connect data ports of wrenches for EmergencyStopper.

snozawa · Nov 22, 2015 · bb96af1 · bb96af1
1 parent 9fdef26
commit bb96af1
Showing 1 changed file with 15 additions and 5 deletions.
diff --git a/python/hrpsys_config.py b/python/hrpsys_config.py
@@ -384,12 +384,22 @@ def connectComps(self):
  if self.st:
  connectPorts(self.abc.port(sen),
  self.st.port(sen + "Ref"))
- if self.ic:
- connectPorts(self.sh.port(sen+"Out"),
- self.ic.port("ref_" + sen+"In"))
- if self.abc:
+ if self.es:
  connectPorts(self.sh.port(sen+"Out"),
- self.abc.port("ref_" + sen))
+ self.es.port(sen+"In"))
+ if self.ic:
+ connectPorts(self.es.port(sen+"Out"),
+ self.ic.port("ref_" + sen+"In"))
+ if self.abc:
+ connectPorts(self.es.port(sen+"Out"),
+ self.abc.port("ref_" + sen))
+ else:
+ if self.ic:
+ connectPorts(self.sh.port(sen+"Out"),
+ self.ic.port("ref_" + sen+"In"))
+ if self.abc:
+ connectPorts(self.sh.port(sen+"Out"),
+ self.abc.port("ref_" + sen))
  if self.abc and self.st:
  connectPorts(self.abc.port("limbCOPOffset_"+sen),
  self.st.port("limbCOPOffset_"+sen))