[Rock-dev] Using default deployments and dynamic ports in syskit

[Stefan Haase]

Hi guys,

maybe already discussed, but I have not found anything until now.

1. How can I use default deployments within syskit?
Is there another way than doing this:

Syskit.conf.use_deployment 'orogen_default_trajectory_follower__Task'


2. How can I use the dynamic ports of the MarsActuators module?
I have to export the dynamic ports which are created by the MarsActuators
dispatch function.
The dispatch function has to be called before the configureHook, so I do
this within
the models/orogen/simulation.rb using 'sbot_actuators' for
actuator_set_name:

class Simulation::MarsActuator
    argument :actuator_set_name
    argument :indices

    def configure
        if not orocos_task.dispatch(self.actuator_set_name, self.indices)
            puts "Could not dispatch the actuator set
#{self.actuator_set_name}"
        end
        super
    end
end


Nevertheless, the export

export sbot_actuator_child.cmd_sbot_actuators_port

fails with

> = port cmd_sbot_actuators of child sbot_actuator of Simulation::Spacebot
> does not exist
> | Available ports are:
> |   Simulation::MarsActuator
> |
> |     (out)state[/int32_t]
> = Backtrace
> | ./models/blueprints/spacebot_simulation.rb:31:in `<class:Spacebot>',
> |   ./models/blueprints/spacebot_simulation.rb:9:in `<module:Simulation>',
> |   ./models/blueprints/spacebot_simulation.rb:7:in `<top (required)>',
> |   /opt/software_spacebot/tools/syskit/bin/syskit:16:in `<main>'
> =


Best regards,
Stefan

-- 
 Dipl.-Inf. Stefan Haase
 Space Robotics and Animation

Standort Bremen:
 DFKI GmbH
 Robotics Innovation Center
 Robert-Hooke-Straße 5
 28359 Bremen, Germany

 Phone: +49 (0)421 178 45-4108
 Fax:   +49 (0)421 178 45-4150
 E-Mail: Stefan.Haase at dfki.de

 Weitere Informationen: http://www.dfki.de/robotik
 -----------------------------------------------------------------------
 Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
 Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
 Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
 (Vorsitzender) Dr. Walter Olthoff
 Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
 Amtsgericht Kaiserslautern, HRB 2313
 Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
 USt-Id.Nr.:    DE 148646973
 Steuernummer:  19/673/0060/3
 -----------------------------------------------------------------------
-------------- nächster Teil --------------
Ein Dateianhang mit HTML-Daten wurde abgetrennt...
URL: http://www.dfki.de/pipermail/rock-dev/attachments/20130621/ab90898b/attachment.htm