[Rock-dev] Adding one orogen-task multiple times to a composition

[Matthias Goldhoorn]

Okay,
some of them have the same configuration but different id's.
We could instanciate several but the same subgraphs, that in the end 
fullfill different tasks.
e.G. a multiplier node can have multiple occurances in our network.


STDOUT.puts "Adding with conf: #{graph} and index #{cnt} as #{id}"
add 
BehaviourGraph::CppTask.with_conf(graph).prefer_deployed_tasks("graph#{cnt}"), 
:as => id

Adding with conf: activity.yml and index 1
Adding with conf: limb_coordinator.yml and index 2
Adding with conf: limb_cpg.yml and index 3
Adding with conf: limb_cpg.yml and index 4
Adding with conf: limb_cpg.yml and index 5
Adding with conf: limb_cpg.yml and index 6
Adding with conf: limb_cpg.yml and index 7
Adding with conf: limb_cpg.yml and index 8


BehaviourGraph::CppTask:0x7850910{conf => [limb_cpg.yml]}[]: multiple 
possible deployments, choose one with 
#prefer_deployed_tasks(deployed_task_name)  current hints: graph3, 
graph4, graph6, graph7, graph8, graph5  current hints: graph3, graph4, 
graph6, graph7, graph8, graph5  current hints: graph3, graph4, graph6, 
graph7, graph8, graph5  current hints: graph3, graph4, graph6, graph7, 
graph8, graph5  current hints: graph3, graph4, graph6, graph7, graph8, 
graph5  current hints: graph3, graph4, graph6, graph7, graph8, graph5

But i indeed want this node multiple times running, not only one time....

Best,
Matthias





On 09.04.2014 15:10, Matthias Goldhoorn wrote:
> Does anyone know how i can add a orogen-task multiple times to a
> composition?
>
> I know the idea of syskit is that multiple occurrences get merged. But i
> thought if i give different configuration this will prevent this.
>
> I tried something like this:
>
>
> class Behaviour1 < Syskit::Composition
>       cnt=1
>       not_importand_background_list.each do |n|
>                   sub = add
> BehaviourGraph::CppTask.with_conf(n['graph_name']).prefer_deployed_tasks("graph#{cnt}"),
> :as => "node_#{n['id']}"
>                   cnt=cnt+1
>       end
> end
>
> unfortunately on instanciate i get the warning that the task association
> is ambiguous, AND i get only one task in the graph.
>
> Does anyone know how i do this correctly?
>
> Best,
> Matthias
>


-- 
  Dipl.-Inf. Matthias Goldhoorn
  Space and Underwater Robotic

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
  Robert-Hooke-Straße 1
  28359 Bremen, Germany
  
  Zentrale: +49 421 178 45-6611
  
  Besuchsadresse der Nebengeschäftstelle:
  Robert-Hooke-Straße 5
  28359 Bremen, Germany
  
  Tel.:    +49 421 178 45-4193
  Empfang: +49 421 178 45-6600
  Fax:     +49 421 178 45-4150
  E-Mail:  matthias.goldhoorn at informatik.uni-bremen.de

  Weitere Informationen: http://www.informatik.uni-bremen.de/robotik