Here, Sender RTC which has OutPort(s), and Receiver RTC which has InPort(s) are shown.

Setting of RTC Builder

If you use original data type, you must write IDL file and configure your RTC Builder.

Select menu -> window -> setting, and in the dialog, select “RTC Builder” -> “Data Type”, and select the folder your IDL file is placed in.

The default data type IDL is in C:¥Program Files (x86)¥OpenRTM-aist¥1.0¥rtm¥idl

Setting IDL Paths for RTC Builder

I recommend you to reboot your eclipse.

ConsoleIn (RTC with OutPort)

ConsoleIn RTC receives your key inputs

RTC Builder

Coding

 
RTC::ReturnCode_t ConsoleIn::onExecute(RTC::UniqueId ec_id)
{
  std::cout << "Input number:" << std::endl;
  std::cin >> m_out.data;
  m_outOut.write();
  return RTC::RTC_OK;
}

RTC::ReturnCode_t ConsoleSeqIn::onExecute(RTC::UniqueId ec_id)
{
  m_out.data.length(3);
  for(int i = 0;i < 3;i++) {
    long value;
    std::cout << "Input number:" << std::ends;
    std::cin >> value;
    std::cout << "Data is " << value << std::endl;
    m_out.data[i] = value;
  }
  m_outOut.write();
  return RTC::RTC_OK;
}

    @Override
    protected ReturnCode_t onExecute(int ec_id) {
    	BufferedReader reader = new BufferedReader(new InputStreamReader(System.in));
    	String line;
    	try {
    		System.out.println("Input Number");
    		line = reader.readLine();
    		System.out.println("Number is " + line);
    	} catch (IOException ioex) {
    		System.out.println("Excepiton occured in onExecute.");
    		return RTC.ReturnCode_t.RTC_ERROR;
    	}
 
    	m_out.v.data = Integer.parseInt(line);
    	m_out.v.tm = new RTC.Time(0, 0);
    	m_outOut.write();
 
        return super.onExecute(ec_id);
    }

    @Override
    protected ReturnCode_t onExecute(int ec_id) {
    	BufferedReader reader = new BufferedReader(new InputStreamReader(System.in));
    	String lineBuffer;
	    m_out.v.tm = new RTC.Time(0, 0);    	
    	m_out.v.data = new int[3];
    	for(int i = 0;i < 3;i++) {
	    	System.out.print("Input Number:");
	    	try {
	    		lineBuffer = reader.readLine();
	    	} catch (IOException ioe) {
	    		System.out.println(ioe);
	    		return RTC.ReturnCode_t.RTC_ERROR;
	    	}
	    	int value = Integer.parseInt(lineBuffer);
	    	System.out.println("Value = " + value);
	    	m_out.v.data[i] = value;
    	}
    	m_outOut.write();
        return super.onExecute(ec_id);
    }

  def onExecute(self, ec_id):
    print "Input number: "
    self._d_out.data = long(sys.stdin.readline())
    OpenRTM_aist.setTimestamp(self._d_out)
    print "Data is %d" % (self._d_out.data)
    self._outOut.write()		
    return RTC.RTC_OK

  def onExecute(self, ec_id):
    OpenRTM_aist.setTimestamp(self._d_out)
    dataBuffer = [];
    print "Input 3 numbers"
    for v in range(3):
      print "Input number: "
      value = long(sys.stdin.readline())
      print "Data is %d" % (value)
      dataBuffer.append(value)
    self._d_out.data = dataBuffer;
    self._outOut.write()	
    return RTC.RTC_OK

RTC with InPort

RTC Builder

Coding

Edit onExecute function.

RTC::ReturnCode_t ConsoleOut::onExecute(RTC::UniqueId ec_id)
{
  if (m_inIn.isNew())
  {
    m_inIn.read();
    std::cout << "Data is " << m_in.data << std::endl;
  }
  return RTC::RTC_OK;
}

RTC::ReturnCode_t ConsoleSeqOut::onExecute(RTC::UniqueId ec_id)
{
  if(m_inIn.isNew()) {
    m_inIn.read();
    std::cout << m_in.data.length() << " datas received." << std::endl;
    for(int i = 0;i < m_in.data.length();i++) {
      std::cout << "Data is " << m_in.data[i] << std::endl;
    }
  }
  return RTC::RTC_OK;
}

    @Override
    protected ReturnCode_t onExecute(int ec_id) {
    	if(m_inIn.isNew()) {
    		m_inIn.read();
    		System.out.println("Data is " + m_in.v.data); 
    	}
        return super.onExecute(ec_id);
    }

    @Override
    protected ReturnCode_t onExecute(int ec_id) {
        if(m_inIn.isNew()) {
            m_inIn.read();
            System.out.println(m_in.v.data.length + " data received.");
            for(int i = 0;i < m_in.v.data.length;i++) {
                System.out.println("Data is " + m_in.v.data[i]);
    	    }
        }
        return super.onExecute(ec_id);
    }

  def onExecute(self, ec_id):
    if self._inIn.isNew():
      data = self._inIn.read()
      print "Received: ", data.data
    return RTC.RTC_OK

  def onExecute(self, ec_id):
    if self._inIn.isNew():
      dataBuffer = self._inIn.read()
      print "Receive %d datas" % len(dataBuffer.data)
      for v in dataBuffer.data:
        print "Data is %d" % (v)
 
    return RTC.RTC_OK

Execution

Edit rtc.conf file.
corba.nameservers: localhost:2809

Then, launch name service and execute ConsoleIn / ConsoleOut.

Connection using RT System Editor

Next, let’s connect RTCs.

Select File -> “Open New System Editor”, then, drag / drop both RTCs from “Name Service View” to the editor

Drag & Drop RTC, then RTC is visualized.

Next, connect both connectors by drag/drop. An dialog will be shown, immediately after you connect.
Then select “push” in Dtataflow type.

Select Dataflow type

Okay, you are ready to communicate.

RTCs are connected

When you activate both RTCs, you can find “Input number” in console of ConsoleIn.

Input number as you like, and then, press enter.

You can find the number you put in the console of ConsoleOut.

Sammary

What do you think of it?
You can realize the communication among RTCs.
C++: ConsoleOut
C++: ConsoleIn
Java: ConsoleInOutJ
Python: ConsoleInOutPy

Example of Sequence
C++: ConsoleSeqInOut
Java: ConsoleSeqInOutJ
Python: ConsoleSeqInOutPy

Column

subscription_type

Subscription type is very important, and you need to know if you manage the whole RT system.

Select Subscription Type

flush

Immediately after you call OutPort#write, data is sent to InPort’s buffer. The write function blocks when the data is successfully transported.

new

The data is sent by another process, so write method does not block. This setting can select “push policy”.
ALL: all available datas in OutPort side buffer will be sent to InPort side.
FIFO: one data will be sent.
SKIP: a certain number of datas are sent.
NEW: the newest one is sent.

periodic

The data is sent periodically. You can not synchronize Sender and Receiver. If you set “push rate”, frequency of data transport can be changed, but tuning is difficult.