<RTC name> Comp.cpp RT Component launch code.
<RTC name>.h RT Component main header.
<RTC name>.cpp RT Component main code.
<Service type name>SVC_impl.h Service provider header*.
Only the specified ServiceProvider Type will be output.
<Service type name>SVC_impl. cpp Service provider implementation*.
Only the specified ServiceProvider Type will be output.
Makefile.<RTC name> Makefile for compiling the component.
<RTC name>.vcproj Project file for Visual Studio.
Only generated when the supported OS is set to Windows.
OpenRTM-aist.vsprops Visual Studio property file for OpenRTM-aist.
  • Java
Filename Explanation
<RTC name>Comp.java RT Component launch class.
<RTC name>.java RT Component's Component Profile. Class specified during initialisation.
<RTC name>Impl.java RT Component implementation.
build_<RTC name>.xml Build file for the RT Component.
<Service type name> SVC_impl.java Service provider implementation class*.
  • Python
Filename Explanation
<RTC name>.py RT component implementation.
<Service type name>_idl.py
<Service type name>_idl_example.py Service provider implementation class*.
~* RTC Builder will parse the IDL file(s) when generating the template code in order to generate the operation templates for the service providers. However, the following limitations apply to this:
  • Only #include can be used by the preprocessor. #ifdef, etc. are ignored.
  • The generated operations are only those directly specified by the interface. Inherited operations are not generated.

Output selection

If an output file of the code to be generated already exists, and there are differences between the existing file and the generated file, it will request confirmation of how to merge the two files.

fig4-2SelectOutPut_en.png
Output selection screen


In this screen there are three options to select from.
  • Original: Use the existing file.
  • Merge: Merge using a merge block*.
  • Generate: Overwrite using the generated code.

~* When merging, only blocks of code surrounged by <rtc-template block="block"> tags will be overwritten by newly generated code. Unchanged code in a generated file will already be surrouned by these tags. The contents of these tags will be replaced when merging, so take care not to change code within these tagged blocks.

Changing perspective

If the correct development environment plugins are installed for the language the template was generated in, after generation is complete the perspective will ask to change to the correct perspective for that language.

fig4-3MessagePerspectiveSwitch_en.png
Change perspective confirmation dialog


The necessary development plugins are:
  • Java: JDT (Java Development Tools) - already included in Eclipse
  • C++: CDT (C/C++ Development Tooling)
  • Pytho: PyDev

~* When the correct development plugins are installed, and a new project is generated, the correct properties will be set for the language in use.

Loading and Saving Settings

RTC Builder can save and load the contents of the RTC Profile Editor entered by the user to and from an RTC Profile XML file (RTC.xml).

Saving

Use one of the following methods to save the editor contents to an RTC Profile XML file.

  • Press Ctrl-S
  • Right-click in the editor and select Save or Save As... from the context menu
  • Select Save or Save As... from the File menu.

~* Save As... allows the profile to be saved to any project.

fig5-1Save_en.png
Saving


Loading

Use one of the following methods to load an RTC Profile into the editor from an RTC Profile XML file.
  • Right-click on the editor and select Open from the context menu.
  • Select Open File... from the File menu.
    fig5-2Load_en.png
    Loading

Download

latest Releases

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C++,Python,Java,
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1.2.1-RELEASE

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

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Choreonoid

Motion editor/Dynamics simulator

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Dynamics simulator

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RT-Components collection by AIST

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Middleware for DAQ (Data Aquisition) by KEK