sudo nano /etc/udev/rules.d/70-persistent-net.rules

 # USB device 0x:0x (rtl8192cu)
 SUBSYSTEM=="net", ACTION=="add", DRIVERS=="?*", ATTR{address}=="00:22:cf:f6:52:a5", ATTR{dev_id}=="0x0", ATTR{type}=="1", KERNEL=="wlan*", NAME="wlan1"

 $ unzip <イメージファイル>

 $ unzip 2015-08-06-ev3dev-openrtm.zip
 Archive:  2015-08-06-ev3dev-openrtm.zip
   inflating: 2015-08-06-ev3dev-openrtm.img
 $ ls -l
 合計 2321300
 -rw-rw-r-- 1 n-ando n-ando 1887436800  8月  4 21:37 2015-08-06-ev3dev-openrtm.img
 -rw-rw-r-- 1 n-ando n-ando  489565916  8月  5 10:13 2015-08-06-ev3dev-openrtm.zip

 $ dmesg
   : 中略
 [333478.822170] sd 3:0:0:0: [sdb] Assuming drive cache: write through
 [333478.822174]  sdb: sdb1 sdb2
 [333478.839563] sd 3:0:0:0: [sdb] Assuming drive cache: write through
 [333478.839567] sd 3:0:0:0: [sdb] Attached SCSI removable disk
 [333479.094873] EXT4-fs (sdb2): mounted filesystem with ordered data mode
 [333527.658195] usb 1-1: USB disconnect, address 2

 ls -al /dev/sd*
 brw-rw---- 1 root disk 8,  0 May  7 17:28 /dev/sda
 brw-rw---- 1 root disk 8,  1 May  7 17:28 /dev/sda1
 brw-rw---- 1 root disk 8,  2 May  7 17:28 /dev/sda2
 brw-rw---- 1 root disk 8,  5 May  7 17:28 /dev/sda5
 brw-rw---- 1 root disk 8, 16 May 18 14:19 /dev/sdb
 brw-rw---- 1 root disk 8, 17 May 18 14:19 /dev/sdb1
 brw-rw---- 1 root disk 8, 32 May 18 14:19 /dev/sdc

 $ sudo dd if=2015-08-05-ev3dev-openrtm.img of=/dev/sdb bs=1M
 1850+0 records in
 1850+0 records out
 1939865600 bytes (1.9 GB) copied, 201.543 s, 9.6 MB/s

 $ iostat -mx 1
  avg-cpu:  %user   %nice %system %iowait  %steal   %idle
            0.00    0.00    0.00   50.25    0.00   49.75
 
 Device:         rrqm/s   wrqm/s     r/s     w/s    rMB/s    wMB/s avgrq-sz avgqu-sz   await  svctm  %util
 sda               0.00     0.00    0.00    1.00     0.00     0.00     8.00     0.00    0.00   0.00   0.00
 sdb               0.00  1856.00    0.00   78.00     0.00     9.14   240.00   143.40 1855.85  12.82 100.00

 $ df -k
 Filesystem                        1024-blocks      Used Available Capacity   iused    ifree %iused  Mounted on
 /dev/disk0s2                        500000000 437664508  62079492    88% 109480125 15519873   88%   /
 devfs                                     194       194         0   100%       679        0  100%   /dev
 map -hosts                                  0         0         0   100%         0        0  100%   /net
 map auto_home                               0         0         0   100%         0        0  100%   /home
 /dev/disk1s1                            57288     18992     38296    34%       512        0  100%   /Volumes/Untitled

 一番下 ''/Volumes/Untitled'' とあるのが先ほどの SDカードのマウントポイントです。一番左の SDカードのデバイス名 /dev/disk1s1 を覚えておきます。

 $ diskutil umount /Volumes/Untitled
 Volume (null) on disk1s1 unmounted
 $ df -k
 Filesystem                        1024-blocks      Used Available Capacity   iused    ifree %iused  Mounted on
 /dev/disk0s2                        500000000 437664716  62079284    88% 109480177 15519821   88%   /
 devfs                                     194       194         0   100%       679        0  100%   /dev
 map -hosts                                  0         0         0   100%         0        0  100%   /net
 map auto_home                               0         0         0   100%         0        0  100%   /home

 $ sudo dd if=2015-08-05-ev3dev-openrtm.img of=/dev/rdisk1 bs=1m
 1850+0 records in
 1850+0 records out
 1939865600 bytes transferred in 302.377337 secs (6415380 bytes/sec)
 $

 setup.py install

 c:\Python24\python setup.py install

 Microsoft Windows XP [Version 5.1.2600]
 (C) Copyright 1985-2001 Microsoft Corp.
 
 C:\tmp\nxt_python-0.7>setup.py install
 running install
 running build
 running build_py
 ...
 copying build\scripts-2.4\nxt_filer -> c:\python24\Scripts
 copying build\scripts-2.4\nxt_push -> c:\python24\Scripts
 copying build\scripts-2.4\nxt_test -> c:\python24\Scripts
 
 C:\tmp\nxt_python-0.7>

 The facade pattern is a software engineering design pattern commonly used with Object-oriented programming. A facade is an object that provides a simplified interface to a larger body of code, such as a class library. (Source: "Facade pattern," Wikipedia)

 ioctl(xxxx, xxxx); // UNIX direct device access
 inb(xxx);          // Direct I/O
 outb(xxx);         // Direct I/O

 onExecute(ec_id) { //　Pseudocode
    if (m_inport.isNew()) {
       retval = m_myrobot.set_actuator(m_inport.read());
       if (retval == fatal_error) return RTC::RTC_ERROR;
    }
    if (myrobot.get_sensor(sensor_data) == true) {
       m_outport.write(sensor_data);
    } else {
       // Processing a read error
       if (fatal_error) return RTC::RTC_ERROR;
    }
    return RTC::RTC_OK;
 }

 #!/usr/bin/env python
 # @file NXTBrick.py
 # -*- coding:shift_jis -*-
 
 import nxt.locator
 from nxt.sensor import *
 from nxt.motor import *
 
 class NXTBrick:
     def __init__(self, bsock=None):
         """
         Constructor
         Connect to a NXT brick, control motors and sensors, and reset odometry.
         """
         if bsock:
             self.sock = bsock
         else:
             self.sock = nxt.locator.find_one_brick().connect()
 
         self.motors = [Motor(self.sock, PORT_A),
                        Motor(self.sock, PORT_B),
                        Motor(self.sock, PORT_C)]
             
         self.sensors = [TouchSensor(self.sock, PORT_1),
                         SoundSensor(self.sock, PORT_2),
                         LightSensor(self.sock, PORT_3),
                         UltrasonicSensor(self.sock, PORT_4)]
         self.resetPosition()
 
     def close(self):
         """
         Close the connection to the NXT.
         """
         self.sock.close()
 
     def resetPosition(self, relative = 0):
         """
         Reset the NXT motor encoders.
         """
         for m in self.motors:
             m.reset_position(relative)
 
     def setMotors(self, vels):
         """
         Receive an array, set the motor power levels.
         If the length of vels is not equal to the number of motors,
         the smaller of the two values is used.
         """
         for i, v in enumerate(vels[:min(len(vels),len(self.motors))]):
             self.motors[i].power = max(min(v,127),-127)
             self.motors[i].mode = MODE_MOTOR_ON | MODE_REGULATED
             self.motors[i].regulation_mode = REGULATION_MOTOR_SYNC
             self.motors[i].run_state = RUN_STATE_RUNNING
             self.motors[i].tacho_limit = 0
             self.motors[i].set_output_state()
 
     def getMotors(self):
         """
         Read the motor encoder angles.
         
         """
         state = []
         for m in self.motors:
             state.append(m.get_output_state())
         return state
 
     def getSensors(self):
         """
         Read the sensor values, return them in an array.
         """
         state = []
         for s in self.sensors:
             state.append(s.get_sample())
         return state
 
 
 """
 Test program
 Set a suitable motor value, read their encoders.
 Read sensor values and display them.
 """
 if __name__ == "__main__":
     import time
     nxt = NXTBrick()
     print "connected"
     
     # Motor test
     for i in range(100):
         nxt.setMotors([80,-80,80])
         print "Motor: "
         mstat = nxt.getMotors()
         for i, m in enumerate(mstat):
             print "(" , i, "): ", m
         time.sleep(0.1)
     nxt.setMotors([0,0,0])
 
     # Sensor test
     for i in range(100):
         sensors = ["Touch", "Sound", "Light", "USonic"]
         sval = nxt.getSensors()
         for s in sensors:
             print s + ": " + sval
             print ""
             time.speel(0.1)

 python "C:\Program Files\OpenRTM-aist\0.4\utils\rtc-template\rtc-template.py" -bpython^
  --module-name=NXTRTC --module-desc="NXT sample component"^
  --module-version=0.1 --module-vendor=AIST --module-category=example^
  --module-comp-type=DataFlowComponent --module-act-type=SPORADIC^
  --module-max-inst=10^
  --inport=vel:TimedFloatSeq^
  --outport=pos:TimedFloatSeq --outport=sens:TimedFloatSeq^
  --config="map:string:A,B"

 > gen.bat
  python "C:\Program Files\OpenRTM-aist\0.4\utils\rtc-template\rtc-template.py"
  -bpython --module-name=NXTRTC --module-desc="NXT sample component" 
  --module-version=0.1 --module-vendor=AIST --module-category=example 
  --module-comp-type=DataFlowComponent --module-act-type=SPORADIC 
  --module-max-inst=10 --inport=vel:TimedFloatSeq 
  --outport=pos:TimedFloatSeq --outport=sens:TimedFloatSeq
  --config="map:string:A,B"
 
   File "NXTRTC.py" was generated.
   File "README.NXTRTC" was generated.
   File "NXTRTC.yaml" was generated.

 import NXTBrick

 #!/usr/bin/env python
 # -*- coding:shift_jis -*-
 # -*- Python -*-
 
 import sys
 import time
 sys.path.append(".")
 
 # Import RTM module
 import OpenRTM
 import RTC
 
 
 # import NXTBrick class
 import NXTBrick
 
 
 # This module's spesification
 # <rtc-template block="module_spec">
 nxtrtc_spec = ["implementation_id", "NXTRTC", 
          "type_name",         "NXTRTC", 
          "description",       "NXT sample component", 
          "version",           "0.1", 
          "vendor",            "AIST", 
          "category",          "example", 
          "activity_type",     "DataFlowComponent", 
          "max_instance",      "10", 
          "language",          "Python", 
          "lang_type",         "SCRIPT",
          "conf.default.map", "A,B",
          ""]
 
 # </rtc-template>
 
 class NXTRTC(OpenRTM.DataFlowComponentBase):
     def __init__(self, manager):
         OpenRTM.DataFlowComponentBase.__init__(self, manager)
 
         # DataPorts initialization
         # <rtc-template block="data_ports">
         self._d_vel = RTC.TimedFloatSeq(RTC.Time(0,0),[])
         self._velIn = OpenRTM.InPort("vel", self._d_vel, OpenRTM.RingBuffer(8))
         self.registerInPort("vel",self._velIn)
         self._d_pos = RTC.TimedFloatSeq(RTC.Time(0,0),[])
         self._posOut = OpenRTM.OutPort("pos", self._d_pos, OpenRTM.RingBuffer(8))
         self.registerOutPort("pos",self._posOut)
         self._d_sens = RTC.TimedFloatSeq(RTC.Time(0,0),[])
         self._sensOut = OpenRTM.OutPort("sens", self._d_sens, OpenRTM.RingBuffer(8))
         self.registerOutPort("sens",self._sensOut)
 
         # initialize of configuration-data.
         # <rtc-template block="configurations">
         self._map = [['A', 'B']]
         self._nxtbrick = None
         self._mapping = {'A':0,'B':1,'C':2}
          
     def onInitialize(self):
         # Bind variables and configuration variable
         # <rtc-template block="bind_config">
         self.bindParameter("map", self._map, "A,B")
 
         # create NXTBrick object
         try:
             print "Connecting to NXT brick ...."
             self._nxtbrick = NXTBrick.NXTBrick()
             print "Connection established."
         except:
             print "NXTBrick connection failed."
             return RTC.RTC_ERROR
 
         return RTC.RTC_OK
 
     def onFinalize(self):
         self._nxtbrick.close()
 
 
     def onActivated(self, ec_id):
         # reset NXTBrick's position.
         self._nxtbrick.resetPosition()
 
         return RTC.RTC_OK
 
     def onDeactivated(self, ec_id):
         # reset NXTBrick's position.
         self._nxtbrick.resetPosition()
 
         return RTC.RTC_OK
 
     def onExecute(self, ec_id):
         cnt = 0
         # check new data.
         if self._velIn.isNew():
             # read velocity data from inport.
             self._d_vel = self._velIn.read()
             vel_ = [0,0,0]
             vel_[self._mapping[self._map[0][0]]] = self._d_vel.data[0]
             vel_[self._mapping[self._map[0][1]]] = self._d_vel.data[1]
             # set velocity
             self._nxtbrick.setMotors(vel_)
 
         # get sensor data.
         sensor_   = self._nxtbrick.getSensors()
         if sensor_:
             self._d_sens.data = sensor_
             self._sensOut.write()
 
         # get position data.
         position_ = self._nxtbrick.getMotors()
         if position_:
             self._d_pos.data =                  [position_[self._mapping[self._map[0][0]]][9],                       position_[self._mapping[self._map[0][1]]][9]]
         # write position data to outport.
         self._posOut.write()
 
         return RTC.RTC_OK
 
 
 
 def MyModuleInit(manager):
     profile = OpenRTM.Properties(defaults_str=nxtrtc_spec)
     manager.registerFactory(profile,
                             NXTRTC,
                             OpenRTM.Delete)
 
     # Create a component
     comp = manager.createComponent("NXTRTC")
 
 
 
 def main():
     mgr = OpenRTM.Manager.init(len(sys.argv), sys.argv)
     #mgr = OpenRTM.Manager.init(sys.argv)
     mgr.setModuleInitProc(MyModuleInit)
     mgr.activateManager()
     mgr.runManager()
 
 if __name__ == "__main__":
     main()

 # @class CallBackClass
 # @brief callback class
 #
 # when data is written in the buffer of InPort,
 # it is called.
 class CallBackClass:
     def __init__(self, nxtbrick_, map_):
         self._nxtbrick = nxtbrick_
         self._map = map_
         self._mapping = {'A':0,'B':1,'C':2}
 
     def __call__(self, pData):
         vel_ = [0,0,0]
         vel_[self._mapping[self._map[0][0]]] = pData.data[0]
         vel_[self._mapping[self._map[0][1]]] = pData.data[1]
         # set velocity
         self._nxtbrick.setMotors(vel_)

   # set callback class
   self._velIn.setOnWrite(CallBackClass(self._ntxbrick,self._map))

 #!/usr/bin/env python
 # -*- coding:shift_jis -*-
 # -*- Python -*-
 
 import sys
 import time
 sys.path.append(".")
 
 # Import RTM module
 import OpenRTM
 import RTC
 
 
 # import NXTBrick class
 import NXTBrick
 
 
 # This module's spesification
 # <rtc-template block="module_spec">
 nxtrtc_spec = ["implementation_id", "NXTRTC", 
          "type_name",         "NXTRTC", 
          "description",       "NXT sample component", 
          "version",           "0.1", 
          "vendor",            "AIST", 
          "category",          "example", 
          "activity_type",     "DataFlowComponent", 
          "max_instance",      "10", 
          "language",          "Python", 
          "lang_type",         "SCRIPT",
          "conf.default.map", "A,B",
          ""]
 
 # </rtc-template>
 
 # @class CallBackClass
 # @brief callback class
 #
 # when data is written in the buffer of InPort,
 # it is called.
 class CallBackClass:
     def __init__(self, nxtbrick_, map_):
         self._nxtbrick = nxtbrick_
         self._map = map_
         self._mapping = {'A':0,'B':1,'C':2}
 
     def __call__(self, pData):
         vel_ = [0,0,0]
         vel_[self._mapping[self._map[0][0]]] = pData.data[0]
         vel_[self._mapping[self._map[0][1]]] = pData.data[1]
         # set velocity
         self._nxtbrick.setMotors(vel_)
 
 
 class NXTRTC(OpenRTM.DataFlowComponentBase):
     def __init__(self, manager):
         OpenRTM.DataFlowComponentBase.__init__(self, manager)
 
         # DataPorts initialization
         # <rtc-template block="data_ports">
         self._d_vel = RTC.TimedFloatSeq(RTC.Time(0,0),[])
         self._velIn = OpenRTM.InPort("vel", self._d_vel, OpenRTM.RingBuffer(8))
         self.registerInPort("vel",self._velIn)
         self._d_pos = RTC.TimedFloatSeq(RTC.Time(0,0),[])
         self._posOut = OpenRTM.OutPort("pos", self._d_pos, OpenRTM.RingBuffer(8))
         self.registerOutPort("pos",self._posOut)
         self._d_sens = RTC.TimedFloatSeq(RTC.Time(0,0),[])
         self._sensOut = OpenRTM.OutPort("sens", self._d_sens, OpenRTM.RingBuffer(8))
         self.registerOutPort("sens",self._sensOut)
 
         # initialize of configuration-data.
         # <rtc-template block="configurations">
         self._map = [['A', 'B']]
         self._nxtbrick = None
         self._mapping = {'A':0,'B':1,'C':2}
          
     def onInitialize(self):
         # Bind variables and configuration variable
         # <rtc-template block="bind_config">
         self.bindParameter("map", self._map, "A,B")
 
         # create NXTBrick object
         try:
             print "Connecting to NXT brick ...."
             self._nxtbrick = NXTBrick.NXTBrick()
             print "Connection established."
         except:
             print "NXTBrick connection failed."
             return RTC.RTC_ERROR
 
         # set callback class
         self._velIn.setOnWrite(CallBackClass(self._ntxbrick,self._map))
 
         return RTC.RTC_OK
 
     def onFinalize(self):
         self._nxtbrick.close()
 
     def onActivated(self, ec_id):
         # reset NXTBrick's position.
         self._nxtbrick.resetPosition()
 
         return RTC.RTC_OK
 
 
     def onDeactivated(self, ec_id):
         # reset NXTBrick's position.
         self._nxtbrick.resetPosition()
 
         return RTC.RTC_OK
 
 
     def onExecute(self, ec_id):
         # get sensor data.
         sensor_   = self._nxtbrick.getSensors()
         if sensor_:
             self._d_sens.data = [sensor_[3]]
             # write sensor data to outport.
             self._sensOut.write()
 
         # get position data.
         position_ = self._nxtbrick.getMotors()
         if position_:
             self._d_pos.data = [position_[self._mapping[self._map[0][0]]][9],position_[self._mapping[self._map[0][1]]][9]]
             # write position data to outport.
             self._posOut.write()
 
         return RTC.RTC_OK
 
 
 
 def MyModuleInit(manager):
     profile = OpenRTM.Properties(defaults_str=nxtrtc_spec)
     manager.registerFactory(profile,
                             NXTRTC,
                             OpenRTM.Delete)
 
     # Create a component
     comp = manager.createComponent("NXTRTC")
 
 
 
 def main():
     mgr = OpenRTM.Manager.init(len(sys.argv), sys.argv)
     #mgr = OpenRTM.Manager.init(sys.argv)
     mgr.setModuleInitProc(MyModuleInit)
     mgr.activateManager()
     mgr.runManager()
 
 if __name__ == "__main__":
     main()
 

 corba.nameservers: localhost
 naming.formats: %n.rtc