Class: Syskit::Test::Spec

Inherits:
Roby::Test::Spec
  • Object
show all
Includes:
Base
Defined in:
lib/syskit/test/spec.rb

Class Method Summary collapse

Instance Method Summary collapse

Methods included from Base

#assert_has_no_new_sample, #assert_has_one_new_sample, #plug_connection_management, #plug_requirement_modifications, #stub_type, #unplug_connection_management, #unplug_requirement_modifications

Class Method Details

.subject_syskit_model ⇒ Object

Returns the syskit model under test



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# File 'lib/syskit/test/spec.rb', line 82

def self.subject_syskit_model
    if @subject_syskit_model
        return @subject_syskit_model
    end
    parent = superclass
    if parent.respond_to?(:subject_syskit_model)
        parent.subject_syskit_model
    else
        raise ArgumentError, "no subject syskit model found"
    end
end

.use_syskit_model(model) ⇒ Object

Override the task model that should by default in tests such as #is_configurable. This is used mainly in case the task model under test is abstract



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# File 'lib/syskit/test/spec.rb', line 70

def self.use_syskit_model(model)
    @subject_syskit_model = model
end

Instance Method Details

#plan ⇒ Object 



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# File 'lib/syskit/test/spec.rb', line 132

def plan; Roby.plan end

#setup ⇒ Object 



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# File 'lib/syskit/test/spec.rb', line 34

def setup
    NetworkGeneration::Engine.on_error = :save
    unplug_requirement_modifications
    loader = OroGen::Loaders::Base.new(Roby.app.default_loader)
    Syskit.conf.register_process_server(
        'stubs', Orocos::RubyTasks::ProcessManager.new(loader, task_context_class: Orocos::RubyTasks::StubTaskContext), "", host_id: 'syskit')
    super
    Syskit.conf.logs.disable_conf_logging
    Syskit.conf.logs.disable_port_logging
end

#subject_syskit_model ⇒ Object

Returns the syskit model under test

It is delegated to self.class.subject_syskit_model by default



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# File 'lib/syskit/test/spec.rb', line 77

def subject_syskit_model
    self.class.subject_syskit_model
end

#syskit_stub_attached_device_model(bus_m, dev_name = 'dev') ⇒ Syskit::Component

Create a stub device task attached to a given communication bus

This is meant to be used to test the integration of specific com busses. The driver task from the communication bus is expected to exist, while the driver task for the device is stubbed as well.

The bus is called 'bus'

Parameters:

  • dev_name (String) (defaults to: 'dev') —

    the name of the created device

Returns:



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# File 'lib/syskit/test/spec.rb', line 116

def syskit_stub_attached_device_model(bus_m, dev_name = 'dev')
    robot = Syskit::Robot::RobotDefinition.new
    dev_m = Syskit::Device.new_submodel(name: "StubDevice")
    driver_m = Syskit::TaskContext.new_submodel(name: "StubDriver") do
        input_port 'bus_in', bus_m.message_type
        output_port 'bus_out', bus_m.message_type
        provides bus_m.client_srv, :as => 'can'
        driver_for dev_m, :as => 'dev'
    end
    stub_syskit_deployment_model(driver_m, 'driver_task')
    bus = robot.com_bus bus_m, :as => 'bus'
    stub_syskit_deployment_model(bus.driver_model, 'bus_task')
    robot.device(dev_m, :as => dev_name).
        attach_to(bus)
end

#syskit_stub_driver_model(dev_m, options = Hash.new) ⇒ Syskit::Component

Create a stub driver model

Parameters:

  • dev_name (String) —

    the name of the created device

Returns:



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# File 'lib/syskit/test/spec.rb', line 98

def syskit_stub_driver_model(dev_m, options = Hash.new)
    robot = Syskit::Robot::RobotDefinition.new
    device = robot.device(dev_m, options)
    task_srv = device.driver_model
    stub_syskit_deployment_model(task_srv.component_model, device.name)
    task_srv.component_model.with_arguments("#{task_srv.name}_dev" => device)
end

#teardown ⇒ Object 



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# File 'lib/syskit/test/spec.rb', line 45

def teardown
    if !passed? && app.public_logs?
        dataflow, hierarchy = __full_name__ + "-partial-dataflow.svg", __full_name__ + "-partial-hierarchy.svg"
        dataflow, hierarchy = [dataflow, hierarchy].map do |filename|
            filename.gsub("/", "_")
        end
        Graphviz.new(plan).to_file('dataflow', 'svg', File.join(app.log_dir, dataflow))
        Graphviz.new(plan).to_file('hierarchy', 'svg', File.join(app.log_dir, hierarchy))
    end

    super

ensure
    Syskit.conf.remove_process_server('stubs')
end

#teardown_registered_plans ⇒ Object 



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# File 'lib/syskit/test/spec.rb', line 61

def teardown_registered_plans
    super
    Syskit::RequiredDataFlow.clear
    Syskit::ActualDataFlow.clear
end