rtc.conf

#----------------------------------------------------------------------
#
# RT-Component manager configuration
#
# Copyright (c) 2003-2008 Noriaki Ando <n-ando@aist.go.jp>
#      Task-intelligence Research Group,
#      Intelligent Systems Research Institute,
#      National Institute of
#          Advanced Industrial Science and Technology (AIST), Japan
#      All rights reserved.
#
# $Id: rtc.conf.sample 1771 2010-01-24 20:23:41Z n-ando $
# 
#----------------------------------------------------------------------

#------------------------------------------------------------
# Configuration version (optional) 
#
config.version: 1.0

#------------------------------------------------------------
# OpenRTM-aist version (optional)
#
openrtm.version: 1.0.0

#------------------------------------------------------------
# The name of manager (default = manager)
#
manager.name: manager

#------------------------------------------------------------
# Master manager
# - manager.is_master: YES/NO, This process made a master or not.
# - manager.corba_servant: YES/NO, create manager's corba service or not
# - corba.master_manager: <host_name>:<port>, master manager's location
manager.is_master: YES
manager.corba_servant: YES
corba.master_manager: localhost:2810

#------------------------------------------------------------
# Manager auto shutdown options
# - manager.shutdown_nortcs: YES/NO, 
#   process will be shutdown in case no rtc exists when rtc is deleted.
# - manager.shutdown_auto:
#   process will be shutdown in case no rtc exists on periodic check.
manager.shutdown_nortcs: YES
manager.shutdown_auto: YES

#============================================================
# CORBA configuration
#============================================================
#
# CORBA ORB's arguments
#
# ORB specific command line options given to ORB_init().
# See your ORB documentation.
#
# Example:
#   corba.args: -ORBInitialHost myhost -ORBInitialPort 8888
#
#
corba.args:

#
# ORB endpoint
#
# If you have two or more network interfaces, ORB endpoint address and/or
# port have to be specified. If hostname or port number is abbreviated,
# default interface or port number is used. At least one colon ':'
# is needed when you specify this option.
#
# Examples:
#   corba.endpoint: myhost:      (use myhost and default port)
#   corba.endpoint: :9876        (use default addr and port 9876)
#   corba.endpoint: myhost:9876  (use myhost and port 9876)
#
corba.endpoint:

#
# Multiple endpoint options (experimental)
#
# Multiple endpoint addresses and ports can be specified using this option.
#
# Example:
#   corba.endpoints: 192.168.1.10:1111, 192.168.10.11:2222
#   corba.endpoints: 192.168.1.10, 192.168.10.11
#   corba.endpoints: all
#
corba.endpoints:


#
# CORBA name server setting
#
# Multiple name servers can be specified separating by comma.
# If port number is abbreviated, default port number is used.
# The default port number is depend on ORB implementation.
#
# Examples:
#   corba.nameservers: openrtm.aist.go.jp:9876
#   corba.nameservers: rtm0.aist.go.jp, rtm1.aist.go.jp, rtm2.aist.go.jp
#
corba.nameservers: localhost

#
# IOR host address replacement by guessed endpoint from routing (experimental)
#
# This option replaces a host address with an endpoint that is guessed
# by route information to nameserver's address. This option may be
# effective for CORBA implementation that does not supports IOR's
# multiple profile or alternate IIOP address. However, since other
# object references that are obtained from RT-Components or other are
# not modified by this rule, other RTCs that are connected to this RTC
# have to also support IOR multiple profile feature.  When this option
# is used, corba.endpoints option should also be specified with
# multiple endpoints.
#
corba.nameservice.replace_endpoint: NO

#============================================================
# Naming configurations
#============================================================
#
# Enable/Disable naming functions
#
naming.enable: YES

#
# Naming Types
#
# Now only "corba" is supported.
#
naming.type: corba

#
# Naming format
#
# The name format of components that is bound to naming services.
# The delimiter between names is "/".
# The delimiter between name and kind is ".".
#
# example: (OpenRTM-aist-0.2.0 style)
#       %h.host_cxt/%M.mgr_cxt/%c.cat_cxt/%m.mod_cxt/%n.rtc
# This is formatted according to the following replacement rules.
#
# %n: The instance name of the component.
# %t: The type name of the component.
# %m: The module name of the component.
# %v: The version of the component.
# %V: The component vendor.
# %c: The category of the component.
# %h: The hostname.
# %M: The manager name.
# %p: PID of the manager.
#
naming.formats: %h.host/%n.rtc

#
# Auto update to Naming Server
#
naming.update.enable: YES
#
# Update interval [s] for auto update
#
naming.update.interval: 10.0
#
# Rebind references in auto update
#
naming.update.rebind: NO

# End of Naming configuration section
#------------------------------------------------------------

#============================================================
# Module management
#============================================================
#
# Loadable module search path list
#
# Manager searches loadable modules from the specified search path list.
# Path list elements should be separated by comma.
# Path delimiter is '/' on UNIX, and '\\' on Windows
# Valid path examples:
#   manager.modules.load_path: C:/Program Files/OpenRTM-aist,  \
#   			       C:\\Program Files\\OpenRTM-aist
#   manager.modules.load_path: /usr/lib, /usr/local/lib,       \
#   			       /usr/local/lib/OpenRTM-aist/libs
#
manager.modules.load_path: ./

#
# Preload module list
#
# Manager can load loadable modules before starting up.
# Loadable modules, which is specified only as its file name, is searched
# in each module load path specified in the "manager.modules.load_path".
# If the "manager.modules.abs_path_allowed" option is YES, loadable file
# can be specified as full-path name,
#
# Valid settings:
# manager.modules.preload: ConsoleIn.dll, ConsoleOut.dll
# manager.modules.preload: ConsoleIn.so, ConsoleOut.so
# manager.modules.abs_path_allowed: YES
# manager.modules.preload: /usr/lib/OpenRTM-aist/ConsoleIn.so
#
manager.modules.preload:

#
# Permission flag of absolute module path
#
# If this option is "YES", absolute path specification for module is allowed.
#
manager.modules.abs_path_allowed: YES

#
# The following options are not implemented yet. 
#
# manager.modules.config_ext:
# manager.modules.config_path:
# manager.modules.detect_loadable:
# manager.modules.init_func_suffix:
# manager.modules.init_func_prefix:
# manager.modules.download_allowed:
# manager.modules.download_dir:
# manager.modules.download_cleanup:
#

#
# Advance component creation
#
# This option specifies components' names (module name) creating in advance
# before starting the manager's event-loop. The components' factories should
# be registered by manager.module.preload option or statically linked to the
#  manager.
#
# Example:
# manager.components.precreate: ConsoleIn, ConsoleOut, SeqIn, SeqOut
#
manager.components.precreate: 


#============================================================
# Logger configurations
#============================================================
#
# Enable/Disable logger [YES/NO]
logger.enable: NO

#
# Log file name (default = ./rtc%p.log)
#
# %p: PID
#
logger.file_name: ./rtc%p.log

#
# Log date format (default = %b %d %H:%M:%S)
#
# The following strftime(3) like format expression is available.
# If no prefix is needed, use "No" or "Disable".
# 
# %a abbreviated weekday name 
# %A full weekday name 
# %b abbreviated month name 
# %B full month name 
# %c the standard date and time string 
# %d day of the month, as a number (1-31) 
# %H hour, 24 hour format (0-23) 
# %I hour, 12 hour format (1-12) 
# %j day of the year, as a number (1-366) 
# %m month as a number (1-12).
#    Note: some versions of Microsoft Visual C++ may use values that range
#    from 0-11. 
# %M minute as a number (0-59) 
# %p locale's equivalent of AM or PM 
# %S second as a number (0-59) 
# %U week of the year, sunday as the first day 
# %w weekday as a decimal (0-6, sunday=0) 
# %W week of the year, monday as the first day 
# %x standard date string 
# %X standard time string 
# %y year in decimal, without the century (0-99) 
# %Y year in decimal, with the century 
# %Z time zone name 
# %% a percent sign 
#  
#
# logger.date_format: No
# logger.date_format: Disable
# logger.date_format: [%Y-%m-%dT%H.%M.%S%Z]     // W3C standard format
# logger.date_format: [%b %d %H:%M:%S]          // Syslog format
# logger.date_format: [%a %b %d %Y %H:%M:%S %Z] // RFC2822 format
# logger.date_format: [%a %b %d %H:%M:%S %Z %Y] // data command format
# logger.date_format: [%Y-%m-%d %H.%M.%S]
#
logger.date_format: %b %d %H:%M:%S

#
# Log level (default = NORMAL)
#
# The following LogLevels are allowed.
# SILENT, ERROR, WARN, NORMAL, INFO, DEBUG, TRACE, VERBOSE, PARANOID
#
#
# SILENT  : completely silent
# ERROR   : includes (ERROR)
# WARN    : includes (ERROR, WARN)
# INFO    : includes (ERROR, WARN, INFO)
# NORMAL  : includes (ERROR, WARN, INFO, NORMAL)
# DEBUG   : includes (ERROR, WARN, INFO, NORMAL, DEBUG)
# TRACE   : includes (ERROR, WARN, INFO, NORMAL, DEBUG, TRACE)
# VERBOSE : includes (ERROR, WARN, INFO, NORMAL, DEBUG, TRACE, VERBOSE)
# PARANOID: includes (ERROR, WARN, INFO, NORMAL, DEBUG, TRACE, VERBOSE, PARA)
#
# Warning!!!
# "TRACE", "VERBOSE", "PARANOID" logging level will create a huge log file!!
# "PARANOID" log level will tangle the log file.
#
logger.log_level: NORMAL

#============================================================
# Timer configuration
#============================================================
#
# Enable/disable timer function
#
timer.enable: YES

#
# Timer clock tick setting [s]
#
timer.tick: 0.1

#============================================================
# Execution context settings
#============================================================
#
# Periodic type ExecutionContext
#
exec_cxt.periodic.type: PeriodicExecutionContext

#
# The execution cycle of ExecutionContext
#
exec_cxt.periodic.rate: 1000