Class: Orocos::Log::TaskContext

Inherits:
TaskContextBase show all
Includes:
Namespace
Defined in:
lib/orocos/log/task_context.rb,
lib/orocos/async/orocos.rb

Overview

Simulates task based on a log file. Each stream is modeled as one OutputPort which supports the connect_to method

Constant Summary

Constants included from Namespace

Namespace::DELIMATOR

Constants inherited from TaskContextBase

TaskContextBase::RUNNING_STATES

Instance Attribute Summary collapse

Attributes inherited from TaskContextBase

#attributes, #configuration_log, #current_state, #ior, #process, #properties, #state_symbols

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 inherited from TaskContextBase

#add_default_states, #available_states, #basename, connect_to, #doc, #doc?, #each_attribute, #each_input_port, #each_operation, #each_output_port, #each_port, #each_property, #error?, #error_state?, #exception?, #exception_state?, #fatal_error?, #fatal_error_state?, find_one_running, get, get_provides, #has_attribute?, #has_operation?, #has_port?, #has_property?, #implements?, #info, #input_port, #input_port_model, #inspect, #model, #model=, #name, #on_localhost?, #output_port, #output_port_model, #peek_current_state, #peek_state, #ports, #pre_operational?, #pretty_print, reachable?, #reachable?, #ready?, #running?, #runtime_error?, #runtime_state?, #state, #state_changed?, #states, #to_h, #toplevel_state

Methods included from PortsSearchable

#find_all_input_ports, #find_all_output_ports, #find_all_ports, #find_input_port, #find_output_port, #find_port

Methods included from TaskContextBaseAbstract

#attribute, #operation

Constructor Details

#initialize(log_replay, task_name) ⇒ TaskContext #initialize(log_replay, task_name, file_path, file_path_config) ⇒ TaskContext

Creates a new instance of TaskContext.

Overloads:

  • #initialize(log_replay, task_name) ⇒ TaskContext

    Parameters:

    • log_replay (Orocos::Log::Replay) —

      the replay instance

    • task_name (String) —

      the task name

  • #initialize(log_replay, task_name, file_path, file_path_config) ⇒ TaskContext

    Deprecated, use the other form



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# File 'lib/orocos/log/task_context.rb', line 650

def initialize(log_replay,task_name,file_path = nil,file_path_config = nil)
    super(task_name)
    self.model = Orocos.create_orogen_task_context_model
    @log_replay = log_replay
    @invalid_ports = Hash.new # ports that could not be loaded
    @rtt_state = :RUNNING
    @port_reachable_blocks = Array.new
    @property_reachable_blocks = Array.new
    @state_change_blocks = Array.new
end

Dynamic Method Handling

This class handles dynamic methods through the method_missing method

#method_missing(m, *args, &block) ⇒ Object

This is used to allow the following syntax task.port_name.connect_to(other_port)



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# File 'lib/orocos/log/task_context.rb', line 922

def method_missing(m, *args,&block) #:nodoc:
    m = m.to_s
    if m =~ /^(\w+)=/
        name = $1
        Log.warn "Setting the property #{name} the TaskContext #{@name} is not supported"
        return
    end
    if has_port?(m)
        _port = port(m)
        _port.filter = block if block         #overwirte filer
        return _port
    end
    if has_property?(m)
        return property(m)
    end
    begin
        super(m.to_sym,*args,&block)
    rescue  NoMethodError => e
        if m.to_sym != :to_ary
            Log.error "#{m} is neither a port nor a property of #{self.name}"
            Log.error "The following ports are availabe:"
            @ports.each_value do |port|
                Log.error "  #{port.name}"
            end
            Log.error "The following properties are availabe:"
            @properties.each_value do |property|
                Log.error "  #{property.name}"
            end
        end
        raise e
    end
end

Instance Attribute Details

#file_path ⇒ Object (readonly)

path of the dedicated log file



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# File 'lib/orocos/log/task_context.rb', line 638

def file_path
  @file_path
end

#file_path_config ⇒ Object (readonly)

path of the dedicated log configuration file



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# File 'lib/orocos/log/task_context.rb', line 639

def file_path_config
  @file_path_config
end

#log_replay ⇒ Object (readonly)

Returns the value of attribute log_replay



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# File 'lib/orocos/log/task_context.rb', line 640

def log_replay
  @log_replay
end

Instance Method Details

#add_port(stream) ⇒ Log::Property #add_port(file_path, stream) ⇒ Object

Adds a new port to the TaskContext, backed by a data stream

Overloads:

  • #add_port(stream) ⇒ Log::Property

    Parameters:

    • stream (Pocolog::Datastream) —

      the stream that backs the new port

    Returns:

  • #add_port(file_path, stream) ⇒ Object

    Deprecated. Use the other form.



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# File 'lib/orocos/log/task_context.rb', line 805

def add_port(stream, _backward = nil)
    stream = _backward if _backward
    begin
        log_port = OutputPort.new(self, stream)
        if @ports.has_key?(log_port.name)
            raise ArgumentError, "port '#{log_port.name}' already exists, "\
                "probably from a different log stream"
        end
        @ports[log_port.name] = log_port
        @port_reachable_blocks.each{|b|b.call(log_port.name)}
    rescue InitializePortError => error
        @invalid_ports[error.port_name] = error.message
        raise error
    end

    #connect state with task state
    if log_port.name == "state"
        log_port.on_data do |sample|
            @rtt_state = sample
        end
        log_port.tracked = false
    end
    log_port
end

#add_property(stream) ⇒ Log::Property #add_port(file_path, stream) ⇒ Object

Adds a new property to the TaskContext, backed by a datastream

Overloads:

  • #add_property(stream) ⇒ Log::Property

    Parameters:

    • stream (Pocolog::Datastream) —

      the stream that backs the new property

    Returns:

  • #add_port(file_path, stream) ⇒ Object

    Deprecated. Use the other form.



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# File 'lib/orocos/log/task_context.rb', line 784

def add_property(stream, _backward = nil)
    stream = _backward if _backward
    log_property = Property.new(self,stream)
    if @properties.has_key?(log_property.name)
        raise ArgumentError, "property '#{log_property.name}' already "\
            "exists, probably from a different log stream"
    end
    @properties[log_property.name] = log_property
    @property_reachable_blocks.each{|b|b.call(log_property.name)}
    return log_property
end

#add_stream(stream) ⇒ Log::Property, Log::TaskContext

Register a property/port backed by a data stream

The two types are recognized by the rock_stream_type metadata, which should either be 'port' or 'property'.

Parameters:

  • stream (Pocolog::Datastream) —

    the property/port type is autodetected by the rock_stream_type metadata ('property' or 'port')

Returns:



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# File 'lib/orocos/log/task_context.rb', line 756

def add_stream(stream, _backward = nil, type: nil)
    stream = _backward if _backward
    type ||= stream.metadata["rock_stream_type"]
    case type
    when "property"
        add_property(stream)
    when "port"
        add_port(stream)
    when NilClass
        raise ArgumentError, "stream '#{stream.name}' has no "\
            "rock_stream_type metadata, cannot guess whether it should "\
            "back a port or a property"
    else
        raise ArgumentError, "the rock_stream_type metadata of "\
            "'#{stream.name}' is '#{type}', expected either "\
            "'port' or 'property'"
    end
end

#attribute_names ⇒ Object

Returns the array of the names of available attributes on this task context



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# File 'lib/orocos/log/task_context.rb', line 697

def attribute_names
    Array.new
end

#cleanup(*args) ⇒ Object 



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# File 'lib/orocos/log/task_context.rb', line 916

def cleanup(*args)
    raise "Task #{name} does not support this operation"
end

#clear_reader_buffers ⇒ Object

Clears all reader buffers



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# File 'lib/orocos/log/task_context.rb', line 898

def clear_reader_buffers
    @ports.each_value do |port|
        port.clear_reader_buffers
    end
end

#configure(*args) ⇒ Object 



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# File 'lib/orocos/log/task_context.rb', line 908

def configure(*args)
    raise "Task #{name} does not support this operation"
end

#connect_to(task = nil, policy = OutputPort::default_policy, &block) ⇒ Object 



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# File 'lib/orocos/log/task_context.rb', line 856

def connect_to(task=nil,policy = OutputPort::default_policy,&block)
    Orocos::TaskContext.connect_to(self,task,policy,&block)
end

#current_state=(val) ⇒ Object 



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# File 'lib/orocos/log/task_context.rb', line 661

def current_state=(val)
    @current_state=val
    @state_change_blocks.each do |b|
        b.call val
    end
end

#on_port_reachable(&block) ⇒ Object 



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# File 'lib/orocos/log/task_context.rb', line 680

def on_port_reachable(&block)
    @port_reachable_blocks << block
end

#on_property_reachable(&block) ⇒ Object 



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# File 'lib/orocos/log/task_context.rb', line 684

def on_property_reachable(&block)
    @property_reachable_blocks << block
end

#on_state_change(&block) ⇒ Object 



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# File 'lib/orocos/log/task_context.rb', line 668

def on_state_change(&block)
    @state_change_blocks << block
end

#operation_names ⇒ Object

Returns the array of the names of available operations on this task context



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# File 'lib/orocos/log/task_context.rb', line 703

def operation_names
    Array.new
end

#ping ⇒ Object 



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# File 'lib/orocos/log/task_context.rb', line 717

def ping
    true
end

#port(name, verify = true) ⇒ Object

Returns the port with the given name. If no port can be found a exception is raised.



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# File 'lib/orocos/log/task_context.rb', line 736

def port(name, verify = true)
    name = name.to_str
    if @ports[name]
        @ports[name]
    elsif @invalid_ports[name]
        raise NotFound, "the port named '#{name}' on log task '#{self.name}' could not be loaded: #{@invalid_ports[name]}"
    else
        raise NotFound, "no port named '#{name}' on log task '#{self.name}'"
    end
end

#port_names ⇒ Object

Returns the names of all the ports defined on this task context



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# File 'lib/orocos/log/task_context.rb', line 708

def port_names
    @ports.keys
end

#property(name, verify = true) ⇒ Object

Returns the property with the given name. If no port can be found a exception is raised.



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# File 'lib/orocos/log/task_context.rb', line 723

def property(name, verify = true)
    name = name.to_str
    if @properties[name]
        p = @properties[name]
        p.tracked = true
        p
    else
        raise NotFound, "no property named '#{name}' on log task '#{self.name}'"
    end
end

#property_names ⇒ Object

Returns the array of the names of available properties on this task context



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# File 'lib/orocos/log/task_context.rb', line 691

def property_names
    @properties.values.map(&:name)
end

#rename(name) ⇒ Object 



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# File 'lib/orocos/log/task_context.rb', line 676

def rename(name)
    @name = name
end

#rtt_state ⇒ Object

Reads the state



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# File 'lib/orocos/log/task_context.rb', line 713

def rtt_state
    @rtt_state
end

#start(*args) ⇒ Object 



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# File 'lib/orocos/log/task_context.rb', line 904

def start(*args)
    raise "Task #{name} does not support this operation"
end

#stop(*args) ⇒ Object 



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# File 'lib/orocos/log/task_context.rb', line 912

def stop(*args)
    raise "Task #{name} does not support this operation"
end

#to_async(options = Hash.new) ⇒ Object 



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# File 'lib/orocos/async/orocos.rb', line 16

def to_async(options = Hash.new)
    Orocos::Async::Log::TaskContext.new(self,options)
end

#to_proxy(options = Hash.new) ⇒ Object 



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# File 'lib/orocos/async/orocos.rb', line 20

def to_proxy(options = Hash.new)
    log_replay.name_service_async.proxy(name,:use => to_async).wait
end

#to_s ⇒ Object 



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# File 'lib/orocos/log/task_context.rb', line 672

def to_s
    "#<Orocos::Log::TaskContext: #{name}>"
end

#track(value, filter = Hash.new) ⇒ Object

If set to true all ports are replayed otherwise only ports are replayed which have a reader or a connection to an other port



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# File 'lib/orocos/log/task_context.rb', line 863

def track(value,filter = Hash.new)
    options, filter = Kernel::filter_options(filter,[:ports,:types,:limit])
    raise "Cannot understand filter: #{filter}" unless filter.empty?

    @ports.each_value do |port|
        if(options.has_key? :ports)
            next unless port.name =~ options[:ports]
        end
        if(options.has_key? :types)
            next unless port.type_name =~ options[:types]
        end
        if(options.has_key? :limit)
            next unless port.number_of_samples <= options[:limit]
        end
        port.tracked = value
        Log.info "set" + port.stream.name + value.to_s
    end

    @properties.each_value do |property|
        if(options.has_key? :propertys)
            next unless property.name =~ options[:properties]
        end
        if(options.has_key? :types)
            next unless property.type_name =~ options[:types]
        end
        if(options.has_key? :limit)
            next unless property.number_of_samples <= options[:limit]
        end
        property.tracked = value
        @tracked = value
        Log.info "set" + property.stream.name + value.to_s
    end
end

#unused_ports ⇒ Object

Returns an array of unused ports



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# File 'lib/orocos/log/task_context.rb', line 848

def unused_ports
    ports = Array.new
    @ports.each_value do |port|
        ports << port if !port.used?
    end
    return ports
end

#used? ⇒ Boolean

Returns true if the task shall be replayed

Returns:

  • (Boolean) 


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# File 'lib/orocos/log/task_context.rb', line 843

def used?
    !used_ports.empty? || !used_properties.empty?
end

#used_ports ⇒ Object

Returns an array of ports where each port has at least one connection or tracked set to true.



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# File 'lib/orocos/log/task_context.rb', line 832

def used_ports
    @ports.values.find_all &:used?
end

#used_properties ⇒ Object

Returns an array of ports where each port has at least one connection or tracked set to true.



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# File 'lib/orocos/log/task_context.rb', line 838

def used_properties
    @properties.values.find_all &:used?
end