Method: Roby::Application#setup

Defined in:
lib/roby/app.rb

#setup ⇒ Object

Does basic setup of the Roby environment. It loads configuration files and sets up singleton objects.

After a call to #setup, the Roby services that do not require an execution loop to run should be available

Plugins that define a setup(app) method will see their method called at this point

The #cleanup method is the reverse of #setup



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# File 'lib/roby/app.rb', line 1118

def setup
    apply_argv_set

    base_setup
    # Set up the loaded plugins
    call_plugins(:setup, self)
    # And run the setup handlers
    setup_handlers.each(&:call)
    # Re-apply configuration parameters from the command line
    apply_argv_set

    require_models

    # Main is always included in the planner list
    self.planners << app_module::Actions::Main

    # Attach the global fault tables to the plan
    self.planners.each do |planner|
        if planner.respond_to?(:each_fault_response_table)
            planner.each_fault_response_table do |table, arguments|
                plan.use_fault_response_table table, arguments
            end
        end
    end
rescue Exception # rubocop:disable Lint/RescueException
    begin cleanup
    rescue Exception => e # rubocop:disable Lint/RescueException
        Roby.warn "failed to cleanup after #setup raised"
        Roby.log_exception_with_backtrace(e, Roby, :warn)
    end
    raise
end