Class: OroGen::Spec::Deployment

Inherits:
Object
  • Object
show all
Defined in:
lib/orogen/spec/deployment.rb

Overview

Instances of this class are used to define a deployment. The deployment is the part in which the TaskContext classes are instanciated and associated with specific Activity classes.

Constant Summary collapse

KNOWN_LOG_LEVELS =
{
    :info => 'Info',
    :debug => 'Debug'
}

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(project = nil, name = nil) ⇒ Deployment


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# File 'lib/orogen/spec/deployment.rb', line 532

def initialize(project = nil, name = nil)
    @project       = project
    @name            = name

    @install         = true
    @task_activities = Array.new
    @file_reporters  = Hash.new
    @loggers         = Hash.new
    @connections     = Array.new
    @tcp_reporters   = Hash.new
    @peers           = Set.new
    @corba_enabled   = nil
    @browse          = nil
    @loglevel        = nil
    @transports      = Array.new
    @manually_loaded_types = Set.new
    @lock_timeout_no_period = nil
    @lock_timeout_period_factor =  nil
end

Instance Attribute Details

#connectionsObject (readonly)

The set of connections set up for this deployment. This is a set of [from, to] PortDeployment objects.


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# File 'lib/orogen/spec/deployment.rb', line 747

def connections
  @connections
end

#nameObject (readonly)

The deployment name


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# File 'lib/orogen/spec/deployment.rb', line 516

def name
  @name
end

#peersObject (readonly)

The set of peer pairs set up for this deployment. This is a set of [a, b] TaskDeployment objects.


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# File 'lib/orogen/spec/deployment.rb', line 743

def peers
  @peers
end

#projectObject (readonly)

The underlying Project object


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# File 'lib/orogen/spec/deployment.rb', line 518

def project
  @project
end

#task_activitiesObject (readonly)

The set of tasks that need to be deployed


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# File 'lib/orogen/spec/deployment.rb', line 520

def task_activities
  @task_activities
end

Instance Method Details

#activity_ordered_tasks(ordered = Array.new) ⇒ Object

handels theActivity creation order to be sure that all activities are created in the right order


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# File 'lib/orogen/spec/deployment.rb', line 706

def activity_ordered_tasks(ordered=Array.new)
    oldsize = ordered.size()
    (task_activities - ordered).each do |task|
        if !task.master || ordered.include?(task.master)
            ordered << task
        end
    end
    if ordered.size == task_activities.size
        return ordered
    elsif oldsize == ordered.size()
        activities = task_activities.map do |task|
            "\n  #{task.name} (master: #{task.master ? task.master.name : "none"})"
        end
        raise ArgumentError, "I cannot find an order in which to create the deployed tasks of #{name} during deployment" <<
            "Did you created a loop among master and slave activities ?. The #{activities.size} deployed tasks are:#{activities.join("\n  ")}"
    else
        return activity_ordered_tasks(ordered)
    end
end

#add_default_loggerObject


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# File 'lib/orogen/spec/deployment.rb', line 736

def add_default_logger
    project.using_task_library "logger"
    task("#{name}_Logger", 'logger::Logger')
end

#add_peers(a, b) ⇒ Object

Declare that the given tasks are peers


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# File 'lib/orogen/spec/deployment.rb', line 766

def add_peers(a, b)
    peers << [a, b]
    self
end

#connect(from, to, policy = Hash.new) ⇒ Object

Connects the two given ports or tasks


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# File 'lib/orogen/spec/deployment.rb', line 750

def connect(from, to, policy = Hash.new)
    add_peers from.activity, to.activity

    if from.kind_of?(Port)
        if !from.kind_of?(OutputPort)
            raise ArgumentError, "in connect(a, b), 'a' must be a writer port"
        elsif !to.kind_of?(InputPort)
            raise ArgumentError, "in connect(a, b), 'b' must be a reader port"
        end
    end

    connections << [from, to, ConnPolicy.from_hash(policy)]
    self
end

#corba_enabled?Boolean

True if this deployment should export its tasks through CORBA.

It is true by default if the CORBA transport is enabled


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# File 'lib/orogen/spec/deployment.rb', line 686

def corba_enabled?
    if @corba_enabled.nil?
        transports.include?('corba')
    else @corba_enabled
    end
end

#disable_corbaObject

Force disabling CORBA support even though the CORBA transport is enabled in this deployment

See #corba_enabled?


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# File 'lib/orogen/spec/deployment.rb', line 697

def disable_corba; @corba_enabled = false end

#disable_transport(transport_name) ⇒ Object

Forbid the deployment from loading the given transport


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# File 'lib/orogen/spec/deployment.rb', line 639

def disable_transport(transport_name)
    @transports.delete(transport_name.to_str)
end

#do_not_installObject

Do not install that deployment


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# File 'lib/orogen/spec/deployment.rb', line 523

def do_not_install; @install = false end

#each_task {|task| ... } ⇒ Object

Enumerates the tasks defined on this deployment

Yield Parameters:


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# File 'lib/orogen/spec/deployment.rb', line 671

def each_task(&block)
    task_activities.each(&block)
end

#enable_corbaObject

Force enabling CORBA support even though the CORBA transport is not enabled in this deployment

See #corba_enabled?


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# File 'lib/orogen/spec/deployment.rb', line 703

def enable_corba; @corba_enabled = true end

#enable_transport(transport_name) ⇒ Object

Make the deployment load the given transport


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# File 'lib/orogen/spec/deployment.rb', line 643

def enable_transport(transport_name)
    @transports << transport_name.to_str
end

#find_task_by_name(name) ⇒ TaskDeployment?

Returns the deployed task that has this name


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# File 'lib/orogen/spec/deployment.rb', line 679

def find_task_by_name(name)
    task_activities.find { |act| act.name == name }
end

#get_lock_timeout_no_periodObject


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# File 'lib/orogen/spec/deployment.rb', line 787

def get_lock_timeout_no_period
    @lock_timeout_no_period
end

#get_lock_timeout_period_factorObject


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# File 'lib/orogen/spec/deployment.rb', line 797

def get_lock_timeout_period_factor
    @lock_timeout_period_factor
end

#initialize_copy(old) ⇒ Object


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# File 'lib/orogen/spec/deployment.rb', line 552

def initialize_copy(old)
    super
    @task_activities = @task_activities.dup


    @transports = @transports.dup
    @peers = @peers.dup
    @manually_loaded_types = @manually_loaded_types.dup
end

#inspectObject


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# File 'lib/orogen/spec/deployment.rb', line 571

def inspect
    to_s
end

#install?Boolean

True if this deployment should be installed


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# File 'lib/orogen/spec/deployment.rb', line 525

def install?; !!@install end

#linux?Boolean

True if we are generating for Linux


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# File 'lib/orogen/spec/deployment.rb', line 528

def linux?;     project.linux? end

#load_type(typename) ⇒ Object

Manually Request Loading of Types that are not Provided throught the task_contex typekit.


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# File 'lib/orogen/spec/deployment.rb', line 580

def load_type(typename)
    if !project.imported_typekits_for(typename).map(&:name)[0]
        raise ArgumentError, "cannot find a typekit defining #{typename}"
    end
    @manually_loaded_types << typename
end

#lock_timeout_no_period(timeout_in_s) ⇒ Object

Set the lock timeout of a thread, which has no period if set, the minimum setting is 1s


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# File 'lib/orogen/spec/deployment.rb', line 793

def lock_timeout_no_period(timeout_in_s)
    @lock_timeout_no_period = [1,timeout_in_s].max
end

#lock_timeout_period_factor(factor) ⇒ Object

Set the mutex timeout for a thread with a given period by a factor of its period if set, the minimum setting is factor 10 (times the period)


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# File 'lib/orogen/spec/deployment.rb', line 804

def lock_timeout_period_factor(factor)
    @lock_timeout_period_factor = [10,factor.to_i].max
end

#pretty_print(pp) ⇒ Object

Displays this deployment's definition nicely


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# File 'lib/orogen/spec/deployment.rb', line 809

def pretty_print(pp) # :nodoc:
    pp.text "------- #{name} ------"
    pp.breakable
    if !task_activities.empty?
        pp.text "Tasks"
        pp.nest(2) do
            pp.breakable
            pp.seplist(task_activities) do |act|
                act.pretty_print(pp)
            end
        end
    end

    if !connections.empty?
        pp.breakable if !task_activities.empty?
        pp.text "Connections"
        pp.nest(2) do
            pp.breakable
            pp.seplist(connections) do |conn|
                from, to, policy = *conn
                pp.text "#{from.activity.name} => #{to.activity.name} [#{policy.inspect}]"
            end
        end
    end
end

#rtt_transportsObject

The set of transports loaded by this deployment for which a transport should be loaded on the RTT itself


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# File 'lib/orogen/spec/deployment.rb', line 628

def rtt_transports
    result = self.transports
    result.delete('typelib')
    result
end

#set_master_slave_activity(master, slave) ⇒ Object

Define an master slave avtivity between tasks


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# File 'lib/orogen/spec/deployment.rb', line 727

def set_master_slave_activity(master, slave)
    slave.slave_of(master)
    self
end

#task(name, klass) ⇒ Object

call-seq:

task name, task_context -> task_deployment

Deploys a new task using the given task context type, and returns the corresponding TaskDeployment object. This instance can be used to configure the task further (for instance specifying the activity). See TaskDeployment documentation for available options.


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# File 'lib/orogen/spec/deployment.rb', line 654

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

    if find_task_by_name(name)
        raise ArgumentError, "there is already a task #{name} on the deployment #{self.name}"
    end
    deployment = TaskDeployment.new(name, task_context)
    task_activities << deployment
    deployment
end

#to_sObject


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# File 'lib/orogen/spec/deployment.rb', line 567

def to_s
    "#<#{self.class} name=#{name} tasks=#{task_activities.map { |t| "#{t}" }.join(", ")}>"
end

#transportsObject

The set of transports loaded by this deployment, as an array of names


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# File 'lib/orogen/spec/deployment.rb', line 635

def transports
    @transports.to_a.sort
end

#used_typekitsObject

Returns the set of typekits required by this particular deployment (i.e. the tasks that are deployed in it)


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# File 'lib/orogen/spec/deployment.rb', line 589

def used_typekits
    task_typekits = task_activities.map do |deployed_task|
        deployed_task.task_model.used_typekits.
            map(&:name)
    end.flatten.to_set
   
    @manually_loaded_types.each do |type|
        tk = project.imported_typekits_for(type).map(&:name)[0]
        if !tk
            raise InternalError, "could not find manually loaded type \"#{type}\""
        end
        task_typekits << tk
    end

    task_typekits.sort.map do |used_name|
        this_tk = project.find_typekit(used_name)
        next if this_tk.virtual?
        if !this_tk
            raise InternalError, "#{used_name} is a typekit that is listed by one of the tasks of the #{name} deployment, but the oroGen project #{project.name} does not list it"
        end
        this_tk
    end.compact
end

#uses_qt?Boolean


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# File 'lib/orogen/spec/deployment.rb', line 575

def uses_qt?
    task_activities.any?{|t| t.task_model.uses_qt?}
end

#xenomai?Boolean

True if we are generating for Xenomai


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# File 'lib/orogen/spec/deployment.rb', line 530

def xenomai?;   project.xenomai? end