Module: Syskit::RobyApp::Plugin

Defined in:
lib/syskit/roby_app/plugin.rb

Overview

This gets mixed in Roby::Application when the orocos plugin is loaded. It adds the configuration facilities needed to plug-in orogen projects in Roby.

When in development mode, it will emit the following UI events:

syskit_orogen_config_changed

files under config/orogen/ have been modified, and this affects loaded models. In addition, a text notification is sent to inform a shell user

Defined Under Namespace

Modules: LoadToplevelMethods Classes: OroGenLocation, VariableSizedType

Class Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Class Attribute Details

.toplevel_object ⇒ Object

Returns the value of attribute toplevel_object



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# File 'lib/syskit/roby_app/plugin.rb', line 788

def toplevel_object
  @toplevel_object
end

Class Method Details

.auto_require_models(app) ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 451

def self.auto_require_models(app)
    # Load the data services and task models
    prefixes = ['services', 'devices', 'compositions', 'profiles']
    if Roby.app.backward_compatible_naming?
        prefixes << 'blueprints'
    end

    if Syskit.conf.ignore_missing_orogen_projects_during_load?
        ignored_exceptions = [OroGen::NotFound]
    end
    prefixes.each do |prefix_name|
        app.load_all_model_files_in(
            prefix_name, ignored_exceptions: ignored_exceptions)
    end

    # Also require all the available oroGen projects
    app.default_loader.each_available_project_name do |name|
        app.using_task_library name
    end

    if app.auto_load_all? || app.auto_load_all_task_libraries?
        app.auto_load_all_task_libraries
    end
end

.cleanup(app) ⇒ Object

Hook called by the main application to undo what require_models and setup have done



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# File 'lib/syskit/roby_app/plugin.rb', line 167

def self.cleanup(app)
    if app.development_mode?
        app.syskit_remove_configuration_changes_listener
    end

    disconnect_all_process_servers
    stop_local_process_server
end

.clear_config(app) ⇒ Object

Called by the main Roby application to clear all before redoing a setup



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# File 'lib/syskit/roby_app/plugin.rb', line 447

def self.clear_config(app)
    Syskit.conf.clear
end

.clear_models(app) ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 735

def self.clear_models(app)
    OroGen.clear

    app.loaded_orogen_projects.clear
    app.default_loader.clear

    # We need to explicitly call Orocos.clear even though it looks
    # like clearing the process servers would be sufficient
    #
    # The reason is that #cleanup only disconnects from the process
    # servers, and is called before #clear_models. However, for
    # "fake" process servers, syskit also assumes that reconnecting
    # to a "new" local process server will have cleared all cached
    # values. This won't work as the process server will not be
    # cleared in addition of being disconnected
    #
    # I (sylvain) chose to not clear on disconnection as it sounds
    # too much like a very bad side-effect to me. Simply explicitly
    # clear the local registries here
    Orocos.clear

    # This needs to be cleared here and not in
    # Component.clear_model. The main reason is that we need to
    # clear them on every component model class,
    # including the models that are markes as permanent
    Syskit::Component.placeholder_models.clear
    Syskit::Component.each_submodel do |sub|
        sub.placeholder_models.clear
    end

    # require_models is where the deployments get loaded, so
    # un-define them here
    Syskit.conf.clear_deployments
end

.connect_to_local_process_server(app) ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 554

def self.connect_to_local_process_server(app)
    if !@server_pid
        raise Orocos::RemoteProcesses::Client::StartupFailed, "#connect_to_local_process_server got called but no process server is being started"
    end

    # Wait for the server to be ready
    client = nil
    while !client
        client =
            begin Orocos::RemoteProcesses::Client.new('localhost', @server_port)
            rescue Errno::ECONNREFUSED
                sleep 0.1
                is_running =
                    begin
                        !::Process.waitpid(@server_pid, ::Process::WNOHANG)
                    rescue Errno::ESRCH
                        false
                    end

                if !is_running
                    raise Orocos::RemoteProcesses::Client::StartupFailed, "the local process server failed to start"
                end
                nil
            end
    end

    # Verify that the server is actually ours (i.e. check that there
    # was not one that was still running)
    if client.server_pid != @server_pid
        raise Orocos::RemoteProcesses::Client::StartupFailed, "failed to start the local process server. It seems that there is one still running as PID #{client.server_pid} (was expecting #{@server_pid})"
    end

    # Do *not* manage the log directory for that one ...
    Syskit.conf.register_process_server('localhost', client, app.log_dir)
    client
end

.disable_engine_in_roby(roby_engine, *handlers) ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 713

def self.disable_engine_in_roby(roby_engine, *handlers)
    if @handler_ids
        handlers.each do |h|
            roby_engine.remove_propagation_handler(@handler_ids.delete(h))
        end

        begin
            yield
        ensure
            all_handlers = roby_engine_propagation_handlers
            handlers.each do |h|
                @handler_ids[h] = roby_engine.add_propagation_handler(all_handlers[h][1], &all_handlers[h][0])
            end
        end
    else yield
    end
end

.disconnect_all_process_servers ⇒ Object

Disconnects from all process servers



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# File 'lib/syskit/roby_app/plugin.rb', line 605

def self.disconnect_all_process_servers
    process_servers = Syskit.conf.each_process_server_config.map(&:name)
    process_servers.each do |name|
        next if name =~ /-sim$/
        ps = Syskit.conf.remove_process_server(name)
        ps.client.disconnect
    end
end

.enable ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 790

def self.enable
    ::Robot.include Syskit::RobyApp::RobotExtension
    ::Roby.conf.syskit = Syskit.conf

    OroGen.load_orogen_plugins('syskit')
    Roby.app.filter_out_patterns << Regexp.new(Regexp.quote(OroGen::OROGEN_LIB_DIR))
    Roby.app.filter_out_patterns << Regexp.new(Regexp.quote(Orocos::OROCOSRB_LIB_DIR))
    Roby.app.filter_out_patterns << Regexp.new(Regexp.quote(Typelib::TYPELIB_LIB_DIR))
    Roby.app.filter_out_patterns << Regexp.new(Regexp.quote(Syskit::SYSKIT_LIB_DIR))
    toplevel_object.extend LoadToplevelMethods
end

.finalize_model_loading(app) ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 248

def self.finalize_model_loading(app)
    if toplevel_object.respond_to?(:global_profile)
        app.app_module::Actions::Main.use_profile toplevel_object.global_profile
    end
end

.fixed_size_type?(type) ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/syskit/roby_app/plugin.rb', line 826

def self.fixed_size_type?(type)
    !type.contains?(Typelib::ContainerType)
end

.globally_sized_type?(type) ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/syskit/roby_app/plugin.rb', line 830

def self.globally_sized_type?(type)
    sizes = Orocos.max_sizes_for(type)
    !sizes.empty? && OroGen::Spec::Port.compute_max_marshalling_size(type, sizes)
end

.has_local_process_server? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/syskit/roby_app/plugin.rb', line 550

def self.has_local_process_server?
    @server_pid
end

.load_base_config(app) ⇒ Object

Hook called by the main application in Application#load_base_config



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# File 'lib/syskit/roby_app/plugin.rb', line 35

def self.load_base_config(app)
    options = app.options
    conf = Syskit.conf
    if options = options['syskit']
        conf.prefix = options['prefix']
        conf.exclude_from_prefixing.concat(options['exclude_from_prefixing'] || [])
        conf.sd_domain = options['sd_domain']
        conf.publish_on_sd.concat(options['publish_on_sd'] || [])
    end

    if app.testing?
        require 'syskit/test'
    end

    Orocos.disable_sigchld_handler = true
end

.load_default_models(app) ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 476

def self.load_default_models(app)
    ['services.rb', 'devices.rb', 'compositions.rb', 'profiles.rb'].each do |root_file|
        if path = app.find_file('models', root_file, path: [app.app_dir], order: :specific_first)
            require path
        end
    end
end

.plug_engine_in_roby(roby_engine) ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 680

def self.plug_engine_in_roby(roby_engine)
    handler_ids = Hash.new
    roby_engine_propagation_handlers.each do |name, (m, options)|
        handler_ids[name] = roby_engine.add_propagation_handler(options, &m)
    end
    handler_ids
end

.plug_handler_in_roby(roby_engine, *handlers) ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 695

def self.plug_handler_in_roby(roby_engine, *handlers)
    handlers.each do |handler_name|
        m, options = roby_engine_propagation_handlers.fetch(handler_name)
        next if @handler_ids.has_key?(handler_name)
        @handler_ids[handler_name] = roby_engine.add_propagation_handler(options, &m)
    end
end

.prepare(app) ⇒ Object

Hook called by the main application to prepare for execution



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# File 'lib/syskit/roby_app/plugin.rb', line 177

def self.prepare(app)
    @handler_ids = plug_engine_in_roby(app.execution_engine)
end

.require_models(app) ⇒ Object

Hook called by the main application in Application#setup after the main setup hooks have been called



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# File 'lib/syskit/roby_app/plugin.rb', line 145

def self.require_models(app)
    setup_loaders(app)

    app.extra_required_task_libraries.each do |name|
        app.using_task_library name
    end
    app.extra_required_typekits.each do |name|
        app.import_types_from name
    end

    if !app.permanent_requirements.empty?
        toplevel_object.extend SingleFileDSL
        app.execution_engine.once do
            app.permanent_requirements.each do |req|
                app.plan.add_mission_task(req.as_plan)
            end
        end
    end
end

.roby_engine_propagation_handlers ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 667

def self.roby_engine_propagation_handlers
    handlers = Hash.new
    handlers[:update_deployment_states] = [
        Runtime.method(:update_deployment_states), type: :external_events, description: 'syskit:update_deployment_states']
    handlers[:update_task_states] = [
        Runtime.method(:update_task_states), type: :external_events, description: 'syskit:update_task_states']
    handlers[:connection_management] = [
        Runtime::ConnectionManagement.method(:update), type: :propagation, late: true, description: 'syskit:connection_management_update']
    handlers[:apply_requirement_modifications] = [
        Runtime.method(:apply_requirement_modifications), type: :propagation, late: true, description: 'syskit:apply_requirement_modifications']
    handlers
end

.root_models ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 731

def self.root_models
    [Syskit::Component, Syskit::Actions::Profile]
end

.setup(app) ⇒ Object

Hook called by the main application at the beginning of Application#setup



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# File 'lib/syskit/roby_app/plugin.rb', line 53

def self.setup(app)
    # We have our own loader, avoid clashing
    Orocos.default_loader.export_types = false
    # But, for the time being, default_loader might be equal to
    # Orocos.default_loader, so reset the export_types flag to the
    # desired value
    app.default_loader.export_types = Syskit.conf.export_types?

    # This is a HACK. We should be able to specify it differently
    if app.testing? && app.auto_load_models?
        app.auto_load_all_task_libraries = true
    end

    if app.development_mode?
        require 'listen'
        app.syskit_listen_to_configuration_changes
    end

    if app.testing?
        Syskit.conf.logs.disable_conf_logging
        Syskit.conf.logs.disable_port_logging
    end

    unless Syskit.conf.only_load_models?
        Syskit.conf.logs.create_configuration_log(
            File.join(app.log_dir, 'properties'))
    end

    if Syskit.conf.define_default_process_managers? && Syskit.conf.only_load_models?
        fake_client = Configuration::ModelOnlyServer.new(app.default_loader)
        Syskit.conf.register_process_server(
            'ruby_tasks', fake_client, app.log_dir, host_id: 'syskit')
        Syskit.conf.register_process_server(
            'unmanaged_tasks', fake_client, app.log_dir, host_id: 'syskit')
        Syskit.conf.register_process_server(
            'ros', fake_client, app.log_dir, host_id: 'syskit')
    elsif Syskit.conf.define_default_process_managers?
        Syskit.conf.register_process_server('ruby_tasks',
            Orocos::RubyTasks::ProcessManager.new(app.default_loader),
            app.log_dir, host_id: 'syskit')

        Syskit.conf.register_process_server(
            'unmanaged_tasks', UnmanagedTasksManager.new, app.log_dir)

        Syskit.conf.register_process_server(
            'ros', Orocos::ROS::ProcessManager.new(app.ros_loader),
            app.log_dir)
    end

    if Orocos.orocos_logfile
        ENV['ORO_LOGFILE'] = Orocos.orocos_logfile
    else
        ENV['ORO_LOGFILE'] = File.join(app.log_dir, "orocos.orocosrb-#{::Process.pid}.txt")
    end

    if Syskit.conf.only_load_models?
        Orocos.load
        if Orocos::ROS.available?
            Orocos::ROS.load
        end
    else
        # Change to the log dir so that the IOR file created by
        # the CORBA bindings ends up there
        Dir.chdir(app.log_dir) do
            Orocos.initialize
            if Orocos::ROS.enabled?
                Orocos::ROS.initialize
                Orocos::ROS.roscore_start(:wait => true)
            end
        end
    end

    start_local_process_server =
        Syskit.conf.define_default_process_managers? &&
        !Syskit.conf.only_load_models? &&
        !Syskit.conf.disables_local_process_server? &&
        !(app.single? && app.simulation?)

    if start_local_process_server
        start_local_process_server(redirect: Syskit.conf.redirect_local_process_server?)
        connect_to_local_process_server(app)
    else
        fake_client = Configuration::ModelOnlyServer.new(app.default_loader)
        Syskit.conf.register_process_server('localhost', fake_client, app.log_dir, host_id: 'syskit')
    end

    rtt_core_model = app.default_loader.task_model_from_name("RTT::TaskContext")
    Syskit::TaskContext.define_from_orogen(rtt_core_model, register: true)
end

.setup_loaders(app) ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 335

def self.setup_loaders(app)
    all_files =
        app.find_files_in_dirs("models", "ROBOT", "pack", "orogen", :all => app.auto_load_all?, :order => :specific_first, :pattern => /\.orogen$/)
    all_files.reverse.each do |path|
        name = File.basename(path, ".orogen")
        app.orogen_pack_loader.register_orogen_file path, name
    end

    all_files =
        app.find_files_in_dirs("models", "ROBOT", "pack", "orogen", :all => app.auto_load_all?, :order => :specific_first, :pattern => /\.typelist$/)
    all_files.reverse.each do |path|
        name = File.basename(path, ".typelist")
        dir  = File.dirname(path)
        app.orogen_pack_loader.register_typekit dir, name
    end

    app.ros_loader.search_path.
        concat(Roby.app.find_dirs('models', 'ROBOT', 'orogen', 'ros', :all => app.auto_load_all?, :order => :specific_first))
    app.ros_loader.packs.
        concat(Roby.app.find_dirs('models', 'ROBOT', 'pack', 'ros', :all => true, :order => :specific_last))
end

.setup_rest_interface(app, rest_api) ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 849

def self.setup_rest_interface(app, rest_api)
    require 'syskit/roby_app/rest_api'
    rest_api.mount REST_API => '/syskit'
end

.shutdown(app) ⇒ Object

Hook called by the main application to undo what prepare did



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# File 'lib/syskit/roby_app/plugin.rb', line 182

def self.shutdown(app)
    remaining = Orocos.each_process.to_a
    if !remaining.empty?
        Syskit.warn "killing remaining Orocos processes: #{remaining.map(&:name).join(", ")}"
        Orocos::Process.kill(remaining)
    end

    if @handler_ids
        unplug_engine_from_roby(@handler_ids.values, app.execution_engine)
        @handler_ids = nil
    end
end

.start_local_process_server(port = 0, redirect: true) ⇒ Object

Start a process server on the local machine, and register it in Syskit.process_servers under the 'localhost' name



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# File 'lib/syskit/roby_app/plugin.rb', line 526

def self.start_local_process_server(port = 0, redirect: true)
    if Syskit.conf.process_servers['localhost']
        raise ArgumentError, "there is already a process server called 'localhost' running"
    end

    if !File.exists?(Roby.app.log_dir)
        FileUtils.mkdir_p(Roby.app.log_dir)
    end

    tcp_server = TCPServer.new('127.0.0.1', 0)
    spawn_options = Hash[tcp_server => tcp_server, chdir: Roby.app.log_dir, pgroup: true]
    if redirect
        spawn_options[:err] = :out
        spawn_options[:out] = File.join(Roby.app.log_dir, 'local_process_server.txt')
    end

    @server_pid  = Kernel.spawn \
        'syskit', 'process_server', "--fd=#{tcp_server.fileno}", "--log-dir=#{Roby.app.log_dir}", "--debug",
        spawn_options
    @server_port = tcp_server.local_address.ip_port
    tcp_server.close
    nil
end

.stop_local_process_server ⇒ Object

Stop the process server started by start_local_process_server if one is running



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# File 'lib/syskit/roby_app/plugin.rb', line 593

def self.stop_local_process_server
    return if !has_local_process_server?

    ::Process.kill('INT', @server_pid)
    begin
        ::Process.waitpid(@server_pid)
        @server_pid = nil
    rescue Errno::ESRCH
    end
end

.unplug_engine_from_roby(handler_ids = @handler_ids, roby_engine) ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 688

def self.unplug_engine_from_roby(handler_ids = @handler_ids, roby_engine)
    handler_ids.delete_if do |handler_id|
        roby_engine.remove_propagation_handler(handler_id)
        true
    end
end

.unplug_handler_from_roby(roby_engine, *handlers) ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 703

def self.unplug_handler_from_roby(roby_engine, *handlers)
    if @handler_ids
        handlers.each do |h|
            if h_id = @handler_ids.delete(h)
                roby_engine.remove_propagation_handler(h_id)
            end
        end
    end
end

.validate_all_port_types_have_fixed_size(only_warn: false, ignore: []) ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 835

def self.validate_all_port_types_have_fixed_size(only_warn: false, ignore: [])
    with_global_size = Set.new
    Syskit::Component.each_submodel do |component_m|
        next if component_m.abstract?

        component_m.each_input_port do |p|
            validate_port_has_fixed_size(p, with_global_size, only_warn: only_warn, ignore: ignore)
        end
        component_m.each_output_port do |p|
            validate_port_has_fixed_size(p, with_global_size, only_warn: only_warn, ignore: ignore)
        end
    end
end

.validate_port_has_fixed_size(port, with_global_size, only_warn: false, ignore: []) ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 804

def self.validate_port_has_fixed_size(port, with_global_size, only_warn: false, ignore: [])
    return if with_global_size.include?(port.type)
    if fixed_size_type?(port.type) || globally_sized_type?(port.type)
        with_global_size << port.type
        return
    end

    port = port.to_component_port
    if ignore.include?(port.type)
        return
    elsif size = port.max_marshalling_size
        size
    else
        msg = "marshalled size of port #{port} cannot be inferred"
        if only_warn
            ::Robot.warn msg
        else
            raise VariableSizedType, msg
        end
    end
end

Instance Method Details

#auto_load_all_task_libraries ⇒ Object

Loads all available oroGen projects



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# File 'lib/syskit/roby_app/plugin.rb', line 328

def auto_load_all_task_libraries
    self.auto_load_all_task_libraries = true
    default_loader.each_available_project_name do |name|
        using_task_library(name)
    end
end

#auto_load_all_task_libraries=(value) ⇒ Object

If true, syskit is loading all available oroGen projects on this system. It is set automatically by #syskit_load_all to ensure that everything is reloaded when the app reloads its models



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# File 'lib/syskit/roby_app/plugin.rb', line 325

attr_predicate :auto_load_all_task_libraries?, true

#auto_load_all_task_libraries? ⇒ Boolean

If true, syskit is loading all available oroGen projects on this system. It is set automatically by #syskit_load_all to ensure that everything is reloaded when the app reloads its models

Returns:

  • (Boolean) 


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# File 'lib/syskit/roby_app/plugin.rb', line 325

attr_predicate :auto_load_all_task_libraries?, true

#autodiscover_tests_in?(path) ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/syskit/roby_app/plugin.rb', line 509

def autodiscover_tests_in?(path)
    if File.basename(path) == 'orogen'
        search_path.each do |base_path|
            if File.join(base_path, 'test', 'orogen') == path
                return false
            end
        end
    end

    if defined? super
        super
    else true
    end
end

#default_loader ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 195

def default_loader
    if !@default_loader
        @default_loader = Orocos.default_loader
        default_loader.on_project_load do |project|
            project_define_from_orogen(project)
        end
        orogen_pack_loader
        ros_loader
    end
    @default_loader
end

#default_orogen_project ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 219

def default_orogen_project
    @default_orogen_project ||= OroGen::Spec::Project.new(default_loader)
end

#default_pkgconfig_loader ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 207

def default_pkgconfig_loader
    Orocos.default_pkgconfig_loader
end

#deployment_define_from_orogen(deployer) ⇒ Object

Loads the oroGen deployment model for the given name and returns the corresponding syskit model

Parameters:

  • options (Hash) —

    a customizable set of options



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# File 'lib/syskit/roby_app/plugin.rb', line 652

def deployment_define_from_orogen(deployer)
    if Deployment.has_model_for?(deployer)
        Deployment.find_model_by_orogen(deployer)
    else
        Deployment.define_from_orogen(deployer, :register => true)
    end
end

#import_types_from(typekit_name) ⇒ Object

Loads the required typekit model by its name



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# File 'lib/syskit/roby_app/plugin.rb', line 485

def import_types_from(typekit_name)
    default_loader.typekit_model_from_name(typekit_name)
end

#load_component_extension(name) ⇒ String?

Load the component extension file associated with this an oroGen project

Parameters:

  • name (String) —

    the orogen project name

Returns:

  • (String, nil) —

    either a file that got required, or nil if none was



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# File 'lib/syskit/roby_app/plugin.rb', line 306

def load_component_extension(name)
    # If we are loading under Roby, get the plugins for the orogen
    # project
    return if !Syskit.conf.load_component_extensions?

    file = find_file('models', 'orogen', "#{name}.rb", order: :specific_first) ||
        find_file('tasks', 'orogen', "#{name}.rb", order: :specific_first) ||
        find_file('tasks', 'components', "#{name}.rb", order: :specific_first)
    return unless file

    Roby::Application.info "loading task extension #{file}"
    if require(file)
        file
    end
end

#load_orogen_project(name, options = Hash.new) ⇒ Object

Deprecated.

use #using_task_library instead



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# File 'lib/syskit/roby_app/plugin.rb', line 505

def load_orogen_project(name, options = Hash.new)
    using_task_library(name, options)
end

#loaded_orogen_project?(name) ⇒ Boolean

Returns true if the given orogen project has already been loaded by #load_orogen_project

Returns:

  • (Boolean) 


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# File 'lib/syskit/roby_app/plugin.rb', line 256

def loaded_orogen_project?(name); loaded_orogen_projects.has_key?(name) end

#loaded_orogen_projects ⇒ Hash<String,OroGen::Spec::Project>

Returns the set of projects loaded so far

Returns:

  • (Hash<String,OroGen::Spec::Project>) —

    the set of projects loaded so far



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# File 'lib/syskit/roby_app/plugin.rb', line 239

attribute(:loaded_orogen_projects) { Hash.new }

#local_only=(value) ⇒ Object

:attr: local_only?

True if this application should not try to contact other machines/servers



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# File 'lib/syskit/roby_app/plugin.rb', line 665

attr_predicate :local_only?, true

#local_only? ⇒ Object

:attr: local_only?

True if this application should not try to contact other machines/servers



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# File 'lib/syskit/roby_app/plugin.rb', line 665

attr_predicate :local_only?, true

#orogen_pack_loader ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 211

def orogen_pack_loader
    @orogen_pack_loader ||= OroGen::Loaders::Files.new(default_loader)
end

#permanent_requirements ⇒ Array<InstanceRequirements>

Set of requirements that should be added to the running system. This is meant to be used only by “syskit scripts” through SingleFileDSL

Returns:



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# File 'lib/syskit/roby_app/plugin.rb', line 246

attribute(:permanent_requirements) { Array.new }

#project_define_from_orogen(orogen) ⇒ Object

Registers all objects contained in a given oroGen project

Parameters:

  • orogen (OroGen::Spec::Project) —

    the oroGen project that should be added to the Syskit side



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# File 'lib/syskit/roby_app/plugin.rb', line 264

def project_define_from_orogen(orogen)
    return if loaded_orogen_projects.has_key?(orogen.name)
    Syskit.info "loading oroGen project #{orogen.name}"

    tasks = orogen.self_tasks.each_value.map do |task_def|
        syskit_model =
            if !TaskContext.has_model_for?(task_def)
                Syskit::TaskContext.define_from_orogen(task_def, register: true)
            else
                Syskit::TaskContext.model_for(task_def)
            end

        syskit_model.configuration_manager.reload
        syskit_model
    end


    if file = load_component_extension(orogen.name)
        tasks.each do |t|
            t.definition_location = [OroGenLocation.new(file, 1, nil)]
            t.extension_file = file
        end
    end

    orogen.each_deployment do |deployer_model|
        deployment_define_from_orogen(deployer_model)
    end
    orogen
end

#ros_loader ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 215

def ros_loader
    @ros_loader ||= OroGen::ROS::Loader.new(default_loader)
end

#syskit_has_pending_configuration_changes? ⇒ Boolean

Verifies whether the configuration on disk and the configurations currently loaded in the running deployments are identical

Returns:

  • (Boolean) 


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# File 'lib/syskit/roby_app/plugin.rb', line 378

def syskit_has_pending_configuration_changes?
    TaskContext.each_submodel do |model|
        return true if model.configuration_manager.changed_on_disk?
    end
    false
end

#syskit_listen_to_configuration_changes ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 357

def syskit_listen_to_configuration_changes
    dirs = find_dirs('config', 'orogen', 'ROBOT', all: true, order: :specific_last)
    return if dirs.empty?

    @conf_listener = Listen.to(*dirs) do |modified, added, removed|
        if syskit_has_pending_configuration_changes?
            notify 'syskit', 'INFO', 'oroGen configuration files changed on disk. In the shell, reload with #reload_config and reconfigure affected running components with #redeploy'
            ui_event 'syskit_orogen_config_changed'
        end
    end
    @conf_listener.start
end

#syskit_pending_reloaded_configurations ⇒ (Array,Array)

Returns the names of the TaskContext that will need to be reconfigured on the next deployment (either #redeploy or transition)

Returns:

  • ((Array,Array)) —

    the list of all task names for tasks whose configuration has changed, and the subset of these tasks that are currently running



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# File 'lib/syskit/roby_app/plugin.rb', line 430

def syskit_pending_reloaded_configurations
    pending_reconfigurations = Array.new
    pending_running_reconfigurations = Array.new
    plan.find_tasks(Deployment).each do |deployment_task|
        pending = deployment_task.pending_reconfigurations
        deployment_task.each_executed_task do |t|
            if pending.include?(t.orocos_name)
                pending_running_reconfigurations << t.orocos_name
            end
        end
        pending_reconfigurations.concat(pending)
    end
    return pending_reconfigurations, pending_running_reconfigurations
end

#syskit_reload_config ⇒ (Array,Array)

Reloads the configuration files

This only modifies the configuration loaded internally, but does not change the configuration of existing task contexts. The new configuration will only be applied after the next deployment

Returns:

  • ((Array,Array)) —

    the names of the components whose configuration changed, and the subset of those that are currently running

See Also:



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# File 'lib/syskit/roby_app/plugin.rb', line 395

def syskit_reload_config
    needs_reconfiguration = []
    running_needs_reconfiguration = []
    TaskContext.each_submodel do |model|
        next if !model.concrete_model?
        changed_sections = model.configuration_manager.reload
        plan.find_tasks(Deployment).each do |deployment_task|
            deployment_task.mark_changed_configuration_as_not_reusable(
                model => changed_sections).each do |orocos_name|

                needs_reconfiguration << orocos_name
                deployment_task.each_executed_task do |t|
                    if t.orocos_name == orocos_name
                        running_needs_reconfiguration << orocos_name
                    end
                end
                notify 'syskit', 'INFO', "task #{orocos_name} needs reconfiguration"
            end
        end
    end

    if !running_needs_reconfiguration.empty?
        notify 'syskit', 'INFO', "#{running_needs_reconfiguration.size} running tasks configuration changed. In the shell, use 'redeploy' to trigger reconfiguration."
    end
    ui_event 'syskit_orogen_config_reloaded', needs_reconfiguration,
        running_needs_reconfiguration
    needs_reconfiguration
end

#syskit_remove_configuration_changes_listener ⇒ Object 



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# File 'lib/syskit/roby_app/plugin.rb', line 370

def syskit_remove_configuration_changes_listener
    if @conf_listener
        @conf_listener.stop
    end
end

#syskit_start_all_deployments(on: nil, except_on: "unmanaged_tasks") ⇒ Object

Start all deployments

Parameters:

  • on (String, nil) —

    the name of the process server on which deployments should be started. If nil, all servers are considered



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# File 'lib/syskit/roby_app/plugin.rb', line 633

def syskit_start_all_deployments(on: nil, except_on: "unmanaged_tasks")
    existing_deployments = plan.find_tasks(Syskit::Deployment).
        not_finished.
        find_all { |d| d.reusable? }.
        map(&:process_name).to_set

    Syskit.conf.each_configured_deployment(on: on, except_on: except_on) do |configured_deployment|
        next if existing_deployments.include?(configured_deployment.process_name)
        plan.add_permanent_task(configured_deployment.new)
    end
end

#syskit_utility_component?(task_context) ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/syskit/roby_app/plugin.rb', line 294

def syskit_utility_component?(task_context)
    if defined?(OroGen::Logger::Logger)
        task_context.kind_of?(OroGen::Logger::Logger)
    end
end

#using_deployment(name, loader: default_loader) ⇒ Object

Loads the oroGen deployment model for the given name and returns the corresponding syskit model



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# File 'lib/syskit/roby_app/plugin.rb', line 616

def using_deployment(name, loader: default_loader)
    # This loads the underlying orogen project which causes the
    # deployer to be registered
    deployment_model = loader.deployment_model_from_name(name)
    Deployment.find_model_by_orogen(deployment_model)
end

#using_ros_launcher(name, options = Hash.new) ⇒ Object

Loads the oroGen deployment model based on a ROS launcher file



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# File 'lib/syskit/roby_app/plugin.rb', line 624

def using_ros_launcher(name, options = Hash.new)
    options = Kernel.validate_options options, :loader => ros_loader
    using_deployment(name, options)
end

#using_ros_package(name, options = Hash.new) ⇒ Object

Loads the required ROS package



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# File 'lib/syskit/roby_app/plugin.rb', line 499

def using_ros_package(name, options = Hash.new)
    options = Kernel.validate_options options, :loader => ros_loader
    using_task_library(name, options)
end

#using_task_library(name, options = Hash.new) ⇒ OroGen::Spec::Project

Load the specified oroGen project and register the task contexts and deployments they contain.

Returns:

  • (OroGen::Spec::Project) 


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# File 'lib/syskit/roby_app/plugin.rb', line 493

def using_task_library(name, options = Hash.new)
    options = Kernel.validate_options options, :loader => default_loader
    options[:loader].project_model_from_name(name)
end