Bundle: allow to disable loading of task configuration files

Author: maltewi

src/Bundle.cpp

@@ -204,7 +204,14 @@ void Bundle::deleteInstance()
     instance = nullptr;
 }
 
-bool Bundle::initialize()
+void Bundle::loadTaskConfigurations()
+{
+    std::vector<std::string> configs = findFilesByExtension(
+                (fs::path("config") / "orogen").string(), ".yml");
+    taskConfigurations.initialize(configs);
+}
+
+bool Bundle::initialize(bool loadTaskConfigs)
 {
     std::clog << "Initializing Bundles" << std::endl;
     activeBundles.clear();
@@ -265,10 +272,10 @@ bool Bundle::initialize()
     std::clog << std::endl;
 
     //Initialze TaskConfigurations
-    std::clog << "Loading task configuration files from bundle" << std::endl;
-    std::vector<std::string> configs = findFilesByExtension(
-                (fs::path("config") / "orogen").string(), ".yml");
-    taskConfigurations.initialize(configs);
+    if(loadTaskConfigs){
+        std::clog << "Loading task configuration files from bundle" << std::endl;
+        loadTaskConfigurations();
+    }
     std::clog << "Bundles successfully initialized" << std::endl;
 
     return true;
@@ -459,6 +466,12 @@ std::string Bundle::findBundle(const std::string &bundle_name)
 }
 
 
+TaskConfigurations::TaskConfigurations()
+    : initialized(false)
+{
+
+}
+
 void TaskConfigurations::initialize(const std::vector<std::string> &configFiles)
 {
     taskConfigurations.clear();
@@ -483,17 +496,24 @@ void TaskConfigurations::initialize(const std::vector<std::string> &configFiles)
             taskConfigurations.at(task).mergeConfigFile(cfgFile);
         }
     }
+    initialized = true;
 }
 
 Configuration TaskConfigurations::getConfig(const std::string &taskModelName,
                                             const std::vector<std::string> &sections)
 {
+    if(!initialized){
+        throw std::runtime_error("TaskConfiguration::getConfig was called, but TaskConfiguratuion was not initilized.");
+    }
     MultiSectionConfiguration& mcfg = taskConfigurations.at(taskModelName);
     Configuration cfg = mcfg.getConfig(sections);
     return cfg;
 }
 
 const MultiSectionConfiguration &TaskConfigurations::getMultiConfig(const std::string &taskModelName)
 {
+    if(!initialized){
+        throw std::runtime_error("TaskConfiguration::getMultiConfig was called, but TaskConfiguratuion was not initilized.");
+    }
     return taskConfigurations.at(taskModelName);
 }

src/Bundle.hpp

@@ -42,11 +42,12 @@ class SingleBundle
 
 class TaskConfigurations{
 private:
-    //Contains the merged configuration files from all bundles. The string
-    //ist the task model name
+    //Contains the merged configuration files from all bundles. The key-string
+    //is the task model name
     std::map<std::string, MultiSectionConfiguration> taskConfigurations;
+    bool initialized;
 public:
-    TaskConfigurations(){}
+    TaskConfigurations();
     void initialize(const std::vector<std::string>& configFiles);
     Configuration getConfig(const std::string& taskModelName,
                             const std::vector<std::string>& sections);
@@ -95,7 +96,28 @@ class Bundle
      */
     static void deleteInstance();
 
-    bool initialize();
+    /**
+     * @brief Loads task configuration files from the selected bundles into
+     * memory
+     */
+    void loadTaskConfigurations();
+
+    /**
+     * @brief Initializes the bundle
+     * Evaluates ROCK_BUNDLE and ROCK_BUNDLE_PATH evironment variables to
+     * determine burrently active bundle.
+     *    ROCK_BUNDLE: defines the selected bundle.
+     *    ROCK_BUNDLE_PATH: Defines the search path where to look for bundles
+     * References to other bundles can be specified in config/bundle.yml file
+     * in the selected bundle.
+
+     * @param loadTaskConfigs: Specifiy if task configuration files
+     * should be loaded. This step is costly and thus can be omitted if
+     * task configuration files are not needed.
+     * @return true or false representing wether initialization was successful
+     * or not
+     */
+    bool initialize(bool loadTaskConfigs=true);
 
     const std::string &getActiveBundleName();
 

test/bundle.cpp

@@ -199,6 +199,16 @@ BOOST_AUTO_TEST_CASE(task_configuration)
     inst.deleteInstance();
 }
 
+BOOST_AUTO_TEST_CASE(init_without_task_configuration)
+{
+    clear_environment_variables();
+    setenv("ROCK_BUNDLE_PATH", bundle_path.c_str(), 1);
+    setenv("ROCK_BUNDLE", "first", 1);
+    libConfig::Bundle bundle;
+    bundle.initialize(false);
+    BOOST_CHECK_THROW(bundle.taskConfigurations.getConfig("my::Task", {"default"}), std::runtime_error);
+}
+
 BOOST_AUTO_TEST_CASE(still_working_without_bundle_selected)
 {
     clear_environment_variables();