module Syskit::Coordination::PlanExtension

Constants

AttachedDataMonitoringTable

Representation of a data monitoring table attached to a plan

@!attribute [rw] model

The data monitoring table model
@return [Models::DataMonitoringTable]

@!attribute [rw] arguments

The arguments that should be used to create the table instance
@return [Hash<Symbol,Object>]

@!attribute [rw] triggers

The triggers that would activate the table, as returned by
{Roby::Plan#add_trigger}
@return [Roby::Plan::Trigger]

@!attribute [rw] instances

The set of table instances created so far
@return [Hash<Roby::Task,DataMonitoringTable>]

Public Instance Methods

remove_data_monitoring_table(table) click to toggle source

Removes a data monitoring table from this plan

@param [Object] table the value returned by

{#use_data_monitoring_table}

@return [void]

# File lib/syskit/coordination/plan_extension.rb, line 73
def remove_data_monitoring_table(table)
    if data_monitoring_tables.delete(table)
        table.triggers.each do |tr|
            remove_trigger(tr)
        end
        table.instances.each do |task, tbl|
            tbl.remove!
        end
    end
    nil
end

use_data_monitoring_table(table_m, arguments = Hash.new) click to toggle source

Activates the given {DataMonitoringTable} model on this plan

Instances of this table model will be attached to all tasks that match one of the table's attachment points (see {Models::DataMonitoringTable#attach_to}). If no attachment points have been given, every tasks matching the table's root model will be selected

@param [Model<DataMonitoringTable>] table_m the table model @param [Hash] arguments the arguments that should be passed to the

data monitoring tables

@return [Object] an ID that can be used as an argument to

{#remove_data_monitoring_table}

# File lib/syskit/coordination/plan_extension.rb, line 42
def use_data_monitoring_table(table_m, arguments = Hash.new)
    # Verify that all required arguments are set, and that all
    # arguments are known
    arguments = table_m.validate_arguments(arguments)

    queries = table_m.each_attachment_point.to_a
    if queries.empty?
        queries << table_m.task_model.query.not_abstract
    end

    table_record = AttachedDataMonitoringTable.new table_m, arguments, Set.new, Hash.new
    queries.each do |query|
        trigger = add_trigger(query) do |task|
            if !table_record.instances.has_key?(task)
                task.when_finalized do |t|
                    table_record.instances.delete(task)
                end
                table_record.instances[task] = table_m.new(task, arguments)
            end
        end
        table_record.triggers << trigger
    end
    data_monitoring_tables << table_record
    table_record
end