class OroGen::Spec::Project

Representation of an oroGen project

Attributes

default_task_superclass[W]

deployers[R]

This project's deployments @return [Hash<String,OroGen::Spec::Deployment>]

disabled_namespaces[R]

returns all the disabled namespaces

enabled_transports[R]

The set of transport names that are enabled in this project @return [Set<String>]

loader[R]

The loader that should be used to get our dependencies

self_tasks[R]

The tasks defined by this project @return [Hash<String,OroGen::Spec::TaskContext>]

tasks[R]

The tasks known to this project @return [Hash<String,OroGen::Spec::TaskContext>]

typekit[W]

This project's typekit @return [Typekit,nil]

Public Class Methods

blank() click to toggle source

# File lib/orogen/spec/project.rb, line 36
def self.blank
    loader = Loaders::Base.new
    project = Project.new(loader)
    project.default_task_superclass = false
    project
end

default_deployment_name(task_model_name) click to toggle source

# File lib/orogen/spec/project.rb, line 5
def self.default_deployment_name(task_model_name)
    "orogen_default_#{task_model_name.gsub(/[^\w]/, '_')}"
end

new(loader) click to toggle source

# File lib/orogen/spec/project.rb, line 43
def initialize(loader)
    @loader = loader
    @tasks = Hash.new
    @self_tasks = Hash.new
    @deployers = Hash.new
    @define_default_deployments = true
    @enabled_transports = Set.new
    @max_sizes = Hash.new
    @disabled_namespaces = Array.new
end

Public Instance Methods

default_task_superclass() click to toggle source

Returns the TaskContext object for the default task contexts superclass (i.e. RTT::TaskContext)

# File lib/orogen/spec/project.rb, line 134
def default_task_superclass
    if @default_task_superclass.nil?
        @default_task_superclass = loader.task_model_from_name "RTT::TaskContext"
    else @default_task_superclass
    end
end

deployment(name) { || ... } click to toggle source

Defines a deployment, i.e. an Unix executable in which a certain number of TaskContext are instanciated, associated with threads and triggers and (optionally) connected to each other and/or started.

The statements in the given block are method calls to a {Spec::Deployment} instance, so see the documentation of that class for more information.

# File lib/orogen/spec/project.rb, line 262
def deployment(name, &block) # :yield:
    if has_deployment?(name)
        raise ArgumentError, "there is already a deployment named '#{name}' in this oroGen project"
    end

    deployer = Spec::Deployment.new(self, name, &block)
    enabled_transports.each do |t|
        deployer.enable_transport(t)
    end
    deployer.instance_eval(&block) if block_given?
    deployers[deployer.name] = deployer
    deployer
end

disable_namespace(value) click to toggle source

# File lib/orogen/spec/project.rb, line 55
def disable_namespace(value); @disabled_namespaces << value end

each_deployment() click to toggle source

Enumerate this project's deployments

@yieldparam [Deployment] deployment @return [void]

# File lib/orogen/spec/project.rb, line 343
def each_deployment
    return enum_for(__method__) if !block_given?
    deployers.each_value(&proc)
end

enable_namespace(value) click to toggle source

# File lib/orogen/spec/project.rb, line 54
def enable_namespace(value); @disabled_namespaces.delete(value) end

enable_transports(*transport_names) click to toggle source

Enable the given transports

@return [Set<String>] the set of newly enabled transports (i.e.

transports that are in the arguments and were not yet enabled)

# File lib/orogen/spec/project.rb, line 328
def enable_transports(*transport_names)
    new_transports = transport_names.to_set - enabled_transports
    @enabled_transports |= new_transports
    new_transports.each do |name|
        deployers.each do |d|
            d.enable_transport(name)
        end
    end
    new_transports
end

external_task_context(name, subclasses: default_task_superclass, **options, &block) click to toggle source

Declares a task context that has not been generated by oroGen

@options options [Class] type ({TaskContext}) the

class of the created task context

# File lib/orogen/spec/project.rb, line 181
def external_task_context(name, subclasses: default_task_superclass, **options, &block)
    component_class = options.fetch(:class, TaskContext)

    new_task = component_class.new(self, "#{self.name}::#{name}", subclasses: subclasses)
    new_task.instance_eval(&block) if block_given?
    tasks[new_task.name] = new_task
    loader.loaded_task_models[new_task.name] = new_task
    new_task
end

find_deployment_by_name(name) click to toggle source

Returns the deployment model with the given name

@return [Deployment,nil] the model found, or nil if

none is registered with that name

# File lib/orogen/spec/project.rb, line 250
def find_deployment_by_name(name)
    deployers[name]
end

find_interface_type(name) click to toggle source

# File lib/orogen/spec/project.rb, line 238
def find_interface_type(name)
    loader.resolve_interface_type(name)
end

find_task_context(name) click to toggle source

@deprecated use {task_model_from_name} instead

# File lib/orogen/spec/project.rb, line 214
def find_task_context(name)
    task_model_from_name(name)
rescue OroGen::TaskModelNotFound => e
    raise ArgumentError, e.message, e.backtrace
end

find_type(name) click to toggle source

# File lib/orogen/spec/project.rb, line 234
def find_type(name)
    loader.resolve_type(name)
end

has_deployment?(name) click to toggle source

True if there is a deployment with the given name in this oroGen project

# File lib/orogen/spec/project.rb, line 222
def has_deployment?(name)
    deployers.has_key?(name)
end

import_types_from(typekit) click to toggle source

# File lib/orogen/spec/project.rb, line 198
def import_types_from(typekit)
    if typekit.respond_to?(:to_str) && !loader.has_typekit?(typekit)
        return
    end
    using_typekit(typekit)
end

intermediate_type_for(type) click to toggle source

# File lib/orogen/spec/project.rb, line 242
def intermediate_type_for(type)
    loader.intermediate_type_for(type)
end

max_sizes(typename = nil, *values, &block) click to toggle source

Adds some max size specification for a given type

See OutputPort#max_sizes for a complete description of this functionality. The sizes specified through this global method are applied on every port of the provided type

# File lib/orogen/spec/project.rb, line 94
def max_sizes(typename = nil, *values, &block)
    if !typename && values.empty?
        return @max_sizes
    end

    type  = find_type(typename)
    # Cannot completely validate the spec, since we may not yet have
    # the m-types. Do what we can, we'll do full blown validation
    # later
    sizes = Port.validate_max_sizes_spec(nil, values)
    @max_sizes[type.name] ||= Hash.new
    @max_sizes[type.name].merge!(sizes, &block)
end

namespace_disabled?(value) click to toggle source

# File lib/orogen/spec/project.rb, line 56
def namespace_disabled?(value); @disabled_namespaces.include?(value) end

resolve_interface_type(type) click to toggle source

# File lib/orogen/spec/project.rb, line 230
def resolve_interface_type(type)
    loader.resolve_interface_type(type)
end

resolve_type(type) click to toggle source

# File lib/orogen/spec/project.rb, line 226
def resolve_type(type)
    loader.resolve_type(type)
end

simple_deployment(name, klass) click to toggle source

Create a deployment called name with one task of type klass also called name.

The returned value allows to set up the task. For instance, to deploy a periodic task one would do

simple_deployment("task", "Task").
    periodic(0.001)

# File lib/orogen/spec/project.rb, line 284
def simple_deployment(name, klass)
    has_logger = loader.has_project?('logger')
    if has_logger
        using_task_library "logger"
    end

    result = nil
    deployment name do
        result = task name, klass
        if has_logger
            add_default_logger
        end
    end
    result
end

task_context(name, subclasses: default_task_superclass, **options, &block) click to toggle source

Creates a new task context class of this name. The generated class is defined in the project's namespace. Therefore

name "test_project"
task_context "SpecificTask" do
  .. task context specification ..
end

defines a test_project::SpecificTask class.

Task contexts are represented as instances of TaskContext. See the documentation of that class for more details.

# File lib/orogen/spec/project.rb, line 153
def task_context(name, subclasses: default_task_superclass, **options, &block)
    if namespace_disabled?(name.split("::")[0..-2].join("::"))
        return
    end

    if name == self.name
        raise ArgumentError, "a task cannot have the same name as the project"
    elsif name !~ /^(\w+::)*\w+$/
        raise ArgumentError, "task names need to be valid C++ identifiers, i.e. contain only alphanumeric characters and _ (got #{name})"
    end

    name = OroGen.verify_valid_identifier(name)

    task = external_task_context(name, subclasses: subclasses, **options, &block)
    task.extended_state_support
    self_tasks[task.name] = task

    if !task.abstract? && define_default_deployments?
        simple_deployment(Project.default_deployment_name(task.name), task.name)
    end

    task
end

task_model_from_name(name) click to toggle source

(see OroGen::Loaders::Base#task_model_from_name)

# File lib/orogen/spec/project.rb, line 206
def task_model_from_name(name)
    if name !~ /::/
        name = "#{self.name}::#{name}"
    end
    tasks[name] || loader.task_model_from_name(name)
end

to_s() click to toggle source

# File lib/orogen/spec/project.rb, line 348
def to_s
    "#<#{self.class}: name=#{name} loader=#{loader}>"
end

typekit(create = nil) click to toggle source

# File lib/orogen/spec/project.rb, line 14
def typekit(create = nil)
    @typekit
end

using_task_library(tasklib) click to toggle source

Makes the tasks defined by the given task library known to this project

@param [String,Project] tasklib the task library, or its name @return [Project] the task library

# File lib/orogen/spec/project.rb, line 122
def using_task_library(tasklib)
    if tasklib.respond_to?(:to_str)
        tasklib = loader.task_library_model_from_name(tasklib)
    end
    tasks.merge! tasklib.self_tasks
    tasklib
end

using_typekit(typekit) click to toggle source

# File lib/orogen/spec/project.rb, line 191
def using_typekit(typekit)
    if typekit.respond_to?(:to_str)
        loader.typekit_model_from_name(typekit)
    else loader.register_typekit_objects(typekit)
    end
end

validate_max_sizes_spec() click to toggle source

# File lib/orogen/spec/project.rb, line 108
def validate_max_sizes_spec
    @max_sizes.dup.each do |type, sizes|
        type = intermediate_type_for(type)
        sizes = Port.validate_max_sizes_spec(type, sizes)
        @max_sizes[type.name] ||= Hash.new
        @max_sizes[type.name].merge!(sizes)
    end
end