Class: Syskit::Test::TaskContextTest

Inherits:
ComponentTest show all
Defined in:
lib/syskit/test/task_context_test.rb

Overview

Base class for all spec contexts whose subject is a task context model

Direct Known Subclasses

RubyTaskContextTest

Class Method Summary collapse

Instance Method Summary collapse

Methods inherited from ComponentTest

subject_syskit_model

Methods included from NetworkManipulation

#__syskit_root_components, #normalize_instanciation_models, #resolve_orocos_writer, #syskit_configure, #syskit_configure_and_start, #syskit_default_stub_name, #syskit_deploy, #syskit_deploy_and_configure, #syskit_deploy_configure_and_start, #syskit_engine_resolve_handle_plan_export, #syskit_export_to_svg, #syskit_generate_network, #syskit_guard_against_configure, #syskit_guard_against_start_and_configure, #syskit_prepare_configure, #syskit_prepare_start, #syskit_protect_configuration_manager, #syskit_start, #syskit_start_all_execution_agents, #syskit_start_execution_agents, #syskit_stub, #syskit_stub_and_deploy, #syskit_stub_attached_device, #syskit_stub_com_bus, #syskit_stub_component, #syskit_stub_composition_requirements, #syskit_stub_conf, #syskit_stub_configured_deployment, #syskit_stub_deploy_and_configure, #syskit_stub_deploy_configure_and_start, #syskit_stub_deployment, #syskit_stub_deployment_model, #syskit_stub_device, #syskit_stub_driver_model_for, #syskit_stub_model_id, #syskit_stub_network, #syskit_stub_network_abstract_component, #syskit_stub_network_deployment, #syskit_stub_placeholder, #syskit_stub_required_devices, #syskit_stub_requirements, #syskit_stub_resolves_remote_tasks=, #syskit_stub_resolves_remote_tasks?, #syskit_stub_task_context_model, #syskit_stub_task_context_requirements, #syskit_wait_ready, #syskit_write, #teardown, #use_deployment, #use_ruby_tasks, #use_unmanaged_task

Methods inherited from Spec

#plan, subject_syskit_model, #syskit_stub_attached_device_model, #syskit_stub_driver_model, #teardown, #teardown_registered_plans, use_syskit_model

Methods included from Base

#assert_has_no_new_sample, #assert_has_one_new_sample, #plug_connection_management, #plug_requirement_modifications, #stub_type, #teardown, #unplug_connection_management, #unplug_requirement_modifications

Class Method Details

.ensure_can_deploy_subject_syskit_model(test, app) ⇒ Object

Automatically skip tests for which the task model under test is not available



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# File 'lib/syskit/test/task_context_test.rb', line 80

def self.ensure_can_deploy_subject_syskit_model(test, app)
    orogen_model = subject_syskit_model.orogen_model

    if app.simulation?
        begin
            ruby_task = Orocos::RubyTasks::TaskContext.new(
                "spec#{object_id}", model: orogen_model)
            ruby_task.dispose
        rescue ::Exception => e
            test.skip("#{test.__full_name__} cannot run: #{e.message}")
        end
    elsif orogen_model.abstract?
        test.skip("#{test.__full_name__} cannot run: #{orogen_model.name} is abstract and we're in live mode")
    else
        project_name = orogen_model.project.name
        if !Orocos.default_pkgconfig_loader.has_project?(project_name)
            test.skip("#{test.__full_name__} cannot run: oroGen project #{project_name} is not available")
        end
    end
end

.it_should_be_configurable ⇒ Object

Deprecated.

use instead it { is_configurable }



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# File 'lib/syskit/test/task_context_test.rb', line 43

def self.it_should_be_configurable
    Test.warn "it_should_be_configurable is deprecated, use"
    Test.warn "  it { is_configurable } instead"
    it { is_configurable }
end

.roby_should_run(test, app) ⇒ Object

Overloaded from Roby to call ensure_can_deploy_subject_syskit_model



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# File 'lib/syskit/test/task_context_test.rb', line 102

def self.roby_should_run(test, app)
    super
    ensure_can_deploy_subject_syskit_model(test, app)
end

Instance Method Details

#assert_is_configurable(task_model = subject_syskit_model) ⇒ Object

Tests that the task can be configured

The argument can be any instance requirement, so that one can e.g. test with particular arguments applied.

Examples:

test configuration with a particular argument set

assert_is_configurable Task.with_argument(test: 10)

test configuration with some dynamic services instanciated

model = Task.specialize
model.require_dynamic_service('srv')
assert_is_configurable model


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# File 'lib/syskit/test/task_context_test.rb', line 62

def assert_is_configurable(task_model = subject_syskit_model)
    syskit_deploy_and_configure(task_model)
end

#deploy_subject_syskit_model ⇒ Object

Define a deployment for the task model under test



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# File 'lib/syskit/test/task_context_test.rb', line 12

def deploy_subject_syskit_model
    task_context_m = self.class.subject_syskit_model.concrete_model
    if task_context_m.orogen_model.abstract?
        # This task context is abstract, i.e. does not have a
        # default deployment, and therefore cannot be deployed. Stub
        # it if we are in stub mode, skip the test otherwise

        if !app.simulation?
            raise RuntimeError, "cannot deploy the abstract task context model #{task_context_m} in live mode"
        end
        task_context_m.abstract = false

        process_name = OroGen::Spec::Project.default_deployment_name(task_context_m.orogen_model.name)
        syskit_stub_deployment_model(nil, process_name) do
            task process_name, task_context_m.orogen_model
        end
    else
        use_deployment(task_context_m => 'task_under_test').first
    end
end

#is_configurable(task_model = subject_syskit_model) ⇒ Object

Spec-style variant to #assert_is_configurable

Examples:

test that #configure passes

module OroGen::AuvControl
  describe Task do
    it { is_configurable }
  end
end


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# File 'lib/syskit/test/task_context_test.rb', line 74

def is_configurable(task_model = subject_syskit_model)
    assert_is_configurable(task_model)
end

#setup ⇒ Object

Overloaded to automatically call #deploy_subject_syskit_model



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# File 'lib/syskit/test/task_context_test.rb', line 6

def setup
    super
    @deployed_subject_syskit_model = deploy_subject_syskit_model
end

#subject_syskit_model ⇒ Object

Returns the task model under test



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# File 'lib/syskit/test/task_context_test.rb', line 34

def subject_syskit_model
    model = self.class.subject_syskit_model
    model = syskit_stub_required_devices(model)
    model.prefer_deployed_tasks(@deployed_subject_syskit_model)
    model
end