Class: Orocos::Async::NameServiceBase

Inherits:
ObjectBase
  • Object
show all
Extended by:
ObjectBase::Periodic::ClassMethods, Utilrb::EventLoop::Forwardable
Includes:
ObjectBase::Periodic, Namespace
Defined in:
lib/orocos/async/name_service.rb

Constant Summary

Constants included from Namespace

Namespace::DELIMATOR

Instance Attribute Summary collapse

Attributes included from ObjectBase::Periodic::ClassMethods

#default_period

Attributes inherited from ObjectBase

#emitting, #event_loop, #name, #options, #pending_adds

Instance Method Summary collapse

Methods included from Namespace

#basename, #map_to_namespace, #namespace, #namespace=, #same_namespace?, #split_name, split_name, validate_namespace_name, #verify_same_namespace

Methods included from ObjectBase::Periodic

#default_period, #period, #period=

Methods inherited from ObjectBase

#add_listener, define_event, define_events, #disable_emitting, #event, event_names, #event_names, #invalidate_delegator!, #listener?, #listeners, #number_of_listeners, #on_event, #proxy_event, #reachable!, #reachable?, #remove_all_listeners, #remove_proxy_event, #unreachable!, #valid_delegator?, valid_event?, #valid_event?, validate_event, #validate_event, #wait

Constructor Details

#initialize(name_service, options = Hash.new) ⇒ NameServiceBase

Returns a new instance of NameServiceBase



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# File 'lib/orocos/async/name_service.rb', line 53

def initialize(name_service,options = Hash.new)
    @options ||= Kernel.validate_options options,:period => default_period,:start => false,:sync_key => nil,:known_errors => Orocos::Async::KNOWN_ERRORS,:event_loop => Orocos::Async.event_loop
    @stored_names ||= Set.new
    _,options_async = Kernel.filter_options @options,:event_loop=>nil
    super(name_service.name,@options[:event_loop])
    disable_emitting do
        reachable! name_service
    end
    @watchdog_timer = @event_loop.async_every method(:names),options_async do |names|
        names.each do |name|
            n = @stored_names.add? name
            event :task_added,name if n
        end
        @stored_names.delete_if do |name|
            if !names.include?(name)
                event :task_removed,name
                true
            else
                false
            end
        end
    end
    @watchdog_timer.doc = name
    @task_context_proxies = Array.new
end

Instance Attribute Details

#task_context_proxies ⇒ Object (readonly)

Returns the value of attribute task_context_proxies



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# File 'lib/orocos/async/name_service.rb', line 49

def task_context_proxies
  @task_context_proxies
end

Instance Method Details

#on_task_added {|name| ... } ⇒ void

This method returns an undefined value.

Registers an event callback that will receive task names when the task got deregistered from the name service(s)

Yield Parameters:

  • name (String) 


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# File 'lib/orocos/async/name_service.rb', line 38

define_events :task_added

#proxy(name, options = Hash.new) ⇒ Object 



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# File 'lib/orocos/async/name_service.rb', line 99

def proxy(name,options = Hash.new)
    name = if name.respond_to?(:name)
               name.name
           else
               name
           end
    options[:event_loop] ||= @event_loop
    options[:name_service] ||= self
    ns,base_name = split_name(name)
    ns ||= ""
    task = @task_context_proxies.find do |t|
        ns2,base_name2= split_name(t.name)
        ns2 ||= ""
        ns == ns2 && base_name == base_name2 && t.event_loop == options[:event_loop] && t.name_service == options[:name_service]
    end
    if task
        options.each_pair do |key,value|
            if task.options[key] != value
                # TODO add proper pretty_print methods to display options otherwise console will be flooded
                Orocos.warn "TaskContextProxy #{name} is already initialized with different options."
               # Orocos.warn "Ignoring options: #{options}."
                break
            end
        end
        task
    else
        @task_context_proxies << Orocos::Async::TaskContextProxy.new(name,options)
        @task_context_proxies.last
    end
end

#really_add_listener(listener) ⇒ Object 



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# File 'lib/orocos/async/name_service.rb', line 79

def really_add_listener(listener)
    if listener.event == :task_added || listener.event == :task_removed 
        @watchdog_timer.start unless @watchdog_timer.running?
        if listener.use_last_value? && !@stored_names.empty?
            @stored_names.each do |name|
                listener.call name
            end
        end
    end
    super
end

#remove_listener(listener) ⇒ Object 



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# File 'lib/orocos/async/name_service.rb', line 91

def remove_listener(listener)
    super
    if number_of_listeners(:task_removed) == 0 && number_of_listeners(:task_added) == 0
        @watchdog_timer.cancel
        @stored_names.clear
    end
end