Class: Syskit::GUI::Instanciate

Inherits:
Qt::Widget
  • Object
show all
Defined in:
lib/syskit/gui/instanciate.rb

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(parent = nil, arguments = "", permanent = []) ⇒ Instanciate

Returns a new instance of Instanciate



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# File 'lib/syskit/gui/instanciate.rb', line 25

def initialize(parent = nil, arguments = "", permanent = [])
    super(parent)

    main_layout = Qt::VBoxLayout.new(self)
    toolbar_layout = create_toolbar
    main_layout.add_layout(toolbar_layout)

    splitter = Qt::Splitter.new(self)
    main_layout.add_widget(splitter)

    # Add the main view
    @display = Qt::WebView.new
    @page = HTMLPage.new(@display.page)
    main_layout.add_widget(@display)
    @rendering = Syskit::GUI::ComponentNetworkView.new(@page)
    rendering.enable

    # Add the exception view
    @exception_view = MetaRuby::GUI::ExceptionView.new

    splitter.orientation = Qt::Vertical
    splitter.add_widget display
    splitter.set_stretch_factor 0, 3
    splitter.add_widget exception_view
    splitter.set_stretch_factor 1, 1

    @apply_btn.connect(SIGNAL('clicked()')) do
        Roby.app.clear_exceptions
        Roby.app.reload_models
        compute
    end

    @permanent = permanent
    @instance_txt.text = arguments
end

Instance Attribute Details

#apply_btn ⇒ Object (readonly)

Returns the value of attribute apply_btn



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# File 'lib/syskit/gui/instanciate.rb', line 10

def apply_btn
  @apply_btn
end

#display ⇒ Object (readonly)

Returns the value of attribute display



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# File 'lib/syskit/gui/instanciate.rb', line 13

def display
  @display
end

#exception_view ⇒ Object (readonly)

Returns the value of attribute exception_view



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# File 'lib/syskit/gui/instanciate.rb', line 17

def exception_view
  @exception_view
end

#instance_txt ⇒ Object (readonly)

Returns the value of attribute instance_txt



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# File 'lib/syskit/gui/instanciate.rb', line 11

def instance_txt
  @instance_txt
end

#page ⇒ Object (readonly)

Returns the value of attribute page



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# File 'lib/syskit/gui/instanciate.rb', line 14

def page
  @page
end

#permanent ⇒ Object (readonly)

Returns the value of attribute permanent



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# File 'lib/syskit/gui/instanciate.rb', line 19

def permanent
  @permanent
end

#rendering ⇒ Object (readonly)

Returns the value of attribute rendering



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# File 'lib/syskit/gui/instanciate.rb', line 15

def rendering
  @rendering
end

Class Method Details

.compute(plan, passes, compute_policies, compute_deployments, validate_network, display_timepoints = false, permanent = []) ⇒ Object 



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# File 'lib/syskit/gui/instanciate.rb', line 104

def self.compute(plan, passes, compute_policies, compute_deployments, validate_network, display_timepoints = false, permanent = [])
    Scripts.start_profiling
    Scripts.pause_profiling

    if passes.empty? && !permanent.empty?
        passes << []
    end
    passes.each do |actions|
        requirement_tasks = actions.map do |action_name|
            action_name = action_name.gsub(/!$/, '')
            begin
                _, act = ::Robot.action_from_name(action_name)
            rescue ArgumentError
                act = eval(action_name).to_action
            end

            # Instanciate the action, and find out if it is actually
            # a syskit-centric action or not
            task = act.instanciate(plan)
            if !(planner = task.planning_task) || !planner.respond_to?(:requirements)
                raise ArgumentError, "#{action_name} is not an action created from a Syskit definition or device"
            end
            plan.add_mission_task(task)
            task
        end
        permanent.each do |req|
            plan.add_mission_task(task = req.as_plan)
            requirement_tasks << task
        end
        requirement_tasks = requirement_tasks.map(&:planning_task)

        Scripts.resume_profiling
        Scripts.tic
        engine = Syskit::NetworkGeneration::Engine.new(plan)
        engine.resolve(requirement_tasks: requirement_tasks,
                       compute_policies: compute_policies,
                       compute_deployments: compute_deployments,
                       validate_generated_network: validate_network,
                       validate_deployed_network: validate_network,
                       validate_final_network: validate_network,
                       on_error: :commit)
        plan.static_garbage_collect do |task|
            plan.remove_task(task)
        end
        Scripts.toc_tic "computed deployment in %.3f seconds"
        if display_timepoints
            pp engine.format_timepoints
        end
        Scripts.pause_profiling
    end
    Scripts.end_profiling
end

.parse_passes(remaining) ⇒ Object 



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# File 'lib/syskit/gui/instanciate.rb', line 87

def self.parse_passes(remaining)
    passes = []
    current = []
    while name = remaining.shift
        if name == "/"
            passes << current
            current = []
        else
            current << name
        end
    end
    if !current.empty?
        passes << current
    end
    passes
end

Instance Method Details

#compute ⇒ Object 



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# File 'lib/syskit/gui/instanciate.rb', line 70

def compute
    passes = Instanciate.parse_passes(instance_txt.text.split(" "))
    plan.clear
    exception_view.clear

    begin
        Instanciate.compute(plan, passes, true, true, true, false, permanent)
    rescue Exception => e
        Roby.app.registered_exceptions.each do |loading_error, reason|
            exception_view.push(loading_error, reason)
        end
        exception_view.push(e)
    end
    rendering.render_plan
end

#create_toolbar ⇒ Object 



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# File 'lib/syskit/gui/instanciate.rb', line 61

def create_toolbar
    toolbar_layout = Qt::HBoxLayout.new
    @apply_btn = Qt::PushButton.new("Reload && Apply", self)
    @instance_txt = Qt::LineEdit.new(self)
    toolbar_layout.add_widget(@apply_btn)
    toolbar_layout.add_widget(@instance_txt)
    toolbar_layout
end

#plan ⇒ Object 



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# File 'lib/syskit/gui/instanciate.rb', line 21

def plan
    rendering.plan
end