Module: Syskit

Extended by:
Roby::DRoby::V5::DRobyConstant::Dump
Defined in:
lib/syskit/base.rb,
lib/syskit/port.rb,
lib/syskit/test.rb,
lib/yard-syskit.rb,
lib/syskit/robot.rb,
lib/syskit/actions.rb,
lib/syskit/gui/ide.rb,
lib/syskit/runtime.rb,
lib/syskit/version.rb,
lib/syskit/cli/main.rb,
lib/syskit/graphviz.rb,
lib/syskit/gui/page.rb,
lib/syskit/property.rb,
lib/syskit/roby_app.rb,
lib/syskit/roby_app.rb,
lib/syskit/ros/node.rb,
lib/syskit/component.rb,
lib/syskit/data_flow.rb,
lib/syskit/test/base.rb,
lib/syskit/test/self.rb,
lib/syskit/test/spec.rb,
lib/syskit/deployment.rb,
lib/syskit/exceptions.rb,
lib/syskit/gui/browse.rb,
lib/syskit/properties.rb,
lib/syskit/composition.rb,
lib/syskit/gui/testing.rb,
lib/syskit/models/base.rb,
lib/syskit/models/port.rb,
lib/syskit/placeholder.rb,
lib/syskit/port_access.rb,
lib/syskit/cli/gen_main.rb,
lib/syskit/data_service.rb,
lib/syskit/gui/composer.rb,
lib/syskit/task_context.rb,
lib/syskit/gui/html_page.rb,
lib/syskit/gui/ruby_item.rb,
lib/syskit/live_property.rb,
lib/syskit/actions/action.rb,
lib/syskit/actions/profile.rb,
lib/syskit/gui/instanciate.rb,
lib/syskit/gui/state_label.rb,
lib/syskit/gui/widget_list.rb,
lib/syskit/roby_app/plugin.rb,
lib/syskit/roby_app/plugin.rb,
lib/syskit/shell_interface.rb,
lib/syskit/connection_graph.rb,
lib/syskit/models/component.rb,
lib/syskit/orogen_namespace.rb,
lib/syskit/test/action_test.rb,
lib/syskit/connection_graphs.rb,
lib/syskit/gui/batch_manager.rb,
lib/syskit/gui/model_browser.rb,
lib/syskit/gui/runtime_state.rb,
lib/syskit/models/deployment.rb,
lib/syskit/roby_app/rest_api.rb,
lib/syskit/roby_app/toplevel.rb,
lib/syskit/ruby_task_context.rb,
lib/syskit/test/profile_test.rb,
lib/syskit/abstract_component.rb,
lib/syskit/bound_data_service.rb,
lib/syskit/gui/page_extension.rb,
lib/syskit/instance_selection.rb,
lib/syskit/models/composition.rb,
lib/syskit/models/orogen_base.rb,
lib/syskit/models/placeholder.rb,
lib/syskit/models/port_access.rb,
lib/syskit/network_generation.rb,
lib/syskit/runtime/exceptions.rb,
lib/syskit/droby/v5/droby_dump.rb,
lib/syskit/gui/job_state_label.rb,
lib/syskit/models/data_service.rb,
lib/syskit/models/task_context.rb,
lib/syskit/remote_state_getter.rb,
lib/syskit/test/component_test.rb,
lib/syskit/actions/action_model.rb,
lib/syskit/dependency_injection.rb,
lib/syskit/gui/app_start_dialog.rb,
lib/syskit/instance_requirements.rb,
lib/syskit/models/faceted_access.rb,
lib/syskit/robot/device_instance.rb,
lib/syskit/test/roby_app_helpers.rb,
lib/syskit/actual_data_flow_graph.rb,
lib/syskit/gui/global_state_label.rb,
lib/syskit/gui/job_status_display.rb,
lib/syskit/robot/robot_definition.rb,
lib/syskit/roby_app/configuration.rb,
lib/syskit/roby_app/logging_group.rb,
lib/syskit/test/task_context_test.rb,
lib/syskit/gui/expanded_job_status.rb,
lib/syskit/gui/logging_groups_item.rb,
lib/syskit/models/deployment_group.rb,
lib/syskit/models/placeholder_task.rb,
lib/syskit/robot/communication_bus.rb,
lib/syskit/roby_app/process_server.rb,
lib/syskit/test/flexmock_extension.rb,
lib/syskit/test/profile_assertions.rb,
lib/syskit/models/composition_child.rb,
lib/syskit/network_generation/async.rb,
lib/syskit/roby_app/robot_extension.rb,
lib/syskit/roby_app/single_file_dsl.rb,
lib/syskit/coordination/data_monitor.rb,
lib/syskit/droby/v5/typelib_registry.rb,
lib/syskit/gui/logging_configuration.rb,
lib/syskit/models/bound_data_service.rb,
lib/syskit/network_generation/engine.rb,
lib/syskit/network_generation/logger.rb,
lib/syskit/test/network_manipulation.rb,
lib/syskit/coordination/port_handling.rb,
lib/syskit/gui/component_network_view.rb,
lib/syskit/instance_requirements_task.rb,
lib/syskit/roby_app/unmanaged_process.rb,
lib/syskit/ros/roby_app/configuration.rb,
lib/syskit/runtime/update_task_states.rb,
lib/syskit/task_configuration_manager.rb,
lib/syskit/test/action_interface_test.rb,
lib/syskit/coordination/plan_extension.rb,
lib/syskit/models/dynamic_data_service.rb,
lib/syskit/robot/slave_device_instance.rb,
lib/syskit/test/execution_expectations.rb,
lib/syskit/test/ruby_task_context_test.rb,
lib/syskit/dependency_injection_context.rb,
lib/syskit/models/configured_deployment.rb,
lib/syskit/robot/master_device_instance.rb,
lib/syskit/models/specialization_manager.rb,
lib/syskit/runtime/connection_management.rb,
lib/syskit/gui/logging_configuration_item.rb,
lib/syskit/roby_app/logging_configuration.rb,
lib/syskit/gui/component_network_base_view.rb,
lib/syskit/network_generation/merge_solver.rb,
lib/syskit/coordination/models/data_monitor.rb,
lib/syskit/roby_app/rest_deployment_manager.rb,
lib/syskit/roby_app/unmanaged_tasks_manager.rb,
lib/syskit/runtime/update_deployment_states.rb,
lib/syskit/actions/interface_model_extension.rb,
lib/syskit/coordination/models/port_handling.rb,
lib/syskit/gui/model_views/ruby_task_context.rb,
lib/syskit/models/bound_dynamic_data_service.rb,
lib/syskit/models/composition_specialization.rb,
lib/syskit/coordination/data_monitoring_error.rb,
lib/syskit/coordination/data_monitoring_table.rb,
lib/syskit/coordination/models/task_extension.rb,
lib/syskit/coordination/task_script_extension.rb,
lib/syskit/coordination/transaction_extension.rb,
lib/syskit/gui/logging_configuration_item_base.rb,
lib/syskit/network_generation/dataflow_dynamics.rb,
lib/syskit/network_generation/dataflow_computation.rb,
lib/syskit/runtime/apply_requirement_modifications.rb,
lib/syskit/coordination/models/data_monitoring_table.rb,
lib/syskit/coordination/data_monitoring_error_matcher.rb,
lib/syskit/network_generation/system_network_deployer.rb,
lib/syskit/coordination/fault_response_table_extension.rb,
lib/syskit/network_generation/system_network_generator.rb,
lib/syskit/coordination/models/fault_response_table_extension.rb,
lib/syskit/coordination/models/data_monitor_predicate_from_block.rb

Defined Under Namespace

Modules: Actions, CLI, ComBus, Coordination, DRoby, DataService, Device, GUI, Models, NetworkGeneration, OroGenNamespace, Placeholder, PortAccess, ROS, Robot, RobyApp, Runtime, Test, YARD Classes: :DataFlow, ActualDataFlowGraph, Ambiguous, AmbiguousAutoConnection, AmbiguousImplicitServiceSelection, AmbiguousIndirectCompositionSelection, AmbiguousPortMappings, AmbiguousPortOnCompositeModel, AmbiguousServiceMapping, AmbiguousServiceSelection, AmbiguousSpecialization, BoundDataService, Component, Composition, ConfigError, ConflictingDeviceAllocation, ConnectionGraph, DataFlow, DataflowPropagationError, DependencyInjection, DependencyInjectionContext, Deployment, DeviceAllocationFailed, DotCrashError, DotFailedError, Graphviz, IncompatibleComponentModels, InputPort, InputWriter, InstanceRequirements, InstanceRequirementsTask, InstanceSelection, InstanciationError, InternalError, InvalidAutoConnection, InvalidComponentSelection, InvalidCompositionChildSelection, InvalidDynamicServiceBlock, InvalidPortMapping, InvalidProvides, InvalidSelection, InvalidState, LiveProperty, MissingDeployments, ModifyingFinalizedPortInfo, NameResolutionError, NoMatchingService, NoMatchingServiceForCompositionChild, NonSymmetricSpecializationConstraint, OutputPort, OutputReader, Port, PortAccessFailure, PortAccessor, PortNotFound, Properties, Property, PropertyUpdateError, RemoteStateGetter, RubyTaskContext, SelfConnection, ShellInterface, SpecError, SyskitConfigurationPrecedence, TaskAllocationFailed, TaskConfigurationManager, TaskContext, TaskNameAlreadyInUse, TaskNameRequired, UnknownServiceName, WrongPortConnectionDirection, WrongPortConnectionTypes

Constant Summary collapse

BasicObject = 
Object
SYSKIT_LIB_DIR = 
File.expand_path(File.dirname(__FILE__))
SYSKIT_ROOT_DIR = 
File.expand_path(File.join("..", '..'), File.dirname(__FILE__))
VERSION = 
"0.1"
COLOR_PALETTE =

A set of colors to be used in graphiz graphs

%w{#FF9955 #FF0000 #bb9c21 #37c637 #62816e #2A7FFF #AA00D4 #D40055 #0000FF}
Flows = 
Roby::RelationSpace(Component)
ActualDataFlow =

Represents the actual connection graph between task context proxies. Its vertices are instances of Orocos::TaskContext, and edges are mappings from [source_port_name, sink_port_name] pairs to the connection policy between these ports.

Syskit::ActualDataFlow is the actual global graph instance in which the overall system connections are maintained in practice. Its vertices are Orocos::TaskContext and the edge information a mapping of the form

(source_port_name, sink_port_name) => policy

Syskit::RequiredDataFlow is the graph instance that manages concrete connections between Syskit::TaskContext (i.e. where all the forwarding through compositions has been removed). It is updated as needed by Runtime::ConnectionManagement#update_required_dataflow_graph. Its vertices are Syskit::TaskContext instances and the edge information a mapping of the form

(source_port_name, sink_port_name) => policy

Syskit::Flows::DataFlow is the flow graph that is generated by the engine. Its vertices are Syskit::Component, it contains “virtual” connections (connections between composition ports and task ports). The edge information is of the form

(source_port_name, sink_port_name) => policy

Since compositions are still in this graph, source_port_name and sink_port_name can be either outputs or inputs. In all the other graphs, they are guaranteed to be output ports resp. input ports.

ActualDataFlowGraph.new
RequiredDataFlow =

Represents the actual connection graph between task context proxies. Its vertices are instances of Orocos::TaskContext, and edges are mappings from [source_port_name, sink_port_name] pairs to the connection policy between these ports.

Syskit::ActualDataFlow is the actual global graph instance in which the overall system connections are maintained in practice. Its vertices are Orocos::TaskContext and the edge information a mapping of the form

(source_port_name, sink_port_name) => policy

Syskit::RequiredDataFlow is the graph instance that manages concrete connections between Syskit::TaskContext (i.e. where all the forwarding through compositions has been removed). It is updated as needed by Syskit::Runtime::ConnectionManagement#update_required_dataflow_graph. Its vertices are Syskit::TaskContext instances and the edge information a mapping of the form

(source_port_name, sink_port_name) => policy

Syskit::Flows::DataFlow is the flow graph that is generated by the engine. Its vertices are Syskit::Component, it contains “virtual” connections (connections between composition ports and task ports). The edge information is of the form

(source_port_name, sink_port_name) => policy

Since compositions are still in this graph, source_port_name and sink_port_name can be either outputs or inputs. In all the other graphs, they are guaranteed to be output ports resp. input ports.

ConnectionGraph.new
AbstractComponent = 
Roby::TaskService.new_submodel

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Attribute Details

#current_color ⇒ Object (readonly)

Used by the to_dot* methods for color allocation



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# File 'lib/syskit/graphviz.rb', line 5

def current_color
  @current_color
end

Class Method Details

.allocate_color ⇒ Object

Returns a color from COLOR_PALETTE, rotating each time the method is called. It is used by the to_dot* methods.



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# File 'lib/syskit/graphviz.rb', line 10

def self.allocate_color
    @current_color = (@current_color + 1) % COLOR_PALETTE.size
    COLOR_PALETTE[@current_color]
end

.conf ⇒ Object

The main configuration object

For consistency reasons, it is also available as Roby.conf.syskit when running in a Roby application



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# File 'lib/syskit/roby_app.rb', line 29

def conf
    @conf ||= RobyApp::Configuration.new(Roby.app)
end

.connect(source, sink, policy) ⇒ Array<(Port,Port)>

Generic implementation of connection handling

This is used to connect everything that can be connected: component and service instances, composition child models. The method resolves both source and sinks as a set of ports using #each_output_port and #each_input_port if they are not plain ports, finds which connections need to be created using resolve_connections and then calls output_port.connect_to input_port for each of these connections.

Parameters:

  • source (Port, Models::Port, #each_output_port) —

    the source part of the connection

  • sink (Port, Models::Port, #each_input_port) —

    the sink part of the connection

  • policy (Hash) —

    the connection policy

Returns:

  • (Array<(Port,Port)>) —

    the set of connections actually created

Raises:



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# File 'lib/syskit/connection_graphs.rb', line 151

def self.connect(source, sink, policy)
    output_ports =
        if source.respond_to?(:each_output_port)
            source.each_output_port.to_a
        else [source]
        end
    input_ports =
        if sink.respond_to?(:each_input_port)
            sink.each_input_port.to_a
        else [sink]
        end

    connections = resolve_connections(output_ports, input_ports)
    if connections.empty?
        raise InvalidAutoConnection.new(source, sink) 
    end

    connections.each do |out_port, in_port|
        out_port.connect_to in_port, policy
    end

    connections
end

.create_proxy_task_model_for(models, **options) ⇒ Object

Deprecated.

use Placeholder.create_for



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# File 'lib/syskit/models/placeholder.rb', line 333

def self.create_proxy_task_model_for(models, **options)
    Roby.warn_deprecated "Syskit.create_proxy_task_model is deprecated use Models::Placeholder.create_for instead"
    Models::Placeholder.create_for(models, **options)
end

.extend_model(model, &block) ⇒ Object

Extend an auto-generated with custom code

This is used mainly for Syskit models generated from oroGen models, in extension files within models/orogen/:

Syskit.extend_model OroGen.test.Task do
  def configure
    super
    ...
  end
end



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# File 'lib/syskit/models/task_context.rb', line 21

def self.extend_model(model, &block)
    model.class_eval(&block)
end

.proxy_task_model_for(models) ⇒ Object

Deprecated.

use Placholder.for



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# File 'lib/syskit/models/placeholder.rb', line 339

def self.proxy_task_model_for(models)
    Roby.warn_deprecated "Syskit.proxy_task_model_for is deprecated use Models::Placeholder.for instead"
    Models::Placeholder.for(models)
end

.register_process_server(name, client, log_dir = nil) ⇒ ProcessServerConfig

Make a process server available to syskit

Parameters:

  • name (String) —

    the process server name

  • client (Object) —

    the process server client object, which has to conform to the API of Orocos::Remotes::Client

  • log_dir (String) (defaults to: nil) —

    the path to the server's log directory

Returns:

  • (ProcessServerConfig) 


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# File 'lib/syskit/deployment.rb', line 8

def register_process_server(name, client, log_dir = nil)
    Syskit.conf.register_process_server(name, client, log_dir = nil)
end

.resolve_connections(output_ports, input_ports) ⇒ Array<(Port,Port)>

Resolves possible connections between a set of output ports and a set of input ports

Parameters:

  • output_ports (Array<Port>) —

    the set of output ports

  • input_ports (Array<Port>) —

    the set of output ports

Returns:

  • (Array<(Port,Port)>) —

    the set of connections

Raises:



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# File 'lib/syskit/connection_graphs.rb', line 65

def self.resolve_connections(output_ports, input_ports)
    Models.debug do
        Models.debug "resolving connections from #{output_ports.map(&:name).sort.join(",")} to #{input_ports.map(&:name).sort.join(",")}"
        break
    end

    result = Array.new
    matched_input_ports = Set.new

    # First resolve the exact matches
    remaining_outputs = output_ports.dup
    remaining_outputs.delete_if do |out_port|
        in_port = input_ports.
            find do |in_port|
                in_port.name == out_port.name &&
                    in_port.type == out_port.type
            end
        if in_port
            result << [out_port, in_port]
            matched_input_ports << in_port
            true
        end
    end

    # In the second stage, we match by type. If there are ambiguities,
    # we try to resolve them by excluding the ports that had an exact
    # match. This is, by experience, expected behaviour in practice
    remaining_outputs.each do |out_port|
        candidates = input_ports.
            find_all { |in_port| in_port.type == out_port.type }
        if candidates.size > 1
            filtered_candidates = candidates.
                find_all { |p| !matched_input_ports.include?(p) }
            if filtered_candidates.size == 1
                candidates = filtered_candidates
            end
        end
        if candidates.size > 1
            raise AmbiguousAutoConnection.new(out_port, candidates)
        elsif candidates.size == 1
            result << [out_port, candidates.first]
        end
    end

    # Finally, verify that we autoconnect multiple outputs to a single
    # input only if it is a multiplexing port
    outputs_per_input = Hash.new
    result.each do |out_port, in_port|
        if outputs_per_input[in_port]
            if !in_port.multiplexes?
                candidates = result.map { |o, i| o if i == in_port }.
                    compact
                raise AmbiguousAutoConnection.new(in_port, candidates)
            end
        end
        outputs_per_input[in_port] = out_port
    end

    Models.debug do
        result.each do |out_port, in_port|
            Models.debug "  #{out_port.name} => #{in_port.name}"
        end
        if !remaining_outputs.empty?
            Models.debug "  no matches found for outputs #{remaining_outputs.map(&:name).sort.join(",")}"
        end
        break
    end
    result
end

.resolve_proxy_task_model_requirements(models) ⇒ Object

This method is part of a private API. You should avoid using this method if possible, as it may be removed or be changed in the future.

Deprecated.

use Placeholder.resolve_requirements instead



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# File 'lib/syskit/models/placeholder.rb', line 327

def self.resolve_proxy_task_model_requirements(models)
    Roby.warn_deprecated "Syskit.resolve_proxy_task_model_requirements is deprecated use Models::Placeholder.resolve_models_argument instead"
    Models::Placeholder.resolve_requirements(models)
end

.update_connection_policy(old, new) ⇒ Object 



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# File 'lib/syskit/connection_graphs.rb', line 12

def self.update_connection_policy(old, new)
    old = old.dup
    new = new.dup
    if old.empty?
        return new
    elsif new.empty?
        return old
    end

    old_fallback = old.delete(:fallback_policy)
    new_fallback = new.delete(:fallback_policy)
    if old_fallback && new_fallback
        fallback = update_connection_policy(old_fallback, new_fallback)
    else
        fallback = old_fallback || new_fallback
    end

    old = Orocos::Port.validate_policy(old)
    new = Orocos::Port.validate_policy(new)

    type = old[:type] || new[:type]
    merged = old.merge(new) do |key, old_value, new_value|
        if old_value == new_value
            old_value
        elsif key == :type
            raise ArgumentError, "connection types mismatch: #{old_value} != #{new_value}"
        elsif key == :transport
            if old_value == 0 then new_value
            elsif new_value == 0 then old_value
            else
                raise ArgumentError, "policy mismatch for transport: #{old_value} != #{new_value}"
            end
        elsif key == :size
            [old_value, new_value].max
        else
            raise ArgumentError, "policy mismatch for #{key}: #{old_value} != #{new_value}"
        end
    end

    if fallback
        merged[:fallback_policy] = fallback
    end
    merged
end

.warn_about_new_naming_convention ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 16

def self.warn_about_new_naming_convention
    Syskit.warn 'We have finally adopted a systematic naming convention in Syskit, this led to files and classes to be renamed'
end