Sensor.py

Go to the documentation of this file.

#!/usr/bin/env python
# -*- coding: utf-8 -*-
# -*- Python -*-
 
import sys
import time
sys.path.append(".")
 
import RTC
import OpenRTM_aist
 
sensor_spec = ["implementation_id", "Sensor", 
               "type_name",         "Sensor", 
               "description",       "Sensor component", 
               "version",           "1.0", 
               "vendor",            "Noriaki Ando, AIST", 
               "category",          "example", 
               "activity_type",     "DataFlowComponent", 
               "max_instance",      "10", 
               "language",          "Python", 
               "lang_type",         "SCRIPT",
               ""]
 
 
class Sensor(OpenRTM_aist.DataFlowComponentBase):
  def __init__(self, manager):
    OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
    return
 
  def onInitialize(self):
    self._d_in = RTC.TimedLong(RTC.Time(0,0),0)
    self._inIn = OpenRTM_aist.InPort("in", self._d_in)
    self._d_out = RTC.TimedFloat(RTC.Time(0,0),0)
    self._outOut = OpenRTM_aist.OutPort("out", self._d_out)
    
    # Set InPort buffers
    self.addInPort("in",self._inIn)
    
    # Set OutPort buffers
    self.addOutPort("out",self._outOut)
     
    return RTC.RTC_OK
 
 
  def onExecute(self, ec_id):
    if self._inIn.isNew():
      data = self._inIn.read()
      print("Sensor Received data: ", data.data)
      self._d_out.data = data.data *2
      self._outOut.write()
    return RTC.RTC_OK
  
 
 
def SensorInit(manager):
  profile = OpenRTM_aist.Properties(defaults_str=sensor_spec)
  manager.registerFactory(profile,
                          Sensor,
                          OpenRTM_aist.Delete)
 
def MyModuleInit(manager):
  SensorInit(manager)
 
  # Create a component
  comp = manager.createComponent("Sensor")
 
 
def main():
  mgr = OpenRTM_aist.Manager.init(sys.argv)
  mgr.setModuleInitProc(MyModuleInit)
  mgr.activateManager()
  mgr.runManager()
 
if __name__ == "__main__":
  main()