class Syskit::Test::TaskContextTest

Base class for all spec contexts whose subject is a task context model

Public Class Methods

ensure_can_deploy_subject_syskit_model(test, app) click to toggle source

Automatically skip tests for which the task model under test is not available

# File lib/syskit/test/task_context_test.rb, line 80
def self.ensure_can_deploy_subject_syskit_model(test, app)
    orogen_model = subject_syskit_model.orogen_model

    if app.simulation?
        begin
            ruby_task = Orocos::RubyTasks::TaskContext.new(
                "spec#{object_id}", model: orogen_model)
            ruby_task.dispose
        rescue ::Exception => e
            test.skip("#{test.__full_name__} cannot run: #{e.message}")
        end
    elsif orogen_model.abstract?
        test.skip("#{test.__full_name__} cannot run: #{orogen_model.name} is abstract and we're in live mode")
    else
        project_name = orogen_model.project.name
        if !Orocos.default_pkgconfig_loader.has_project?(project_name)
            test.skip("#{test.__full_name__} cannot run: oroGen project #{project_name} is not available")
        end
    end
end

it_should_be_configurable() click to toggle source

@deprecated use instead

it { is_configurable }

# File lib/syskit/test/task_context_test.rb, line 43
def self.it_should_be_configurable
    Test.warn "it_should_be_configurable is deprecated, use"
    Test.warn "  it { is_configurable } instead"
    it { is_configurable }
end

roby_should_run(test, app) click to toggle source

Overloaded from Roby to call {.ensure_can_deploy_subject_syskit_model}

Calls superclass method

# File lib/syskit/test/task_context_test.rb, line 102
def self.roby_should_run(test, app)
    super
    ensure_can_deploy_subject_syskit_model(test, app)
end

Public Instance Methods

assert_is_configurable(task_model = subject_syskit_model) click to toggle source

Tests that the task can be configured

The argument can be any instance requirement, so that one can e.g. test with particular arguments applied.

@example test configuration with a particular argument set

assert_is_configurable Task.with_argument(test: 10)

@example test configuration with some dynamic services instanciated

model = Task.specialize
model.require_dynamic_service('srv')
assert_is_configurable model

# File lib/syskit/test/task_context_test.rb, line 62
def assert_is_configurable(task_model = subject_syskit_model)
    syskit_deploy_and_configure(task_model)
end

deploy_subject_syskit_model() click to toggle source

Define a deployment for the task model under test

# File lib/syskit/test/task_context_test.rb, line 12
def deploy_subject_syskit_model
    task_context_m = self.class.subject_syskit_model.concrete_model
    if task_context_m.orogen_model.abstract?
        # This task context is abstract, i.e. does not have a
        # default deployment, and therefore cannot be deployed. Stub
        # it if we are in stub mode, skip the test otherwise

        if !app.simulation?
            raise RuntimeError, "cannot deploy the abstract task context model #{task_context_m} in live mode"
        end
        task_context_m.abstract = false

        process_name = OroGen::Spec::Project.default_deployment_name(task_context_m.orogen_model.name)
        syskit_stub_deployment_model(nil, process_name) do
            task process_name, task_context_m.orogen_model
        end
    end

    use_deployment(task_context_m => 'task_under_test').first
end

is_configurable(task_model = subject_syskit_model) click to toggle source

Spec-style variant to {#assert_is_configurable}

@example test that {#configure} passes

module OroGen::AuvControl
  describe Task do
    it { is_configurable }
  end
end

# File lib/syskit/test/task_context_test.rb, line 74
def is_configurable(task_model = subject_syskit_model)
    assert_is_configurable(task_model)
end

setup() click to toggle source

Overloaded to automatically call {#deploy_subject_syskit_model}

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

# File lib/syskit/test/task_context_test.rb, line 6
def setup
    super
    @deployed_subject_syskit_model = deploy_subject_syskit_model
end

subject_syskit_model() click to toggle source

Returns the task model under test

# File lib/syskit/test/task_context_test.rb, line 34
def subject_syskit_model
    model = self.class.subject_syskit_model
    model = syskit_stub_required_devices(model)
    model.prefer_deployed_tasks(@deployed_subject_syskit_model)
    model
end