def addExtPort(self): ports = {} num = len(self._port_list) inname = "in"+str(num) ports["inport"] = OpenRTM_aist.InPortBase(inname, "any") self.addInPort(inname,ports["inport"]) outname = "out"+str(num) ports["outport"] = OpenRTM_aist.OutPortBase(outname, "any") self.addOutPort(outname,ports["outport"]) self.sendDataListener = DataListener(ports["outport"]) ports["inport"].addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,self.sendDataListener) self.sendConListener = ConnListener(ports["inport"]._thebuffer) ports["inport"].addConnectorListener(OpenRTM_aist.ConnectorListenerType.ON_CONNECT, self.sendConListener) self._port_list.append(ports)