class Orocos::TaskContext

VALUE task_context_create(int argc, VALUE *argv,VALUE klass)
{
    corba_must_be_initialized();

    // all parametes are forwarded to ruby initialize
    if(argc < 1)
        rb_raise(rb_eArgError, "no ior given");
    std::string ior(StringValueCStr(argv[0]));

    RTaskContext *context =  corba_blocking_fct_call_with_result(boost::bind(&CorbaAccess::createRTaskContext,CorbaAccess::instance(),ior));
    VALUE obj = simple_wrap(klass, context);
    rb_obj_call_init(obj,argc,argv);
    return obj;
}

# File lib/orocos/task_context.rb, line 135
def initialize(ior, name: do_real_name, model: nil, **other_options)
    super(name, model: model, **other_options)
    @ior = ior

    if process && (process.default_logger_name != name)
        self.logger = process.default_logger
    end
end

# File lib/orocos/task_context.rb, line 86
        def self.state_transition_call(m, expected_state, target_state)
            class_eval <<-EOD, __FILE__, (__LINE__ + 1)
            def #{m}(wait_for_completion = true, polling = 0.05)
                if wait_for_completion
                    current_state = peek_current_state
                end
                CORBA.refine_exceptions(self) do
                    begin
                        do_#{m}
                    rescue Orocos::StateTransitionFailed => e
                        current_state = rtt_state
                        reason =
                            if current_state == :EXCEPTION
                                ". The task is in an exception state. You must call #reset_exception before trying again"
                            elsif current_state == :PRE_OPERATIONAL && '#{m}' == 'start'
                                ". The Task must be configured before it could started. Did you forgot to call configure on the task?"
                            elsif current_state != :#{expected_state}
                                ". Tasks must be in #{expected_state} state before calling #{m}, but was in \#{current_state}"
                            end

                        raise e, "\#{e.message} the '\#{self.name}' task\#{ " of type \#{self.model.name}" if self.model}\#{reason}", e.backtrace
                    end
                end
                if wait_for_completion
                    while current_state == peek_current_state#{" && current_state != :#{target_state}" if target_state}
                        sleep polling
                    end
                end
            end
            EOD
        end

static VALUE task_context_equal_p(VALUE self, VALUE other)
{
    if (!rb_obj_is_kind_of(other, cTaskContext))
        return Qfalse;

    RTaskContext& self_  = get_wrapped<RTaskContext>(self);
    RTaskContext& other_ = get_wrapped<RTaskContext>(other);
    return self_.task->_is_equivalent(other_.task) ? Qtrue : Qfalse;
}

# File lib/orocos/task_context.rb, line 305
def apply_conf(section_names = Array.new, override=false)
    Orocos.conf.apply(self, section_names, override)
end

# File lib/orocos/task_context.rb, line 292
def apply_conf_file(file,section_names=Array.new,override=false)
    Orocos.conf.load_file(file,model.name)
    apply_conf(section_names,override)
end

# File lib/orocos/task_context.rb, line 436
def attribute(name)
    name = name.to_s
    if a = attributes[name]
        if has_attribute?(name)
            return a
        else
            attributes.delete(name)
            raise Orocos::InterfaceObjectNotFound.new(self, name), "task #{self.name} does not have an attribute named #{name}", e.backtrace
        end
    end

    type_name = CORBA.refine_exceptions(self) do
        begin
            do_attribute_type_name(name)
        rescue ArgumentError => e
            raise Orocos::InterfaceObjectNotFound.new(self, name), "task #{self.name} does not have an attribute named #{name}", e.backtrace
        end
    end

    a = Attribute.new(self, name, type_name)
    if configuration_log
        create_property_log_stream(a)
        a.log_current_value
    end
    attributes[name] = a
end

# File lib/orocos/task_context.rb, line 415
def attribute_names
    CORBA.refine_exceptions(self) do
        do_attribute_names
    end
end

# File lib/orocos/task_context.rb, line 579
def callop(name, *args)
    operation(name).callop(*args)
end

# File lib/orocos/task_context.rb, line 367
state_transition_call :cleanup, 'STOPPED', 'PRE_OPERATIONAL'

# File lib/orocos/task_context.rb, line 323
state_transition_call :configure, 'PRE_OPERATIONAL', 'STOPPED'

# File lib/orocos/task_context.rb, line 625
def connect_to(sink, policy = Hash.new)
    port = find_output_port(sink.type, nil)
    if !port
        raise ArgumentError, "port #{sink.name} does not match any output port of #{name}"
    end
    port.connect_to(sink, policy)
end

# File lib/orocos/task_context.rb, line 251
def create_property_log_stream(p)
    stream_name = "#{self.name}.#{p.name}"
    if !configuration_log.has_stream?(stream_name)
        p.log_stream = configuration_log.create_stream(stream_name, p.type, p.log_metadata)
    else
        p.log_stream = configuration_log.stream(stream_name)
    end
end

# File lib/orocos/task_context.rb, line 633
def disconnect_from(sink, policy = Hash.new)
    each_output_port do |out_port|
        if out_port.type == sink.type
            out_port.disconnect_from(sink)
        end
    end
    nil
end

static VALUE task_context_attribute_names(VALUE self)
{
    RTaskContext& context = get_wrapped<RTaskContext>(self);

    VALUE result = rb_ary_new();
    RTT::corba::CConfigurationInterface::CAttributeNames_var names =
        corba_blocking_fct_call_with_result(bind(&_objref_CConfigurationInterface::getAttributeList,(_objref_CConfigurationInterface*)context.main_service));
    for (unsigned int i = 0; i != names->length(); ++i)
    {
        #if RTT_VERSION_GTE(2,9,0)
            CORBA::String_var name = names[i].name;
        #else
            CORBA::String_var name = names[i];
        #endif
        rb_ary_push(result, rb_str_new2(name));
    }
    return result;
}

static VALUE task_context_attribute_type_name(VALUE self, VALUE name)
{
    RTaskContext& context = get_wrapped<RTaskContext>(self);
    std::string const expected_name = StringValuePtr(name);
    CORBA::String_var attribute_type_name =
        corba_blocking_fct_call_with_result(bind(&_objref_CConfigurationInterface::getAttributeTypeName,(_objref_CConfigurationInterface*)context.main_service,StringValuePtr(name)));
    std::string type_name = std::string(attribute_type_name);
    if (type_name != "na")
        return rb_str_new(type_name.c_str(), type_name.length());

    rb_raise(rb_eArgError, "no such attribute %s", StringValuePtr(name));
    return Qfalse;
}

static VALUE task_context_cleanup(VALUE task)
{
    return call_checked_state_change(task, "failed to cleanup", &RTT::corba::_objref_CTaskContext::cleanup);
}

static VALUE task_context_configure(VALUE task)
{
    return call_checked_state_change(task, "failed to configure", &RTT::corba::_objref_CTaskContext::configure);
}

static VALUE task_context_has_operation_p(VALUE self, VALUE name)
{
    RTaskContext& context = get_wrapped<RTaskContext>(self);
    corba_blocking_fct_call(bind(&_objref_COperationInterface::getResultType,(_objref_COperationInterface*)context.main_service,StringValuePtr(name)));
    return Qtrue;
}

static VALUE task_context_has_port_p(VALUE self, VALUE name)
{
    RTaskContext& context = get_wrapped<RTaskContext>(self);
    corba_blocking_fct_call(bind(&_objref_CDataFlowInterface::getPortType,(CDataFlowInterface_ptr)context.ports,StringValuePtr(name)));
    return Qtrue;
}

static VALUE task_context_operation_names(VALUE self)
{
    RTaskContext& context = get_wrapped<RTaskContext>(self);

    VALUE result = rb_ary_new();
    #if RTT_VERSION_GTE(2,9,0)
        RTT::corba::COperationInterface::COperationDescriptions_var names =
                corba_blocking_fct_call_with_result(bind(&_objref_COperationInterface::getOperations,(_objref_COperationInterface*)context.main_service));
    #else
        RTT::corba::COperationInterface::COperationList_var names =
                corba_blocking_fct_call_with_result(bind(&_objref_COperationInterface::getOperations,(_objref_COperationInterface*)context.main_service));
    #endif

    for (unsigned int i = 0; i != names->length(); ++i)
    {
        #if RTT_VERSION_GTE(2,9,0)
            CORBA::String_var name = names[i].name;
        #else
            CORBA::String_var name = names[i];
        #endif
        rb_ary_push(result, rb_str_new2(name));
    }
    return result;
}

static VALUE task_context_do_port(VALUE self, VALUE name, VALUE model)
{
    RTaskContext& context = get_wrapped<RTaskContext>(self);
    RTT::corba::CPortType port_type;
    CORBA::String_var    type_name;
    port_type = corba_blocking_fct_call_with_result(bind(&_objref_CDataFlowInterface::getPortType,(_objref_CDataFlowInterface*)context.ports,StringValuePtr(name)));
    type_name = corba_blocking_fct_call_with_result(bind(&_objref_CDataFlowInterface::getDataType,(_objref_CDataFlowInterface*)context.ports,StringValuePtr(name)));

    VALUE obj = Qnil;
    VALUE args[4] = { self, rb_str_dup(name), rb_str_new2(type_name), model };
    if (port_type == RTT::corba::CInput)
        obj = rb_class_new_instance(4, args, cInputPort);
    else if (port_type == RTT::corba::COutput)
        obj = rb_class_new_instance(4, args, cOutputPort);

    return obj;
}

static VALUE task_context_port_names(VALUE self)
{
    VALUE result = rb_ary_new();
    RTaskContext& context = get_wrapped<RTaskContext>(self);
    RTT::corba::CDataFlowInterface::CPortNames_var ports =
        corba_blocking_fct_call_with_result(bind(&_objref_CDataFlowInterface::getPorts,(_objref_CDataFlowInterface*)context.ports));

    for (unsigned int i = 0; i < ports->length(); ++i)
        rb_ary_push(result, rb_str_new2(ports[i]));

    return result;
}

static VALUE task_context_property_names(VALUE self)
{
    RTaskContext& context = get_wrapped<RTaskContext>(self);

    VALUE result = rb_ary_new();
    RTT::corba::CConfigurationInterface::CPropertyNames_var names =
        corba_blocking_fct_call_with_result(bind(&_objref_CConfigurationInterface::getPropertyList,(_objref_CConfigurationInterface*)context.main_service));
    for (unsigned int i = 0; i != names->length(); ++i)
    {
        CORBA::String_var name = names[i].name;
        rb_ary_push(result, rb_str_new2(name));
    }
    return result;
}

static VALUE task_context_property_type_name(VALUE self, VALUE name)
{
    RTaskContext& context = get_wrapped<RTaskContext>(self);
    std::string const expected_name = StringValuePtr(name);
    CORBA::String_var attribute_type_name =
        corba_blocking_fct_call_with_result(bind(&_objref_CConfigurationInterface::getPropertyTypeName,(_objref_CConfigurationInterface*)context.main_service,StringValuePtr(name)));
    std::string type_name = std::string(attribute_type_name);
    if (type_name != "na")
        return rb_str_new(type_name.c_str(), type_name.length());

    rb_raise(rb_eArgError, "no such property %s", StringValuePtr(name));
    return Qfalse;
}

static VALUE task_context_real_name(VALUE self)
{
    RTaskContext& context = get_wrapped<RTaskContext>(self);
    return rb_str_new2(context.name.c_str());
}

static VALUE task_context_reset_exception(VALUE task)
{
    return call_checked_state_change(task, "failed to transition from the Exception state to Stopped", &RTT::corba::_objref_CTaskContext::resetException);
}

static VALUE task_context_start(VALUE task)
{
    return call_checked_state_change(task, "failed to start", &RTT::corba::_objref_CTaskContext::start);
}

static VALUE task_context_state(VALUE task)
{
    RTaskContext& context = get_wrapped<RTaskContext>(task);
    return INT2FIX(corba_blocking_fct_call_with_result(boost::bind(&_objref_CTaskContext::getTaskState,(CTaskContext_ptr)context.task)));
}

static VALUE task_context_stop(VALUE task)
{
    return call_checked_state_change(task, "failed to stop", &RTT::corba::_objref_CTaskContext::stop);
}

# File lib/orocos/task_context.rb, line 370
def has_operation?(name)
    name = name.to_s
    CORBA.refine_exceptions(self) do
        begin
            do_has_operation?(name)
        rescue Orocos::NotFound
            false
        end
    end
end

# File lib/orocos/task_context.rb, line 382
def has_port?(name)
    name = name.to_s
    CORBA.refine_exceptions(self) do
        begin
            do_has_port?(name)
        rescue Orocos::NotFound
            false
        end
    end
end

# File lib/orocos/task_context.rb, line 262
def log_all_configuration(logfile)
    @configuration_log = logfile
    each_property do |p|
        create_property_log_stream(p)
        p.log_current_value
    end
end

# File lib/orocos/task_context.rb, line 238
def log_all_ports(options = Hash.new)
    # Right now, the only allowed option is :exclude_ports
    options, logger_options = Kernel.filter_options options,:exclude_ports => nil
    exclude_ports = Array(options[:exclude_ports])

    logger_options[:tasks] = Regexp.new(basename)
    ports = Orocos.log_all_process_ports(process,logger_options) do |port|
        !exclude_ports.include? port.name
    end
    raise "#{name}: no ports were selected for logging" if ports.empty?
    ports
end

# File lib/orocos/task_context.rb, line 595
def model
    model = super
    if model
        return model
    end

    model_name = begin
                     self.getModelName
                 rescue NoMethodError
                     nil
                 end

    self.model =
        if !model_name
            if name !~ /.*orocosrb_(\d+)$/
                Orocos.warn "#{name} is a task context not generated by orogen, using default task model"
            end
            Orocos.create_orogen_task_context_model(name)
        elsif model_name.empty?
            Orocos.create_orogen_task_context_model
        else
            begin
                Orocos.default_loader.task_model_from_name(model_name)
            rescue OroGen::NotFound
                Orocos.warn "#{name} is a task context of class #{model_name}, but I cannot find the description for it, falling back"
                Orocos.create_orogen_task_context_model(model_name)
            end
        end
end

# File lib/orocos/task_context.rb, line 564
def operation(name)
    name = name.to_s
    CORBA.refine_exceptions(self) do
        return_types = operation_return_types(name)
        arguments = operation_argument_types(name)
        Operation.new(self, name, return_types, arguments)
    end

rescue Orocos::NotFound => e
    raise Orocos::InterfaceObjectNotFound.new(self, name), "task #{self.name} does not have an operation named #{name}", e.backtrace
end

# File lib/orocos/task_context.rb, line 395
def operation_names
    CORBA.refine_exceptions(self) do
        do_operation_names.each do |str|
            str.force_encoding('ASCII') if str.respond_to?(:force_encoding)
        end
    end
end

# File lib/orocos/task_context.rb, line 195
def peek_state
    if model && model.extended_state_support?
       if !@state_reader || !@state_reader.connected?
            @state_reader = state_reader
            @state_queue << rtt_state
        end
        while new_state = @state_reader.read_new
            @state_queue << new_state
        end
    else
        super
    end
    @state_queue
end

# File lib/orocos/task_context.rb, line 144
def ping
    rtt_state
    nil
end

# File lib/orocos/task_context.rb, line 534
def port(name, verify = true)
    name = name.to_str
    CORBA.refine_exceptions(self) do
        if @ports[name]
            if !verify || has_port?(name) # Check that this port is still valid
                @ports[name]
            else
                @ports.delete(name)
                raise NotFound, "no port named '#{name}' on task '#{self.name}'"
            end
        else
            @ports[name] = raw_port(name)
        end
    end
end

# File lib/orocos/task_context.rb, line 552
def port_names
    CORBA.refine_exceptions(self) do
        do_port_names.each do |str|
            str.force_encoding('ASCII') if str.respond_to?(:force_encoding)
        end
    end
end

# File lib/orocos/task_context.rb, line 490
def property(name)
    name = name.to_s
    if p = properties[name]
        if has_property?(name)
            return p
        else
            properties.delete(name)
            raise Orocos::InterfaceObjectNotFound.new(self, name), "task #{self.name} does not have a property named #{name}", e.backtrace
        end
    end

    p = raw_property(name)
    if configuration_log
        create_property_log_stream(p)
        p.log_current_value
    end
    properties[name] = p
end

# File lib/orocos/task_context.rb, line 405
def property_names
    CORBA.refine_exceptions(self) do
        do_property_names.each do |str|
            str.force_encoding('ASCII') if str.respond_to?(:force_encoding)
        end
    end
end

# File lib/orocos/task_context.rb, line 512
def raw_port(name)
    port_model = model.find_port(name)
    do_port(name, port_model)

rescue Orocos::NotFound => e
    raise Orocos::InterfaceObjectNotFound.new(self, name), "task #{self.name} does not have a port named #{name}", e.backtrace
end

# File lib/orocos/task_context.rb, line 464
def raw_property(name)
    type_name = CORBA.refine_exceptions(self) do
        begin
            do_property_type_name(name)
        rescue ArgumentError => e
            raise Orocos::InterfaceObjectNotFound.new(self, name), "task #{self.name} does not have a property named #{name}", e.backtrace
        end
    end
    Property.new(self, name, type_name)
end

# File lib/orocos/task_context.rb, line 345
state_transition_call :reset_exception, 'EXCEPTION', nil

# File lib/orocos/task_context.rb, line 642
def resolve_connection_from(source, policy = Hash.new)
    port = find_input_port(source.type,nil)
    if !port
        raise ArgumentError, "port #{source.name} does not match any input port of #{name}."
    end
    source.connect_to(port, policy)
end

# File lib/orocos/task_context.rb, line 650
def resolve_disconnection_from(source)
    each_input_port do |in_port|
        if in_port.type == source.type
            source.disconnect_from(in_port)
        end
    end
    nil
end

# File lib/orocos/task_context.rb, line 226
def rtt_state
    value = CORBA.refine_exceptions(self) { do_state() }
    @state_symbols[value]
end

# File lib/orocos/task_context.rb, line 310
def save_conf(file, section_names = nil)
    Orocos.conf.save(self,file,section_names)
end

# File lib/orocos/task_context.rb, line 586
def sendop(name, *args)
    operation(name).sendop(*args)
end

# File lib/orocos/task_context.rb, line 334
state_transition_call :start, 'STOPPED', 'RUNNING'

# File lib/orocos/task_context.rb, line 181
def state_reader(policy = Hash.new)
    policy = Port.prepare_policy({:init => true, :type => :buffer, :size => 10}.merge(policy))

    reader = port('state').reader(policy)
    reader.extend StateReader
    reader.state_symbols = @state_symbols
    reader
end

# File lib/orocos/task_context.rb, line 356
state_transition_call :stop, 'RUNNING', 'STOPPED'

# File lib/orocos/task_context.rb, line 214
def tid
    if !@tid
        if has_operation?('__orogen_getTID')
            @tid = operation('__orogen_getTID').callop()
        else
            raise ArgumentError, "#tid is available only on oroGen tasks, not #{self}"
        end
    end
    @tid
end

# File lib/orocos/async/orocos.rb, line 79
def to_async(options = Hash.new)
    options[:name] ||= name
    options[:ior] ||= ior
    Orocos::Async::CORBA::TaskContext.new(options)
end

# File lib/orocos/async/orocos.rb, line 85
def to_proxy(options = Hash.new)
    options[:use] ||= to_async
    # use name service to check if there is already
    # a proxy for the task
    Orocos::Async.proxy(name,options)
end

# File lib/orocos/task_context.rb, line 297
def to_s
    "#<TaskContext: #{self.class.name}/#{name}>"
end

# File lib/orocos/task_context.rb, line 274
def wait_for_state(state_name, timeout = nil, polling = 0.1)
    state_name = state_name.to_sym

    start = Time.now
    peek_state
    while !@state_queue.include?(state_name)
        if timeout && (Time.now - start) > timeout
            raise "timing out while waiting for #{self} to be in state #{state_name}. It currently is in state #{current_state}"
        end
        sleep polling
        peek_state
    end
end