Class: Syskit::Models::DeploymentGroup

Inherits:
Object
  • Object
show all
Defined in:
lib/syskit/models/deployment_group.rb

Overview

A set of deployments logically grouped together

This is the underlying data structure used by Profile and InstanceRequirements to manage the deployments. It also provides the API to resolve a task's deployment

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize ⇒ DeploymentGroup

Returns a new instance of DeploymentGroup



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# File 'lib/syskit/models/deployment_group.rb', line 17

def initialize
    @deployed_tasks = Hash.new
    @deployments = Hash.new
    invalidate_caches
end

Instance Attribute Details

#deployed_tasks ⇒ Object (readonly)

Mapping of a deployed task name to the underlying configured deployment that provides it



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# File 'lib/syskit/models/deployment_group.rb', line 11

def deployed_tasks
  @deployed_tasks
end

#deployments ⇒ Object (readonly)

A mapping of a process server name to the underlying deployments it provides



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# File 'lib/syskit/models/deployment_group.rb', line 15

def deployments
  @deployments
end

Instance Method Details

#compute_task_context_deployment_candidates ⇒ 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.

Computes #task_context_deployment_candidates



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# File 'lib/syskit/models/deployment_group.rb', line 113

def compute_task_context_deployment_candidates
    deployed_models = Hash.new
    deployments.each do |machine_name, machine_deployments|
        machine_deployments.each do |configured_deployment|
            configured_deployment.each_deployed_task_model do |task_name, task_model|
                deployed_models[task_model] ||= Set.new
                deployed_models[task_model] << [configured_deployment, task_name]
            end
        end
    end
    deployed_models
end

#deregister_configured_deployment(configured_deployment) ⇒ Object

Remove a deployment from this group



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# File 'lib/syskit/models/deployment_group.rb', line 197

def deregister_configured_deployment(configured_deployment)
    deployments[configured_deployment.process_server_name].delete(configured_deployment)
    configured_deployment.each_orogen_deployed_task_context_model do |task|
        deployed_tasks.delete(task.name)
    end
end

#each_configured_deployment {|| ... } ⇒ Object

Enumerates all the deployments registered on self

Yield Parameters:



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# File 'lib/syskit/models/deployment_group.rb', line 188

def each_configured_deployment
    return enum_for(__method__) unless block_given?

    deployments.each_value do |set|
        set.each { |c| yield(c) }
    end
end

#empty? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/syskit/models/deployment_group.rb', line 23

def empty?
    deployments.all?(&:empty?)
end

#find_all_deployments_from_process_manager(process_manager_name) ⇒ Object

Returns all the deployments registered on a given process manager



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# File 'lib/syskit/models/deployment_group.rb', line 151

def find_all_deployments_from_process_manager(process_manager_name)
    deployments[process_manager_name] || Array.new
end

#find_all_suitable_deployments_for(task) ⇒ Set<ConfiguredDeployment>

Returns the set of deployments that are available for a given task

Returns:



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# File 'lib/syskit/models/deployment_group.rb', line 129

def find_all_suitable_deployments_for(task)
    # task.model would be wrong here as task.model could be the
    # singleton class (if there are dynamic services)
    candidates = task_context_deployment_candidates[task.model]
    if !candidates || candidates.empty?
        candidates = task_context_deployment_candidates[task.concrete_model]
        if !candidates || candidates.empty?
            Syskit.debug { "no deployments found for #{task} (#{task.concrete_model})" }
            return Set.new
        end
    end
    return candidates
end

#find_deployed_task_by_name(task_name) ⇒ Object

Returns a deployment group that represents a single deployed task



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# File 'lib/syskit/models/deployment_group.rb', line 88

def find_deployed_task_by_name(task_name)
    if configured_deployment = find_deployment_from_task_name(task_name)
        result = new
        result.register_deployed_task(task_name, configured_deployment)
        result
    end
end

#find_deployment_from_task_name(task_name) ⇒ ConfiguredDeployment?

Returns the deployment that provides the given task

Returns:



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# File 'lib/syskit/models/deployment_group.rb', line 146

def find_deployment_from_task_name(task_name)
    deployed_tasks[task_name]
end

#has_deployed_task?(task_name) ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/syskit/models/deployment_group.rb', line 83

def has_deployed_task?(task_name)
    find_deployment_from_task_name(task_name)
end

#initialize_copy(original) ⇒ Object 



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# File 'lib/syskit/models/deployment_group.rb', line 27

def initialize_copy(original)
    super
    @deployed_tasks = Hash.new
    @deployments = Hash.new
    use_group!(original)
end

#invalidate_caches ⇒ 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.

Invalidate cached values computed based on the deployments available in this group



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# File 'lib/syskit/models/deployment_group.rb', line 208

def invalidate_caches
    @task_context_deployment_candidates = nil
end

#register_configured_deployment(configured_deployment) ⇒ Object

Register a new deployment in this group



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# File 'lib/syskit/models/deployment_group.rb', line 170

def register_configured_deployment(configured_deployment)
    configured_deployment.each_orogen_deployed_task_context_model do |task|
        orocos_name = task.name
        if deployed_tasks[orocos_name] && deployed_tasks[orocos_name] != configured_deployment
            raise TaskNameAlreadyInUse.new(orocos_name, deployed_tasks[orocos_name], configured_deployment), "there is already a deployment that provides #{orocos_name}"
        end
    end
    configured_deployment.each_orogen_deployed_task_context_model do |task|
        deployed_tasks[task.name] = configured_deployment
    end
    deployments[configured_deployment.process_server_name] ||= Set.new
    deployments[configured_deployment.process_server_name] << configured_deployment
    invalidate_caches
end

#register_deployed_task(task_name, configured_deployment) ⇒ Object

Register a specific task of a configured deployment



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# File 'lib/syskit/models/deployment_group.rb', line 156

def register_deployed_task(task_name, configured_deployment)
    if existing = find_deployment_from_task_name(task_name)
        if existing != configured_deployment
            raise TaskNameAlreadyInUse.new(task_name, existing, configured_deployment), "there is already a deployment that provides #{task_name}"
        end
        return
    end

    deployed_tasks[tasks_name] = configured_deployment
    deployments[configured_deployment.process_server_name] ||= Set.new
    deployments[configured_deployment.process_server_name] << configured_deployment
end

#task_context_deployment_candidates ⇒ {Models::TaskContext=>Set<(Models::Deployment,String)>}

A mapping from task models to the set of registered deployments that apply on these task models

It is lazily computed when needed by #compute_task_context_deployment_candidates

Returns:

  • ({Models::TaskContext=>Set<(Models::Deployment,String)>}) —

    mapping from task context models to a set of (machine_name,deployment_model,task_name) tuples representing the known ways this task context model could be deployed



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# File 'lib/syskit/models/deployment_group.rb', line 106

def task_context_deployment_candidates
    @task_context_deployment_candidates ||= compute_task_context_deployment_candidates
end

#to_deployment_group ⇒ Object

Method expected by #use_group and #use_group! to normalize an object to a DeploymentGroup object

Define this method on objects that can be used as deployment groups to make their usage transparent

This returns self



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# File 'lib/syskit/models/deployment_group.rb', line 418

def to_deployment_group
    self
end

#use_deployment(*names, on: 'localhost', simulation: Roby.app.simulation?, loader: Roby.app.default_loader, process_managers: Syskit.conf, **run_options) ⇒ Array<Deployment>

Add the given deployment (referred to by its process name, that is the name given in the oroGen file) to the set of deployments the engine can use.

Parameters:

  • options (Hash) —

    a customizable set of options

Returns:



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# File 'lib/syskit/models/deployment_group.rb', line 319

def use_deployment(*names, on: 'localhost', simulation: Roby.app.simulation?,
    loader: Roby.app.default_loader, process_managers: Syskit.conf,
    **run_options)

    deployment_spec = Hash.new
    if names.last.kind_of?(Hash)
        deployment_spec = names.pop
    end

    process_server_name = on
    process_server_config =
        if simulation
            process_managers.sim_process_server_config_for(process_server_name)
        else
            process_managers.process_server_config_for(process_server_name)
        end

    deployments_by_name = Hash.new
    names = names.map do |n|
        if n.respond_to?(:orogen_model)
            if !n.kind_of?(Class)
                raise ArgumentError, "only deployment models can be given "\
                    "without a name"
            elsif n <= Syskit::TaskContext && !(n <= Syskit::RubyTaskContext)
                raise TaskNameRequired, "you must provide a task name when "\
                    "starting a component by type, as e.g. use_deployment "\
                    "OroGen.xsens_imu.Task => 'imu'"
            elsif !(n <= Syskit::Deployment)
                raise ArgumentError, "only deployment models can be given "\
                    "without a name"
            end
            deployments_by_name[n.orogen_model.name] = n
            n.orogen_model
        else n
        end
    end
    deployment_spec = deployment_spec.map_key do |k|
        if k.respond_to?(:to_str)
            k
        else
            is_valid =
                k.kind_of?(Class) &&
                (k <= Syskit::TaskContext || k <= Syskit::Deployment) &&
                !(k <= Syskit::RubyTaskContext)
            unless is_valid
                raise ArgumentError, "only deployment and task context "\
                    "models can be deployed by use_deployment, got #{k}"
            end
            deployments_by_name[k.orogen_model.name] = k
            k.orogen_model
        end
    end

    new_deployments, _ = Orocos::Process.parse_run_options(
        *names, deployment_spec, loader: loader, **run_options)
    new_deployments.map do |deployment_name, name_mappings, name, spawn_options|
        unless (model = deployments_by_name[deployment_name])
            orogen_model = loader.deployment_model_from_name(deployment_name)
            model = Syskit::Deployment.find_model_by_orogen(orogen_model)
        end
        model.default_run_options.merge!(
            process_managers.default_run_options(model))

        configured_deployment = Models::ConfiguredDeployment.
            new(process_server_config.name, model, name_mappings, name,
                spawn_options)
        register_configured_deployment(configured_deployment)
        configured_deployment
    end
end

#use_deployments_from(project_name, process_managers: Syskit.conf, loader: Roby.app.default_loader, **use_options) ⇒ Array<Model<Deployment>>

Add all the deployments defined in the given oroGen project to the set of deployments that the engine can use.

Parameters:

  • options (Hash) —

    a customizable set of options

Returns:

  • (Array<Model<Deployment>>) —

    the set of deployments

See Also:



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# File 'lib/syskit/models/deployment_group.rb', line 397

def use_deployments_from(project_name, process_managers: Syskit.conf, loader: Roby.app.default_loader, **use_options)
    Syskit.info "using deployments from #{project_name}"
    orogen = loader.project_model_from_name(project_name)

    result = []
    orogen.each_deployment do |deployment_def|
        if deployment_def.install?
            Syskit.info "  #{deployment_def.name}"
            result << use_deployment(deployment_def.name, process_managers: process_managers, loader: loader, **use_options)
        end
    end
    result
end

#use_group(other) ⇒ Object

Add all deployments in 'other' to self

Unlike #use_group!, it will raise

Parameters:

Raises:

  • (TaskNameAlreadyInUse) —

    if different deployments in 'other' and in 'self' use the same task name. Use #use_group! if you want to override deployments in self instead.

See Also:



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# File 'lib/syskit/models/deployment_group.rb', line 44

def use_group(other)
    other = other.to_deployment_group
    @deployed_tasks = @deployed_tasks.merge(other.deployed_tasks) do |task_name, self_deployment, other_deployment|
        if self_deployment != other_deployment
            raise TaskNameAlreadyInUse.new(
                task_name,
                self_deployment,
                other_deployment), "there is already a deployment that provides #{task_name}"
        end
        self_deployment
    end
    other.deployments.each do |manager_name, manager_deployments|
        (deployments[manager_name] ||= Set.new).merge(manager_deployments)
    end
    invalidate_caches
end

#use_group!(other) ⇒ Object

Add all deployments in 'other' to self

Unlike with #use_group, it will override tasks existing in self by tasks from the argument that have the same name

Parameters:

See Also:



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# File 'lib/syskit/models/deployment_group.rb', line 69

def use_group!(other)
    other = other.to_deployment_group
    @deployed_tasks.merge!(other.deployed_tasks) do |task_name, self_deployment, other_deployment|
        if self_deployment != other_deployment
            deployments[self_deployment.process_server_name].delete(self_deployment)
        end
        other_deployment
    end
    other.deployments.each do |manager_name, manager_deployments|
        (deployments[manager_name] ||= Set.new).merge(manager_deployments)
    end
    invalidate_caches
end

#use_ruby_tasks(mappings, remote_task: false, on: 'ruby_tasks', process_managers: Syskit.conf) ⇒ [ConfiguredDeployment]

Deploy RubyTaskContext models

Parameters:

  • remote_task (Boolean) —

    when running the task, tell the process manager to set it up as if it was a remote task, instead of an in-process ruby task. This is used for testing, to check for instance that Syskit code does not access blocking network calls in the main thread

  • on (String) —

    the name of the process manager that should be used

  • process_managers —

    the object that maintains the set of process managers

Returns:



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# File 'lib/syskit/models/deployment_group.rb', line 224

def use_ruby_tasks(mappings, remote_task: false, on: 'ruby_tasks',
        process_managers: Syskit.conf)

    # Verify that the process manager exists
    process_managers.process_server_config_for(on)

    if !mappings.respond_to?(:each_key)
        raise ArgumentError, "mappings should be given as model => name"
    elsif mappings.size > 1
        Roby.warn_deprecated "defining more than one ruby task context " \
            "deployment in a single use_ruby_tasks call is deprecated"
    end

    mappings.each_key do |task_model|
        valid_model = task_model.kind_of?(Class) &&
            (task_model <= Syskit::RubyTaskContext)
        unless valid_model
            raise ArgumentError, "#{task_model} is not a ruby task model"
        end
    end

    task_context_class =
        if remote_task
            Orocos::RubyTasks::RemoteTaskContext
        else
            Orocos::RubyTasks::TaskContext
        end

    mappings.map do |task_model, name|
        deployment_model = task_model.deployment_model
        configured_deployment = Models::ConfiguredDeployment.
            new(on, deployment_model, Hash['task' => name], name,
                Hash[task_context_class: task_context_class])
        register_configured_deployment(configured_deployment)
        configured_deployment
    end
end

#use_unmanaged_task(mappings, on: 'unmanaged_tasks', process_managers: Syskit.conf) ⇒ Object

Declare tasks that are going to be started by some other process, but whose tasks are going to be integrated in the syskit network



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# File 'lib/syskit/models/deployment_group.rb', line 264

def use_unmanaged_task(mappings, on: 'unmanaged_tasks',
    process_managers: Syskit.conf)

    # Verify that the process manager exists
    process_managers.process_server_config_for(on)

    model_to_name = mappings.map do |task_model, name|
        if task_model.respond_to?(:to_str)
            Roby.warn_deprecated "specifying the task model as string "\
                "is deprecated. Load the task library and use Syskit's "\
                "task class"
            task_model_name = task_model
            task_model = Syskit::TaskContext.
                find_model_from_orogen_name(task_model_name)
            unless task_model
                raise ArgumentError,
                    "#{task_model_name} is not a known oroGen model name"
            end
        end
        [task_model, name]
    end

    model_to_name.each do |task_model, _name|
        is_pure_task_context_model =
            task_model.kind_of?(Class) &&
            (task_model <= Syskit::TaskContext) &&
            !(task_model <= Syskit::RubyTaskContext)
        unless is_pure_task_context_model
            raise ArgumentError, "expected a mapping from a task context "\
                "model to a name, but got #{task_model}"
        end
    end

    model_to_name.map do |task_model, name|
        orogen_model = task_model.orogen_model
        deployment_model = Syskit::Deployment.
            new_submodel(name: "Deployment::Unmanaged::#{name}") do
                task name, orogen_model
            end

        configured_deployment = Models::ConfiguredDeployment.
            new(on, deployment_model, Hash[name => name], name, Hash.new)
        register_configured_deployment(configured_deployment)
        configured_deployment
    end
end