Class: OroGen::Loaders::RTT

Inherits:
PkgConfig show all
Defined in:
lib/orogen/loaders/rtt.rb

Constant Summary collapse

DIR = 
File.join(File.expand_path(File.dirname(__FILE__)), 'rtt')
STANDARD_PROJECT_SPECS = 
{ "RTT" => DIR, "OCL" => DIR }
STANDARD_TYPEKIT_SPECS = 
{ "orocos" => DIR }

Instance Attribute Summary

Attributes inherited from PkgConfig

#available_deployed_tasks, #available_deployments, #available_projects, #available_task_models, #available_typekits, #available_types, #orocos_target

Attributes inherited from Base

#interface_typelist, #loaded_deployment_models, #loaded_projects, #loaded_task_models, #loaded_typekits, #project_load_callbacks, #registry, #root_loader, #typekit_load_callbacks, #typekits_by_type_name

Class Method Summary collapse

Instance Method Summary collapse

Methods inherited from PkgConfig

#add_project_from, #each_available_deployed_task, #each_available_deployed_task_name, #each_available_deployment_name, #each_available_project_name, #each_available_task_model_name, #each_available_type_name, #each_available_typekit_name, #find_basic_deployed_task_info, #find_deployment_binfile, #find_deployments_from_deployed_task_name, #find_pkgconfig, #find_project_from_deployment_name, #find_task_library_from_task_model_name, #has_pkgconfig?, #has_project?, #has_typekit?, #load_available_deployed_tasks, #load_available_types, #project_model_text_from_name, #resolve_package_library, #resolve_task_library_package, #resolve_transport_package, #resolve_typekit_package, #task_library_path_from_name, #to_s, #transport_library_path_from_name, #typekit_for, #typekit_library_path_from_name, #typekit_model_text_from_name

Methods inherited from Base

#added_child, #define_dummy_types=, #define_dummy_types?, #deployed_task_model_from_name, #deployment_model_from_name, #each_available_project_name, #find_deployments_from_deployed_task_name, #find_project_from_deployment_name, #find_task_library_from_task_model_name, #has_loaded_project?, #has_loaded_typekit?, #has_project?, #has_typekit?, #imported_typekits_for, #inspect, #interface_type?, #intermediate_type?, #intermediate_type_for, #m_type?, #on_project_load, #on_typekit_load, #opaque_type_for, #project_model_from_name, #project_model_from_text, #project_model_text_from_name, #register_deployment_model, #register_project_model, #register_task_context_model, #register_type_model, #register_typekit_model, #remove_project_load_callback, #resolve_interface_type, #resolve_type, #task_library_model_from_name, #task_model_from_name, #typekit_model_from_name, #typekit_model_text_from_name, #typelib_type_for

Constructor Details

#initialize(orocos_target = ENV['OROCOS_TARGET'], root_loader = self) ⇒ RTT

Returns a new instance of RTT



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# File 'lib/orogen/loaders/rtt.rb', line 18

def initialize(orocos_target = ENV['OROCOS_TARGET'], root_loader = self)
    super
end

Class Method Details

.loader ⇒ Object 



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# File 'lib/orogen/loaders/rtt.rb', line 7

def self.loader
    loader = Files.new
    STANDARD_PROJECT_SPECS.each do |name, dir|
        loader.register_orogen_file(File.join(dir, "#{name}.orogen"), name)
    end
    STANDARD_TYPEKIT_SPECS.each do |name, dir|
        loader.register_typekit(dir, name)
    end
    loader
end

.setup_loader(loader) ⇒ Object 



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# File 'lib/orogen/loaders/rtt.rb', line 50

def self.setup_loader(loader)
    standard_typekits.each do |tk|
        loader.register_typekit_model(tk)
        # One additional step for us: register the types in
        # tk.typelist manually. This is needed as we use the
        # typelist to register non-normalized names
        tk.typelist.each do |typename|
            loader.typekits_by_type_name[typename] ||= Array.new
            loader.typekits_by_type_name[typename] << tk
        end
    end
    standard_projects.each do |proj|
        loader.register_project_model(proj)
    end
end

.standard_projects ⇒ Object 



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# File 'lib/orogen/loaders/rtt.rb', line 22

def self.standard_projects
    if !@standard_projects
        loader = self.loader
        @standard_projects = STANDARD_PROJECT_SPECS.map do |name, dir|
            loader.project_model_from_name(name)
        end
    end
    @standard_projects
end

.standard_typekits ⇒ Object 



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# File 'lib/orogen/loaders/rtt.rb', line 32

def self.standard_typekits
    if !@standard_typekits
        loader = self.loader
        @standard_typekits = STANDARD_TYPEKIT_SPECS.map do |name, _|
            typekit = loader.typekit_model_from_name(name)
            typekit.virtual = true
            # Some fine-tuning :( Super-HACK
            if name == 'orocos'
                type = typekit.registry.create_container '/std/string', '/std/string'
                type.metadata.set 'orogen_include', 'string'
                typekit.registry.alias '/string', '/std/string'
            end
            typekit
        end
    end
    return @standard_typekits
end

Instance Method Details

#clear ⇒ Object 



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# File 'lib/orogen/loaders/rtt.rb', line 66

def clear
    super
    RTT.setup_loader(self)
end