[Rock-dev] Prefix Extension for orogen deployments

[Sylvain Joyeux]

On 05/09/2011 04:55 PM, Chris Mueller wrote:
> Here are some of my thoughts about this issue:
>
> * Therefore we want to decide at runtime, which task should be started, we
> need an instance of each task for all robotic systems in the
> deployment's main.cpp
> template.
Why do you want that ? Should not you care only about adding a prefix to 
all tasks, but starting the set of tasks that the deployment contains ?

> * No task should be started if a command line prefix is not set to specifiy
> the current robot system. (I guess, this could be very badly if all
> tasks for all systems
> are running on the same machine).
I don't see that point either. No prefix is the normal behaviour.

> * We need a mapping in an orogen deployment file for specifing the task
> implementation
> for a given prefix. Something like e.g.
>
> map = { "sherpa" =>  "sherpa_simulation::Core", "crex" =>
> "crex_simulation::Core" };
Aaaaheeeehhhehhehehehhhhh.

This is going IMO waaaaay too far. If you want *different* deployments 
based on a name, just create two deployments.

Now, here's the thing: I think that getting that flexible should *not* 
be done through the current orogen deployment mechanism. If you *really* 
want to be that flexible, then integrate support for the OCL deployer in 
orocos.rb (which dynamically creates deployments based on a XML 
configuration file or a LUA script).
-- 
Sylvain Joyeux (Dr.Ing.)
Space & Security Robotics

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