[PATCH] Added handling for Dynamic Properties

[Matthias Goldhoorn]

---
 lib/orocos/base.rb              |    1 +
 lib/orocos/task_context_base.rb |   14 ++++++++++++--
 2 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/lib/orocos/base.rb b/lib/orocos/base.rb
index 4380f82..9839776 100644
--- a/lib/orocos/base.rb
+++ b/lib/orocos/base.rb
@@ -7,6 +7,7 @@
 module Orocos
     class InternalError < Exception; end
     class AmbiguousName < RuntimeError; end
+    class PropertyChangeRejected < RuntimeError; end
 
     def self.register_pkgconfig_path(path)
     	base_path = caller(1).first.gsub(/:\d+:.*/, '')
diff --git a/lib/orocos/task_context_base.rb b/lib/orocos/task_context_base.rb
index 8b99688..38f7947 100644
--- a/lib/orocos/task_context_base.rb
+++ b/lib/orocos/task_context_base.rb
@@ -76,8 +76,18 @@ def read
         # Sets a new value for the property/attribute
         def write(value, timestamp = Time.now)
             ensure_type_available
-            value = Typelib.from_ruby(value, type)
-            do_write(@orocos_type_name, value)
+            prop = task.model.find_property(name)
+            if(prop.nil?)
+                raise ArgumentError, "Could not find Property #{name} on Task, make sure it's generated by Orogen"
+            end
+            if(prop.dynamic?)
+                if(!task.operation("set#{name.capitalize}").callop(value))
+                    raise PropertyChangeRejected, "The Change of property #{name} was rejected by the remote Task"
+                end
+            else
+                value = Typelib.from_ruby(value, type)
+                do_write(@orocos_type_name, value)
+            end
             log_value(value, timestamp)
             value
         end
-- 
1.7.10.4


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