module Orocos::RobyPlugin::Device

Modelling and instance-level functionality for devices

Devices are, in the Orocos/Roby plugin, the tools that allow to represent the inputs and outputs of your component network, i.e. the components that are tied to "something" (usually hardware) that is not represented in the component network.

New devices can either be created with device_model.new_submodel if the source should not be registered in the system model, or Orocos::RobyPlugin::SystemModel#device_type if it should be registered

Public Instance Methods

each_device() { |srv, device| ... } click to toggle source

Enumerates the MasterDeviceInstance and/or SlaveDeviceInstance objects that are mapped to this task context

It yields the data service and the device model

See also #each_device_name

# File lib/orocos/roby/data_sources.rb, line 882
def each_device
    if !block_given?
        return enum_for(:each_device)
    end

    each_master_device do |srv, device|
        yield(srv, device)

        device.each_slave do |_, slave|
            yield(slave.service, slave)
        end
    end
end

each_device_name() { |srv, device_name| ... } click to toggle source

Enumerates the devices that are mapped to this component

It yields the data service and the device model

# File lib/orocos/roby/data_sources.rb, line 857
def each_device_name
    if !block_given?
        return enum_for(:each_device_name)
    end

    seen = Set.new
    model.each_master_device do |srv|
        # Slave devices have the same name than the master device,
        # so no need to list them
        next if !srv.master?

        device_name = arguments["#{srv.name}_name"]
        if device_name && !seen.include?(device_name)
            seen << device_name
            yield(srv, device_name)
        end
    end
end

each_master_device() { |service, device| ... } click to toggle source

Enumerates the MasterDeviceInstance objects associated with this task context

It yields the data service and the device model

See also #each_device_name

# File lib/orocos/roby/data_sources.rb, line 902
def each_master_device
    if !block_given?
        return enum_for(:each_master_device)
    end

    each_device_name do |service, device_name|
        if !(device = robot.devices[device_name])
            raise SpecError, "#{self} attaches device #{device_name} to #{service.full_name}, but #{device_name} is not a known device"
        end

        yield(service, device)
    end
end

each_slave_device(master_service_name, expected_device_model = nil) { |slave_service_name, slave_device| ... } click to toggle source

Enumerates the devices that are slaves to the service called master_service_name

# File lib/orocos/roby/data_sources.rb, line 918
def each_slave_device(master_service_name, expected_device_model = nil) # :yield:slave_service_name, slave_device
    srv = model.find_data_service(master_service_name)
    if !srv
        raise ArgumentError, "#{model.short_name} has no service called #{master_service_name}"
    end

    master_device_name = arguments["#{srv.name}_name"]
    if master_device_name
        if !(master_device = robot.devices[master_device_name])
            raise SpecError, "#{self} attaches device #{device_name} to #{service.full_name}, but #{device_name} is not a known device"
        end

        master_device.each_slave do |slave_name, slave_device|
            if !expected_device_model || slave_device.device_model.fullfills?(expected_device_model)
                yield("#{srv.name}.#{slave_name}", slave_device)
            end
        end
    end
end

robot_device(subname = nil) click to toggle source

Returns either the MasterDeviceInstance or SlaveDeviceInstance that represents the device tied to this component.

If subname is given, it has to be the corresponding data service name. It is optional only if there is only one device attached to this component

# File lib/orocos/roby/data_sources.rb, line 944
def robot_device(subname = nil)
    devices = each_master_device.to_a
    if !subname
        if devices.empty?
            raise ArgumentError, "#{self} is not attached to any device"
        elsif devices.size > 1
            raise ArgumentError, "#{self} handles more than one device, you must specify one explicitely"
        end
    else
        devices = devices.find_all { |srv, _| srv.full_name == subname }
        if devices.empty?
            raise ArgumentError, "there is no data service called #{subname} on #{self}"
        end
    end
    service, device_instance = devices.first
    device_instance
end