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