Class: Syskit::NetworkGeneration::Engine

Inherits:
Object
  • Object
show all
Extended by:
Logger::Hierarchy
Includes:
Logger::Hierarchy, Roby::DRoby::EventLogging
Defined in:
lib/syskit/network_generation/engine.rb

Overview

The main deployment algorithm

Engine instances are the objects that actually get deployment requirements and produce a deployment, possibly dynamically.

The main entry point for the algorithm is Engine#resolve

Constant Summary collapse

@@dot_index = 
0

Class Attribute Summary collapse

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(plan, work_plan: Roby::Transaction.new(plan), event_logger: plan.event_logger) ⇒ Engine

Returns a new instance of Engine



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# File 'lib/syskit/network_generation/engine.rb', line 73

def initialize(plan, work_plan: Roby::Transaction.new(plan),
               event_logger: plan.event_logger)
    @real_plan = plan
    @work_plan = work_plan
    @merge_solver = NetworkGeneration::MergeSolver.new(work_plan)
    @event_logger = event_logger
    @required_instances = Hash.new
end

Class Attribute Details

.default_logging_buffer_size ⇒ Object

The buffer size used to create connections to the logger in case the dataflow dynamics can't be computed

Defaults to 25



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# File 'lib/syskit/network_generation/engine.rb', line 67

def default_logging_buffer_size
  @default_logging_buffer_size
end

.deployment_postprocessing ⇒ Object (readonly)

Set of blocks registered with register_deployment_postprocessing



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# File 'lib/syskit/network_generation/engine.rb', line 143

def deployment_postprocessing
  @deployment_postprocessing
end

.final_network_postprocessing ⇒ Object (readonly)

Set of blocks registered with register_final_network_postprocessing



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# File 'lib/syskit/network_generation/engine.rb', line 147

def final_network_postprocessing
  @final_network_postprocessing
end

.instanciated_network_postprocessing ⇒ Object (readonly)

Set of blocks registered with register_instanciated_network_postprocessing



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# File 'lib/syskit/network_generation/engine.rb', line 135

def instanciated_network_postprocessing
  @instanciated_network_postprocessing
end

.instanciation_postprocessing ⇒ Object (readonly)

Set of blocks registered with register_instanciation_postprocessing



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# File 'lib/syskit/network_generation/engine.rb', line 131

def instanciation_postprocessing
  @instanciation_postprocessing
end

.on_error ⇒ Object

Globally controls what happens when resolution fails

The default is to throw away everything. Set to :save to save the state of the transaction at the point of error into a dot file. Set to :commit to apply it on the plan anyways



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# File 'lib/syskit/network_generation/engine.rb', line 20

def on_error
  @on_error
end

.system_network_postprocessing ⇒ Object (readonly)

Set of blocks registered with register_system_network_postprocessing



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# File 'lib/syskit/network_generation/engine.rb', line 139

def system_network_postprocessing
  @system_network_postprocessing
end

Instance Attribute Details

#dataflow_dynamics ⇒ Object (readonly)

The DataFlowDynamics instance that has been used to compute port_dynamics. It is only valid at the postprocesing stage of the deployed network

It can be used to compute some connection policy by calling DataFlowDynamics#policy_for



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# File 'lib/syskit/network_generation/engine.rb', line 51

def dataflow_dynamics
  @dataflow_dynamics
end

#deployed_tasks ⇒ Object (readonly)

The set of tasks that are in-use after adaptation of the running plan



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# File 'lib/syskit/network_generation/engine.rb', line 43

def deployed_tasks
  @deployed_tasks
end

#deployment_tasks ⇒ Object (readonly)

The set of deployment tasks that are in-use after adaptation of the running plan



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# File 'lib/syskit/network_generation/engine.rb', line 40

def deployment_tasks
  @deployment_tasks
end

#event_logger ⇒ Object (readonly)

Returns the value of attribute event_logger



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# File 'lib/syskit/network_generation/engine.rb', line 71

def event_logger
  @event_logger
end

#merge_solver ⇒ MergeSolver (readonly)

The merge solver instance used during resolution

Returns:



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# File 'lib/syskit/network_generation/engine.rb', line 36

def merge_solver
  @merge_solver
end

#port_dynamics ⇒ Object (readonly)

A mapping of type

task_name => port_name => PortDynamics instance

that represent the dynamics of the given ports. The PortDynamics instance might be nil, in which case it means some of the ports' dynamics could not be computed



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# File 'lib/syskit/network_generation/engine.rb', line 60

def port_dynamics
  @port_dynamics
end

#real_plan ⇒ Object (readonly)

The underlying plan



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# File 'lib/syskit/network_generation/engine.rb', line 25

def real_plan
  @real_plan
end

#task_context_deployment_candidates ⇒ Hash{Model<TaskContext>=>Model<Deployment>} (readonly)

A mapping from task context models to deployment models that contain such a task.

Returns:



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# File 'lib/syskit/network_generation/engine.rb', line 32

def task_context_deployment_candidates
  @task_context_deployment_candidates
end

#work_plan ⇒ Object (readonly)

The plan we are modifying. It is usually a transaction on top of #plan



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# File 'lib/syskit/network_generation/engine.rb', line 28

def work_plan
  @work_plan
end

Class Method Details

.autosave_plan_to_dot(plan, dir = Roby.app.log_dir, prefix: nil, suffix: nil, **dot_options) ⇒ Object 



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# File 'lib/syskit/network_generation/engine.rb', line 713

def self.autosave_plan_to_dot(plan, dir = Roby.app.log_dir, prefix: nil, suffix: nil, **dot_options)
    dot_index = (@@dot_index += 1)
    dataflow_path = File.join(dir, "syskit-plan-#{prefix}%04i#{suffix}.%s.dot" %
                              [dot_index, 'dataflow'])
    hierarchy_path = File.join(dir, "syskit-plan-#{prefix}%04i#{suffix}.%s.dot" %
                               [dot_index, 'hierarchy'])
    File.open(dataflow_path, 'w') do |io|
        io.write Graphviz.new(plan).dataflow(dot_options)
    end
    File.open(hierarchy_path, 'w') do |io|
        io.write Graphviz.new(plan).hierarchy(dot_options)
    end
    return dataflow_path, hierarchy_path
end

.discover_requirement_tasks_from_plan(plan) ⇒ Object

Computes the set of requirement tasks that should be used for deployment within the given plan



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# File 'lib/syskit/network_generation/engine.rb', line 495

def self.discover_requirement_tasks_from_plan(plan)
    req_tasks = plan.find_local_tasks(InstanceRequirementsTask)
    req_tasks = req_tasks.find_all do |req_task|
        if req_task.failed? || req_task.pending?
            false
        elsif planned_task = req_task.planned_task
            !planned_task.finished? || planned_task.being_repaired?
        else
            false
        end
    end
    needed = plan.useful_tasks(with_transactions: false)
    req_tasks.delete_if do |t|
        !needed.include?(t)
    end
    req_tasks
end

.register_deployment_postprocessing(&block) ⇒ Object

Registers a system-wide post-processing stage for the deployed network. This post-processing block is meant to automatically configure the tasks and/or dataflow, but not change the task graph. Unlike in #register_system_network_postprocessing, it has access to information that deployment provides (as e.g. port dynamics).

Postprocessing stages that change the task graph should be registered with #register_instanciation_postprocessing



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# File 'lib/syskit/network_generation/engine.rb', line 205

def self.register_deployment_postprocessing(&block)
    deployment_postprocessing << block
end

.register_final_network_postprocessing(&block) ⇒ Object

Registers a system-wide post-processing stage for the final network. This is the last stage before the last validation



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# File 'lib/syskit/network_generation/engine.rb', line 211

def self.register_final_network_postprocessing(&block)
    final_network_postprocessing << block
end

.register_instanciated_network_postprocessing(&block) ⇒ Object

Registers a system-wide post-processing stage for augmenting the system network instanciation. Unlike the instanciation postprocessing stage, a first merge pass has been done on the graph and it is therefore not final but well-formed.

Postprocessing stages that configures the task(s) automatically should be registered with #register_system_network_postprocessing



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# File 'lib/syskit/network_generation/engine.rb', line 180

def self.register_instanciated_network_postprocessing(&block)
    instanciated_network_postprocessing << block
end

.register_instanciation_postprocessing(&block) ⇒ Object

Registers a system-wide post-processing stage for the instanciation stage. This post-processing block is meant to add new tasks and new relations in the graph. It runs after the instanciation, but before the first merge pass has been performed. I.e. in this graph, there will be present some duplicate tasks, devices won't be assigned properly, … Use the instanciated_network_postprocessing hook to be called after this first merge pass.

Use it to instanciate/annotate the graph early, i.e. before some system-wide processing is done

Postprocessing stages that configures the task(s) automatically should be registered with #register_system_network_postprocessing



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# File 'lib/syskit/network_generation/engine.rb', line 169

def self.register_instanciation_postprocessing(&block)
    instanciation_postprocessing << block
end

.register_system_network_postprocessing(&block) ⇒ Object

Registers a system-wide post-processing stage for the system network (i.e. the complete network before it gets merged with deployed tasks). This post-processing block is meant to automatically configure the tasks and/or dataflow, but not change the task graph

Postprocessing stages that change the task graph should be registered with #register_instanciation_postprocessing



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# File 'lib/syskit/network_generation/engine.rb', line 192

def self.register_system_network_postprocessing(&block)
    system_network_postprocessing << block
end

Instance Method Details

#adapt_existing_deployment(deployment_task, existing_deployment_task) ⇒ Array<Syskit::TaskContext>

Given a required deployment task in #work_plan and a proxy representing an existing deployment task in #real_plan, modify the plan to reuse the existing deployment

Returns:

  • (Array<Syskit::TaskContext>) —

    the set of TaskContext instances that have been used to replace the task contexts generated during network generation. They are all deployed by existing_deployment_task, and some of them might be transaction proxies.



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# File 'lib/syskit/network_generation/engine.rb', line 446

def adapt_existing_deployment(deployment_task, existing_deployment_task)
    orocos_name_to_existing = Hash.new
    existing_deployment_task.each_executed_task do |t|
        next if t.finished?
        (orocos_name_to_existing[t.orocos_name] ||= Array.new) << t
    end

    applied_merges = Set.new
    deployed_tasks = deployment_task.each_executed_task.to_a
    deployed_tasks.each do |task|
        existing_tasks = orocos_name_to_existing[task.orocos_name] ||
            Array.new
        if !existing_tasks.empty?
            existing_task = find_current_deployed_task(existing_tasks)
        end

        if !existing_task || !task.can_be_deployed_by?(existing_task)
            debug do
                if !existing_task
                    "  task #{task.orocos_name} has not yet been deployed"
                else
                    "  task #{task.orocos_name} has been deployed, but I can't merge with the existing deployment (#{existing_task})"
                end
            end

            new_task = existing_deployment_task.task(task.orocos_name, task.concrete_model)
            debug { "  creating #{new_task} for #{task} (#{task.orocos_name})" }
            existing_tasks.each do |previous_task|
                debug { "  #{new_task} needs to wait for #{existing_task} to finish before reconfiguring" }
                parent_task_contexts = previous_task.each_parent_task.
                    find_all { |t| t.kind_of?(Syskit::TaskContext) }
                parent_task_contexts.each do |t|
                    t.remove_child(previous_task)
                end
                new_task.should_configure_after(previous_task.stop_event)
            end
            existing_task = new_task
        end

        merge_solver.apply_merge_group(task => existing_task)
        applied_merges << existing_task
        debug { "  using #{existing_task} for #{task} (#{task.orocos_name})" }
    end
    work_plan.remove_task(deployment_task)
    applied_merges
end

#apply_deployed_network_to_plan ⇒ Object

Apply the deployed network created with #compute_deployed_network to the existing plan

It accesses #real_plan



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# File 'lib/syskit/network_generation/engine.rb', line 110

def apply_deployed_network_to_plan
    # Finally, we map the deployed network to the currently
    # running tasks
    @deployment_tasks, @deployed_tasks =
        log_timepoint_group 'finalize_deployed_tasks' do
            finalize_deployed_tasks
        end

    if @dataflow_dynamics
        @dataflow_dynamics.apply_merges(merge_solver)
        log_timepoint 'apply_merged_to_dataflow_dynamics'
    end
    Engine.deployment_postprocessing.each do |block|
        block.call(self, work_plan)
        log_timepoint "postprocessing:#{block}"
    end
end

#apply_merge_to_stored_instances ⇒ Object

Updates the tasks stored in #dataflow_dynamics with the tasks that will replace them in #real_plan once the #work_plan transaction is committed.

It also updates the merge graph in #merge_solver so that it points to tasks in #real_plan



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# File 'lib/syskit/network_generation/engine.rb', line 221

def apply_merge_to_stored_instances
    work_plan.each_task do |task|
        if task.transaction_proxy?
            merge_solver.register_replacement(task, task.__getobj__)
        end
    end

    if @dataflow_dynamics
        @dataflow_dynamics.apply_merges(merge_solver)
    end
end

#apply_system_network_to_plan(required_instances, compute_deployments: true, garbage_collect: true, validate_final_network: true) ⇒ Object 



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# File 'lib/syskit/network_generation/engine.rb', line 628

def apply_system_network_to_plan(
    required_instances, compute_deployments: true,
    garbage_collect: true, validate_final_network: true)

    # Now, deploy the network by matching the available
    # deployments to the one in the generated network. Note that
    # these deployments are *not* yet the running tasks.
    #
    # The mapping from this deployed network to the running
    # tasks is done in #finalize_deployed_tasks
    if compute_deployments
        log_timepoint_group 'apply_deployed_network_to_plan' do
            apply_deployed_network_to_plan
        end
    end

    apply_merge_to_stored_instances
    required_instances = required_instances.map_value do |_, task|
        merge_solver.replacement_for(task)
    end
    log_timepoint 'apply_merge_to_stored_instances'
    fix_toplevel_tasks(required_instances)
    log_timepoint 'fix_toplevel_tasks'

    Engine.final_network_postprocessing.each do |block|
        block.call(self, work_plan)
        log_timepoint "final_network_postprocessing:#{block}"
    end

    # Finally, we should now only have deployed tasks. Verify it
    # and compute the connection policies
    if garbage_collect && validate_final_network
        validate_final_network(required_instances, work_plan, compute_deployments: compute_deployments)
        log_timepoint 'validate_final_network'
    end

    work_plan.commit_transaction
    log_timepoint 'commit_transaction'

    # Reset the oroGen model on all already-running tasks
    real_plan.find_tasks(Syskit::TaskContext).each do |task|
        if (orocos_task = task.orocos_task) && orocos_task.respond_to?(:model=)
            task.orocos_task.model = task.model.orogen_model
        end
    end
end

#available_deployments ⇒ Object

Returns the set of deployments that are available for this network generation



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# File 'lib/syskit/network_generation/engine.rb', line 84

def available_deployments
    Syskit.conf.deployments
end

#compute_deployed_network(compute_policies: true, validate_deployed_network: true) ⇒ Object

Transform the system network into a deployed network

This does not access #real_plan



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# File 'lib/syskit/network_generation/engine.rb', line 91

def compute_deployed_network(compute_policies: true, validate_deployed_network: true)
    log_timepoint_group 'deploy_system_network' do
        SystemNetworkDeployer.new(work_plan, event_logger: event_logger, merge_solver: merge_solver).
            deploy(validate: validate_deployed_network)
    end

    # Now that we have a deployed network, we can compute the
    # connection policies and the port dynamics
    if compute_policies
        @dataflow_dynamics = DataFlowDynamics.new(work_plan)
        @port_dynamics = dataflow_dynamics.compute_connection_policies
        log_timepoint 'compute_connection_policies'
    end
end

#compute_system_network(requirement_tasks = Engine.discover_requirement_tasks_from_plan(real_plan), garbage_collect: true, validate_abstract_network: true, validate_generated_network: true) ⇒ Object 



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# File 'lib/syskit/network_generation/engine.rb', line 513

def compute_system_network(requirement_tasks = Engine.discover_requirement_tasks_from_plan(real_plan),
                           garbage_collect: true,
                           validate_abstract_network: true,
                           validate_generated_network: true)
    requirement_tasks = requirement_tasks.to_a
    instance_requirements = requirement_tasks.map(&:requirements)
    system_network_generator = SystemNetworkGenerator.new(
        work_plan, event_logger: event_logger, merge_solver: merge_solver)
    toplevel_tasks = system_network_generator.generate(
        instance_requirements,
        garbage_collect: garbage_collect,
        validate_abstract_network: validate_abstract_network,
        validate_generated_network: validate_generated_network)

    Hash[ requirement_tasks.zip(toplevel_tasks) ]
end

#finalize_deployed_tasks ⇒ Object

Given the network with deployed tasks, this method looks at how we could adapt the running network to the new one



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# File 'lib/syskit/network_generation/engine.rb', line 264

def finalize_deployed_tasks
    debug "finalizing deployed tasks"

    used_deployments = work_plan.find_local_tasks(Deployment).to_set
    used_tasks       = work_plan.find_local_tasks(Component).to_set
    log_timepoint 'used_tasks'

    all_tasks = work_plan.find_tasks(Component).to_set
    log_timepoint 'import_all_tasks_from_plan'
    all_tasks.delete_if do |t|
        if !t.reusable?
            debug { "  clearing the relations of the finished task #{t}" }
            t.remove_relations(Syskit::Flows::DataFlow)
            t.remove_relations(Roby::TaskStructure::Dependency)
            true
        elsif t.transaction_proxy? && t.abstract?
            work_plan.remove_task(t)
            true
        end
    end
    log_timepoint 'all_tasks_cleanup'

    # Remove connections that are not forwarding connections (e.g.
    # composition exports)
    dataflow_graph = work_plan.task_relation_graph_for(Syskit::Flows::DataFlow)
    all_tasks.each do |t|
        next if used_tasks.include?(t)
        dataflow_graph.in_neighbours(t).dup.each do |source_t|
            connections = dataflow_graph.edge_info(source_t, t).dup
            connections.delete_if do |(source_port, sink_port), policy|
                !(source_t.find_output_port(source_port) && t.find_output_port(sink_port)) &&
                    !(source_t.find_input_port(source_port) && t.find_input_port(sink_port))
            end
            if !connections.empty?
                dataflow_graph.set_edge_info(source_t, t, connections)
            else
                dataflow_graph.remove_edge(source_t, t)
            end
        end
    end
    log_timepoint 'dataflow_graph_cleanup'

    deployments = work_plan.find_tasks(Syskit::Deployment).not_finished
    finishing_deployments, existing_deployments = Hash.new, Set.new
    deployments.each do |task|
        if task.finishing?
            finishing_deployments[task.process_name] = task
        elsif !used_deployments.include?(task)
            existing_deployments << task
        end
    end
    log_timepoint 'existing_and_finished_deployments'

    debug do
        debug "  Mapping deployments in the network to the existing ones"
        debug "    Network deployments:"
        used_deployments.each { |dep| debug "      #{dep}" }
        debug "    Existing deployments:"
        existing_deployments.each { |dep| debug "      #{dep}" }
        break
    end

    newly_deployed_tasks = Set.new
    reused_deployed_tasks = Set.new
    selected_deployment_tasks = Set.new
    used_deployments.each do |deployment_task|
        existing_candidates = work_plan.
            find_local_tasks(deployment_task.model).
            not_finishing.not_finished.to_set

        # Check for the corresponding task in the plan
        existing_deployment_tasks = (existing_candidates & existing_deployments).
            find_all do |t|
                t.process_name == deployment_task.process_name
            end

        debug do
            debug "  looking to reuse a deployment for #{deployment_task.process_name} (#{deployment_task})"
            debug "  #{existing_deployment_tasks.size} candidates:"
            existing_deployment_tasks.each do |candidate_task|
                debug "    #{candidate_task}"
            end
            break
        end

        if existing_deployment_tasks.empty?
            debug { "  deployment #{deployment_task.process_name} is not yet represented in the plan" }
            # Nothing to do, we leave the plan as it is
            newly_deployed_tasks.merge(deployment_task.each_executed_task)
            selected_deployment = deployment_task
        elsif existing_deployment_tasks.size != 1
            raise InternalError, "more than one task for #{deployment_task.process_name} present in the plan: #{existing_deployment_tasks}"
        else
            selected_deployment = existing_deployment_tasks.first
            new_merged_tasks = adapt_existing_deployment(
                deployment_task,
                selected_deployment)
            reused_deployed_tasks.merge(new_merged_tasks)
        end
        if finishing = finishing_deployments[selected_deployment.process_name]
            selected_deployment.should_start_after finishing.stop_event
        end
        selected_deployment_tasks << selected_deployment
    end
    log_timepoint 'select_deployments'

    reused_deployed_tasks = reconfigure_tasks_on_static_port_modification(
        reused_deployed_tasks)
    log_timepoint 'reconfigure_tasks_on_static_port_modification'

    debug do
        debug "#{reused_deployed_tasks.size} tasks reused during deployment"
        reused_deployed_tasks.each do |t|
            debug "  #{t}"
        end
        break
    end

    # This is required to merge the already existing compositions
    # with the ones in the plan
    merge_solver.merge_identical_tasks
    log_timepoint 'merge'

    [selected_deployment_tasks, reused_deployed_tasks | newly_deployed_tasks]
end

#find_current_deployed_task(deployed_tasks) ⇒ Object

Find the “last” deployed task in a set of related deployed tasks in the plan

Ordering is encoded in the should_configure_after relation



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# File 'lib/syskit/network_generation/engine.rb', line 425

def find_current_deployed_task(deployed_tasks)
    configuration_precedence_graph =
        work_plan.event_relation_graph_for(Roby::EventStructure::SyskitConfigurationPrecedence)
    tasks = deployed_tasks.find_all do |t|
        t.reusable? && configuration_precedence_graph.leaf?(t.stop_event)
    end
    if tasks.size > 1
        raise InternalError, "could not find the current task in #{deployed_tasks.map(&:to_s).sort.join(", ")}"
    end
    tasks.first
end

#fix_toplevel_tasks(required_instances) ⇒ Object

Replaces the toplevel tasks (i.e. tasks planned by the InstanceRequirementsTask tasks) by their computed implementation.

Also updates the permanent and mission flags for these tasks.



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# File 'lib/syskit/network_generation/engine.rb', line 237

def fix_toplevel_tasks(required_instances)
    if required_instances.empty?
        return
    end

    replacement_filter = Roby::Plan::ReplacementFilter.new.
        exclude_relation(Syskit::Flows::DataFlow).
        exclude_tasks(work_plan.find_local_tasks(Syskit::Component))

    required_instances.each do |req_task, actual_task|
        placeholder_task = work_plan.wrap_task(req_task.planned_task)
        req_task         = work_plan.wrap_task(req_task)
        actual_task      = work_plan.wrap_task(actual_task)

        if placeholder_task != actual_task
            work_plan.replace(placeholder_task, actual_task,
                filter: replacement_filter)
            # Need to switch the planning relation as well, it is
            # not done by #replace
            placeholder_task.remove_planning_task req_task
            actual_task.add_planning_task req_task
        end
    end
end

#handle_resolution_exception(e, on_error: :discard) ⇒ Object 



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# File 'lib/syskit/network_generation/engine.rb', line 675

def handle_resolution_exception(e, on_error: :discard)
    if !work_plan.finalized? && (work_plan != real_plan) # we started processing, look at what the user wants to do with the partial transaction
        if on_error == :save
            log_pp(:fatal, e)
            fatal "Engine#resolve failed"
            begin
                dataflow_path, hierarchy_path = Engine.autosave_plan_to_dot(work_plan, Roby.app.log_dir)
                fatal "the generated plan has been saved"
                fatal "use dot -Tsvg #{dataflow_path} > #{dataflow_path}.svg to convert the dataflow to SVG"
                fatal "use dot -Tsvg #{hierarchy_path} > #{hierarchy_path}.svg to convert to SVG"
            rescue Exception => e
                Roby.log_exception_with_backtrace(e, self, :fatal)
            end
        end

        if on_error == :commit
            work_plan.commit_transaction
        else
            work_plan.discard_transaction
        end
    end
end

#pretty_print(pp) ⇒ Object

:nodoc:



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# File 'lib/syskit/network_generation/engine.rb', line 741

def pretty_print(pp) # :nodoc:
    pp.text "-- Tasks"
    pp.nest(2) do
        pp.breakable
        work_plan.each_task do |task|
            pp.text "#{task}"
            pp.nest(4) do
                pp.breakable
                pp.seplist(task.children.to_a) do |t|
                    pp.text "#{t}"
                end
            end
            pp.breakable
        end
    end

    pp.breakable
    pp.text "-- Connections"
    pp.nest(4) do
        pp.breakable
        work_plan.task_relation_graph_for(Flows::DataFlow).each_edge do |from, to, info|
            pp.text "#{from}"
            pp.breakable
            pp.text "  => #{to} (#{info})"
            pp.breakable
        end
    end
end

#reconfigure_tasks_on_static_port_modification(deployed_tasks) ⇒ Object

After the deployment phase, we check whether some static ports are modified and cause their task to be reconfigured.

Note that tasks that are already reconfigured because of #adapt_existing_deployment will be fine as the task is not configured yet



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# File 'lib/syskit/network_generation/engine.rb', line 396

def reconfigure_tasks_on_static_port_modification(deployed_tasks)
    final_deployed_tasks = deployed_tasks.dup

    # We filter against 'deployed_tasks' to always select the tasks
    # that have been selected in this deployment. It does mean that
    # the task is always the 'current' one, that is we would pick
    # the new deployment task and ignore the one that is being
    # replaced
    already_setup_tasks = work_plan.find_tasks(Syskit::TaskContext).not_finished.not_finishing.
        find_all { |t| deployed_tasks.include?(t) && (t.setting_up? || t.setup?) }

    already_setup_tasks.each do |t|
        if t.transaction_modifies_static_ports?
            debug { "#{t} was selected as deployment, but it would require modifications on static ports, spawning a new deployment" }

            new_task = t.execution_agent.task(t.orocos_name, t.concrete_model)
            merge_solver.apply_merge_group(t => new_task)
            new_task.should_configure_after t.stop_event
            final_deployed_tasks.delete(t)
            final_deployed_tasks << new_task
        end
    end
    final_deployed_tasks
end

#resolve(requirement_tasks: Engine.discover_requirement_tasks_from_plan(real_plan), on_error: self.class.on_error, compute_deployments: true, compute_policies: true, garbage_collect: true, validate_abstract_network: true, validate_generated_network: true, validate_deployed_network: true, validate_final_network: true) ⇒ Object

Generate the deployment according to the current requirements, and merges it into the current plan

The following options are understood:

compute_policies

if false, it will not compute the policies between ports. Mainly useful for offline testing

compute_deployments

if false, it will not do the deployment allocation. Mainly useful for testing/debugging purposes. It obviously turns off the policy computation as well.

garbage_collect

if false, it will not clean up the plan from all tasks that are not useful. Mainly useful for testing/debugging purposes

on_error

by default, #resolve will generate a dot file containing the current plan state if an error occurs. This corresponds to a :save value for this option. It can also be set to :commit, in which case the current state of the transaction is committed to the plan, allowing to display it anyway (for debugging of models for instance). Set it to false to do no special action (i.e. drop the currently generated plan)



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# File 'lib/syskit/network_generation/engine.rb', line 598

def resolve(requirement_tasks: Engine.discover_requirement_tasks_from_plan(real_plan),
            on_error: self.class.on_error,
            compute_deployments: true,
            compute_policies: true,
            garbage_collect: true,
            validate_abstract_network: true,
            validate_generated_network: true,
            validate_deployed_network: true,
            validate_final_network: true)

    required_instances = resolve_system_network(
        requirement_tasks,
        garbage_collect: garbage_collect,
        validate_abstract_network: validate_abstract_network,
        validate_generated_network: validate_generated_network,
        compute_deployments: compute_deployments,
        compute_policies: compute_policies,
        validate_deployed_network: validate_deployed_network)

    apply_system_network_to_plan(
        required_instances,
        compute_deployments: compute_deployments,
        garbage_collect: garbage_collect,
        validate_final_network: validate_final_network)

rescue Exception => e
    handle_resolution_exception(e, on_error: on_error)
    raise
end

#resolve_system_network(requirement_tasks, garbage_collect: true, validate_abstract_network: true, validate_generated_network: true, validate_deployed_network: true, compute_deployments: true, compute_policies: true) ⇒ Hash<InstanceRequirementsTask,InstanceRequirementsTask>

Computes the system network, that is the network that fullfills a list of requirements

This phase does not interact at all with #real_plan. It only computes the canonical plan that matches the requirements.

Its return value can then be given to #apply_system_network_to_plan to adapt the current plan to the desired state.

Parameters:

  • requirement_tasks (Array<InstanceRequirementsTask>) —

    the tasks that represent the requirements for the generated network

  • plan (Plan) —

    the plan into which the network should be generated

  • garbage_collect (Boolean) —

    whether the plan should be cleaned of unused tasks (debugging only)

Returns:



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# File 'lib/syskit/network_generation/engine.rb', line 551

def resolve_system_network(requirement_tasks,
                           garbage_collect: true,
                           validate_abstract_network: true,
                           validate_generated_network: true,
                           validate_deployed_network: true,
                           compute_deployments: true,
                           compute_policies: true)

    required_instances = compute_system_network(
        requirement_tasks,
        garbage_collect: garbage_collect,
        validate_abstract_network: validate_abstract_network,
        validate_generated_network: validate_generated_network)

    if compute_deployments
        log_timepoint_group 'compute_deployed_network' do
            compute_deployed_network(
                compute_policies: compute_policies,
                validate_deployed_network: validate_deployed_network)
        end
    end
    required_instances
end

#to_dot(options) ⇒ Object 



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# File 'lib/syskit/network_generation/engine.rb', line 739

def to_dot(options); to_dot_dataflow(options) end

#to_dot_dataflow(remove_compositions = false, excluded_models = Set.new, annotations = ["connection_policy"]) ⇒ Object 



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# File 'lib/syskit/network_generation/engine.rb', line 734

def to_dot_dataflow(remove_compositions = false, excluded_models = Set.new, annotations = ["connection_policy"])
    gen = Graphviz.new(work_plan)
    gen.dataflow(remove_compositions, excluded_models, annotations)
end

#to_svg(kind, filename = nil, *additional_args) ⇒ Object

Generate a svg file representing the current state of the deployment



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# File 'lib/syskit/network_generation/engine.rb', line 730

def to_svg(kind, filename = nil, *additional_args)
    Graphviz.new(work_plan).to_file(kind, 'svg', filename, *additional_args)
end

#validate_final_network(required_instances, plan, compute_deployments: true) ⇒ Object

Validates the state of the network at the end of #resolve



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# File 'lib/syskit/network_generation/engine.rb', line 699

def validate_final_network(required_instances, plan, compute_deployments: true)
    # Check that all device instances are proper tasks (not proxies)
    required_instances.each do |req_task, task|
        if task.transaction_proxy?
            raise InternalError, "instance definition #{instance} contains a transaction proxy: #{instance.task}"
        elsif !task.plan
            raise InternalError, "instance definition #{task} has been removed from plan"
        end
    end

    super if defined? super
end