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._cspmanager = OpenRTM_aist.CSPManager() self._inport = OpenRTM_aist.CSPInPort( "in", self._data, self._cspmanager) # Set InPort buffer self.addInPort("in", self._inport) return RTC.RTC_OK
def onInitialize(self): self._data = RTC.TimedLong(RTC.Time(0, 0), 0) self._cspmanager = OpenRTM_aist.CSPManager() self._outport = OpenRTM_aist.CSPOutPort( "out", self._data, self._cspmanager) # Set OutPort buffer self.addOutPort("out", self._outport) return RTC.RTC_OK
def onInitialize(self): self._fsm = CSPMachine.CSPMachine(MicrowaveFsm.TOP, self) # self._fsm.init() self._cspmanager = OpenRTM_aist.CSPManager() self._eventIn = CSPEventPort.CSPEventPort("event", self._fsm, self._cspmanager) self.addInPort("event", self._eventIn) self._eventIn.bindEvent0("open", MicrowaveFsm.TOP.open) self._eventIn.bindEvent0("close", MicrowaveFsm.TOP.close) self._eventIn.bindEvent1("minute", MicrowaveFsm.TOP.minute, RTC.TimedLong(RTC.Time(0, 0), 0)) self._eventIn.bindEvent0("start", MicrowaveFsm.TOP.start) self._eventIn.bindEvent0("stop", MicrowaveFsm.TOP.stop) self._eventIn.bindEvent0("tick", MicrowaveFsm.TOP.tick) return RTC.RTC_OK