Class: Syskit::Models::ComBusModel

Inherits:
DeviceModel show all
Defined in:
lib/syskit/models/data_service.rb

Overview

Metamodel for all communication busses

Instance Attribute Summary collapse

Attributes inherited from DataServiceModel

#orogen_model, #rw port_mappings

Instance Method Summary collapse

Methods inherited from DeviceModel

#apply_device_configuration_extensions, #default_driver, #extend_device_configuration, #find_all_drivers

Methods inherited from DataServiceModel

#apply_block, #as_plan, #bind, #connected?, #create_placeholder_task, #create_proxy_task, #each_fullfilled_model, #each_required_model, #if_already_present, #instanciate, new_permanent_root, #placeholder?, #placeholder_model, #port_mappings_for, #pretty_print, #provides?, #proxy_task_model, #resolve, #to_component_model, #to_dot, #try_bind, #try_resolve

Methods included from PortAccess

#each_input_port, #each_output_port, #each_port, #find_input_port, #find_output_port, #find_port, #find_through_method_missing, #has_dynamic_input_port?, #has_dynamic_output_port?, #has_input_port?, #has_output_port?, #has_port?, #has_through_method_missing?, #port_by_name

Methods included from Base

#dependency_injection_names, #pretty_print, #short_name, #to_instance_requirements, #to_s

Constructor Details

#initialize(*args, &block) ⇒ ComBusModel

Returns a new instance of ComBusModel



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# File 'lib/syskit/models/data_service.rb', line 444

def initialize(*args, &block)
    super
    @override_policy = true
end

Instance Attribute Details

#bus_base_srv ⇒ Object (readonly)

Returns the value of attribute bus_base_srv



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# File 'lib/syskit/models/data_service.rb', line 459

def bus_base_srv
  @bus_base_srv
end

#bus_in_srv ⇒ Object (readonly)

Returns the value of attribute bus_in_srv



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# File 'lib/syskit/models/data_service.rb', line 460

def bus_in_srv
  @bus_in_srv
end

#bus_out_srv ⇒ Object (readonly)

Returns the value of attribute bus_out_srv



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# File 'lib/syskit/models/data_service.rb', line 461

def bus_out_srv
  @bus_out_srv
end

#bus_srv ⇒ Object (readonly)

Returns the value of attribute bus_srv



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# File 'lib/syskit/models/data_service.rb', line 462

def bus_srv
  @bus_srv
end

#client_in_srv ⇒ Object (readonly)

Returns the value of attribute client_in_srv



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# File 'lib/syskit/models/data_service.rb', line 464

def client_in_srv
  @client_in_srv
end

#client_out_srv ⇒ Object (readonly)

Returns the value of attribute client_out_srv



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# File 'lib/syskit/models/data_service.rb', line 465

def client_out_srv
  @client_out_srv
end

#client_srv ⇒ Object (readonly)

Returns the value of attribute client_srv



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# File 'lib/syskit/models/data_service.rb', line 466

def client_srv
  @client_srv
end

#message_type ⇒ String

The name of the type used to communicate with the supported components

Returns:

  • (String) 


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# File 'lib/syskit/models/data_service.rb', line 592

def message_type
  @message_type
end

Instance Method Details

#apply_attached_device_configuration_extensions(device_instance) ⇒ Object

Applies the configuration extensions declaredwith #extend_device_configuration to the provided class



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# File 'lib/syskit/models/data_service.rb', line 640

def apply_attached_device_configuration_extensions(device_instance)
    device_instance.extend(attached_device_configuration_module)
end

#bus_to_client? ⇒ Boolean

Retursn whether this bus clients send messages to the bus

Returns:

  • (Boolean) 


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# File 'lib/syskit/models/data_service.rb', line 455

def bus_to_client?
    !!client_in_srv
end

#clear_model ⇒ Object 



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# File 'lib/syskit/models/data_service.rb', line 510

def clear_model
    super
    @message_type = nil
end

#client_to_bus? ⇒ Boolean

Returns whether this bus clients receive messages from the bus

Returns:

  • (Boolean) 


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# File 'lib/syskit/models/data_service.rb', line 450

def client_to_bus?
    !!client_out_srv
end

#dynamic_service_name ⇒ Object

The name of the bus_in_srv dynamic service defined on driver tasks



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# File 'lib/syskit/models/data_service.rb', line 516

def dynamic_service_name
    name = "com_bus"
    if self.name
        name = "#{name}_#{self.name}"
    end
    name
end

#extend_attached_device_configuration(&block) ⇒ Object

Requires that the given block is used to add methods to the device configuration objects.

I.e. if a combus type is defined with

com_bus_type('canbus').
   extend_attached_device_configuration do
       def can_id(id, mask)
           @id, @mask = id, mask
       end
   end

Then the #can_id method will be available on device instances that are attached to a canbus device

device(Type).attach_to(can).can_id(0x10, 0x10)



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# File 'lib/syskit/models/data_service.rb', line 631

def extend_attached_device_configuration(&block)
    if block
        attached_device_configuration_module.class_eval(&block)
    end
    self
end

#included(mod) ⇒ Object 



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# File 'lib/syskit/models/data_service.rb', line 524

def included(mod)
    return if !(mod <= Syskit::Component)

    # declare the relevant dynamic service
    combus_m = self
    dyn_name = dynamic_service_name
    bus_srv  = bus_base_srv
    mod.dynamic_service bus_base_srv, as: dynamic_service_name do
        options = Kernel.validate_options self.options, client_to_bus: nil, bus_to_client: nil
        in_name =
            if in_srv = mod.find_data_service_from_type(combus_m.bus_in_srv)
                in_srv.port_mappings_for_task['to_bus']
            else
                combus_m.input_name_for(name)
            end

        begin
            client_to_bus, bus_to_client =
                options.fetch(:client_to_bus), options.fetch(:bus_to_client)
        rescue KeyError
            raise ArgumentError, "you must provide both the client_to_bus and bus_to_client option when instanciating the a com bus dynamic service"
        end

        if client_to_bus && bus_to_client
            provides combus_m.bus_srv, 'from_bus' => combus_m.output_name_for(name),
                'to_bus' => in_name
            component_model.orogen_model.find_port(in_name).needs_reliable_connection
        elsif client_to_bus
            provides combus_m.bus_in_srv, 'to_bus' => in_name
            component_model.orogen_model.find_port(in_name).needs_reliable_connection
        elsif bus_to_client
            provides combus_m.bus_out_srv, 'from_bus' => combus_m.output_name_for(name)
        else raise ArgumentError, "at least one of bus_to_client or client_to_bus must be true"
        end
    end
end

#input_name_for(device_name) ⇒ Object

The name of the port that will receive data from the device of the given name to the bus



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# File 'lib/syskit/models/data_service.rb', line 652

def input_name_for(device_name)
    "w#{device_name}"
end

#lazy_dispatch=(value) ⇒ Boolean

Parameters:

  • (Boolean) —

    value

Returns:

  • (Boolean) 


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# File 'lib/syskit/models/data_service.rb', line 468

attr_predicate :lazy_dispatch?, true

#lazy_dispatch? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/syskit/models/data_service.rb', line 468

attr_predicate :lazy_dispatch?, true

#new_submodel(lazy_dispatch: false, override_policy: override_policy?, , message_type: self.message_type, **options, &block) ⇒ Object

Creates a new submodel of this communication bus model

Parameters:

  • options (Hash) —

    the configuration options. See DataServiceModel#provides for the list of options from data services

  • lazy_dispatch (Boolean) —

    whether the dynamic services used to attach the devices should be all instanciated at the beginning (the default) or only on-demand

  • override_policy (Boolean) —

    if true (the default), the communication bus handling will mark the associated component's input ports as needs_reliable_connection so that relevant policies are chosen.

  • message_type (String, Model<Type>) —

    the type name of the type that is used by this combus to communicate with the components it supports



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# File 'lib/syskit/models/data_service.rb', line 485

def new_submodel(lazy_dispatch: false, override_policy: override_policy?, message_type: self.message_type, **options, &block)
    super
end

#output_name_for(device_name) ⇒ Object

The name of the port that will send data from the bus to the device of the given name



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# File 'lib/syskit/models/data_service.rb', line 646

def output_name_for(device_name)
    device_name
end

#override_policy=(value) ⇒ Object

If true, the com bus autoconnection code will override the input port default policies to needs_reliable_connection

It is true by default



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# File 'lib/syskit/models/data_service.rb', line 586

attr_predicate :override_policy?, true

#override_policy? ⇒ Boolean

If true, the com bus autoconnection code will override the input port default policies to needs_reliable_connection

It is true by default

Returns:

  • (Boolean) 


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# File 'lib/syskit/models/data_service.rb', line 586

attr_predicate :override_policy?, true

#provides(service_model, new_port_mappings = Hash.new) ⇒ Object 



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# File 'lib/syskit/models/data_service.rb', line 561

def provides(service_model, new_port_mappings = Hash.new)
    if service_model.respond_to?(:message_type)
        if message_type && service_model.message_type && message_type != service_model.message_type
            raise ArgumentError, "#{self.name} cannot provide #{service_model.name} as their message type differs (resp. #{message_type} and #{service_model.message_type}"
        end
    end

    super

    if service_model.respond_to?(:message_type) && !message_type
        @message_type = service_model.message_type
        @bus_base_srv   = service_model.bus_base_srv
        @bus_in_srv     = service_model.bus_in_srv
        @bus_out_srv    = service_model.bus_out_srv
        @bus_srv        = service_model.bus_srv
        @client_in_srv  = service_model.client_in_srv
        @client_out_srv = service_model.client_out_srv
        @client_srv     = service_model.client_srv
    end
end

#setup_submodel(model, lazy_dispatch: false, override_policy: override_policy?, , message_type: self.message_type, **options, &block) ⇒ Object 



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# File 'lib/syskit/models/data_service.rb', line 489

def setup_submodel(model, lazy_dispatch: false, override_policy: override_policy?, message_type: self.message_type, **options, &block)
    if message_type.respond_to?(:to_str)
        message_type = Roby.app.default_loader.resolve_type(message_type)
    end
    super(model, **options, &block)

    model.lazy_dispatch   = lazy_dispatch
    model.override_policy = override_policy
    if !message_type && !model.message_type
        raise ArgumentError, "com bus types must either have a message_type or provide another com bus type that does"
    elsif message_type && model.message_type
        if message_type != model.message_type
            raise ArgumentError, "cannot override message types. The current message type of #{model.name} is #{model.message_type}, which might come from another provided com bus"
        end
    elsif !model.message_type
        model.message_type = message_type
    end

    model.attached_device_configuration_module.include(attached_device_configuration_module)
end