Class: OroGen::Gen::RTT_CPP::Deployment

Inherits:
Spec::Deployment show all
Defined in:
lib/orogen/gen/deployment.rb

Constant Summary

Constants inherited from Spec::Deployment

Spec::Deployment::KNOWN_LOG_LEVELS

Instance Attribute Summary

Attributes inherited from Spec::Deployment

#connections, #name, #peers, #project, #task_activities

Instance Method Summary collapse

Methods inherited from Spec::Deployment

#activity_ordered_tasks, #add_default_logger, #add_peers, #connect, #corba_enabled?, #disable_corba, #disable_transport, #do_not_install, #each_task, #enable_corba, #enable_transport, #find_task_by_name, #get_lock_timeout_no_period, #get_lock_timeout_period_factor, #initialize, #initialize_copy, #inspect, #install?, #linux?, #load_type, #lock_timeout_no_period, #lock_timeout_period_factor, #pretty_print, #rtt_transports, #set_master_slave_activity, #to_s, #transports, #used_typekits, #uses_qt?, #xenomai?

Constructor Details

This class inherits a constructor from OroGen::Spec::Deployment

Instance Method Details

#dependenciesObject


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# File 'lib/orogen/gen/deployment.rb', line 68

def dependencies
    result = []
    result << BuildDependency.new(
        "OrocosRTT",
        "orocos-rtt-#{Generation.orocos_target}").
        in_context('core', 'include').
        in_context('core', 'link')

    if browse
        result << BuildDependency.new(
            "OrocosOCL",
            "orocos-ocl-#{Generation.orocos_target}").
            in_context('core', 'include').
            in_context('core', 'link')
    end
    if corba_enabled?
        result << BuildDependency.new(
            "OrocosCORBA",
            "orocos-rtt-corba-#{Generation.orocos_target}").
            in_context('corba', 'include').
            in_context('corba', 'link')
    end
    if transports.include? 'ros'
        result << BuildDependency.new(
            "ROSLIB", "roslib").
            in_context('core', 'include').
            in_context('core', 'link')
        result << BuildDependency.new(
            "ROSCPP", "roscpp").
            in_context('core', 'include').
            in_context('core', 'link')
    end
    if transports.include? 'typelib'
        result << BuildDependency.new(
            "RTT_TYPELIB", "rtt_typelib-#{Generation.orocos_target}").
            in_context('core', 'include').
            in_context('core', 'link')
    end

    used_typekits.each do |tk|
        next if tk.virtual?
        result << BuildDependency.new(
            "#{tk.name}_TYPEKIT",
            tk.pkg_name).
            in_context('core', 'include').
            in_context('core', 'link')

        transports.each do |transport_name|
            result << BuildDependency.new(
                "#{tk.name}_TRANSPORT_#{transport_name.upcase}",
                tk.pkg_transport_name(transport_name)).
                in_context('core', 'include').
                in_context('core', 'link')
        end
    end

    project.used_libraries.each do |pkg|
        result << BuildDependency.new(
            "#{pkg.name}",
            "#{pkg.name}").
            in_context('core', 'include').
            in_context('core', 'link')
    end

    used_task_libraries.each do |pkg|
        next if pkg.name == project.name

        result << BuildDependency.new(
            "#{pkg.name}_TASKLIB",
            "#{pkg.name}-tasks-#{Generation.orocos_target}").
            in_context('core', 'include').
            in_context('core', 'link')
    end

    # Task files could be using headers from external libraries, so add the relevant
    # directory in our include path
    project.tasklib_dependencies.
        find_all { |builddep| builddep.in_context?('core', 'include') }.
        each do |builddep|
            builddep = BuildDependency.new(builddep.var_name, builddep.pkg_name)
            builddep.in_context('core', 'include')
            result << builddep
        end

    result.to_a.sort_by { |dep| dep.var_name }
end

#generateObject

Generates the code associated with this deployment setup


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# File 'lib/orogen/gen/deployment.rb', line 200

def generate
    deployer = self

    if !corba_enabled? && !@browse
        OroGen.warn "the deployment #{name} will do nothing. Either generate with --transports=corba or use the 'browse' statement"
    end

    main = Generation.render_template 'main.cpp', binding
    Generation.save_automatic "main-#{name}.cpp", main
    pkg = if install?
              Generation.render_template 'deployment.pc', binding
          else
              Generation.render_template 'local_deployment.pc', binding
          end
    Generation.save_automatic "#{name}.pc.in", pkg
    cmake = Generation.render_template 'config/Deployment.cmake', binding
    Generation.save_automatic "config/#{name}Deployment.cmake", cmake
end

#task(name, klass) ⇒ Object


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# File 'lib/orogen/gen/deployment.rb', line 55

def task(name, klass)
    name = OroGen.verify_valid_identifier(name)
    if klass.respond_to?(:to_str)
        task_context = project.task_model_from_name(klass)
    else task_context = klass
    end

    if task_context.abstract?
        raise ArgumentError, "cannot create a deployment for #{task_context.name}, as it is abstract"
    end
    super(name, task_context)
end

#to_deployer_xmlObject


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# File 'lib/orogen/gen/deployment.rb', line 177

def to_deployer_xml
    result = []
    result << <<-EOHEADER
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE properties SYSTEM "cpf.dtd">
<properties>
    EOHEADER
    used_typekits.each do |tk|
        next if tk.virtual?
        result << "<simple name=\"Import\" type=\"string\"><value>#{tk.name}</value></simple>"
    end
    used_task_libraries.each do |pkg|
        result << "<simple name=\"Import\" type=\"string\"><value>#{pkg.name}</value></simple>"
    end

    task_activities.each do |task|
        result << task.to_deployer_xml
    end
    result << "</properties>"
    result.join("\n")
end

#used_task_librariesObject


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# File 'lib/orogen/gen/deployment.rb', line 155

def used_task_libraries
    task_models = Set.new
    task_activities.each do |task|
        task_models |= task.task_model.ancestors.to_set
    end
    task_models.delete_if do |task|
        !task.project.orogen_project?
    end

    dependencies = Hash.new
    task_models.each do |model|
        if p = dependencies[model.project.name]
            if p != model.project
                raise InternalError, "found two Project objects that seem to refer to the same project: #{p.name}"
            end
        else
            dependencies[model.project.name] = model.project
        end
    end
    dependencies.values
end