adds an option parameter pushpolicy to connectPorts()

fkanehiro · Nov 25, 2014 · 1e7aaa7 · 1e7aaa7
1 parent ff6816b
commit 1e7aaa7
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/python/rtm.py b/python/rtm.py
@@ -483,7 +483,7 @@ def dataTypeOfPort(port):
 # \param bufferlength length of data buffer
 # \param rate communication rate for periodic mode[Hz]
 #
-def connectPorts(outP, inPs, subscription="flush", dataflow="Push", bufferlength=1, rate=1000):
+def connectPorts(outP, inPs, subscription="flush", dataflow="Push", bufferlength=1, rate=1000, pushpolicy="new"):
  if not isinstance(inPs, list):
  inPs = [inPs]
  if not outP:
@@ -508,9 +508,10 @@ def connectPorts(outP, inPs, subscription="flush", dataflow="Push", bufferlength
  nv3 = SDOPackage.NameValue("dataport.subscription_type", any.to_any(subscription))
  nv4 = SDOPackage.NameValue("dataport.buffer.length", any.to_any(str(bufferlength)))
  nv5 = SDOPackage.NameValue("dataport.publisher.push_rate", any.to_any(str(rate)))
- nv6 = SDOPackage.NameValue("dataport.data_type", any.to_any(dataTypeOfPort(outP)))
+ nv6 = SDOPackage.NameValue("dataport.publisher.push_policy", any.to_any(pushpolicy))
+ nv7 = SDOPackage.NameValue("dataport.data_type", any.to_any(dataTypeOfPort(outP)))
  con_prof = RTC.ConnectorProfile("connector0", "", [outP, inP],
- [nv1, nv2, nv3, nv4, nv5, nv6])
+ [nv1, nv2, nv3, nv4, nv5, nv6, nv7])
  print '[rtm.py] Connect ' + outP.get_port_profile().name + ' - ' + \
  inP.get_port_profile().name
  ret, prof = inP.connect(con_prof)