Module: Syskit::Models::TaskContext

Includes:
Component, OrogenBase, PortAccess
Included in:
TaskContext
Defined in:
lib/syskit/models/task_context.rb

Overview

This module contains the model-level API for the task context models

It is used to extend every subclass of Syskit::TaskContext

Constant Summary

Constants included from Component

Component::PROVIDES_ARGUMENTS

Instance Attribute Summary collapse

Attributes included from Component

#concrete_model

Instance Method Summary collapse

Methods included from OrogenBase

#find_model_by_orogen, #find_model_from_orogen_name, #has_model_for?, #model_for

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 Component

#all_data_service, #all_dynamic_service, #all_stub_module, #apply_missing_dynamic_services_from, #as, #as_plan, #bind, #can_merge?, #clear_model, #component_model?, #compute_port_mappings, #concrete_model?, #connected?, #create_dynamic_instantiation_context, #create_private_specialization, #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_input_port, #each_master_driver_service, #each_output_port, #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_input_port, #find_matching_service, #find_output_port, #find_placeholder_model, #find_port, #find_through_method_missing, #fullfills?, #has_through_method_missing?, #if_already_present, #implicit_fullfilled_model, #instanciate, #instanciate_dynamic_input_port, #instanciate_dynamic_output_port, #merge, #method_missing, #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, #specialize, #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

#using_data_service?

Methods included from Base

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

Dynamic Method Handling

This class handles dynamic methods through the method_missing method in the class Syskit::Models::Component

Instance Attribute Details

#configuration_manager ⇒ TaskConfigurationManager

Returns the configuration management object for this task model

Returns:



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# File 'lib/syskit/models/task_context.rb', line 178

def configuration_manager
    if !@configuration_manager
        if !concrete_model?
            manager = concrete_model.configuration_manager
        else
            manager = TaskConfigurationManager.new(Roby.app, self)
            manager.reload
        end
        @configuration_manager = manager
    end
    @configuration_manager
end

#extension_file ⇒ String

Returns path to the extension file that got loaded to extend this model

Returns:

  • (String) —

    path to the extension file that got loaded to extend this model



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# File 'lib/syskit/models/task_context.rb', line 36

def extension_file
  @extension_file
end

#orogen_model ⇒ Object

This component's oroGen model



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# File 'lib/syskit/models/task_context.rb', line 112

def orogen_model
  @orogen_model
end

Instance Method Details

#all_state_event ⇒ Array<Object>

The union, along the class hierarchy, of all the values stored in state_event

Returns:



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# File 'lib/syskit/models/task_context.rb', line 123

inherited_attribute(:state_event, :state_events, map: true) { Hash.new }

#apply_block(&block) ⇒ Object 



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# File 'lib/syskit/models/task_context.rb', line 137

def apply_block(&block)
    evaluation = DataServiceModel::BlockInstanciator.new(self)
    evaluation.instance_eval(&block)
end

#clear_registration_as_constant ⇒ Object 



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# File 'lib/syskit/models/task_context.rb', line 43

def clear_registration_as_constant
    super

    if name = self.name
        return if name !~ /^OroGen::/
        name = name.gsub(/^OroGen::/, '')
        begin
            if constant("::#{name}") == self
                spacename = self.spacename.gsub(/^OroGen::/, '')
                constant("::#{spacename}").send(:remove_const, basename)
            end
        rescue NameError
            false
        end
    end
end

#define_from_orogen(orogen_model, register: false) ⇒ Object

Creates a subclass of TaskContext that represents the given task specification. The class is registered as Roby::Orogen::ProjectName::ClassName.



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

def define_from_orogen(orogen_model, register: false)
    if model = find_model_by_orogen(orogen_model) # already defined, probably because of dependencies
        return model
    end

    superclass = orogen_model.superclass
    if !superclass # we are defining a root model
        supermodel = self
    else
        supermodel = find_model_by_orogen(superclass) ||
            define_from_orogen(superclass, register: register)
    end
    klass = supermodel.new_submodel(orogen_model: orogen_model)

    if register && orogen_model.name
        OroGen.syskit_model_toplevel_constant_registration =
            Roby.app.backward_compatible_naming?
        klass.name = OroGen.register_syskit_model(klass)
    end

    klass
end

#each_event_port(&block) ⇒ Object 



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# File 'lib/syskit/models/task_context.rb', line 166

def each_event_port(&block)
    orogen_model.each_event_port(&block)
end

#each_state_event {|element| ... } ⇒ Object

Enumerates all objects registered in state_event

Yields:

  • (element)

Yield Parameters:

Returns:



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# File 'lib/syskit/models/task_context.rb', line 123

inherited_attribute(:state_event, :state_events, map: true) { Hash.new }

#make_state_events ⇒ {Symbol=>Symbol}

Generates a hash of oroGen-level state names to Roby-level event names

Returns:

  • ({Symbol=>Symbol}) 


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# File 'lib/syskit/models/task_context.rb', line 64

def make_state_events
    with_superclass = !supermodel || !supermodel.respond_to?(:orogen_model) || (supermodel.orogen_model != orogen_model.superclass)
    orogen_model.each_state(with_superclass: with_superclass) do |name, type|
        event_name = name.snakecase.downcase.to_sym
        if type == :toplevel
            event event_name, terminal: (name == 'EXCEPTION' || name == 'FATAL_ERROR')
        else
            event event_name, terminal: (type == :exception || type == :fatal_error)
            if type == :fatal
                forward event_name => :fatal_error
            elsif type == :exception
                forward event_name => :exception
            elsif type == :error
                forward event_name => :runtime_error
            end
        end

        self.state_events[name.to_sym] = event_name
    end
end

#merge_service_model(service_model, port_mappings) ⇒ Object

Merge the service model into self

This is mainly used during dynamic service instantiation, to update the underlying ports and trigger model based on the service's orogen model



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# File 'lib/syskit/models/task_context.rb', line 196

def merge_service_model(service_model, port_mappings)
    Syskit::Models.merge_orogen_task_context_models(
        orogen_model, [service_model.orogen_model], port_mappings)
end

#needs_stub?(component) ⇒ Boolean

Checks if a given component implementation needs to be stubbed

Returns:

  • (Boolean) 


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# File 'lib/syskit/models/task_context.rb', line 39

def needs_stub?(component)
    super || component.orocos_task.kind_of?(Orocos::RubyTasks::StubTaskContext)
end

#new_submodel(options = Hash.new, &block) ⇒ Object

Create a new TaskContext model

Parameters:

  • options (Hash) (defaults to: Hash.new) —

    a customizable set of options

Options Hash (options):

  • name (String) — default: nil —

    forcefully set a name for the model. This is only useful for “anonymous” models, i.e. models that are never assigned in the Ruby constant hierarchy

  • orogen_model (Orocos::Spec::TaskContext, Orocos::ROS::Spec::Node) — default: nil —

    the oroGen model that should be used. If not given, an empty model is created, possibly with the name given to the method as well.



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# File 'lib/syskit/models/task_context.rb', line 133

def new_submodel(options = Hash.new, &block)
    super
end

#root_model ⇒ Object

Set this class up to represent an oroGen root model



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# File 'lib/syskit/models/task_context.rb', line 115

def root_model
    @orogen_model = Models.create_orogen_task_context_model
    make_state_events
end

#setup_submodel(submodel, orogen_model: nil, orogen_model_name: submodel.name, **options) ⇒ void

This method returns an undefined value.

Sets up self on the basis of Component#supermodel

Parameters:

  • name (String) —

    an optional name for this submodel



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

def setup_submodel(submodel,
        orogen_model: nil,
        orogen_model_name: submodel.name,
        **options)

    unless orogen_model
        orogen_model = self.orogen_model.class.new(
            Roby.app.default_orogen_project, orogen_model_name,
            subclasses: self.orogen_model)
        orogen_model.extended_state_support
    end
    submodel.orogen_model = orogen_model
    super
    submodel.make_state_events
end

#state_events ⇒ Object

A state_name => event_name mapping that maps the component's state names to the event names that should be emitted when it enters a new state.



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# File 'lib/syskit/models/task_context.rb', line 123

inherited_attribute(:state_event, :state_events, map: true) { Hash.new }

#worstcase_processing_time(value) ⇒ Object 



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# File 'lib/syskit/models/task_context.rb', line 162

def worstcase_processing_time(value)
    orogen_model.worstcase_processing_time(value)
end