Module: Syskit::Device

Defined in:
lib/syskit/data_service.rb

Overview

Modelling and instance-level functionality for devices

Devices are, in Syskit 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 SystemModel#device_type if it should be registered

Instance Method Summary collapse

Instance Method Details

#each_master_device {|device| ... } ⇒ Object

Enumerates the MasterDeviceInstance objects associated with this task context

It yields the data service and the device model

Yield Parameters:

  • device (MasterDeviceInstance)

See Also:

  • #each_device


106
107
108
109
110
111
112
113
114
115
116
117
118
 
# File 'lib/syskit/data_service.rb', line 106

def each_master_device
    if !block_given?
        return enum_for(:each_master_device)
    end

    seen = Set.new
    model.each_master_driver_service do |srv|
        if (device = find_device_attached_to(srv)) && !seen.include?(device.name)
            yield(device)
            seen << device.name
        end
    end
end

#each_master_driver_service ⇒ Object 



40
41
42
43
44
 
# File 'lib/syskit/data_service.rb', line 40

def each_master_driver_service
    model.each_master_driver_service do |srv|
        yield(srv.bind(self))
    end
end

#find_all_driver_services_for(device) ⇒ Object

Returns the bound data service that is attached to the given device



48
49
50
51
52
53
54
55
56
57
58
59
 
# File 'lib/syskit/data_service.rb', line 48

def find_all_driver_services_for(device)
    if device.respond_to?(:master_device)
        find_all_driver_services_for(device.master_device).map do |driver_srv|
            driver_srv.find_data_service(device.name)
        end
    else
        services = model.each_master_driver_service.find_all do |driver_srv|
            find_device_attached_to(driver_srv) == device
        end
        services.map { |drv| drv.bind(self) }
    end
end

#find_device_attached_to(service = nil) ⇒ MasterDeviceInstance?

Returns the device object that is attached to the given service.

Parameters:

  • service (BoundDataService, String, nil) (defaults to: nil) —

    the service for which we want the attached device. It can be omitted in the (very common) case of tasks that are driving only one device

Returns:

  • (MasterDeviceInstance, nil) —

    the device object, or nil if there is no device attached to the required service

Raises:

  • (ArgumentError) —

    if the provided service name does not exist, or if it is nil and this task context drives more than one device.



71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
 
# File 'lib/syskit/data_service.rb', line 71

def find_device_attached_to(service = nil)
    if service && service.respond_to?(:to_str)
        if !(service = find_data_service(service))
            raise ArgumentError, "#{service} is not a known service of #{self}, known services are: #{each_data_service.map(&:name).sort.join(', ')}"
        end
    elsif !service || service.kind_of?(Syskit::Models::DataServiceModel)
        driver_services =
            if service then model.find_all_data_services_from_type(service)
            else model.each_master_driver_service.to_a
            end
        if driver_services.empty?
            raise ArgumentError, "#{self} is not attached to any device"
        elsif driver_services.size > 1
            raise ArgumentError, "#{self} handles more than one device, you must specify one of #{driver_services.map(&:name).sort.join(", ")} explicitely"
        end
        service = driver_services.first
    end

    arguments[:"#{service.name}_dev"]
end

#robot_device(subname = nil) ⇒ Object

Alias for #find_device_attached_to for user code

(see #find_device_attached_to)



95
96
97
 
# File 'lib/syskit/data_service.rb', line 95

def robot_device(subname = nil)
    find_device_attached_to(subname)
end