Error message

  • Can not get file info (nid=698, src=fig52OpenSystemEditor_en.png)
  • Can not get file info (nid=698, src=fig53OpenSystemEditor_en.png)
  • Can not get file info (nid=698, src=fig54SetComponentSystemEditor_en.png)
  • Can not get file info (nid=698, src=fig57RTCStatusChange_en.png)
  • Can not get file info (nid=698, src=fig57RTCStatusChange2_en.png)
  • Can not get file info (nid=698, src=fig58AllExec_en.png)
  • Can not get file info (nid=698, src=fig27ConnectorProfileDialog_en.png)
  • Can not get file info (nid=698, src=fig28ConnectedProhibitionMark_en.png)
  • Can not get file info (nid=698, src=fig60DeleteLink_en.png)
  • Can not get file info (nid=698, src=fig61AllDisconnect_en.png)

System Editor Basic Operation

Outline

The System Editor graphically displays the state of RTCs in real time. It also allows the ports to be connected and the state of RTCs to be controlled in order to build and contorl a complete system.

fig50SystemEditer_en.png
fig51SystemEditer_en.png
System Editor location System Editor

Basic operation

The connection method between the ports of RTC and the method of performing RTCare explained.

Opening the System Editor

To open a new System Editor, click the Open New System Editor button in the toolbar or select Open New System Editor from the File menu.

Open New System Editor button Open New System Editor menu entry

Adding RTCs to the System Editor

To add an RTC to the System Editor, drag and drop them from the Name Service View into the System Editor.

Adding an RTC


Changing RTC States

Using the system diagram, the selected RTC can be moved between the various states - Activate, Deactivate, Reset, Finalize, Exit, Start and Stop. This can also be done through the Name Service View.

Name Service View (left) and System Editor (right) RTC state management


The meaning of these actions is described below.

Action Name target meaning
Activate Begin executing the selected RTC using the first ExecutionContext Enter the Active state
Deactivate Enter the Deactivate state
Reset Enter the Reset state
Finalize Selected RTC is executed Enter the Finalize state
Exit Enter the Exit state
Start Begin executing the selected RTC using the first ExecutionContext Enter the Start state
Stop Enter the Activate state

In addition, in order to easily manage an entire system, the System Editor allows all contained components to be activated, deactivated, started and stopped at once using buttons in the tool bar or the context menu.

Controlling all components


Using the "All" actions, ExecutionContexts other than the first can also be used. The result may differ from controlling each component individually.

Connecting Ports

The System Editor can be used to connect ports. Drag and drop between two ports to connect them.

fig26ConnectPort.png
Connecting two ports


After dragging and dropping, a dialog will be displayed requesting the necessary information for the connection.

Connector Profile dialog


This dialog is used to build a Connector Profile. The Connector Profile must meet the various conditions of the ports. This dialog only allows information that meets these conditions to be entered. If two ports cannot be connected due to conflicting conditions, this is indicated when attempting to drag a connetion between them.

fig28ConnectedProhibitionMark_en.png
Forbidden connection


Port connections are broadly divided into data port connections and service port connections. for details, please refer to SystemEditor(PortConnection).

Removing port connections

To remove the connection between two ports, select it and click the Delete button, or right-click it and select Delete from the context menu.

Deleting a connection


Disconnecting all ports

To disconnect all ports at once, right click on a port and select All Disconnect.

Disconnecting all ports


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