Class: Orocos::Operation

Inherits:
Object
  • Object
show all
Defined in:
lib/orocos/operations.rb,
ext/rorocos/operations.cc

Overview

Base class for RTTMethod and Command

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(task, name, return_spec, arguments_spec) ⇒ Operation


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# File 'lib/orocos/operations.rb', line 81

def initialize(task, name, return_spec, arguments_spec)
    @task, @name, @return_spec, @arguments_spec =
        task, name, return_spec, arguments_spec

    @orocos_return_typenames = return_spec.map do |type_name|
        type_name = OroGen.unqualified_cxx_type(type_name)
        Orocos.normalize_typename(type_name)
    end
    @orocos_arguments_typenames = arguments_spec.map do |_, _, type_name|
        type_name = OroGen.unqualified_cxx_type(type_name)
        Orocos.normalize_typename(type_name)
    end
    @inout_arguments = arguments_spec.each_with_index.map do |(_, _, type_name), i|
        if type_name =~ /&/ && type_name !~ /(^|[^\w])const($|[^\w])/
            i
        end
    end.compact

    # Remove a void return type
    if Orocos.registry.get(orocos_return_typenames.first).null?
        @void_return = true
        orocos_return_typenames.shift 
    else
        @void_return = false
    end

    @return_types    = typelib_types_for(orocos_return_typenames)
    @arguments_types = typelib_types_for(orocos_arguments_typenames)
end

Instance Attribute Details

#arguments_specObject (readonly)

An array describing the arguments. Each element is a [name, doc, type_name] tuple


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# File 'lib/orocos/operations.rb', line 67

def arguments_spec
  @arguments_spec
end

#arguments_typesObject (readonly)

The typelib types for the arguments. This is an array of subclasses of Typelib::Type, with each element being the type of the corresponding element in #arguments_spec. It describes the types that the Ruby side will manipulate


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# File 'lib/orocos/operations.rb', line 77

def arguments_types
  @arguments_types
end

#descriptionObject (readonly)

The method description


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# File 'lib/orocos/operations.rb', line 57

def description
  @description
end

#inout_argumentsObject (readonly)

Returns the value of attribute inout_arguments


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# File 'lib/orocos/operations.rb', line 79

def inout_arguments
  @inout_arguments
end

#nameObject (readonly)

The method name


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# File 'lib/orocos/operations.rb', line 55

def name
  @name
end

#orocos_arguments_typenamesObject (readonly)

The typelib types for the arguments. This is an array of subclasses of Typelib::Type, with each element being the type of the corresponding element in #arguments_spec. It describes the types that the C++ side manipulates (i.e. declared in the Orocos component)


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# File 'lib/orocos/operations.rb', line 72

def orocos_arguments_typenames
  @orocos_arguments_typenames
end

#orocos_return_typenamesObject (readonly)

The subclass of Typelib::Type that represents the type of the return value, as declared by the Orocos


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# File 'lib/orocos/operations.rb', line 61

def orocos_return_typenames
  @orocos_return_typenames
end

#return_specObject (readonly)

The type name of the return value


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# File 'lib/orocos/operations.rb', line 59

def return_spec
  @return_spec
end

#return_typesObject (readonly)

The subclass of Typelib::Type that will be manipulated by the Ruby code


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# File 'lib/orocos/operations.rb', line 64

def return_types
  @return_types
end

#taskObject (readonly)

The task this method is part of


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# File 'lib/orocos/operations.rb', line 52

def task
  @task
end

Instance Method Details

#callop(*args) ⇒ Object

Calls the method with the provided arguments, waiting for the method to finish. It returns the value returned by the remote method.


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# File 'lib/orocos/operations.rb', line 174

def callop(*args)
    raw_result = common_call(args) do |filtered|
        return_typename, return_value = nil
        if !@void_return
            return_typename = orocos_return_typenames[0]
            return_value = result_value_for(return_types.first)
        end

        task.do_operation_call(name, return_typename, return_value,
                   orocos_arguments_typenames, filtered)

        result = []
        if return_value
            result << return_value
        end
        inout_arguments.each do |index|
            result << filtered[index]
        end
        result
    end

    result = []
    raw_result.each_with_index do |v, i|
        result << Typelib.to_ruby(v, return_types[i])
    end
    if result.empty? then nil
    elsif result.size == 1 then result.first
    else result
    end
end

#common_call(args) ⇒ Object

Helper method for RTTMethod and Command


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# File 'lib/orocos/operations.rb', line 130

def common_call(args) # :nodoc:
    if args.size != arguments_spec.size
        raise ArgumentError, "expected #{arguments_spec.size} arguments but got #{args.size}"
    end

    filtered = []
    args.each_with_index do |v, i|
        filtered << Typelib.from_ruby(v, arguments_types[i])
    end
    CORBA.refine_exceptions(self) do
        yield(filtered)
    end
end

#new_argument(index) ⇒ Object

Returns a new Typelib value for the Nth argument


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# File 'lib/orocos/operations.rb', line 125

def new_argument(index)
    arguments_types[index].new
end

#new_resultObject

Returns a Typelib value that can store the result of this operation


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# File 'lib/orocos/operations.rb', line 153

def new_result
    return_types.map do |type|
        result_value_for(type)
    end
end

#result_value_for(type) ⇒ Object


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# File 'lib/orocos/operations.rb', line 144

def result_value_for(type)
    if type.opaque?
        raise ArgumentError, "I don't know how to handle #{type.name}"
    else
        type.new
    end
end

#sendop(*args) ⇒ Object

Requests the operation to be started. It does not wait for it to finish, returning instead an OperationHandle object that can be used to query the operation status and return value


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# File 'lib/orocos/operations.rb', line 162

def sendop(*args)
    common_call(args) do |filtered|
        handle = task.do_operation_send(name, orocos_arguments_typenames, filtered)
        handle.instance_variable_set :@operation, self
        handle.instance_variable_set :@orocos_return_types, @orocos_return_typenames.dup
        handle.instance_variable_set :@return_values, new_result
        handle
    end
end

#typelib_types_for(types) ⇒ Object

Replaces in types the opaque types by the types that should be used on the Ruby side


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# File 'lib/orocos/operations.rb', line 113

def typelib_types_for(types)
    types.map do |t|
        begin
            Orocos.typelib_type_for(t)
        rescue Typelib::NotFound
            Orocos.load_typekit_for(t)
            Orocos.typelib_type_for(t)
        end
    end
end