Module: OroGen::Gen::RTT_CPP

Extended by:
Logger::Hierarchy
Includes:
TaskDeploymentGeneration
Included in:
SelfTest
Defined in:
lib/orogen.rb,
lib/orogen/gen.rb,
lib/orogen/gen/base.rb,
lib/orogen/gen/test.rb,
lib/orogen/gen/tasks.rb,
lib/orogen/gen/enable.rb,
lib/orogen/gen/imports.rb,
lib/orogen/gen/project.rb,
lib/orogen/gen/typekit.rb,
lib/orogen/gen/templates.rb,
lib/orogen/gen/deployment.rb

Defined Under Namespace

Modules: AttributeGeneration, ConfigurationObjectGeneration, InputPortGeneration, OpaqueHandling, OperationGeneration, OutputPortGeneration, PortGeneration, PropertyGeneration, RTTTypekit, SelfTest, TaskContextGeneration, TaskDeploymentGeneration Classes: BuildDependency, Deployment, ImportedProject, ImportedTypekit, OpaqueDefinition, Project, TypeSets, Typekit

Constant Summary collapse

ConfigError =
OroGen::ConfigError
OROGEN_LIB_DIR =
OroGen::OROGEN_LIB_DIR
ConfigurationObject =
Spec::ConfigurationObject
Attribute =
Spec::Attribute
Property =
Spec::Property
Operation =
Spec::Operation
Port =
Spec::Port
OutputPort =
Spec::OutputPort
InputPort =
Spec::InputPort
DynamicInputPort =
Spec::DynamicInputPort
DynamicOutputPort =
Spec::DynamicInputPort
TaskContext =
Spec::TaskContext
AUTOMATIC_AREA_NAME =
'.orogen'

Class Attribute Summary collapse

Class Method Summary collapse

Methods included from TaskDeploymentGeneration

#generate_activity_setup, #method_missing, #rtt_priority, #rtt_scheduler, #to_deployer_xml

Dynamic Method Handling

This class handles dynamic methods through the method_missing method in the class OroGen::Gen::RTT_CPP::TaskDeploymentGeneration

Class Attribute Details

.command_line_optionsObject

Returns the value of attribute command_line_options


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# File 'lib/orogen/gen/project.rb', line 34

def command_line_options
  @command_line_options
end

.default_type_export_policyObject

Returns the value of attribute default_type_export_policy


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# File 'lib/orogen/gen/project.rb', line 22

def default_type_export_policy
  @default_type_export_policy
end

.generated_filesObject (readonly)

The set of files generated so far, as a set of absolute paths


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# File 'lib/orogen/gen/templates.rb', line 76

def generated_files
  @generated_files
end

.generation_directoryObject

Returns the value of attribute generation_directory


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# File 'lib/orogen/gen/project.rb', line 41

def generation_directory
  @generation_directory
end

.relative_generation_directoryObject

Returns the value of attribute relative_generation_directory


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# File 'lib/orogen/gen/project.rb', line 48

def relative_generation_directory
  @relative_generation_directory
end

.templatesObject (readonly)

The set of templates already loaded as a path => ERB object hash


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# File 'lib/orogen/gen/templates.rb', line 9

def templates
  @templates
end

.typekit_sliceObject

Multiple type info objects can be grouped in a single file to reduce the overhead, at compilation time, of reading the preprocessed file

This controls the size of the grouping


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# File 'lib/orogen/gen/typekit.rb', line 491

def typekit_slice
  @typekit_slice
end

.typekit_slice_minimumObject

Returns the value of attribute typekit_slice_minimum


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# File 'lib/orogen/gen/typekit.rb', line 492

def typekit_slice_minimum
  @typekit_slice_minimum
end

Class Method Details

.adapt_namespace(old, new, indent_size = 4) ⇒ Object

Returns the C++ code which changes the current namespace from old to new. indent_size is the count of indent spaces between namespaces.


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# File 'lib/orogen/gen/base.rb', line 23

def self.adapt_namespace(old, new, indent_size = 4)
    old = old.split('/').delete_if { |v| v.empty? }
    new = new.split('/').delete_if { |v| v.empty? }
    indent = old.size * indent_size

    result = ""

    while !old.empty? && old.first == new.first
        old.shift
        new.shift
    end
    while !old.empty?
        indent -= indent_size
        result << " " * indent + "}\n"
        old.shift
    end
    while !new.empty?
        result << "#{" " * indent}namespace #{new.first} {\n"
        indent += indent_size
        new.shift
    end

    result
end

.base_dirObject

Returns the directory where oroGen's lib part sits, i.e. base_dir is defined by the directory where orogen.rb resides


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# File 'lib/orogen/gen/base.rb', line 6

def self.base_dir
    File.expand_path(File.join('..', '..'), File.dirname(__FILE__))
end

.cleanObject


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# File 'lib/orogen/gen/templates.rb', line 187

def self.clean
    FileUtils.rm_rf Generation::AUTOMATIC_AREA_NAME
    FileUtils.rm_rf "build"
    FileUtils.rm_rf "templates"
end

.cleanup_dir(*path) ⇒ Object

Removes from the given path all files that have not been generated


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# File 'lib/orogen/gen/templates.rb', line 149

def self.cleanup_dir(*path)
    dir_path = File.expand_path(File.join(*path))

    Find.find(dir_path) do |file|
        if File.directory?(file) && File.directory?(File.join(file, "CMakeFiles"))
            # This looks like a build directory. Ignore
            Find.prune
        
        elsif File.file?(file) && !File.symlink?(file) && !generated_files.include?(file)
            info "   removing #{file}"
            FileUtils.rm_f file
        end
    end
end

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# File 'lib/orogen/gen/base.rb', line 96

def self.cmake_pkgconfig_link(context, target, depspec)
    depspec.inject([]) do |result, s|
        if s.in_context?(context, 'link')
            result << "target_link_libraries(#{target} ${#{s.var_name}_LIBRARIES})"
        end
        result
    end.join("\n") + "\n"
end

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# File 'lib/orogen/gen/base.rb', line 105

def self.cmake_pkgconfig_link_corba(target, depspec)
    cmake_pkgconfig_link('corba', target, depspec)
end

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# File 'lib/orogen/gen/base.rb', line 108

def self.cmake_pkgconfig_link_noncorba(target, depspec)
    cmake_pkgconfig_link('core', target, depspec)
end

.cmake_pkgconfig_require(depspec, context = 'core') ⇒ Object


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# File 'lib/orogen/gen/base.rb', line 82

def self.cmake_pkgconfig_require(depspec, context = 'core')
    depspec.inject([]) do |result, s|
        result << "orogen_pkg_check_modules(#{s.var_name} REQUIRED #{s.pkg_name})"
        if s.in_context?(context, 'include')
            result << "include_directories(${#{s.var_name}_INCLUDE_DIRS})"
            result << "add_definitions(${#{s.var_name}_CFLAGS_OTHER})"
        end
        if s.in_context?(context, 'link')
            result << "link_directories(${#{s.var_name}_LIBRARY_DIRS})"
        end
        result
    end.join("\n") + "\n"
end

Helper method used to create a symbolic link. If a link already exists, it makes sure that it is up to date


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# File 'lib/orogen/gen/typekit.rb', line 351

def self.create_or_update_symlink(source, target)
    if File.exists?(target)
        if !File.symlink?(target)
            raise ConfigError, "#{target} was expected to be a symbolic link, but is not"
        end
        pointed_to = File.readlink(target)
        if pointed_to == target
            return 
        else
            FileUtils.rm_f target
        end
    end
    FileUtils.mkdir_p(File.dirname(target))
    FileUtils.ln_sf(source, target)
end

.default_deployment_name(task_model_name) ⇒ Object


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# File 'lib/orogen/gen/project.rb', line 17

def self.default_deployment_name(task_model_name)
    "orogen_default_#{task_model_name.gsub(/[^\w]/, '_')}"
end

.define_default_deployments=(value) ⇒ Object


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# File 'lib/orogen/gen/project.rb', line 13

def self.define_default_deployments=(value);  @define_default_deployments = value end

.define_default_deployments_enabled?Boolean


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# File 'lib/orogen/gen/project.rb', line 14

def self.define_default_deployments_enabled?; @define_default_deployments end

.enableObject


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# File 'lib/orogen/gen/enable.rb', line 4

def self.enable
    Attribute.include AttributeGeneration
    Property.include PropertyGeneration
    Operation.include OperationGeneration
    Port.include PortGeneration
    OutputPort.include OutputPortGeneration
    InputPort.include InputPortGeneration
    TaskContext.include TaskContextGeneration
end

.extended_states=(value) ⇒ Object


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# File 'lib/orogen/gen/project.rb', line 9

def self.extended_states=(value);  @extended_states = value end

.extended_states_enabled?Boolean


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# File 'lib/orogen/gen/project.rb', line 10

def self.extended_states_enabled?; @extended_states end

.load_template(*path) ⇒ Object

call-seq:

load_template path1, path2, ..., file_name => erb object

Loads the template file located at template_dir/path1/path2/…/file_name and return the ERB object generated from it. template_dir is the templates/ directory located in Orocos.rb sources.

A template is only loaded once. See Generation.templates.


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# File 'lib/orogen/gen/templates.rb', line 44

def self.load_template(*path)
    if template = templates[path]
        template
    else
        template_file   = template_path(*path)

        templates[path] = begin
                              ERB.new(File.read(template_file), nil, "<>", path.join('_').downcase.gsub(/[\/\.-]/, '_'))
                          rescue Errno::ENOENT
                              raise ArgumentError, "template #{File.join(*path)} does not exist"
                          end
        templates[path].filename = template_file
        templates[path]
    end
end

.multiline_string_to_cxx(str) ⇒ Object


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# File 'lib/orogen/gen/tasks.rb', line 4

def self.multiline_string_to_cxx(str)
    if str
        "\"#{str.split("\n").join("\\n").gsub('"', '\\"')}\""
    else "\"\""
    end
end

.orocos_targetObject


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# File 'lib/orogen/gen/project.rb', line 57

def self.orocos_target
    user_target = ENV['OROCOS_TARGET']
    if @orocos_target
        @orocos_target.dup
    elsif user_target && !user_target.empty?
        user_target
    else
        'gnulinux'
    end
end

.orocos_target=(target) ⇒ Object


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# File 'lib/orogen/gen/project.rb', line 52

def self.orocos_target=(target)
    @orocos_target = target.to_s
end

.really_cleanObject


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# File 'lib/orogen/gen/templates.rb', line 164

def self.really_clean
    # List all files in templates and compare them w.r.t.  the ones in
    # the user-side of the project. Remove those that are identical
    base_dir     = Pathname.new('.')
    template_dir = Pathname.new('templates')
    template_dir.find do |path|
        next unless path.file?
        template_data = File.read(path.to_s)
        relative = path.relative_path_from(template_dir)

        if relative.file?
            user_data = File.read(relative.to_s)
            if user_data == template_data
                logger.info "removing #{relative} as it is the same than in template"
                FileUtils.rm_f relative.to_s
            end
        end
    end
    
    # Call #clean afterwards, since #clean removes the templates/ directory
    clean
end

.render_template(*args) ⇒ Object

call-seq:

render_template path1, path2, file_name, binding

Render the template found at path1/path2/file_name and render it using the provided binding


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# File 'lib/orogen/gen/templates.rb', line 65

def self.render_template(*args)
    binding = args.pop
    template = load_template(*args)
    debug "rendering #{File.join(*args)}"
    template.result(binding)
rescue Exception => e
    raise e, "while rendering #{File.join(*args)}: #{e.message}", e.backtrace
end

.save_automatic(*args) ⇒ Object

call-seq:

save_automatic path1, path2, ..., file_name, data

Save the provided data in the path1/path2/…/file_name file of the automatically-generated part of the project (i.e. under .orogen)


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# File 'lib/orogen/gen/templates.rb', line 118

def self.save_automatic(*args)
    save_generated true, AUTOMATIC_AREA_NAME, *args
end

.save_generated(overwrite, *args) ⇒ Object

:nodoc:


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# File 'lib/orogen/gen/templates.rb', line 80

def self.save_generated(overwrite, *args) # :nodoc:
    if args.size < 2
        raise ArgumentError, "expected at least 2 arguments, got #{args.size}"
    end

    data      = args.pop
    file_path = File.expand_path(File.join(*args))
    dir_name  = File.dirname(file_path)
    FileUtils.mkdir_p(dir_name)

    generated_files << file_path
    if File.exists?(file_path)
        if File.read(file_path) != data
            if overwrite
                info "  overwriting #{file_path}"
            else
                info "  will not overwrite #{file_path}"
                return file_path
            end
        else
            debug "  #{file_path} has not changed"
            return file_path
        end
    else
        info "  creating #{file_path}"
    end

    File.open(file_path, 'w') do |io|
        io.write data
    end
    file_path
end

.save_public_automatic(*args) ⇒ Object

call-seq:

save_public_automatic path1, path2, ..., file_name, data

Save the provided data in the path1/path2/file_name file of the user-written part of the project. It differs from save_user because it will happily overwrite an existing file.


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# File 'lib/orogen/gen/templates.rb', line 128

def self.save_public_automatic(*args)
    save_generated true, *args
end

.save_user(*args) ⇒ Object

call-seq:

save_user path1, path2, ..., file_name, data

Save the provided data in the path1/path2/file_name file of the user-written part of the project, if the said file does not exist yet


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# File 'lib/orogen/gen/templates.rb', line 138

def self.save_user(*args)
    result = save_generated false, *args

    # Save the template in path1/path2/.../orogen/file_name
    args = args.dup
    args.unshift "templates"
    save_generated true, *args
    result
end

.template_path(*path) ⇒ Object

call-seq:

template_path(path1, path2, ..., file_name)

Returns the full path for the template path1/path2/…/file_name. Templates names are the path relative to the template base directory, which is the orocos/templates directory directly in orogen sources.

Alternative, if an absolute path it passed, it will be directly returned


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# File 'lib/orogen/gen/templates.rb', line 26

def self.template_path(*path)
    if Pathname.new(File.join(*path)).absolute?
        File.join(*path)
    else
        reldir = File.join('orogen', 'templates', *path)
        File.expand_path(reldir, base_dir)
    end
end

.touch(*args) ⇒ Object

call-seq:

touch path1, path2, ..., file_name

Creates an empty file path1/path2/…/file_name


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# File 'lib/orogen/gen/base.rb', line 14

def self.touch(*args)
    path = File.expand_path(File.join(*args))
    FileUtils.touch path
    generated_files << path
end