class Orocos::RobyPlugin::MasterDeviceInstance

# File lib/orocos/roby/robot.rb, line 90
def initialize(robot, name, device_model, options,
               task_model, service, task_arguments)
    @robot, @name, @device_model, @task_model, @service, @task_arguments =
        robot, name, device_model, task_model, service, task_arguments
    @slaves      = Hash.new
    @conf = Array.new

    sample_size 1
    burst   0
end

# File lib/orocos/roby/robot.rb, line 137
def attach_to(com_bus)
    if !com_bus.kind_of?(CommunicationBus)
        com_bus = robot.com_busses[com_bus.to_str]
    end
    task_arguments["#{service.name}_com_bus"] = com_bus.name
    com_bus.model.apply_attached_device_configuration_extensions(self)
    self
end

# File lib/orocos/roby/robot.rb, line 131
def attached_to?(com_bus)
    com_bus = com_bus.name if com_bus.respond_to?(:name)
    task_arguments["#{service.name}_com_bus"] == com_bus
end

# File lib/orocos/roby/robot.rb, line 120
def com_bus_names
    result = []
    @task_arguments.each do |arg_name, bus_name|
        if arg_name.to_s =~ /_com_bus$/ && bus_name
            result << bus_name
        end
    end
    result
end

# File lib/orocos/roby/robot.rb, line 159
def configure(base_config = nil, &config_block)
    if base_config
        @configuration = base_config.dup
    end
    if block_given?
        if @configuration
            yield(@configuration)
        else
            if !service.config_type
                raise ArgumentError, "#configure called on #{self.name}, but there is no configuration type for this device"
            end

            # Just verify that there is no error in
            # configuration_block
            yield(service.config_type.new)
        end
    end
    @configuration_block = config_block
    self
end

# File lib/orocos/roby/robot.rb, line 216
def each_slave(&block)
    slaves.each(&block)
end

# File lib/orocos/roby/robot.rb, line 101
def full_name
    name
end

# File lib/orocos/roby/robot.rb, line 182
def instanciate(engine, context, options = Hash.new)
    options[:task_arguments] = task_arguments.merge(options[:task_arguments] || Hash.new)
    task_model.instanciate(engine, context, options)
end

# File lib/orocos/roby/robot.rb, line 262
def method_missing(m, *args, &block)
    if m.to_s =~ /(.*)_slave$/ && (!block && args.empty?)
        if s = slaves[$1]
            return s
        end
    end
    return super
end

# File lib/orocos/roby/robot.rb, line 63
def model; device_model end

# File lib/orocos/roby/robot.rb, line 66
def short_name
    "#{name}[#{model.short_name}]"
end

# File lib/orocos/roby/robot.rb, line 220
def slave(slave_service, options = Hash.new)
    options = Kernel.validate_options options, :as => nil

    # If slave_service is a string, it should refer to an actual
    # service on +task_model+
    if slave_service.respond_to?(:to_str)
        srv = task_model.find_service(slave_service)
        if !srv
            raise ArgumentError, "there is no service in #{task_model.short_name} named #{slave_service}"
        end
    elsif slave_service.kind_of?(DataServiceModel)
        srv = task_model.find_matching_service(slave_service, options[:as])
        if !srv
            options[:as] ||= slave_service.snakename
            new_task_model, srv = self.service.
                require_dynamic_slave(slave_service, options[:as], name, task_model)

            if !srv
                raise ArgumentError, "there is no service in #{task_model.short_name} of type #{slave_service.short_name}"
            end

            @task_model = new_task_model

            SystemModel.debug do
                SystemModel.debug "dynamically created slave service #{name}.#{srv.name} of type #{srv.model.short_name} from #{slave_service.short_name}"
                break
            end
            device_instance = SlaveDeviceInstance.new(self, srv)
            slaves[srv.name] = device_instance
            srv.model.apply_device_configuration_extensions(device_instance)
            robot.devices["#{name}.#{srv.name}"] = device_instance
        end
    else
        raise ArgumentError, "expected #{slave_service} to be either a string or a data service model"
    end
end

# File lib/orocos/roby/robot.rb, line 106
def use_conf(*conf)
    Roby.warn_deprecated "MasterDeviceInstance#use_conf is deprecated. Use #with_conf instead"
    with_conf(*conf)
end

# File lib/orocos/roby/robot.rb, line 113
def with_conf(*conf)
    task_arguments[:conf] = conf
    self
end