module Syskit::Models::TaskContext

This module contains the model-level API for the task context models

It is used to extend every subclass of Syskit::TaskContext

Attributes

configuration_manager[W]

Override this model's default configuration manager

extension_file[RW]

@return [String] path to the extension file that got loaded to

extend this model

orogen_model[RW]

This component's oroGen model

Public Instance Methods

apply_block(&block) click to toggle source

# File lib/syskit/models/task_context.rb, line 153
def apply_block(&block)
    evaluation = DataServiceModel::BlockInstanciator.new(self)
    evaluation.instance_eval(&block)
end

clear_registration_as_constant() click to toggle source

Calls superclass method

# File lib/syskit/models/task_context.rb, line 59
def clear_registration_as_constant
    super

    if name = self.name
        return if name !~ /^OroGen::/
        name = name.gsub(/^OroGen::/, '')
        begin
            if constant("::#{name}") == self
                spacename = self.spacename.gsub(/^OroGen::/, '')
                constant("::#{spacename}").send(:remove_const, basename)
            end
        rescue NameError
            false
        end
    end
end

configuration_manager() click to toggle source

Returns the configuration management object for this task model

@return [TaskConfigurationManager]

# File lib/syskit/models/task_context.rb, line 190
def configuration_manager
    if !@configuration_manager
        if !concrete_model?
            manager = concrete_model.configuration_manager
        else
            manager = TaskConfigurationManager.new(Roby.app, self)
            manager.reload
        end
        @configuration_manager = manager
    end
    @configuration_manager
end

define_from_orogen(orogen_model, register: false) click to toggle source

Creates a subclass of TaskContext that represents the given task specification. The class is registered as Roby::Orogen::ProjectName::ClassName.

# File lib/syskit/models/task_context.rb, line 104
def define_from_orogen(orogen_model, register: false)
    if model = find_model_by_orogen(orogen_model) # already defined, probably because of dependencies
        return model
    end

    superclass = orogen_model.superclass
    if !superclass # we are defining a root model
        supermodel = self
    else
        supermodel = find_model_by_orogen(superclass) ||
            define_from_orogen(superclass, register: register)
    end
    klass = supermodel.new_submodel(orogen_model: orogen_model)

    if register && orogen_model.name
        OroGen.syskit_model_toplevel_constant_registration =
            Roby.app.backward_compatible_naming?
        klass.name = OroGen.register_syskit_model(klass)
    end

    klass
end

deregister_submodels(set) click to toggle source

Clears all registered submodels

On TaskContext, it also clears all orogen-to-syskit model mappings

Calls superclass method

# File lib/syskit/models/task_context.rb, line 46
def deregister_submodels(set)
    super

    if @proxy_task_models
        set.each do |m|
            if m.respond_to?(:proxied_data_services)
                proxy_task_models.delete(m.proxied_data_services.to_set)
            end
        end
    end
    true
end

each_event_port(&block) click to toggle source

# File lib/syskit/models/task_context.rb, line 178
def each_event_port(&block)
    orogen_model.each_event_port(&block)
end

make_state_events() click to toggle source

Generates a hash of oroGen-level state names to Roby-level event names

@return [{Symbol=>Symbol}]

# File lib/syskit/models/task_context.rb, line 80
def make_state_events
    with_superclass = !supermodel || !supermodel.respond_to?(:orogen_model) || (supermodel.orogen_model != orogen_model.superclass)
    orogen_model.each_state(with_superclass: with_superclass) do |name, type|
        event_name = name.snakecase.downcase.to_sym
        if type == :toplevel
            event event_name, terminal: (name == 'EXCEPTION' || name == 'FATAL_ERROR')
        else
            event event_name, terminal: (type == :exception || type == :fatal_error)
            if type == :fatal
                forward event_name => :fatal_error
            elsif type == :exception
                forward event_name => :exception
            elsif type == :error
                forward event_name => :runtime_error
            end
        end

        self.state_events[name.to_sym] = event_name
    end
end

merge_service_model(service_model, port_mappings) click to toggle source

Merge the service model into self

This is mainly used during dynamic service instantiation, to update the underlying ports and trigger model based on the service's orogen model

# File lib/syskit/models/task_context.rb, line 208
def merge_service_model(service_model, port_mappings)
    Syskit::Models.merge_orogen_task_context_models(
        orogen_model, [service_model.orogen_model], port_mappings)
end

needs_stub?(component) click to toggle source

Checks if a given component implementation needs to be stubbed

Calls superclass method Syskit::Models::Component#needs_stub?

# File lib/syskit/models/task_context.rb, line 39
def needs_stub?(component)
    super || component.orocos_task.kind_of?(Orocos::RubyTasks::StubTaskContext)
end

new_submodel(options = Hash.new, &block) click to toggle source

Create a new TaskContext model

@option options [String] name (nil) forcefully set a name for the model.

This is only useful for "anonymous" models, i.e. models that are
never assigned in the Ruby constant hierarchy

@option options [Orocos::Spec::TaskContext, Orocos::ROS::Spec::Node] #orogen_model (nil) the

oroGen model that should be used. If not given, an empty model
is created, possibly with the name given to the method as well.

Calls superclass method

# File lib/syskit/models/task_context.rb, line 149
def new_submodel(options = Hash.new, &block)
    super
end

root_model() click to toggle source

Set this class up to represent an oroGen root model

# File lib/syskit/models/task_context.rb, line 131
def root_model
    @orogen_model = Models.create_orogen_task_context_model
    make_state_events
end

setup_submodel(submodel, orogen_model: nil, **options) click to toggle source

Sets up self on the basis of {#supermodel}

@param [String] name an optional name for this submodel @return [void]

Calls superclass method

# File lib/syskit/models/task_context.rb, line 162
def setup_submodel(submodel, orogen_model: nil, **options)
    if !orogen_model
        orogen_model = self.orogen_model.class.new(
            Roby.app.default_orogen_project, submodel.name,
            subclasses: self.orogen_model)
        orogen_model.extended_state_support
    end
    submodel.orogen_model = orogen_model
    super
    submodel.make_state_events
end

worstcase_processing_time(value) click to toggle source

# File lib/syskit/models/task_context.rb, line 174
def worstcase_processing_time(value)
    orogen_model.worstcase_processing_time(value)
end