Class: Syskit::Runtime::ConnectionManagement

Inherits:
Object
  • Object
show all
Extended by:
Logger::Hierarchy
Includes:
Logger::Hierarchy
Defined in:
lib/syskit/runtime/connection_management.rb

Overview

Connection management at runtime

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(plan) ⇒ ConnectionManagement

Returns a new instance of ConnectionManagement



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# File 'lib/syskit/runtime/connection_management.rb', line 20

def initialize(plan)
    @plan = plan
    @dataflow_graph = plan.task_relation_graph_for(Flows::DataFlow)
    @orocos_task_to_syskit_tasks = Hash.new
    @orocos_task_to_setup_syskit_task = Hash.new
    plan.find_tasks(Syskit::TaskContext).each do |t|
        (@orocos_task_to_syskit_tasks[t.orocos_task] ||= []) << t
        if t.setup?
            @orocos_task_to_setup_syskit_task[t.orocos_task] = t
        end
    end
end

Instance Attribute Details

#dataflow_graph ⇒ Object (readonly)

Returns the value of attribute dataflow_graph



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# File 'lib/syskit/runtime/connection_management.rb', line 10

def dataflow_graph
  @dataflow_graph
end

#plan ⇒ Object (readonly)

Returns the value of attribute plan



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# File 'lib/syskit/runtime/connection_management.rb', line 8

def plan
  @plan
end

Class Method Details

.update(plan) ⇒ Object 



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# File 'lib/syskit/runtime/connection_management.rb', line 33

def self.update(plan)
    manager = ConnectionManagement.new(plan)
    manager.update
end

Instance Method Details

#active_task?(t) ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/syskit/runtime/connection_management.rb', line 627

def active_task?(t)
    t.plan && !t.finished? && t.execution_agent &&
        !t.execution_agent.finished? && !t.execution_agent.ready_to_die?
end

#apply_connection_additions(new) ⇒ [Syskit::TaskContext]

Actually create new connections

Parameters:

Returns:



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# File 'lib/syskit/runtime/connection_management.rb', line 334

def apply_connection_additions(new)
    actual_connections = pre_connect(new)
    performed_connections, failed_connections = perform_connections(actual_connections)
    post_connect_success(performed_connections)
    post_connect_failure(failed_connections)
    new.map { |(_, to_task), mappings| to_task if !to_task.executable? }.
        compact
end

#apply_connection_changes(new, removed) ⇒ Object

Apply the connection changes that can be applied



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# File 'lib/syskit/runtime/connection_management.rb', line 567

def apply_connection_changes(new, removed)
    additions_held, additions_ready = new_connections_partition_held_ready(new)

    early_removal, late_removal     =
        partition_early_late(removed, 'removed', method(:find_setup_syskit_task_context_from_orocos_task))
    early_additions, late_additions =
        partition_early_late(additions_ready, 'added', proc { |v| v })

    modified_tasks = Set.new
    log_timepoint_group 'early_disconnections' do
        modified_tasks.merge apply_connection_removal(early_removal)
    end
    log_timepoint_group 'early_connections' do
        modified_tasks.merge apply_connection_additions(early_additions)
    end

    if !additions_held.empty?
        mark_connected_pending_tasks_as_executable(modified_tasks)
        additions = additions_held.merge(late_additions) { |key, mappings1, mappings2| mappings1.merge(mappings2) }
        return additions, late_removal
    end

    log_timepoint_group 'late_disconnections' do
        modified_tasks.merge apply_connection_removal(late_removal)
    end
    log_timepoint_group 'late_connections' do
        modified_tasks.merge apply_connection_additions(late_additions)
    end
    mark_connected_pending_tasks_as_executable(modified_tasks)
    return Hash.new, Hash.new
end

#apply_connection_removal(removed) ⇒ [Syskit::TaskContext]

Remove port-to-port connections

Parameters:

  • removed ({(Orocos::TaskContext,Orocos::TaskContext) => [[String,String]]}) —

    the connections, specified between the actual tasks (NOT their Roby representations)

Returns:



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# File 'lib/syskit/runtime/connection_management.rb', line 322

def apply_connection_removal(removed)
    disconnections = pre_disconnect(removed)
    success, failure = perform_disconnections(disconnections)
    spurious_failures = post_disconnect_failure(failure)
    post_disconnect_success(success + spurious_failures)
end

#compute_connection_changes(tasks) ⇒ Object

Computes the connection changes that are required to make the required connections (declared in the DataFlow relation) match the actual ones (on the underlying modules)

It returns nil if the change can't be computed because the Roby tasks are not tied to an underlying RTT task context.

Returns [new, removed] where

new = { [from_task, to_task] => { [from_port, to_port] => policy, ... }, ... }

in which from_task and to_task are instances of Syskit::TaskContext (i.e. Roby tasks), from_port and to_port are the port names (i.e. strings) and policy the policy hash that Orocos::OutputPort#connect_to expects.

removed = { [from_task, to_task] => { [from_port, to_port], ... }, ... }

in which from_task and to_task are instances of Orocos::TaskContext (i.e. the underlying RTT tasks). from_port and to_port are the names of the ports that have to be disconnected (i.e. strings)



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# File 'lib/syskit/runtime/connection_management.rb', line 90

def compute_connection_changes(tasks)
    not_running = tasks.find_all { |t| !t.orocos_task }
    if !not_running.empty?
        debug do
            debug "not computing connections because the deployment of the following tasks is not yet ready"
            tasks.each do |t|
                debug "  #{t}"
            end
            break
        end
        return
    end

    update_required_dataflow_graph(tasks)
    new_edges, removed_edges, updated_edges =
        RequiredDataFlow.difference(ActualDataFlow, tasks, &:orocos_task)

    new = Hash.new
    new_edges.each do |source_task, sink_task|
        new[[source_task, sink_task]] = RequiredDataFlow.edge_info(source_task, sink_task)
    end

    removed = Hash.new
    removed_edges.each do |source_task, sink_task|
        removed[[source_task, sink_task]] = ActualDataFlow.edge_info(source_task, sink_task).keys.to_set
    end

    # We have to work on +updated+. The graphs are between tasks,
    # not between ports because of how ports are handled on both the
    # orocos.rb and Roby sides. So we must convert the updated
    # mappings into add/remove pairs. Moreover, to update a
    # connection policy we need to disconnect and reconnect anyway.
    #
    # Note that it is fine from a performance point of view, as in
    # most cases one removes all connections from two components to
    # recreate other ones between other components
    updated_edges.each do |source_task, sink_task|
        new_mapping = RequiredDataFlow.edge_info(source_task, sink_task)
        old_mapping = ActualDataFlow.edge_info(source_task.orocos_task, sink_task.orocos_task)

        new_connections     = Hash.new
        removed_connections = Set.new
        new_mapping.each do |ports, new_policy|
            if old_policy = old_mapping[ports]
                if old_policy != new_policy
                    new_connections[ports] = new_policy
                    removed_connections << ports
                end
            else
                new_connections[ports] = new_policy
            end
        end
        old_mapping.each_key do |ports|
            if !new_mapping.has_key?(ports)
                removed_connections << ports
            end
        end

        if !new_connections.empty?
            new[[source_task, sink_task]] = new_connections
        end
        if !removed_connections.empty?
            removed[[source_task.orocos_task, sink_task.orocos_task]] = removed_connections
        end
    end

    return new, removed
end

#dangling_task_cleanup ⇒ Hash

This method is part of a private API. You should avoid using this method if possible, as it may be removed or be changed in the future.

Compute the set of connections we should remove to account for orocos tasks whose supporting syskit task has been removed, but are still connected

The result is formatted as the rest of the connection hashes, that is keys are (source_task, sink_task) and values are Array<(source_port, task_port)>. Note that source_task and sink_task are Orocos::TaskContext, and it is guaranteed that one of them has no equivalent in the Syskit graphs (meaning that no keys in the return value can be found in the return value of #compute_connection_changes)

Returns:

  • (Hash) 


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# File 'lib/syskit/runtime/connection_management.rb', line 614

def dangling_task_cleanup
    removed = Hash.new
    ActualDataFlow.each_vertex do |parent_t|
        unless @orocos_task_to_syskit_tasks.has_key?(parent_t)
            ActualDataFlow.each_out_neighbour(parent_t) do |child_t|
                mappings = ActualDataFlow.edge_info(parent_t, child_t)
                removed[[parent_t, child_t]] = mappings.keys.to_set
            end
        end
    end
    removed
end

#find_setup_syskit_task_context_from_orocos_task(orocos_task) ⇒ nil, Syskit::TaskContext

Returns the Syskit::TaskContext in the plan that manages an orocos task

Returns:



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# File 'lib/syskit/runtime/connection_management.rb', line 162

def find_setup_syskit_task_context_from_orocos_task(orocos_task)
    @orocos_task_to_setup_syskit_task[orocos_task]
end

#log_timepoint_group(name, &block) ⇒ Object 



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# File 'lib/syskit/runtime/connection_management.rb', line 16

def log_timepoint_group(name, &block)
    plan.execution_engine.log_timepoint_group(name, &block)
end

#mark_connected_pending_tasks_as_executable(pending_tasks) ⇒ Object 



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# File 'lib/syskit/runtime/connection_management.rb', line 455

def mark_connected_pending_tasks_as_executable(pending_tasks)
    pending_tasks.each do |t|
        if !t.setup?
            scheduler.report_holdoff "not yet configured", t
        elsif !t.start_only_when_connected?
            t.ready_to_start!
        elsif t.all_inputs_connected?
            t.ready_to_start!
            debug do
                "#{t} has all its inputs connected, set executable "\
                "to nil and executable? = #{t.executable?}"
            end
            scheduler.report_action(
                "all inputs connected, marking as ready to start", t)
        else
            scheduler.report_holdoff(
                "waiting for all inputs to be connected", t)
        end
    end
end

#new_connections_partition_held_ready(new) ⇒ Object

Partition new connections between



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# File 'lib/syskit/runtime/connection_management.rb', line 516

def new_connections_partition_held_ready(new)
    additions_held, additions_ready = Hash.new, Hash.new
    new.each do |(from_task, to_task), mappings|
        if !from_task.execution_agent.ready? || !to_task.execution_agent.ready?
            hold, ready = mappings, Hash.new
        elsif from_task.setup? && to_task.setup?
            hold, ready = Hash.new, mappings
        else
            hold, ready = mappings.partition do |(from_port, to_port), policy|
                (!from_task.setup? && !from_task.concrete_model.find_output_port(from_port)) ||
                    (!to_task.setup? && !to_task.concrete_model.find_input_port(to_port))
            end
        end

        if !hold.empty?
            debug do
                debug "holding #{hold.size} connections from "
                log_pp :debug, from_task
                debug "  setup?: #{from_task.setup?}"
                log_pp :debug, to_task
                debug "  setup?: #{to_task.setup?}"

                hold.each do |(from_port, to_port), policy|
                    debug "  #{from_port} => #{to_port} [#{policy}]"
                    if !from_task.setup? && !from_task.concrete_model.find_output_port(from_port)
                        debug "    output port #{from_port} is dynamic and the task is not yet configured"
                    end
                    if !to_task.setup? && !to_task.concrete_model.find_input_port(to_port)
                        debug "    input port #{to_port} is dynamic and the task is not yet configured"
                    end
                end
                break
            end
            additions_held[[from_task, to_task]] = Hash[hold]
        end

        if !ready.empty?
            debug do
                debug "ready on #{from_task} => #{to_task}"
                ready.each do |(from_port, to_port), policy|
                    debug "  #{from_port} => #{to_port} [#{policy}]"
                end
                break
            end
            additions_ready[[from_task, to_task]] = Hash[ready]
        end
    end
    return additions_held, additions_ready
end

#partition_early_late(connections, kind, to_syskit_task) ⇒ Array, Hash

Partition a set of connections between the ones that can be performed right now, and those that must wait for the involved tasks' state to change

note that the source and sink task type are unspecified.

Parameters:

  • connections —

    the connections, specified as (source_task, sink_task) => Hash[

    (source_port, sink_port) => policy,
...]
  • a (Hash<Object,Symbol>) —

    cache of the task states, as a mapping from a source/sink task object as used in the connections hash to the state name

  • the (String) —

    kind of operation that will be done. It is purely used to display debugging information

  • an (#[]) —

    object that maps the objects used as tasks in connections and states to an object that responds to #rtt_state, to evaluate the object's state.

Returns:

  • (Array, Hash) —

    the set of connections that can be performed right away, and the set of connections that require a state change in the tasks



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# File 'lib/syskit/runtime/connection_management.rb', line 498

def partition_early_late(connections, kind, to_syskit_task)
    early, late = connections.partition do |(source_task, sink_task), port_pairs|
        source_is_running = (syskit_task = to_syskit_task[source_task]) && syskit_task.running?
        sink_is_running   = (syskit_task = to_syskit_task[sink_task])   && syskit_task.running?
        early = !source_is_running || !sink_is_running

        debug do
            debug "#{port_pairs.size} #{early ? 'early' : 'late'} #{kind} connections from #{source_task} to #{sink_task}"
            debug "  source running?: #{source_is_running}"
            debug "  sink   running?: #{sink_is_running}"
            break
        end
        early
    end
    return early, Hash[late]
end

#perform_connections(connections) ⇒ (Array,Array)

Actually perform the connections

It logs a :syskit_connect event at the end of the connection call. It is formatted as:

syskit_connect(:success,
  source_task_orocos_name, source_port_name,
  sink_task_orocos_name, sink_task_name,
  policy)

or

syskit_connect(:failure,
  source_task_orocos_name, source_port_name,
  sink_task_orocos_name, sink_task_name,
  policy, exception)

Parameters:

  • the (Array) —

    connections to be created, as returned by #pre_connect

Returns:

  • ((Array,Array)) —

    the successful and failed connections, in the same format than the connection argument for the success array. The failure array gets in addition the exception as last argument.



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# File 'lib/syskit/runtime/connection_management.rb', line 392

def perform_connections(connections)
    success, failure = Concurrent::Array.new, Concurrent::Array.new
    port_cache = Concurrent::Map.new
    promises = connections.map do |from_task, from_port, to_task, to_port, policy, distance|
        execution_engine = plan.execution_engine
        execution_engine.promise(description: "connect #{from_task.orocos_name}##{from_port} -> #{to_task.orocos_name}##{to_port}") do
            begin
                from_orocos_port =
                    (port_cache[[from_task, from_port]] ||= from_task.orocos_task.raw_port(from_port))
                to_orocos_port   =
                    (port_cache[[to_task, to_port]] ||= to_task.orocos_task.raw_port(to_port))
                from_orocos_port.connect_to(to_orocos_port, distance: distance, **policy)
                execution_engine.log(:syskit_connect, :success, from_task.orocos_name, from_port, to_task.orocos_name, to_port, policy)
                success << [from_task, from_port, to_task, to_port, policy]
            rescue Exception => e
                execution_engine.log(:syskit_connect, :failure, from_task.orocos_name, from_port, to_task.orocos_name, to_port, policy)
                failure << [from_task, from_port, to_task, to_port, policy, e]
            end
        end
    end
    log_timepoint_group 'apply_remote_connections' do
        promises.each(&:execute)
    end
    # This is cheating around the "do not allow blocking calls in
    # main thread" principle. It's good because it parallelizes
    # connection - which speeds up network setup quite a bit - but
    # it's still blocking if one of the connections are blocking
    #
    # The "blocking calls should not affect Syskit" tests should
    # catch this
    promises.each { |p| p.promise.value! }
    return success, failure
end

#perform_disconnections(disconnections) ⇒ Object 



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# File 'lib/syskit/runtime/connection_management.rb', line 220

def perform_disconnections(disconnections)
    success, failure = Concurrent::Array.new, Concurrent::Array.new
    port_cache = Concurrent::Map.new
    promises = disconnections.map do |syskit_from_task, from_task, from_port, syskit_to_task, to_task, to_port|
        execution_engine = plan.execution_engine
        execution_engine.promise(description: "disconnect #{from_task.name}##{from_port} -> #{to_task.name}##{to_port}") do
            begin
                from_orocos_port =
                    (port_cache[[from_task, from_port]] ||= from_task.raw_port(from_port))
                to_orocos_port   =
                    (port_cache[[to_task, to_port]] ||= to_task.raw_port(to_port))
                if !from_orocos_port.disconnect_from(to_orocos_port)
                    warn "while disconnecting #{from_task}:#{from_port} => #{to_task}:#{to_port} returned false"
                    warn "I assume that the ports are disconnected, but this should not have happened"
                end
                execution_engine.log(:syskit_disconnect, from_task.name, from_port, to_task.name, to_port)

                success << [syskit_from_task, from_task, from_port, syskit_to_task, to_task, to_port]
            rescue Exception => e
                failure << [syskit_from_task, from_task, from_port, syskit_to_task, to_task, to_port, e]
            end
        end
    end
    log_timepoint_group 'apply_remote_disconnections' do
        promises.each(&:execute)
    end
    # This is cheating around the "do not allow blocking calls in
    # main thread" principle. It's good because it parallelizes
    # disconnection - which speeds up network setup quite a bit - but
    # it's still blocking if one of the connections are blocking
    #
    # The "blocking calls should not affect Syskit" tests should
    # catch this
    promises.each { |p| p.promise.value! }
    return success, failure
end

#post_connect_failure(connections) ⇒ Object 



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# File 'lib/syskit/runtime/connection_management.rb', line 440

def post_connect_failure(connections)
    connections.each do |from_task, from_port, to_task, to_port, policy, error|
        case error
        when Orocos::InterfaceObjectNotFound
            if error.task == from_task.orocos_task && error.name == from_port
                plan.execution_engine.add_error(PortNotFound.new(from_task, from_port, :output))
            else
                plan.execution_engine.add_error(PortNotFound.new(to_task, to_port, :input))
            end
        else
            plan.execution_engine.add_error(Roby::CodeError.new(error, to_task))
        end
    end
end

#post_connect_success(connections) ⇒ Object 



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# File 'lib/syskit/runtime/connection_management.rb', line 426

def post_connect_success(connections)
    connections.each do |from_task, from_port, to_task, to_port, policy|
        from_syskit_port = from_task.find_output_port(from_port)
        to_syskit_port   = to_task.find_input_port(to_port)
        from_task.added_output_port_connection(from_syskit_port, to_syskit_port, policy)
        to_task.added_input_port_connection(from_syskit_port, to_syskit_port, policy)

        ActualDataFlow.add_connections(
            from_task.orocos_task, to_task.orocos_task,
            [from_port, to_port] => [policy, from_syskit_port.static?, to_syskit_port.static?],
            force_update: true)
    end
end

#post_disconnect_failure(disconnections) ⇒ Object 



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# File 'lib/syskit/runtime/connection_management.rb', line 296

def post_disconnect_failure(disconnections)
    disconnections.find_all do |syskit_from_task, from_task, from_port, syskit_to_task, to_task, to_port, error|

        case error
        when Orocos::ComError, Orocos::NotFound
            terminating_deployments =
                plan.find_tasks(Syskit::Deployment).finishing.
                flat_map { |d| d.remote_task_handles.values }

            if !terminating_deployments.include?(from_task) && !terminating_deployments.include?(to_task)
                warn "error while disconnecting #{from_task}:#{from_port} => #{to_task}:#{to_port}: #{error.message}"
                warn "I am assuming that the disconnection is actually effective, since one port does not exist anymore and/or the task cannot be contacted (i.e. assumed to be dead)"
            end
            true
        else
            plan.execution_engine.add_framework_error(error, "connection management")
            false
        end
    end
end

#post_disconnect_success(disconnections) ⇒ Object 



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# File 'lib/syskit/runtime/connection_management.rb', line 257

def post_disconnect_success(disconnections)
    modified = Set.new
    disconnections.each do |syskit_from_task, from_task, from_port, syskit_to_task, to_task, to_port|
        if syskit_from_task
            syskit_from_task.removed_output_port_connection(
                from_port, to_task, to_port)
        end
        if syskit_to_task
            syskit_to_task.removed_input_port_connection(
                from_task, from_port, to_port)
        end

        if ActualDataFlow.static?(from_task, from_port)
            if syskit_from_task
                syskit_from_task.needs_reconfiguration!
            else
                Deployment.needs_reconfiguration!(plan, from_task.name)
            end
        end
        if ActualDataFlow.static?(to_task, to_port)
            if syskit_to_task
                syskit_to_task.needs_reconfiguration!
            else
                Deployment.needs_reconfiguration!(plan, to_task.name)
            end
        end
        ActualDataFlow.remove_connections(from_task, to_task,
                                          [[from_port, to_port]])

        if syskit_from_task && !syskit_from_task.executable?
            modified << syskit_from_task
        end
        if syskit_to_task && !syskit_to_task.executable?
            modified << syskit_to_task
        end
    end
    modified
end

#pre_connect(new) ⇒ Object 



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# File 'lib/syskit/runtime/connection_management.rb', line 343

def pre_connect(new)
    # And create the new ones
    new.flat_map do |(from_task, to_task), mappings|
        mappings.map do |(from_port, to_port), policy|
            debug do
                debug "connecting #{from_task}:#{from_port}"
                debug "     => #{to_task}:#{to_port}"
                debug "     with policy #{policy}"
                break
            end

            policy, _ = Kernel.filter_options(policy, Orocos::Port::CONNECTION_POLICY_OPTIONS)

            from_syskit_port = from_task.find_output_port(from_port)
            to_syskit_port   = to_task.find_input_port(to_port)

            from_task.adding_output_port_connection(from_syskit_port, to_syskit_port, policy)
            to_task.adding_input_port_connection(from_syskit_port, to_syskit_port, policy)

            distance = from_task.distance_to(to_task)

            [from_task, from_port, to_task, to_port, policy, distance]
        end
    end
end

#pre_disconnect(removed) ⇒ Object 



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# File 'lib/syskit/runtime/connection_management.rb', line 199

def pre_disconnect(removed)
    removed.flat_map do |(source_task, sink_task), mappings|
        mappings.map do |source_port, sink_port|
            debug do
                debug "disconnecting #{source_task}:#{source_port}"
                debug "     => #{sink_task}:#{sink_port}"
                break
            end

            if syskit_source_task = find_setup_syskit_task_context_from_orocos_task(source_task)
                syskit_source_task.removing_output_port_connection(source_port, sink_task, sink_port)
            end
            if syskit_sink_task = find_setup_syskit_task_context_from_orocos_task(sink_task)
                syskit_sink_task.removing_input_port_connection(source_task, source_port, sink_port)
            end

            [syskit_source_task, source_task, source_port, syskit_sink_task, sink_task, sink_port]
        end
    end
end

#removed_connections_require_network_update?(connections) ⇒ Boolean

Checks whether the removal of some connections require to run the Syskit deployer right away

Parameters:

  • removed ({(Orocos::TaskContext,Orocos::TaskContext) => {[String,String] => Hash}}) —

    the connections, specified between the actual tasks (NOT their Roby representations)

Returns:

  • (Boolean) 


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# File 'lib/syskit/runtime/connection_management.rb', line 171

def removed_connections_require_network_update?(connections)
    unneeded_tasks = nil
    handle_modified_task = lambda do |orocos_task|
        if !(syskit_task = find_setup_syskit_task_context_from_orocos_task(orocos_task))
            return false
        end

        unneeded_tasks ||= plan.unneeded_tasks
        if !unneeded_tasks.include?(syskit_task)
            return true
        end
    end

    connections.each do |(source_task, sink_task), mappings|
        mappings.each do |source_port, sink_port|
            if ActualDataFlow.static?(source_task, source_port) && handle_modified_task[source_task]
                debug { "#{source_task} has an outgoing connection removed from #{source_port} and the port is static" }
                return true
            elsif ActualDataFlow.static?(sink_task, sink_port) && handle_modified_task[sink_task]
                debug { "#{sink_task} has an outgoing connection removed from #{sink_port} and the port is static" }
                return true
            end
        end
    end
    false
end

#scheduler ⇒ Object 



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# File 'lib/syskit/runtime/connection_management.rb', line 12

def scheduler
    plan.execution_engine.scheduler
end

#update ⇒ Object 



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# File 'lib/syskit/runtime/connection_management.rb', line 632

def update
    # Don't do anything if the engine is deploying
    return if plan.syskit_has_async_resolution?

    tasks = dataflow_graph.modified_tasks
    tasks.delete_if { |t| !active_task?(t) }
    debug "connection: updating, #{tasks.size} tasks modified in dataflow graph"

    # The modifications to +tasks+ might have removed all input
    # connection. Make sure that in this case, executable? has been
    # reset to nil
    #
    # The normal workflow does not work in this case, as it is only
    # looking for tasks whose input connections have been modified
    mark_connected_pending_tasks_as_executable(
        tasks.reject(&:executable?))

    if !tasks.empty?
        if dataflow_graph.pending_changes
            dataflow_graph.pending_changes.first.each do |t|
                tasks << t if active_task?(t)
            end
        end

        # Auto-add any Syskit task that has the same underlying
        # orocos task, or we might get inconsistencies
        tasks = tasks.each_with_object(Set.new) do |t, s|
            s.merge(@orocos_task_to_syskit_tasks[t.orocos_task])
        end
        tasks.delete_if { |t| !active_task?(t) }

        debug do
            debug "computing data flow update from modified tasks"
            for t in tasks
                debug "  #{t}"
            end
            break
        end

        new, removed = compute_connection_changes(tasks)
        if new
            dataflow_graph.pending_changes = [tasks.dup, new, removed]
            dataflow_graph.modified_tasks.clear
        else
            debug "cannot compute changes, keeping the tasks queued"
        end
    end

    dangling = dangling_task_cleanup
    if !dangling.empty?
        dataflow_graph.pending_changes ||= [[], Hash.new, Hash.new]
        dataflow_graph.pending_changes[2].merge!(dangling) do |k, m0, m1|
            m0.merge(m1)
        end
    end

    if dataflow_graph.pending_changes
        main_tasks, new, removed = dataflow_graph.pending_changes
        debug "#{main_tasks.size} tasks in pending"
        main_tasks.delete_if { |t| !active_task?(t) }
        debug "#{main_tasks.size} tasks after inactive removal"
        new.delete_if do |(source_task, sink_task), _|
            !active_task?(source_task) || !active_task?(sink_task)
        end
        if removed_connections_require_network_update?(removed)
            dataflow_graph.pending_changes = [main_tasks, new, removed]
            Runtime.apply_requirement_modifications(plan, force: true)
            return
        end

        debug "applying pending changes from the data flow graph"
        new, removed = apply_connection_changes(new, removed)
        if new.empty? && removed.empty?
            dataflow_graph.pending_changes = nil
        else
            dataflow_graph.pending_changes = [main_tasks, new, removed]
        end

        if !dataflow_graph.pending_changes
            debug "successfully applied pending changes"
        else
            debug do
                debug "some connection changes could not be applied in this pass"
                main_tasks, new, removed = dataflow_graph.pending_changes
                additions = new.inject(0) { |count, (_, ports)| count + ports.size }
                removals  = removed.inject(0) { |count, (_, ports)| count + ports.size }
                debug "  #{additions} new connections pending"
                debug "  #{removals} removed connections pending"
                debug "  involving #{main_tasks.size} tasks"
                break
            end
        end
    end
end

#update_required_dataflow_graph(tasks) ⇒ Object

Updates an intermediate graph (Syskit::RequiredDataFlow) where we store the concrete connections. We don't try to be smart: remove all tasks that have to be updated and add their connections again



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# File 'lib/syskit/runtime/connection_management.rb', line 42

def update_required_dataflow_graph(tasks)
    tasks = tasks.to_set

    # Remove first all tasks. Otherwise, removing some tasks will
    # also remove the new edges we just added
    for t in tasks
        RequiredDataFlow.remove_vertex(t)
    end

    # Create the new connections
    #
    # We're only updating on a partial set of tasks ... so we do
    # have to enumerate both output and input connections. We can
    # however avoid doulbing work by avoiding the update of sink
    # tasks that are part of the set
    for t in tasks
        t.each_concrete_input_connection do |source_task, source_port, sink_port, policy|
            RequiredDataFlow.add_connections(source_task, t, [source_port, sink_port] => policy)
        end
        t.each_concrete_output_connection do |source_port, sink_port, sink_task, policy|
            next if tasks.include?(sink_task)
            RequiredDataFlow.add_connections(t, sink_task, [source_port, sink_port] => policy)
        end
    end
end