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

[Sylvain Joyeux]

The problem is that you don't have any connections. There is no way in
syskit, right now, to run the exact same node twice if they have the exact
same input (for syskit: same input + same configuration = same output => no
need to run twice).

In other words, if you add the connections that your network actually
needs, you should get what you expect.

Sylvain


On Thu, Apr 10, 2014 at 8:32 AM, Matthias Goldhoorn <
matthias.goldhoorn at dfki.de> wrote:

> 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
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