Module: Syskit::Test::Self

Includes:
Roby::Test, Roby::Test::Assertions, Base, NetworkManipulation
Included in:
Minitest::Test
Defined in:
lib/syskit/test/self.rb

Overview

Module used in syskit's own test suite

Defined Under Namespace

Modules: ClassExtension

Instance Attribute Summary collapse

Instance Method Summary collapse

Methods included from NetworkManipulation

#__syskit_root_components, #normalize_instanciation_models, #resolve_orocos_writer, #syskit_configure, #syskit_configure_and_start, #syskit_default_stub_name, #syskit_deploy, #syskit_deploy_and_configure, #syskit_deploy_configure_and_start, #syskit_engine_resolve_handle_plan_export, #syskit_export_to_svg, #syskit_generate_network, #syskit_guard_against_configure, #syskit_guard_against_start_and_configure, #syskit_prepare_configure, #syskit_prepare_start, #syskit_protect_configuration_manager, #syskit_start, #syskit_start_all_execution_agents, #syskit_start_execution_agents, #syskit_stub, #syskit_stub_and_deploy, #syskit_stub_attached_device, #syskit_stub_com_bus, #syskit_stub_component, #syskit_stub_composition_requirements, #syskit_stub_conf, #syskit_stub_configured_deployment, #syskit_stub_deploy_and_configure, #syskit_stub_deploy_configure_and_start, #syskit_stub_deployment, #syskit_stub_deployment_model, #syskit_stub_device, #syskit_stub_driver_model_for, #syskit_stub_model_id, #syskit_stub_network, #syskit_stub_network_abstract_component, #syskit_stub_network_deployment, #syskit_stub_placeholder, #syskit_stub_required_devices, #syskit_stub_requirements, #syskit_stub_resolves_remote_tasks=, #syskit_stub_resolves_remote_tasks?, #syskit_stub_task_context_model, #syskit_stub_task_context_requirements, #syskit_wait_ready, #syskit_write, #use_deployment, #use_ruby_tasks, #use_unmanaged_task

Methods included from Base

#assert_has_no_new_sample, #assert_has_one_new_sample, #plug_requirement_modifications, #stub_type, #unplug_requirement_modifications

Instance Attribute Details

#robot ⇒ Object (readonly)

A RobotDefinition object that allows to create new device models easily



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# File 'lib/syskit/test/self.rb', line 16

def robot
  @robot
end

Instance Method Details

#assert_is_proxy_model_for(models, result) ⇒ Object 



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# File 'lib/syskit/test/self.rb', line 112

def assert_is_proxy_model_for(models, result)
    srv = nil
    proxied_models = Array(models).map do |m|
        if m.kind_of?(Syskit::Models::BoundDataService)
            srv = m
            m.component_model
        else m
        end
    end
    expected = Syskit::Models::Placeholder.for(proxied_models)
    if srv
        expected = srv.attach(expected)
    end
    assert_equal expected, result, "#{result} was expected to be a proxy model for #{models} (#{expected})"
end

#data_dir ⇒ Object 



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# File 'lib/syskit/test/self.rb', line 18

def data_dir
    File.join(SYSKIT_ROOT_DIR, "test", "data")
end

#data_service_type(name, &block) ⇒ Object 



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# File 'lib/syskit/test/self.rb', line 143

def data_service_type(name, &block)
    DataService.new_submodel(:name => name, &block)
end

#plug_apply_requirement_modifications ⇒ Object 



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# File 'lib/syskit/test/self.rb', line 81

def plug_apply_requirement_modifications
    @syskit_handler_ids[:apply_requirement_modifications] ||= execution_engine.
        add_propagation_handler(type: :propagation, late: true,
                                &Runtime.method(:apply_requirement_modifications))
end

#plug_connection_management ⇒ Object 



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# File 'lib/syskit/test/self.rb', line 90

def plug_connection_management
    @syskit_handler_ids[:connection_management] ||= execution_engine.
        add_propagation_handler(type: :propagation, late: true,
                                &Runtime::ConnectionManagement.method(:update))
end

#setup ⇒ Object 



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# File 'lib/syskit/test/self.rb', line 22

def setup
    Syskit.conf.define_default_process_managers = false

    if ENV['TEST_ENABLE_COVERAGE'] == '1'
        null_io = File.open('/dev/null', 'w')
        current_formatter = Syskit.logger.formatter
        Syskit.warn "running tests with logger in DEBUG mode"
        Syskit.logger = Logger.new(null_io)
        Syskit.logger.level = Logger::DEBUG
        Syskit.logger.formatter = current_formatter
    else
        Syskit.warn "running tests with logger in FATAL mode"
        Syskit.logger.level = Logger::FATAL + 1
    end

    @old_pkg_config = ENV['PKG_CONFIG_PATH'].dup
    Roby.app.app_dir = nil
    Roby.app.search_path.clear
    Roby.app.filter_backtraces = false
    ENV['ROBY_PLUGIN_PATH'] = File.expand_path(File.join(File.dirname(__FILE__), '..', 'roby_app', 'register_plugin.rb'))
    Roby.app.using 'syskit', force: true
    Syskit.conf.export_types = false
    Syskit.conf.disables_local_process_server = true
    Syskit.conf.only_load_models = true
    self.syskit_stub_resolves_remote_tasks = true

    super

    if !Orocos.initialized?
        Orocos.allow_blocking_calls { Orocos.initialize }
    end
    execution_engine.scheduler = Roby::Schedulers::Temporal.new(true, true, plan)
    execution_engine.scheduler.enabled = false

    @robot = Syskit::Robot::RobotDefinition.new

    @syskit_handler_ids = Hash.new
    @syskit_handler_ids[:deployment_states] = execution_engine.
        add_propagation_handler(type: :external_events,
                                &Runtime.method(:update_deployment_states))
    @syskit_handler_ids[:task_states] = execution_engine.
        add_propagation_handler(type: :external_events,
                                &Runtime.method(:update_task_states))
    plug_connection_management
    unplug_apply_requirement_modifications

    if !Syskit.conf.disables_local_process_server?
        Syskit::RobyApp::Plugin.connect_to_local_process_server
    end

    Syskit.conf.register_process_server(
        'stubs', Orocos::RubyTasks::ProcessManager.new(
            Roby.app.default_loader,
            task_context_class: Orocos::RubyTasks::StubTaskContext), "", host_id: 'syskit')
    Syskit.conf.logs.create_configuration_log(File.join(app.log_dir, 'properties'))

    Orocos.forbid_blocking_calls
end

#teardown ⇒ Object 



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# File 'lib/syskit/test/self.rb', line 99

def teardown
    Orocos.allow_blocking_calls

    plug_connection_management
    ENV['PKG_CONFIG_PATH'] = @old_pkg_config
    super

ensure
    if @syskit_handler_ids && execution_engine
        Syskit::RobyApp::Plugin.unplug_engine_from_roby(@syskit_handler_ids.values, execution_engine)
    end
end

#unplug_apply_requirement_modifications ⇒ Object 



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# File 'lib/syskit/test/self.rb', line 86

def unplug_apply_requirement_modifications
    execution_engine.remove_propagation_handler(@syskit_handler_ids.delete(:apply_requirement_modifications))
end

#unplug_connection_management ⇒ Object 



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# File 'lib/syskit/test/self.rb', line 95

def unplug_connection_management
    execution_engine.remove_propagation_handler(@syskit_handler_ids.delete(:connection_management))
end