Rock

the Robot Construction Kit

oroinspect - finding out what is there

oroinspect is a command line tool that allows you to find out everything that is oroGen-handled on your system: types, task contexts, deployments.

Call it with

oroinspect <pattern>

and it will display all objects whose name patch ‘pattern’ (where ‘pattern is a regular expression)

For instance, on a Rock installation

oroinspect hokuyo

displays

===== hokuyo::Task is a task context defined in hokuyo
------- hokuyo::Task ------
subclass of RTT::TaskContext (the superclass elements are displayed below)
Ports
  [out]latency:/hokuyo/Statistics
  [out]period:/hokuyo/Statistics
  [out]scans:/base/samples/LaserScan
  [out]state:/int32_t
  [in]timestamps:/base/Time
Properties
  end_step:/int32_t: the step at which to end acquisition
  merge_count:/int32_t: how much ranges measurement to merge into one single reported measurement
  port:/std/string: the device port
  rate:/int32_t: the baud rate (only for serial connections)
  remission_values:/int32_t: will record remission values if set to 1
  scan_skip:/int32_t: how much acquisitions to ignore between two acquisitions to report
  start_step:/int32_t: the step at which to start acquisition
  test:/hokuyo/Statistics
No attributes
No operations


===== /hokuyo/Statistics is a type defined in hokuyo
/hokuyo/Statistics {
  count </uint32_t>,
  max </uint32_t>,
  min </uint32_t>,
  mean </uint32_t>,
  dev </uint32_t>}

===== /hokuyo/Task_STATES is a type defined in hokuyo
/hokuyo/Task_STATES{
  Task_STOPPED = 4,
  Task_FATAL_ERROR = 2,
  Task_EXCEPTION = 3,
  Task_TIMESTAMP_MISMATCH = 7,
  Task_RUNTIME_ERROR = 6,
  Task_RUNNING = 5,
  Task_PRE_OPERATIONAL = 1,
  Task_INIT = 0
}

One can also display only the tasks, deployments and types by calling oroinspect with --types, --deployments and --tasks