def onInitialize(self):
self._indata1 = RTC.TimedLong(RTC.Time(0, 0), 0)
self._indata2 = RTC.TimedLong(RTC.Time(0, 0), 0)
self._indata3 = RTC.TimedLong(RTC.Time(0, 0), 0)
self._outdata1 = RTC.TimedLong(RTC.Time(0, 0), 0)
self._outdata2 = RTC.TimedLong(RTC.Time(0, 0), 0)
self._outdata3 = RTC.TimedLong(RTC.Time(0, 0), 0)
self._cspmanager = OpenRTM_aist.CSPManager()
self._inport1 = OpenRTM_aist.CSPInPort("in1", self._indata1,
self._cspmanager)
self._inport2 = OpenRTM_aist.CSPInPort("in2", self._indata2,
self._cspmanager)
self._inport3 = OpenRTM_aist.CSPInPort("in3", self._indata3,
self._cspmanager)
self._outport1 = OpenRTM_aist.CSPOutPort("out1", self._outdata1,
self._cspmanager)
self._outport2 = OpenRTM_aist.CSPOutPort("out2", self._outdata2,
self._cspmanager)
self._outport3 = OpenRTM_aist.CSPOutPort("out3", self._outdata3,
self._cspmanager)
# Set InPort buffer
self.addInPort("in1", self._inport1)
self.addInPort("in2", self._inport2)
self.addInPort("in3", self._inport3)
self.addOutPort("out1", self._outport1)
self.addOutPort("out2", self._outport2)
self.addOutPort("out3", self._outport3)
return RTC.RTC_OK
def onInitialize(self):
self._data = RTC.TimedLong(RTC.Time(0, 0), 0)
self._inport = OpenRTM_aist.CSPInPort("in", self._data)
# Set InPort buffer
self.addInPort("in", self._inport)
return RTC.RTC_OK