def mAddOutPort(self, name, m_inport, row, col, mlen, sn, mstate, t_attachports, autoCon = True):
sig = CalcDataPort.DataType.Single
sec = CalcDataPort.DataType.Sequence
ext = CalcDataPort.DataType.Extend
m_data_o = None
m_data_type = None
if autoCon:
m_data_o, m_data_type = CalcDataPort.GetDataType(m_inport[1])
else:
m_data_o, m_data_type = CalcDataPort.GetDataSType(m_inport[1])
if m_data_o:
m_outport = OpenRTM_aist.OutPort(name, m_data_o)
self.addOutPort(name, m_outport)
if autoCon:
OOoRTC.ConnectPort(m_inport[1], m_outport._objref, name)
if m_data_type[1] == sig:
self.OutPorts[name] = self.m_CalcOutPort(m_outport, m_data_o, name, row, col, mlen, sn, mstate, m_inport, m_data_type, t_attachports)
elif m_data_type[1] == sec:
self.OutPorts[name] = self.m_CalcOutPortSeq(m_outport, m_data_o, name, row, col, mlen, sn, mstate, m_inport, m_data_type, t_attachports)
elif m_data_type[1] == ext:
self.OutPorts[name] = self.m_CalcOutPortEx(m_outport, m_data_o, name, row, col, mlen, sn, mstate, m_inport, m_data_type, t_attachports)
return self.OutPorts[name]
return None
def mAddInPort(self,
name,
m_outport,
row,
col,
mlen,
sn,
mstate,
t_attachports,
autoCon=True):
sig = CalcDataPort.DataType.Single
sec = CalcDataPort.DataType.Sequence
ext = CalcDataPort.DataType.Extend
m_data_i = None
m_data_type = None
if autoCon:
m_data_i, m_data_type = CalcDataPort.GetDataType(m_outport[1])
else:
m_data_i, m_data_type = CalcDataPort.GetDataSType(m_outport[1])
if m_data_i:
m_inport = OpenRTM_aist.InPort(name, m_data_i)
self.addInPort(name, m_inport)
if autoCon:
OOoRTC.ConnectPort(m_inport._objref, m_outport[1], name)
#self.InPorts[name] = self.m_CalcPortObject(m_inport, m_data_i, name, row, col, mlen, sn, mstate, m_outport, m_data_type, t_attachports)
if m_data_type[1] == sig:
self.InPorts[name] = self.m_CalcInPort(m_inport, m_data_i,
name, row, col, mlen,
sn, mstate, m_outport,
m_data_type,
t_attachports)
elif m_data_type[1] == sec:
self.InPorts[name] = self.m_CalcInPortSeq(
m_inport, m_data_i, name, row, col, mlen, sn, mstate,
m_outport, m_data_type, t_attachports)
elif m_data_type[1] == ext:
self.InPorts[name] = self.m_CalcInPortEx(
m_inport, m_data_i, name, row, col, mlen, sn, mstate,
m_outport, m_data_type, t_attachports)
m_inport.addConnectorDataListener(
OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE,
DataListener(self.InPorts[name], self))
return self.InPorts[name]
return None
def mAddOutPort(self, name, m_inport, offset, scale, pos, obj, autoCon = True):
m_data_o = None
m_data_type = None
if autoCon:
m_data_o, m_data_type = DrawDataPort.GetDataType(m_inport[1])
else:
m_data_o, m_data_type = DrawDataPort.GetDataSType(m_inport[1])
if m_data_o:
m_outport = OpenRTM_aist.OutPort(name, m_data_o)
self.addOutPort(name, m_outport)
if autoCon:
OOoRTC.ConnectPort(m_outport._objref, m_inport[1], name)
self.OutPorts[name] = DrawDataPort.DrawPortObject(m_outport, m_data_o, name, offset, scale, pos, obj, m_inport, m_data_type)