class Syskit::TaskConfigurationManager

Adapter for {Orocos::TaskConfigurations} to take into account the conventions inside Syskit apps

Attributes

app[R]

syskit_model[R]

Public Class Methods

new(app, syskit_model) click to toggle source

Calls superclass method

# File lib/syskit/task_configuration_manager.rb, line 10
def initialize(app, syskit_model)
    @app = app
    @syskit_model = syskit_model
    super(orogen_model)
end

Public Instance Methods

apply(syskit_task, conf: syskit_task.conf, override: false) click to toggle source

Applies a configuration to the given component instance

@param [TaskContext] syskit_task the task instance on which the

configuration should be applied

@param [String,Array<String>] conf a list of configuration sections.

It defaults to the {syskit_task.conf}

@param [Boolean] override if true, the various selected sections can

override each other. Otherwise, that would generate an error

@return [void]

Calls superclass method

# File lib/syskit/task_configuration_manager.rb, line 29
def apply(syskit_task, conf: syskit_task.conf, override: false)
    super(syskit_task, conf, override)
end

cache_dir() click to toggle source

The cache directory used by the Syskit app to speed up configuration loading

# File lib/syskit/task_configuration_manager.rb, line 102
def cache_dir
    File.join(app.app_dir, 'config', 'orogen', '.cache')
end

changed_on_disk?() click to toggle source

Tests whether the file changed on disk, i.e. whether reload will do something

# File lib/syskit/task_configuration_manager.rb, line 77
def changed_on_disk?
    if conf_file = existing_configuration_file
        stat = File.stat(conf_file)
        conf_file != @loaded_file || stat != @loaded_file_stat
    end
end

existing_configuration_file(local_only: false) click to toggle source

Returns the path to an existing configuration file

@param [Boolean] local_only whether the search should restrict itself

to the current Roby app or should include the inherited apps as well

@return [String,nil] the path found or nil if no file was found

# File lib/syskit/task_configuration_manager.rb, line 38
def existing_configuration_file(local_only: false)
    return if !orogen_model.name

    local_option = Hash.new
    if local_only
        local_option[:path] = [app.app_dir]
    end
    app.find_file('config', 'orogen', 'ROBOT', "#{orogen_model.name}.yml",
                  order: :specific_first, all: false, **local_option)
end

extract_from_task() click to toggle source

Extract the configuration from a running task

# File lib/syskit/task_configuration_manager.rb, line 17
def extract_from_task
end

has_configuration_file?(local_only: false) click to toggle source

Tests whether there is a configuration file for this model

# File lib/syskit/task_configuration_manager.rb, line 50
def has_configuration_file?(local_only: false)
    !!existing_configuration_file(local_only: local_only)
end

load_from_yaml(path, cache_dir: self.cache_dir) click to toggle source

Calls superclass method

# File lib/syskit/task_configuration_manager.rb, line 106
def load_from_yaml(path, cache_dir: self.cache_dir)
    FileUtils.mkdir_p self.cache_dir
    super
end

orogen_model() click to toggle source

# File lib/syskit/task_configuration_manager.rb, line 8
def orogen_model; syskit_model.orogen_model end

reload() click to toggle source

Loads or reload the configuration for this task from disk

@return [Array<String>] a list of configuration sections that have

been modified

# File lib/syskit/task_configuration_manager.rb, line 88
def reload
    if conf_file = existing_configuration_file
        stat = File.stat(conf_file)
        app.isolate_load_errors("could not load oroGen configuration file #{conf_file}") do
            @loaded_file = conf_file
            @loaded_file_stat = stat
            load_from_yaml(conf_file)
        end
    else
        Array.new
    end
end

save(section_name, file: nil, replace: false) click to toggle source

Save a configuration section to file

Note that it does NOT extract the configuration from the running task(s), it only saves the state of the configuration as currently stored in the manager

@param [String] section_name the section that should be saved @param [String] file the file to save into. It defaults to saving at

the standard location in this Roby app

@param [Boolean] replace if true, existing sections that have been

changed (and all their custom comments) will be removed by the
operation. If false, the new sections are appended (which also means
that duplicate sections will exist in the file)

@return [void]

Calls superclass method

# File lib/syskit/task_configuration_manager.rb, line 68
def save(section_name, file: nil, replace: false)
    path = file ||
        existing_configuration_file(local_only: true) ||
        File.join(Roby.app_dir, 'config', 'orogen', "#{orogen_model.name}.yml")
    super(section_name, path, replace: replace)
end