Class: Syskit::Models::DeviceModel

Inherits:
DataServiceModel show all
Defined in:
lib/syskit/models/data_service.rb

Overview

Metamodel for all devices

Direct Known Subclasses

ComBusModel

Instance Attribute Summary

Attributes inherited from DataServiceModel

#orogen_model, #rw port_mappings

Instance Method Summary collapse

Methods inherited from DataServiceModel

#apply_block, #as_plan, #bind, #clear_model, #connected?, #create_placeholder_task, #create_proxy_task, #each_fullfilled_model, #each_required_model, #if_already_present, #initialize, #instanciate, new_permanent_root, #placeholder?, #placeholder_model, #port_mappings_for, #pretty_print, #provides?, #proxy_task_model, #resolve, #to_component_model, #to_dot, #try_bind, #try_resolve

Methods included from PortAccess

#each_input_port, #each_output_port, #each_port, #find_input_port, #find_output_port, #find_port, #find_through_method_missing, #has_dynamic_input_port?, #has_dynamic_output_port?, #has_input_port?, #has_output_port?, #has_port?, #has_through_method_missing?, #port_by_name

Methods included from Base

#dependency_injection_names, #pretty_print, #short_name, #to_instance_requirements, #to_s

Constructor Details

This class inherits a constructor from Syskit::Models::DataServiceModel

Instance Method Details

#apply_device_configuration_extensions(device_instance) ⇒ Object

Applies the configuration extensions declaredwith #extend_device_configuration to the provided class



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# File 'lib/syskit/models/data_service.rb', line 404

def apply_device_configuration_extensions(device_instance)
    if device_configuration_module
        device_instance.extend(device_configuration_module)
    end
end

#default_driver ⇒ Object 



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# File 'lib/syskit/models/data_service.rb', line 431

def default_driver
    tasks = find_all_drivers
    if tasks.size > 1
        raise Ambiguous, "#{tasks.map(&:to_s).join(", ")} can all handle '#{self}'"
    elsif tasks.empty?
        raise ArgumentError, "no task can handle devices of type '#{self}'"
    end
    tasks.first
end

#extend_device_configuration(&block) ⇒ Object

Requires that the given block is used to add methods to the device configuration objects.

I.e. if a device type is defined with

device_type('Hokuyo').
   extend_device_configuration do
       def enable_remanence_values; @remanence = true; self end
       def remanence_values_enabled?; @remanence end
   end

Then the methods are made available on the corresponding MasterDeviceInstance instances:

Robot.devices do
  device(Devices::Hokuyo).
    enable_remanence_values
end



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# File 'lib/syskit/models/data_service.rb', line 394

def extend_device_configuration(&block)
    if block
        self.device_configuration_module ||= Module.new
        device_configuration_module.class_eval(&block)
    end
    self
end

#find_all_drivers ⇒ Object 



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# File 'lib/syskit/models/data_service.rb', line 422

def find_all_drivers
    # Since we want to drive a particular device, we actually need a
    # concrete task model. So, search for one.
    #
    # Get all task models that implement this device
    Syskit::Component.each_submodel.
        find_all { |t| t.fullfills?(self) && !t.abstract? }
end

#provides(service_model, new_port_mappings = Hash.new) ⇒ Object 



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# File 'lib/syskit/models/data_service.rb', line 410

def provides(service_model, new_port_mappings = Hash.new)
    super

    # If the provided model has a device_configuration_module,
    # include it in our own
    if service_model.respond_to?(:device_configuration_module) &&
        service_model.device_configuration_module
        self.device_configuration_module ||= Module.new
        self.device_configuration_module.include(service_model.device_configuration_module)
    end
end

#setup_submodel(submodel, options = Hash.new, &block) ⇒ Object 



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# File 'lib/syskit/models/data_service.rb', line 366

def setup_submodel(submodel, options = Hash.new, &block)
    super
    if device_configuration_module
        submodel.device_configuration_module = Module.new
        submodel.device_configuration_module.include(device_configuration_module)
    end
end