class Syskit::Test::Spec

Public Class Methods

subject_syskit_model() click to toggle source

Returns the syskit model under test

# 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) click to toggle source

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

# File lib/syskit/test/spec.rb, line 70
def self.use_syskit_model(model)
    @subject_syskit_model = model
end

Public Instance Methods

plan() click to toggle source

# File lib/syskit/test/spec.rb, line 132
def plan; Roby.plan end

setup() click to toggle source

Calls superclass method Syskit::Test::Base#setup

# 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() click to toggle source

Returns the syskit model under test

It is delegated to self.class.subject_syskit_model by default

# 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') click to toggle source

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'

@param [String] dev_name the name of the created device @return [Syskit::Component] the device driver task

# 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) click to toggle source

Create a stub driver model

@param [String] dev_name the name of the created device @return [Syskit::Component] the device driver task

# 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() click to toggle source

Calls superclass method Syskit::Test::Base#teardown

# 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() click to toggle source

Calls superclass method

# File lib/syskit/test/spec.rb, line 61
def teardown_registered_plans
    super
    Syskit::RequiredDataFlow.clear
    Syskit::ActualDataFlow.clear
end