Module: Syskit::Models::Composition
- Includes:
- Base, Component, PortAccess
- Included in:
- Composition
- Defined in:
- lib/syskit/models/composition.rb
Overview
Model-level instances and attributes for compositions
See the documentation of Model for an explanation of the *Model modules.
Defined Under Namespace
Classes: DynamicServiceInstantiationContext
Constant Summary
Constants included from Component
Syskit::Models::Component::PROVIDES_ARGUMENTS
Instance Attribute Summary
Attributes included from Component
Instance Method Summary collapse
-
#add(models, options = Hash.new) ⇒ CompositionChild
Add an element in this composition.
-
#add_child(name, child_models, dependency_options) ⇒ Object
Internal helper to add a child to the composition.
-
#add_main(models, options = Hash.new) ⇒ Object
Adds the given child, and marks it as the task that provides the main composition's functionality.
-
#add_main_task(models, options = Hash.new) ⇒ Object
DEPRECATED.
-
#add_optional(models, options = Hash.new) ⇒ Object
Add a child that may not be provided.
-
#add_specialization_constraint(explicit = nil) {|spec0, spec1| ... } ⇒ void
Registers a block that will be able to tell the system that two specializations are not compatible (i.e. should never be applied at the same time).
-
#all_child ⇒ Array<CompositionChild>
The union, along the class hierarchy, of all the values stored in child.
-
#all_child_constraint ⇒ Array<Object>
The union, along the class hierarchy, of all the values stored in child_constraint.
-
#all_configuration ⇒ Array<Hash<String>]
The union, along the class hierarchy, of all the values stored in configuration.
-
#all_explicit_connection ⇒ Array<Object>
The union, along the class hierarchy, of all the values stored in explicit_connection.
-
#all_exported_input ⇒ Array<Port>
The union, along the class hierarchy, of all the values stored in exported_input.
-
#all_exported_output ⇒ Array<Port>
The union, along the class hierarchy, of all the values stored in exported_output.
-
#applied_specializations ⇒ Object
:attr: specialized_children.
-
#child ⇒ Hash<String,CompositionChild>
The composition children.
- #child_constraints ⇒ Object
-
#child_port?(port) ⇒ Boolean
Tests whether the given port is a port of one of this composition's children.
-
#children ⇒ Hash<String,CompositionChild>
The composition children.
- #children_names ⇒ Object
- #clear_model ⇒ Object
-
#compute_child_dependency_options(child_name, child_task) ⇒ Hash
Computes the options for depends_on needed to add child_task as the child_name's composition child.
-
#conf(name, mappings = Hash.new) ⇒ Object
Declares a composition configuration.
-
#configuration ⇒ Hash<String,Hash<String,String>>
Configurations defined on this composition model.
-
#configurations ⇒ Hash<String,Hash<String,String>>
Configurations defined on this composition model.
-
#connect(mappings) ⇒ Object
Explicitly create the given connections between children of this composition.
-
#connections ⇒ Object
Returns the set of connections that should be created during the instanciation of this composition model.
-
#constraints_for(child_name) ⇒ Object
Returns the set of constraints that exist for the given child.
-
#create_dynamic_instantiation_context(name, dynamic_service, **options) ⇒ Object
private
(see Component#create_dynamic_instantiation_context).
-
#create_private_specialization ⇒ Object
Called by Syskit::Models::Component#specialize to create the composition model that will be used for a private specialization.
-
#dependency_injection_names ⇒ Object
The list of names that will be used by this model as keys in a DependencyInjection object,.
- #each_child(child_name = nil, uniq = true) ⇒ Object
- #each_child_constraint(key = nil, uniq = true) ⇒ Object
- #each_configuration(conf_name = nil, uniq = true) ⇒ Object
-
#each_explicit_connection {|element| ... } ⇒ Object
Enumerates all objects registered in explicit_connection.
- #each_exported_input(exported_port_name = nil, uniq = true) ⇒ Object
- #each_exported_output(exported_port_name = nil, uniq = true) ⇒ Object
-
#each_input_port ⇒ Object
Enumerates this component's input ports.
-
#each_output_port ⇒ Object
Enumerates this component's output ports.
-
#explicit_connection ⇒ Hash{(String,String)=>{(String,String)=>Hash}}
The set of connections specified by the user for this composition.
-
#export(port, as: port.name) ⇒ Object
Export the given port to the boundary of the composition (it becomes a composition port).
-
#exported_input ⇒ Hash<String,Port>
Inputs exported from components in this composition to this composition's interface.
-
#exported_inputs ⇒ Hash<String,Port>
Inputs exported from components in this composition to this composition's interface.
-
#exported_output ⇒ Hash<String,Port>
Outputs exported from components in this composition to this composition's interface.
-
#exported_outputs ⇒ Hash<String,Port>
Outputs exported from components in this composition to this composition's interface.
-
#exported_port?(port) ⇒ Boolean
Returns true if
port_model
, which has to be a child's port, is exported in this composition. -
#extract_grandchild_selections_by_child_name(child_name, selections) ⇒ Object
Extracts the selections for grandchildren out of a selection for this .
- #find_applicable_specialization_from_selection(explicit_selections, selections, options = Hash.new) ⇒ Object
-
#find_child(child_name) ⇒ CompositionChild?
Looks for objects registered in child under the given key, and returns the first one in the ancestor chain (i.e. the one tha thas been registered in the most specialized class).
-
#find_child_constraint(key) ⇒ Object?
Looks for objects registered in child_constraint under the given key, and returns the first one in the ancestor chain (i.e. the one tha thas been registered in the most specialized class).
- #find_child_model_and_task(child_name, context) ⇒ Object
-
#find_children_models_and_tasks(context) ⇒ (Hash<String,InstanceSelection>,Hash<String,InstanceSelection>,Hash<String,Set>)
Given a dependency injection context, it computes the models and task instances for each of the composition's children.
-
#find_configuration(conf_name) ⇒ Hash<String,nil] the found object, or nil if none is registered under that key
Looks for objects registered in configuration under the given key, and returns the first one in the ancestor chain (i.e. the one tha thas been registered in the most specialized class).
-
#find_exported_input(exported_port_name) ⇒ Port?
Looks for objects registered in exported_input under the given key, and returns the first one in the ancestor chain (i.e. the one tha thas been registered in the most specialized class).
-
#find_exported_output(exported_port_name) ⇒ Port?
Looks for objects registered in exported_output under the given key, and returns the first one in the ancestor chain (i.e. the one tha thas been registered in the most specialized class).
-
#find_input_port(name) ⇒ Object
Returns the composition's input port named 'name'.
-
#find_output_port(name) ⇒ Object
Returns the composition's output port named 'name'.
- #find_through_method_missing(m, args) ⇒ Object
-
#fullfills?(models) ⇒ Boolean
Reimplemented from Roby::Task to take into account the multiple inheritance mechanisms that is the composition specializations.
-
#has_child?(child_name) ⇒ Boolean
Returns true if an object is registered in child anywhere in the class hierarchy.
-
#has_child_constraint?(key) ⇒ Boolean
Returns true if an object is registered in child_constraint anywhere in the class hierarchy.
-
#has_configuration?(conf_name) ⇒ Boolean
Returns true if an object is registered in configuration anywhere in the class hierarchy.
-
#has_dynamic_input_port?(name, type = nil) ⇒ Boolean
Returns true if
name
is a valid dynamic input port. -
#has_dynamic_output_port?(name, type = nil) ⇒ Boolean
Returns true if
name
is a valid dynamic output port. -
#has_exported_input?(exported_port_name) ⇒ Boolean
Returns true if an object is registered in exported_input anywhere in the class hierarchy.
-
#has_exported_output?(exported_port_name) ⇒ Boolean
Returns true if an object is registered in exported_output anywhere in the class hierarchy.
- #has_through_method_missing?(m) ⇒ Boolean
-
#inherited(submodel) ⇒ Object
Overloaded to set the model documentation.
-
#instanciate(plan, context = DependencyInjectionContext.new, task_arguments: Hash.new, specialize: true, specialization_hints: Array.new) ⇒ Object
Creates the required task and children for this composition model.
-
#instanciate_child(plan, context, self_task, child_name, selected_child) ⇒ Object
Instanciates a task for the required child.
- #instanciate_connections(self_task, selected_children, children_tasks) ⇒ Object
-
#is_specialization? ⇒ Boolean
Returns true if this composition model is a specialized version of its superclass, and false otherwise.
-
#main_task ⇒ Object
Returns this composition's main task.
-
#merge(other_model) ⇒ Object
Merge two models, making sure that specializations are properly applied on the result.
-
#narrow(context, options = Hash.new) ⇒ Model<Composition>
Returns the set of specializations that match the given dependency injection context.
-
#new_specialized_submodel(options = Hash.new, &block) ⇒ Object
Create a new submodel of this composition model that will be used to represent a specialization.
-
#overload(child, model, options = Hash.new) ⇒ Object
Overloads an existing child with a new model and/or options.
-
#parent_model_of?(child_model) ⇒ Boolean
Returns true if
self
is a parent model ofchild_model
. -
#prefer_specializations(*spec) ⇒ Object
Returns this composition associated with specialization disambiguation information.
-
#pretty_print(pp) ⇒ Object
:nodoc:.
- #promote_child(child_name, child) ⇒ Object
-
#promote_explicit_connection(connections) ⇒ Object
Method that maps connections from this composition's parent models to this composition's own interface.
-
#promote_exported_input(export_name, port) ⇒ Object
Method that maps exports from this composition's parent models to this composition's own interface.
-
#promote_exported_output(export_name, port) ⇒ Object
Method that maps exports from this composition's parent models to this composition's own interface.
-
#promote_exported_port(export_name, port) ⇒ Object
Helper method for #promote_exported_output and #promote_exported_input.
-
#root_model ⇒ Object
The root composition model in the specialization hierarchy.
-
#setup_submodel(submodel, register_specializations: true, **submodel_options, &block) ⇒ Object
Create a new submodel of this composition model.
-
#specializations ⇒ SpecializationManager
The object that manages all specializations defined on this composition model.
-
#specialize(options = Hash.new, &block) ⇒ Object
Specifies a modification that should be applied on #composition_model when select children fullfill some specific models.
-
#specialized_children ⇒ Object
:attr: specialized_children.
-
#specialized_on?(child_name, child_model) ⇒ Boolean
See CompositionSpecialization#specialized_on?.
- #to_dot(io) ⇒ Object
-
#try_resolve_child_references_in_use_flags(self_task, selected_child) ⇒ Boolean
Resolves references to other children in a child's use flags.
-
#use(*spec) ⇒ Object
Returns this composition associated with dependency injection information.
Methods included from Component
#all_data_service, #all_dynamic_service, #all_stub_module, #apply_missing_dynamic_services_from, #as, #as_plan, #bind, #can_merge?, #component_model?, #compute_port_mappings, #concrete_model?, #connected?, #create_proxy_task, #create_proxy_task_model, #data_service, #data_services, #deregister_placeholder_model, #deregister_submodels, #driver_for, #dynamic_service, #dynamic_services, #each_com_bus_driver_service, #each_data_service, #each_dynamic_service, #each_master_driver_service, #each_port, #each_required_dynamic_service, #each_required_model, #each_root_data_service, #each_slave_data_service, #each_stub_module, #ensure_model_is_specialized, #find_all_data_services_from_type, #find_data_service_from_type, #find_directional_port_mapping, #find_matching_service, #find_placeholder_model, #find_port, #if_already_present, #implicit_fullfilled_model, #instanciate_dynamic_input_port, #instanciate_dynamic_output_port, #merge_service_model, #method_missing, #needs_stub?, #placeholder?, #port_mappings_for, #port_mappings_for_task, #prefer_deployed_tasks, #prepare_stub, #private_specialization=, #private_specialization?, #promote_data_service, #promote_dynamic_service, #provides, #provides_dynamic, #proxy_task_model, #register_placeholder_model, #require_dynamic_service, #resolve, #selected_for, #self_port?, #self_port_to_component_port, #specialization_counter, #stub, #stub_module, #supermodel, #to_component_model, #try_bind, #try_resolve, #use_conf, #use_deployments, #with_arguments, #with_conf, #with_dynamic_service
Methods included from DataService
Methods included from Base
#short_name, #to_instance_requirements, #to_s
Methods included from PortAccess
#each_port, #find_port, #has_input_port?, #has_output_port?, #has_port?, #port_by_name
Dynamic Method Handling
This class handles dynamic methods through the method_missing method in the class Syskit::Models::Component
Instance Method Details
#add(models, options = Hash.new) ⇒ CompositionChild
Add an element in this composition.
Subclassing
If the composition model is a subclass of another composition model, then
add
can be used to override a child definition. In if it the
case, if model
is a component model, then it has to be a
subclass of any component model that has been used in the parent
composition. Otherwise, #add raises ArgumentError
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# File 'lib/syskit/models/composition.rb', line 287 def add(models, = Hash.new) if models.respond_to?(:to_instance_requirements) models = models.to_instance_requirements else models = InstanceRequirements.new(Array(models)) end , = Kernel. , :as => nil if ![:as] raise ArgumentError, "you must provide an explicit name with the :as option" end add_child([:as], models, ) end |
#add_child(name, child_models, dependency_options) ⇒ Object
Internal helper to add a child to the composition
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# File 'lib/syskit/models/composition.rb', line 155 def add_child(name, child_models, ) name = name.to_str = Roby::TaskStructure::Dependency. () # We do NOT check for an already existing definition. The reason # is that specialization (among other) will add a default child, # that may be overriden by the composition's owner. Either to # set arguments, or to have a specialization over an aspect of a # data service use a more specific task model in the specialized # composition. # # Anyway, the remainder checks that the new definition is a # valid overloading of the previous one. child_model = find_child(name) || CompositionChild.new(self, name) # The user might have called e.g. # # overload 'bla', bla_child.with_arguments(bla: 10) if child_models.object_id != child_model.object_id child_model.merge(child_models) end = Roby::TaskStructure::Dependency. (child_model., ) child_model..clear child_model..merge!() Models.debug do Models.debug "added child #{name} to #{short_name}" Models.debug " with models #{child_model.model}" if parent_model = superclass.find_child(name) Models.debug " updated from #{parent_model.model}" end if !child_model.port_mappings.empty? Models.debug " port mappings" Models.log_nest(4) do child_model.port_mappings.each_value do |mappings| Models.log_pp(:debug, mappings) end end end break end children[name] = child_model @exported_outputs = exported_outputs.map_value do |_, port| if port.component_model.child_name == name child_model.find_port(port.name) else port end end @exported_inputs = exported_inputs.map_value do |_, port| if port.component_model.child_name == name child_model.find_port(port.name) else port end end child_model end |
#add_main(models, options = Hash.new) ⇒ Object
Adds the given child, and marks it as the task that provides the main composition's functionality.
What is means in practice is that the composition will terminate successfully when this child terminates successfully
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# File 'lib/syskit/models/composition.rb', line 334 def add_main(models, = Hash.new) if main_task raise ArgumentError, "this composition already has a main task child" end @main_task = add(models, ) end |
#add_main_task(models, options = Hash.new) ⇒ Object
DEPRECATED. Use #add_main instead.
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# File 'lib/syskit/models/composition.rb', line 325 def add_main_task(models, = Hash.new) # :nodoc: add_main(models, ) end |
#add_optional(models, options = Hash.new) ⇒ Object
Add a child that may not be provided
(see #add)
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# File 'lib/syskit/models/composition.rb', line 306 def add_optional(models, = Hash.new) child = add(models, ) child.optional child end |
#add_specialization_constraint(explicit = nil) {|spec0, spec1| ... } ⇒ void
This method returns an undefined value.
Registers a block that will be able to tell the system that two specializations are not compatible (i.e. should never be applied at the same time).
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# File 'lib/syskit/models/composition.rb', line 649 def add_specialization_constraint(explicit = nil, &block) specializations.add_specialization_constraint(explicit, &block) end |
#all_child ⇒ Array<CompositionChild>
The union, along the class hierarchy, of all the values stored in child
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# File 'lib/syskit/models/composition.rb', line 26 inherited_attribute(:child, :children, :map => true) { Hash.new } |
#all_child_constraint ⇒ Array<Object>
The union, along the class hierarchy, of all the values stored in child_constraint
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# File 'lib/syskit/models/composition.rb', line 28 inherited_attribute(:child_constraint, :child_constraints, :map => true) { Hash.new { |h, k| h[k] = Array.new } } |
#all_configuration ⇒ Array<Hash<String>]
The union, along the class hierarchy, of all the values stored in configuration
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# File 'lib/syskit/models/composition.rb', line 1206 inherited_attribute(:configuration, :configurations, :map => true) { Hash.new } |
#all_explicit_connection ⇒ Array<Object>
The union, along the class hierarchy, of all the values stored in explicit_connection
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# File 'lib/syskit/models/composition.rb', line 78 inherited_attribute(:explicit_connection, :explicit_connections) { Hash.new { |h, k| h[k] = Hash.new } } |
#all_exported_input ⇒ Array<Port>
The union, along the class hierarchy, of all the values stored in exported_input
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# File 'lib/syskit/models/composition.rb', line 1197 inherited_attribute(:exported_input, :exported_inputs, :map => true) { Hash.new } |
#all_exported_output ⇒ Array<Port>
The union, along the class hierarchy, of all the values stored in exported_output
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# File 'lib/syskit/models/composition.rb', line 1182 inherited_attribute(:exported_output, :exported_outputs, :map => true) { Hash.new } |
#applied_specializations ⇒ Object
:attr: specialized_children
The set of specializations that are applied from the root of the model graph up to this model
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# File 'lib/syskit/models/composition.rb', line 100 attribute(:applied_specializations) { Set.new } |
#child ⇒ Hash<String,CompositionChild>
The composition children
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# File 'lib/syskit/models/composition.rb', line 26 inherited_attribute(:child, :children, :map => true) { Hash.new } |
#child_constraints ⇒ Object
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# File 'lib/syskit/models/composition.rb', line 28 inherited_attribute(:child_constraint, :child_constraints, :map => true) { Hash.new { |h, k| h[k] = Array.new } } |
#child_port?(port) ⇒ Boolean
Tests whether the given port is a port of one of this composition's children
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# File 'lib/syskit/models/composition.rb', line 408 def child_port?(port) port_component_model = port.to_component_port.component_model port_component_model.respond_to?(:composition_model) && port_component_model.composition_model == self end |
#children ⇒ Hash<String,CompositionChild>
The composition children
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# File 'lib/syskit/models/composition.rb', line 26 inherited_attribute(:child, :children, :map => true) { Hash.new } |
#children_names ⇒ Object
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# File 'lib/syskit/models/composition.rb', line 666 def children_names each_child.map { |name, _| name } end |
#clear_model ⇒ Object
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# File 'lib/syskit/models/composition.rb', line 30 def clear_model super child_constraints.clear children.clear configurations.clear exported_inputs.clear exported_outputs.clear @specializations = SpecializationManager.new(self) @main_task = nil end |
#compute_child_dependency_options(child_name, child_task) ⇒ Hash
Computes the options for depends_on needed to add child_task as the child_name's composition child
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# File 'lib/syskit/models/composition.rb', line 890 def (child_name, child_task) child_m = find_child(child_name) dependent_models = child_m.each_required_model.to_a dependent_arguments = dependent_models.inject(Hash.new) do |result, m| result.merge(m.meaningful_arguments(child_task.arguments)) end if child_task.has_argument?(:conf) dependent_arguments[:conf] = child_task.arguments[:conf] end = Roby::TaskStructure::Dependency. (child_m.) = Roby::TaskStructure::Dependency. (:model => [dependent_models, dependent_arguments], :roles => [child_name].to_set) = Roby::TaskStructure::Dependency.( , ) if ![:success] = { :success => [], :failure => [:stop] }. merge() end end |
#conf(name, mappings = Hash.new) ⇒ Object
Declares a composition configuration
Composition configurations are named selections of configurations.
For instance, if
conf 'narrow',
'monitoring' => ['default', 'narrow_window'],
'sonar' => ['default', 'narrow_window']
is declared, and the composition is instanciated with
Cmp::SonarMonitoring.use_conf('narrow')
Then the composition children called 'monitoring' and 'sonar' will be both instanciated with ['default', 'narrow_window']
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# File 'lib/syskit/models/composition.rb', line 1224 def conf(name, mappings = Hash.new) mappings = mappings.map_key do |child, conf| if child.respond_to?(:to_str) Roby.warn_deprecated "providing the child as string in #conf is deprecated, use the _child accessors instead (here #{child}_child => [#{conf.join(", ")}])" child else child.child_name end end configurations[name] = mappings end |
#configuration ⇒ Hash<String,Hash<String,String>>
Configurations defined on this composition model
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# File 'lib/syskit/models/composition.rb', line 1206 inherited_attribute(:configuration, :configurations, :map => true) { Hash.new } |
#configurations ⇒ Hash<String,Hash<String,String>>
Configurations defined on this composition model
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# File 'lib/syskit/models/composition.rb', line 1206 inherited_attribute(:configuration, :configurations, :map => true) { Hash.new } |
#connect(mappings) ⇒ Object
Explicitly create the given connections between children of this composition.
Example:
composition 'Test' do
source = add 'Source'
sink = add 'Sink'
connect source.output => sink.input, :type => :buffer
end
Explicit connections always have precedence on automatic connections. See #autoconnect for automatic connection handling
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# File 'lib/syskit/models/composition.rb', line 633 def connect(mappings) = Hash.new mappings.delete_if do |a, b| if a.respond_to?(:to_str) [a] = b end end if !.empty? = Kernel. , Orocos::Port::CONNECTION_POLICY_OPTIONS end mappings.each do |out_p, in_p| out_p.connect_to in_p end end |
#connections ⇒ Object
Returns the set of connections that should be created during the instanciation of this composition model.
The returned value is a mapping:
[source_name, sink_name] =>
{
[source_port_name0, sink_port_name1] => connection_policy,
[source_port_name0, sink_port_name1] => connection_policy
}
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# File 'lib/syskit/models/composition.rb', line 395 def connections result = Hash.new { |h, k| h[k] = Hash.new } # In the following, 'key' is [child_source, child_dest] and # 'mappings' is [port_source, port_sink] => connection_policy each_explicit_connection do |key, mappings| result[key].merge!(mappings) end result end |
#constraints_for(child_name) ⇒ Object
Returns the set of constraints that exist for the given child. I.e. the set of types that, at instanciation time, the chosen child must provide.
See #constrain
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# File 'lib/syskit/models/composition.rb', line 658 def constraints_for(child_name) result = Set.new each_child_constraint(child_name, false) do |constraint_set| result |= constraint_set.to_set end result end |
#create_dynamic_instantiation_context(name, dynamic_service, **options) ⇒ 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.
(see Component#create_dynamic_instantiation_context)
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# File 'lib/syskit/models/composition.rb', line 617 def create_dynamic_instantiation_context(name, dynamic_service, **) DynamicServiceInstantiationContext.new(self, name, dynamic_service, **) end |
#create_private_specialization ⇒ Object
Called by Syskit::Models::Component#specialize to create the composition model that will be used for a private specialization
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# File 'lib/syskit/models/composition.rb', line 104 def create_private_specialization new_submodel(:register_specializations => false) end |
#dependency_injection_names ⇒ Object
The list of names that will be used by this model as keys in a DependencyInjection object,
For compositions, this is the list of children names
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# File 'lib/syskit/models/composition.rb', line 674 def dependency_injection_names children_names end |
#each_child(child_name, uniq = true) {|element| ... } ⇒ Object #each_child(nil, uniq = true) {|child_name, element| ... } ⇒ Object
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# File 'lib/syskit/models/composition.rb', line 26 inherited_attribute(:child, :children, :map => true) { Hash.new } |
#each_child_constraint(key, uniq = true) {|element| ... } ⇒ Object #each_child_constraint(nil, uniq = true) {|key, element| ... } ⇒ Object
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# File 'lib/syskit/models/composition.rb', line 28 inherited_attribute(:child_constraint, :child_constraints, :map => true) { Hash.new { |h, k| h[k] = Array.new } } |
#each_configuration(conf_name, uniq = true) {|element| ... } ⇒ Object #each_configuration(nil, uniq = true) {|conf_name, element| ... } ⇒ Object
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# File 'lib/syskit/models/composition.rb', line 1206 inherited_attribute(:configuration, :configurations, :map => true) { Hash.new } |
#each_explicit_connection {|element| ... } ⇒ Object
Enumerates all objects registered in explicit_connection
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# File 'lib/syskit/models/composition.rb', line 78 inherited_attribute(:explicit_connection, :explicit_connections) { Hash.new { |h, k| h[k] = Hash.new } } |
#each_exported_input(exported_port_name, uniq = true) {|element| ... } ⇒ Object #each_exported_input(nil, uniq = true) {|exported_port_name, element| ... } ⇒ Object
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# File 'lib/syskit/models/composition.rb', line 1197 inherited_attribute(:exported_input, :exported_inputs, :map => true) { Hash.new } |
#each_exported_output(exported_port_name, uniq = true) {|element| ... } ⇒ Object #each_exported_output(nil, uniq = true) {|exported_port_name, element| ... } ⇒ Object
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# File 'lib/syskit/models/composition.rb', line 1182 inherited_attribute(:exported_output, :exported_outputs, :map => true) { Hash.new } |
#each_input_port ⇒ Object
Enumerates this component's input ports
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# File 'lib/syskit/models/composition.rb', line 495 def each_input_port return enum_for(:each_input_port) if !block_given? each_exported_input do |name, p| yield(find_input_port(name)) end end |
#each_output_port ⇒ Object
Enumerates this component's output ports
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# File 'lib/syskit/models/composition.rb', line 487 def each_output_port return enum_for(:each_output_port) if !block_given? each_exported_output do |name, p| yield(find_output_port(name)) end end |
#explicit_connection ⇒ Hash{(String,String)=>{(String,String)=>Hash}}
The set of connections specified by the user for this composition
of connections defined on this composition model. The first level is a mapping from the (output child name, input child name) to a set of connections. The set of connections is specified as a mapping from the output port name (on the output child) and the input port name (on the input child) to the desired connection policy.
Empty connection policies means “autodetect policy”
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# File 'lib/syskit/models/composition.rb', line 78 inherited_attribute(:explicit_connection, :explicit_connections) { Hash.new { |h, k| h[k] = Hash.new } } |
#export(port, as: port.name) ⇒ Object
Export the given port to the boundary of the composition (it becomes a composition port). By default, the composition port has the same name than the exported port. This name can be overriden by the :as option
For example, if one does:
composition 'Test' do
source = add 'Source'
export source.output
export source.output, :as => 'output2'
end
Then the resulting composition gets 'output' and 'output2' output ports that can further be used in other connections (or autoconnections):
composition 'Global' do
test = add 'Test'
c = add 'Component'
connect test.output2 => c.input
end
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# File 'lib/syskit/models/composition.rb', line 437 def export(port, as: port.name) name = as.to_str if existing = (self.find_exported_input(name) || self.find_exported_output(name)) if port.to_component_port != existing raise ArgumentError, "#{port} is already exported as #{name} on #{short_name}, cannot override with #{port}." end return end if !child_port?(port) raise ArgumentError, "#{port} is not a port of one of #{self}'s children" end case port when InputPort exported_inputs[name] = port.to_component_port when OutputPort exported_outputs[name] = port.to_component_port else raise TypeError, "invalid attempt to export port #{port} of type #{port.class}" end find_port(name) end |
#exported_input ⇒ Hash<String,Port>
Inputs exported from components in this composition to this composition's interface
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# File 'lib/syskit/models/composition.rb', line 1197 inherited_attribute(:exported_input, :exported_inputs, :map => true) { Hash.new } |
#exported_inputs ⇒ Hash<String,Port>
Inputs exported from components in this composition to this composition's interface
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# File 'lib/syskit/models/composition.rb', line 1197 inherited_attribute(:exported_input, :exported_inputs, :map => true) { Hash.new } |
#exported_output ⇒ Hash<String,Port>
Outputs exported from components in this composition to this composition's interface
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# File 'lib/syskit/models/composition.rb', line 1182 inherited_attribute(:exported_output, :exported_outputs, :map => true) { Hash.new } |
#exported_outputs ⇒ Hash<String,Port>
Outputs exported from components in this composition to this composition's interface
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# File 'lib/syskit/models/composition.rb', line 1182 inherited_attribute(:exported_output, :exported_outputs, :map => true) { Hash.new } |
#exported_port?(port) ⇒ Boolean
Returns true if port_model
, which has to be a child's
port, is exported in this composition
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# File 'lib/syskit/models/composition.rb', line 476 def exported_port?(port) each_exported_output do |name, p| return true if p == port end each_exported_input do |name, p| return true if p == port end false end |
#extract_grandchild_selections_by_child_name(child_name, selections) ⇒ Object
Extracts the selections for grandchildren out of a selection for this
It matches the child_name.granchild_name pattern and returns a hash with the matching selections
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# File 'lib/syskit/models/composition.rb', line 873 def extract_grandchild_selections_by_child_name(child_name, selections) child_user_selection = Hash.new match = /^#{child_name}\.(.*)$/ selections.each do |name, sel| if name =~ match child_user_selection[$1] = sel end end child_user_selection end |
#find_applicable_specialization_from_selection(explicit_selections, selections, options = Hash.new) ⇒ Object
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# File 'lib/syskit/models/composition.rb', line 829 def find_applicable_specialization_from_selection(explicit_selections, selections, = Hash.new) specialized_model = specializations.matching_specialized_model(explicit_selections, ) if specialized_model != self return specialized_model end return specializations.matching_specialized_model(selections, ) end |
#find_child(child_name) ⇒ CompositionChild?
Looks for objects registered in child under the given key, and returns the first one in the ancestor chain (i.e. the one tha thas been registered in the most specialized class)
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# File 'lib/syskit/models/composition.rb', line 26 inherited_attribute(:child, :children, :map => true) { Hash.new } |
#find_child_constraint(key) ⇒ Object?
Looks for objects registered in child_constraint under the given key, and returns the first one in the ancestor chain (i.e. the one tha thas been registered in the most specialized class)
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# File 'lib/syskit/models/composition.rb', line 28 inherited_attribute(:child_constraint, :child_constraints, :map => true) { Hash.new { |h, k| h[k] = Array.new } } |
#find_child_model_and_task(child_name, context) ⇒ Object
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# File 'lib/syskit/models/composition.rb', line 678 def find_child_model_and_task(child_name, context) Models.debug do Models.debug "selecting #{child_name}:" Models.log_nest(2) do Models.debug "on the basis of" Models.log_nest(2) do Models.log_pp(:debug, context) end end break end child_requirements = find_child(child_name) selected_child, used_keys = context.instance_selection_for(child_name, child_requirements) Models.debug do Models.debug "selected" Models.log_nest(2) do Models.log_pp(:debug, selected_child) end break end explicit = context.has_selection_for?(child_name) return selected_child, explicit, used_keys end |
#find_children_models_and_tasks(context) ⇒ (Hash<String,InstanceSelection>,Hash<String,InstanceSelection>,Hash<String,Set>)
Given a dependency injection context, it computes the models and task instances for each of the composition's children
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# File 'lib/syskit/models/composition.rb', line 711 def find_children_models_and_tasks(context) explicit = Hash.new result = Hash.new used_keys = Hash.new each_child do |child_name, child_requirements| result[child_name], child_is_explicit, used_keys[child_name] = find_child_model_and_task(child_name, context) if child_is_explicit explicit[child_name] = result[child_name] end end return explicit, result, used_keys end |
#find_configuration(conf_name) ⇒ Hash<String,nil] the found object, or nil if none is registered under that key
Looks for objects registered in configuration under the given key, and returns the first one in the ancestor chain (i.e. the one tha thas been registered in the most specialized class)
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# File 'lib/syskit/models/composition.rb', line 1206 inherited_attribute(:configuration, :configurations, :map => true) { Hash.new } |
#find_exported_input(exported_port_name) ⇒ Port?
Looks for objects registered in exported_input under the given key, and returns the first one in the ancestor chain (i.e. the one tha thas been registered in the most specialized class)
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# File 'lib/syskit/models/composition.rb', line 1197 inherited_attribute(:exported_input, :exported_inputs, :map => true) { Hash.new } |
#find_exported_output(exported_port_name) ⇒ Port?
Looks for objects registered in exported_output under the given key, and returns the first one in the ancestor chain (i.e. the one tha thas been registered in the most specialized class)
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# File 'lib/syskit/models/composition.rb', line 1182 inherited_attribute(:exported_output, :exported_outputs, :map => true) { Hash.new } |
#find_input_port(name) ⇒ Object
Returns the composition's input port named 'name'
See #port, and #export to create ports on a composition
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# File 'lib/syskit/models/composition.rb', line 515 def find_input_port(name) name = name.to_str if p = find_exported_input(name.to_str) return InputPort.new(self, p.orogen_model, name) end end |
#find_output_port(name) ⇒ Object
Returns the composition's output port named 'name'
See #port, and #export to create ports on a composition
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# File 'lib/syskit/models/composition.rb', line 505 def find_output_port(name) name = name.to_str if p = find_exported_output(name.to_str) return OutputPort.new(self, p.orogen_model, name) end end |
#find_through_method_missing(m, args) ⇒ Object
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# File 'lib/syskit/models/composition.rb', line 1150 def find_through_method_missing(m, args) MetaRuby::DSLs.find_through_method_missing( self, m, args, '_child' => :find_child) || super end |
#fullfills?(models) ⇒ Boolean
Reimplemented from Roby::Task to take into account the multiple inheritance mechanisms that is the composition specializations
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# File 'lib/syskit/models/composition.rb', line 1268 def fullfills?(models) models = [models] if !models.respond_to?(:map) models = models.map do |other_model| if other_model.respond_to?(:applied_specializations) if !(other_model.applied_specializations - applied_specializations).empty? return false end other_model.root_model else other_model end end return super(models) end |
#has_child?(child_name) ⇒ Boolean
Returns true if an object is registered in child anywhere in the class hierarchy
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# File 'lib/syskit/models/composition.rb', line 26 inherited_attribute(:child, :children, :map => true) { Hash.new } |
#has_child_constraint?(key) ⇒ Boolean
Returns true if an object is registered in child_constraint anywhere in the class hierarchy
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# File 'lib/syskit/models/composition.rb', line 28 inherited_attribute(:child_constraint, :child_constraints, :map => true) { Hash.new { |h, k| h[k] = Array.new } } |
#has_configuration?(conf_name) ⇒ Boolean
Returns true if an object is registered in configuration anywhere in the class hierarchy
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# File 'lib/syskit/models/composition.rb', line 1206 inherited_attribute(:configuration, :configurations, :map => true) { Hash.new } |
#has_dynamic_input_port?(name, type = nil) ⇒ Boolean
Returns true if name
is a valid dynamic input port.
On a composition, it always returns false. This method is defined for consistency for the other kinds of Component objects.
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# File 'lib/syskit/models/composition.rb', line 526 def has_dynamic_input_port?(name, type = nil); false end |
#has_dynamic_output_port?(name, type = nil) ⇒ Boolean
Returns true if name
is a valid dynamic output port.
On a composition, it always returns false. This method is defined for consistency for the other kinds of Component objects.
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# File 'lib/syskit/models/composition.rb', line 532 def has_dynamic_output_port?(name, type = nil); false end |
#has_exported_input?(exported_port_name) ⇒ Boolean
Returns true if an object is registered in exported_input anywhere in the class hierarchy
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# File 'lib/syskit/models/composition.rb', line 1197 inherited_attribute(:exported_input, :exported_inputs, :map => true) { Hash.new } |
#has_exported_output?(exported_port_name) ⇒ Boolean
Returns true if an object is registered in exported_output anywhere in the class hierarchy
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# File 'lib/syskit/models/composition.rb', line 1182 inherited_attribute(:exported_output, :exported_outputs, :map => true) { Hash.new } |
#has_through_method_missing?(m) ⇒ Boolean
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# File 'lib/syskit/models/composition.rb', line 1145 def has_through_method_missing?(m) MetaRuby::DSLs.has_through_method_missing?( self, m, '_child' => :find_child) || super end |
#inherited(submodel) ⇒ Object
Overloaded to set the model documentation
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# File 'lib/syskit/models/composition.rb', line 1121 def inherited(submodel) super submodel.doc MetaRuby::DSLs.parse_documentation_block(/.*/, /^inherited/) end |
#instanciate(plan, context = DependencyInjectionContext.new, task_arguments: Hash.new, specialize: true, specialization_hints: Array.new) ⇒ Object
Creates the required task and children for this composition model.
It selects the relevant specialization and instantiates it instead of
self
when relevant.
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# File 'lib/syskit/models/composition.rb', line 930 def instanciate(plan, context = DependencyInjectionContext.new, task_arguments: Hash.new, specialize: true, specialization_hints: Array.new) Models.debug do Models.debug "instanciating #{short_name} with" Models.log_nest(2) Models.log_pp(:debug, context) break end # Find what we should use for our children. +explicit_selection+ # is the set of children for which a selection existed and # +selected_models+ all the models we should use explicit_selections, selected_models, used_keys = find_children_models_and_tasks(context.current_state) if specialize specialized_model = find_applicable_specialization_from_selection( explicit_selections, selected_models, specialization_hints: specialization_hints) if specialized_model != self return specialized_model.instanciate(plan, context, task_arguments: task_arguments, specialize: true, specialization_hints: specialization_hints) end end # First of all, add the task for +self+ plan.add(self_task = new(task_arguments)) conf = if self_task.has_argument?(:conf) self_task.conf(self_task.arguments[:conf]) else Hash.new end # This is the part of the context that is directly associated # with the composition. We use it later to extract by-name # selections for the children of the form # child_name.child_of_child_name composition_use_flags = context.top # Finally, instanciate the missing tasks and add them to our # children children_tasks = Hash.new remaining_children_models = selected_models.dup while !remaining_children_models.empty? current_size = remaining_children_models.size remaining_children_models.delete_if do |child_name, selected_child| selected_child = selected_child.dup resolved_selected_child = selected_child if selected_child.selected.fullfills?(Syskit::Composition) resolved_selected_child = selected_child.dup if !try_resolve_child_references_in_use_flags(self_task, resolved_selected_child.selected) next end child_user_selection = extract_grandchild_selections_by_child_name(child_name, composition_use_flags.added_info.explicit) resolved_selected_child.selected.use(child_user_selection) end child_task = context.save do context.push_mask(used_keys[child_name]) instanciate_child(plan, context, self_task, child_name, resolved_selected_child) end child_task = child_task.to_task if child_conf = conf[child_name] child_task.arguments[:conf] ||= child_conf end children_tasks[child_name] = child_task = (child_name, child_task) Models.info do Models.info "adding dependency #{self_task}" Models.info " => #{child_task}" Models.info " options; #{}" break end self_task.depends_on(child_task, ) self_task.child_selection[child_name] = selected_child if (main = main_task) && (main.child_name == child_name) child_task.each_event do |ev| if !ev.terminal? && ev.symbol != :start && self_task.has_event?(ev.symbol) child_task.event(ev.symbol).forward_to self_task.event(ev.symbol) end end child_task.success_event.forward_to self_task.success_event end true # it has been processed, delete from remaining_children_models end if remaining_children_models.size == current_size raise InternalError, "cannot resolve children #{remaining_children_models.map(&:first).sort.join(", ")}" end end instanciate_connections(self_task, selected_models, children_tasks) self_task ensure Models.debug do Models.log_nest -2 break end end |
#instanciate_child(plan, context, self_task, child_name, selected_child) ⇒ Object
Instanciates a task for the required child
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# File 'lib/syskit/models/composition.rb', line 766 def instanciate_child(plan, context, self_task, child_name, selected_child) # :nodoc: Models.debug do Models.debug "instanciating child #{child_name}" Models.log_nest 2 break end child_arguments = selected_child.selected.arguments child_arguments.each_key do |key| value = child_arguments[key] if value.respond_to?(:resolve_child) child_arguments[key] = value.resolve_child(self) end end selected_child.instanciate(plan, context, :task_arguments => child_arguments) ensure Models.debug do Models.log_nest -2 break end end |
#instanciate_connections(self_task, selected_children, children_tasks) ⇒ Object
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# File 'lib/syskit/models/composition.rb', line 789 def instanciate_connections(self_task, selected_children, children_tasks) # The set of connections we must create on our children. This is # self.connections on which we will apply port mappings for the # instanciated children each_explicit_connection do |(out_name, in_name), conn| if (out_task = children_tasks[out_name]) && (in_task = children_tasks[in_name]) child_out = selected_children[out_name] child_in = selected_children[in_name] mappings_out = child_out.port_mappings mappings_in = child_in.port_mappings mapped = Hash.new conn.each do |(port_out, port_in), policy| mapped_port_out = mappings_out[port_out] || port_out mapped_port_in = mappings_in[port_in] || port_in mapped[[mapped_port_out, mapped_port_in]] = policy end out_task.connect_ports(in_task, mapped) end end each_exported_input do |export_name, port| child_name = port.component_model.child_name if child_task = children_tasks[child_name] child = selected_children[child_name] self_task.forward_input_ports( child_task, [export_name, child.port_mappings[port.name]] => Hash.new) end end each_exported_output do |export_name, port| child_name = port.component_model.child_name if child_task = children_tasks[child_name] child = selected_children[child_name] child_task.forward_output_ports( self_task, [child.port_mappings[port.name], export_name] => Hash.new) end end end |
#is_specialization? ⇒ Boolean
Returns true if this composition model is a specialized version of its superclass, and false otherwise
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# File 'lib/syskit/models/composition.rb', line 343 def is_specialization?; false end |
#main_task ⇒ Object
Returns this composition's main task
The main task is the task that performs the composition's main goal (if there is one). The composition will terminate successfully whenever the main task finishes successfully.
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# File 'lib/syskit/models/composition.rb', line 317 def main_task if @main_task then @main_task elsif superclass.respond_to?(:main_task) superclass.main_task end end |
#merge(other_model) ⇒ Object
Merge two models, making sure that specializations are properly applied on the result
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# File 'lib/syskit/models/composition.rb', line 1238 def merge(other_model) needed_specializations = self.applied_specializations if other_model.respond_to?(:root_model) needed_specializations |= other_model.applied_specializations other_model = other_model.root_model end if needed_specializations.empty? super(other_model) else base_model = root_model.merge(other_model) # If base_model is a placeholder model, we apply the # specialization on the proper composition model and then # re-proxy it services = [] if base_model.placeholder? services = base_model.proxied_data_service_models base_model = base_model.proxied_component_model end composite_spec = CompositionSpecialization. merge(*needed_specializations) result = base_model.specializations.specialized_model( composite_spec, needed_specializations) Placeholder.for(services.to_a, component_model: result) end end |
#narrow(context, options = Hash.new) ⇒ Model<Composition>
Returns the set of specializations that match the given dependency injection context
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# File 'lib/syskit/models/composition.rb', line 733 def narrow(context, = Hash.new) explicit_selections, selected_models, _ = find_children_models_and_tasks(context) find_applicable_specialization_from_selection(explicit_selections, selected_models, ) end |
#new_specialized_submodel(options = Hash.new, &block) ⇒ Object
Create a new submodel of this composition model that will be used to represent a specialization
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# File 'lib/syskit/models/composition.rb', line 1114 def new_specialized_submodel( = Hash.new, &block) submodel = new_submodel(.merge(:register_specializations => false), &block) submodel.extend Models::CompositionSpecialization::Extension submodel end |
#overload(child, model, options = Hash.new) ⇒ Object
Overloads an existing child with a new model and/or options
This is 100% equivalent to
add model, (:as => name).merge(options)
The only (important) difference is that it checks that name
is
indeed an existing child, and allows people that read the composition model
to understand the intent
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# File 'lib/syskit/models/composition.rb', line 225 def overload(child, model, = Hash.new) if child.respond_to?(:child_name) child = child.child_name end if !find_child(child) raise ArgumentError, "#{child} is not an existing child of #{short_name}" end add(model, .merge(:as => child)) end |
#parent_model_of?(child_model) ⇒ Boolean
Returns true if self
is a parent model of
child_model
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# File 'lib/syskit/models/composition.rb', line 149 def parent_model_of?(child_model) (child_model < self) || specializations.values.include?(child_model) end |
#prefer_specializations(*spec) ⇒ Object
Returns this composition associated with specialization disambiguation information
For instance,
CorridorServoing.
prefer_specializations('child' => XsensImu::Task)
(see InstanceRequirements#prefer_specializations)
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# File 'lib/syskit/models/composition.rb', line 761 def prefer_specializations(*spec) InstanceRequirements.new([self]).prefer_specializations(*spec) end |
#pretty_print(pp) ⇒ Object
:nodoc:
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# File 'lib/syskit/models/composition.rb', line 348 def pretty_print(pp) # :nodoc: pp.text "#{root_model.name}:" specializations = specialized_children.to_a if !specializations.empty? pp.text "Specialized on:" pp.nest(2) do specializations.each do |key, selected_models| pp.breakable pp.text "#{key}: " pp.nest(2) do pp.seplist(selected_models) do |m| m.pretty_print(pp) end end end end end data_services = each_data_service.to_a if !data_services.empty? pp.nest(2) do pp.breakable pp.text "Data services:" pp.nest(2) do data_services.sort_by(&:first). each do |name, ds| pp.breakable pp.text "#{name}: #{ds.model.name}" end end end end end |
#promote_child(child_name, child) ⇒ Object
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# File 'lib/syskit/models/composition.rb', line 16 def promote_child(child_name, child) promoted = child.attach(self) promoted.parent_model = child children[child_name] = promoted end |
#promote_explicit_connection(connections) ⇒ Object
Method that maps connections from this composition's parent models to this composition's own interface
It is called as needed when calling #each_explicit_connection
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# File 'lib/syskit/models/composition.rb', line 45 def promote_explicit_connection(connections) children, mappings = *connections mappings_out = if child_out = self.children[children[0]] child_out.port_mappings else Hash.new end mappings_in = if child_in = self.children[children[1]] child_in.port_mappings else Hash.new end mapped = Hash.new mappings.each do |(port_name_out, port_name_in), | port_name_out = (mappings_out[port_name_out] || port_name_out) port_name_in = (mappings_in[port_name_in] || port_name_in) mapped[[port_name_out, port_name_in]] = end [children, mapped] end |
#promote_exported_input(export_name, port) ⇒ Object
Method that maps exports from this composition's parent models to this composition's own interface
It is called as needed when calling #each_exported_input
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# File 'lib/syskit/models/composition.rb', line 1188 def promote_exported_input(export_name, port) exported_inputs[export_name] = promote_exported_port(export_name, port) end |
#promote_exported_output(export_name, port) ⇒ Object
Method that maps exports from this composition's parent models to this composition's own interface
It is called as needed when calling #each_exported_output
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# File 'lib/syskit/models/composition.rb', line 1173 def promote_exported_output(export_name, port) exported_outputs[export_name] = promote_exported_port(export_name, port) end |
#promote_exported_port(export_name, port) ⇒ Object
Helper method for #promote_exported_output and #promote_exported_input
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# File 'lib/syskit/models/composition.rb', line 1157 def promote_exported_port(export_name, port) if new_child = children[port.component_model.child_name] if new_port_name = new_child.port_mappings[port.name] find_child(port.component_model.child_name).find_port(new_port_name).dup else port end else port end end |
#root_model ⇒ Object
The root composition model in the specialization hierarchy
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# File 'lib/syskit/models/composition.rb', line 84 def root_model; self end |
#setup_submodel(submodel, register_specializations: true, **submodel_options, &block) ⇒ Object
Create a new submodel of this composition model
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# File 'lib/syskit/models/composition.rb', line 1127 def setup_submodel(submodel, register_specializations: true, **, &block) super(submodel, **, &block) if register_specializations specializations.each_specialization do |spec| next if applied_specializations.include?(spec) spec.specialization_blocks.each do |spec_block| specialized_children = spec.specialized_children.map_key do |child_name, child_model| submodel.find_child(child_name) end submodel.specialize(specialized_children, &spec_block) end end end submodel.applied_specializations |= applied_specializations.to_set submodel end |
#specializations ⇒ SpecializationManager
Returns the object that manages all specializations defined on this composition model
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# File 'lib/syskit/models/composition.rb', line 14 attribute(:specializations) { SpecializationManager.new(self) } |
#specialize(options = Hash.new, &block) ⇒ Object
Specifies a modification that should be applied on #composition_model when select children fullfill some specific models.
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# File 'lib/syskit/models/composition.rb', line 109 def specialize( = Hash.new, &block) if .respond_to?(:to_str) return super() elsif .empty? return super() end = .map_key do |key, value| if key.respond_to?(:to_str) || key.respond_to?(:to_sym) Roby.warn_deprecated "calling #specialize with child names is deprecated, use _child accessors instead (i.e. #{key}_child here)", 5 key elsif key.respond_to?(:child_name) key.child_name end end specializations.specialize(, &block) end |
#specialized_children ⇒ Object
:attr: specialized_children
The set of specializations that are applied from the root of the model graph up to this model
It is empty for composition models that are not specializations
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# File 'lib/syskit/models/composition.rb', line 93 attribute(:specialized_children) { Hash.new } |
#specialized_on?(child_name, child_model) ⇒ Boolean
See CompositionSpecialization#specialized_on?
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# File 'lib/syskit/models/composition.rb', line 143 def specialized_on?(child_name, child_model) specialized_children.has_key?(child_name) && specialized_children[child_name].include?(child_model) end |
#to_dot(io) ⇒ Object
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# File 'lib/syskit/models/composition.rb', line 1040 def to_dot(io) id = object_id.abs connections.each do |(source, sink), mappings| mappings.each do |(source_port, sink_port), policy| io << "C#{id}#{source}:#{source_port} -> C#{id}#{sink}:#{sink_port};" end end if !is_specialization? specializations = each_specialization.to_a specializations.each do |spec, specialized_model| specialized_model.to_dot(io) specialized_model.parent_models.each do |parent_compositions| parent_id = parent_compositions.object_id specialized_id = specialized_model.object_id io << "C#{parent_id} -> C#{specialized_id} [ltail=cluster_#{parent_id} lhead=cluster_#{specialized_id} weight=2];" end end end io << "subgraph cluster_#{id} {" io << " fontsize=18;" io << " C#{id} [style=invisible];" if !exported_inputs.empty? || !exported_outputs.empty? inputs = exported_inputs.keys outputs = exported_outputs.keys label = Graphviz.dot_iolabel("Composition Interface", inputs, outputs) io << " Cinterface#{id} [label=\"#{label}\",color=blue,fontsize=15];" exported_outputs.each do |exported_name, port| io << "C#{id}#{port.component_model.child_name}:#{port.port.name} -> Cinterface#{id}:#{exported_name} [style=dashed];" end exported_inputs.each do |exported_name, port| io << "Cinterface#{id}:#{exported_name} -> C#{id}#{port.component_model.child_name}:#{port.port.name} [style=dashed];" end end label = [short_name.dup] provides = each_data_service.map do |name, type| "#{name}:#{type.model.short_name}" end if abstract? label << "Abstract" end if !provides.empty? label << "Provides:" label.concat(provides) end io << " label=\"#{label.join("\\n")}\";" # io << " label=\"#{model.name}\";" # io << " C#{id} [style=invisible];" each_child do |child_name, child_definition| child_model = child_definition.each_required_model task_label = child_model.map(&:short_name).join(',') task_label = "#{child_name}[#{task_label}]" inputs = child_model.map { |m| m.each_input_port.map(&:name) }. inject(&:concat).to_a outputs = child_model.map { |m| m.each_output_port.map(&:name) }. inject(&:concat).to_a label = Graphviz.dot_iolabel(task_label, inputs, outputs) if child_model.any? { |m| !m.fullfills?(Component) || m.abstract? } color = ", color=\"red\"" end io << " C#{id}#{child_name} [label=\"#{label}\"#{color},fontsize=15];" end io << "}" end |
#try_resolve_child_references_in_use_flags(self_task, selected_child) ⇒ Boolean
Resolves references to other children in a child's use flags
This updates the selected_child requirements to replace CompositionChild object by the actual task instance.
otherwise
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# File 'lib/syskit/models/composition.rb', line 850 def try_resolve_child_references_in_use_flags(self_task, selected_child) # Check if selected_child points to another child of # self, and if it is the case, make sure it is available selected_child.map_use_selections! do |sel| if sel.kind_of?(CompositionChild) if task = sel.try_resolve_and_bind_child_recursive(self_task) task else return end else sel end end true end |
#use(*spec) ⇒ Object
Returns this composition associated with dependency injection information
For instance,
CorridorServoing.
use(Odometry.use(XsensImu::Task))
(see InstanceRequirements#use)
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# File 'lib/syskit/models/composition.rb', line 748 def use(*spec) InstanceRequirements.new([self]).use(*spec) end |