fix: improve async

lib/orocos/async/async.rb

@@ -70,7 +70,19 @@
 # asynchronous object.
 #
 module Orocos::Async
-    KNOWN_ERRORS = [Orocos::ComError,Orocos::NotFound,Typelib::NotFound,Orocos::TypekitTypeNotFound,Orocos::TypekitTypeNotExported,Orocos::StateTransitionFailed,Orocos::ConnectionFailed,OroGen::DefinitionTypekitNotFound]
+    class Disposed < RuntimeError; end
+
+    KNOWN_ERRORS = [
+        Orocos::ComError,
+        Orocos::NotFound,
+        Typelib::NotFound,
+        Orocos::TypekitTypeNotFound,
+        Orocos::TypekitTypeNotExported,
+        Orocos::StateTransitionFailed,
+        Orocos::ConnectionFailed,
+        OroGen::DefinitionTypekitNotFound,
+        Disposed
+    ]
     class << self
         extend ::Forwardable
 

lib/orocos/async/task_context.rb

@@ -88,7 +88,7 @@ def configure_delegation(options = Hash.new)
         end
 
         def respond_to_missing?(method_name, include_private = false)
-            (reachable? && @delegator_obj.respond_to?(method_name)) || super
+            @delegator_obj&.respond_to?(method_name) || super
         end
 
         def method_missing(m,*args)

lib/orocos/async/task_context_base.rb

@@ -208,25 +208,29 @@ def configure_delegation(configure_options = Hash.new)
         #
         # @param [Exception] reason The reason for the disconnect
         # @return [Orocos::TaskContext,nil,Utilrb::EventLoop::Event]
-        def unreachable!(options = Hash.new)
-            options = Kernel.validate_options options, :error
+        def unreachable!(error: nil)
             # ensure that this is always called from the
             # event loop thread
             @event_loop.call do
-                old_task = @mutex.synchronize do
-                    if valid_delegator?
-                        @access_error = options.delete(:error) ||
-                            ArgumentError.new("cannot access the remote task context for an unknown reason")
-                        task = @delegator_obj
-                        invalidate_delegator!
-                        @watchdog_timer.cancel if @watchdog_timer
-                        task
-                    end
+                dispose(access_error: error)
+            end
+        end
+
+        def dispose(access_error: nil)
+            old_task = @mutex.synchronize do
+                if valid_delegator?
+                    @access_error =
+                        access_error ||
+                        Disposed.new("cannot access the remote task context for an unknown reason")
+                    task = @delegator_obj
+                    invalidate_delegator!
+                    @watchdog_timer&.cancel
+                    task
                 end
-                clear_interface
                 event :unreachable if old_task
-                old_task
             end
+            clear_interface
+            old_task
         end
 
         def clear_interface

lib/orocos/async/task_context_proxy.rb

@@ -168,7 +168,7 @@ def initialize(task_proxy,port_name,options=Hash.new)
         end
 
         def to_s
-            "#<Orocos::Async::PortProxy #{full_name}[#{type.name}]>"
+            "#<Orocos::Async::PortProxy #{full_name}[#{@type&.name}]>"
         end
 
         def type_name
@@ -506,7 +506,7 @@ def initialize(name,options=Hash.new)
 
             on_port_reachable(false) do |name|
                 p = @ports[name]
-                if p && !p.reachable?
+                if p && !p.valid_delegator?
                     error_callback = Proc.new do |error|
                         p.emit_error(error)
                     end
@@ -517,7 +517,7 @@ def initialize(name,options=Hash.new)
             end
             on_property_reachable(false) do |name|
                 p = @properties[name]
-                if(p && !p.reachable?)
+                if(p && !p.valid_delegator?)
                     error_callback = Proc.new do |error|
                         p.emit_error(error)
                     end
@@ -528,7 +528,7 @@ def initialize(name,options=Hash.new)
             end
             on_attribute_reachable(false) do |name|
                 a = @attributes[name]
-                if(a && !a.reachable?)
+                if(a && !a.valid_delegator?)
                     error_callback = Proc.new do |error|
                         a.emit_error(error)
                     end
@@ -589,7 +589,8 @@ def property(name,options = Hash.new)
                 Orocos.warn "ignoring options: #{other_options}"
             end
 
-            return p if !reachable? || p.reachable?
+            return p if !valid_delegator? || p.valid_delegator?
+
             if options[:wait]
                 connect_property(p)
                 p.wait
@@ -618,7 +619,8 @@ def attribute(name,options = Hash.new)
                 Orocos.warn "ignoring options: #{other_options}"
             end
 
-            return a if !reachable? || a.reachable?
+            return a if !valid_delegator? || a.valid_delegator?
+
             if options[:wait]
                 connect_attribute(a)
                 a.wait
@@ -632,7 +634,7 @@ def attribute(name,options = Hash.new)
 
         def port(name,options = Hash.new)
             name = name.to_str
-            options,other_options = Kernel.filter_options options,:wait => @options[:wait]
+            options, other_options = Kernel.filter_options options,:wait => @options[:wait]
             wait if options[:wait]
 
             # support for subports
@@ -664,7 +666,7 @@ def port(name,options = Hash.new)
                 Orocos.warn "ignoring options: #{other_options}"
             end
 
-            if reachable? && !p.reachable?
+            if valid_delegator? && !p.valid_delegator?
                 if options[:wait]
                     connect_port(p)
                     p.wait
@@ -841,8 +843,10 @@ def unreachable!(options = {:reconnect => false})
         # all private methods must be thread safe
         def connect_port(port)
             return if port.reachable?
+
             p = @mutex.synchronize do
                 return unless valid_delegator?
+
                 @delegator_obj.disable_emitting do
                     #called in the context of @delegator_obj
                     begin
@@ -928,7 +932,7 @@ def disconnect_properties
         end
 
         def respond_to_missing?(method_name, include_private = false)
-            (reachable? && @delegator_obj.respond_to?(method_name)) || super
+            (valid_delegator? && @delegator_obj.respond_to?(method_name)) || super
         end
 
         def method_missing(m,*args)