OutPortConnector.py

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#!/usr/bin/env python
# -*- coding: euc-jp -*-




import OpenRTM_aist
import RTC


class OutPortConnector(OpenRTM_aist.ConnectorBase):
  """
  """

  
  def __init__(self, info):
    self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("OutPortConnector")
    self._profile = info
    self._endian = None
    return

  
  def __del__(self):
    pass


  
  def profile(self):
    self._rtcout.RTC_TRACE("profile()")
    return self._profile

  
  def id(self):
    self._rtcout.RTC_TRACE("id() = %s", self.profile().id)
    return self.profile().id


  
  def name(self):
    self._rtcout.RTC_TRACE("name() = %s", self.profile().name)
    return self.profile().name


  # void setConnectorInfo(ConnectorInfo info);
  def setConnectorInfo(self, info):
    self._profile = info

    if self._profile.properties.hasKey("serializer"):
      endian = self._profile.properties.getProperty("serializer.cdr.endian")
      if not endian:
        self._rtcout.RTC_ERROR("InPortConnector.setConnectorInfo(): endian is not supported.")
        return RTC.RTC_ERROR
        
      endian = OpenRTM_aist.split(endian, ",") # Maybe endian is ["little","big"]
      endian = OpenRTM_aist.normalize(endian) # Maybe self._endian is "little" or "big"

      if endian == "little":
        self._endian = True
      elif endian == "big":
        self._endian = False
      else:
        self._endian = None
            
    else:
      self._endian = True # little endian

    return RTC.RTC_OK