Class: Roby::Actions::Models::MethodAction

Inherits:
Action show all
Includes:
DRoby::V5::Actions::Models::MethodActionDumper
Defined in:
lib/roby/actions/models/method_action.rb,
lib/roby/droby/enable.rb

Overview

Action defined by a method on an Interface

Instance Attribute Summary collapse

Attributes inherited from Action

#arguments, #doc, #name, #returned_type

Instance Method Summary collapse

Methods included from DRoby::V5::Actions::Models::MethodActionDumper

#proxy

Methods included from DRoby::V5::Actions::Models::InterfaceActionDumper

#droby_dump!, #proxy_from_existing

Methods inherited from Action

#advanced, #as_plan, #each_arg, #find_arg, #has_arg?, #has_required_arg?, #initialize_copy, #new, #normalize_arguments, #optional_arg, #overloads, #pretty_print, #required_arg, #returned_task_type, #returns, #to_action, #to_action_model, #validate_can_overload

Methods included from DRoby::V5::Actions::Models::ActionDumper

#droby_dump, #droby_dump!, #proxy, #proxy!

Constructor Details

#initialize(action_interface_model, doc = nil) ⇒ MethodAction

Returns a new instance of MethodAction.



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# File 'lib/roby/actions/models/method_action.rb', line 9

def initialize(action_interface_model, doc = nil)
    super(doc)
    @action_interface_model = action_interface_model
end

Instance Attribute Details

#action_interface_model ⇒ Object

The action interface on which this action is defined



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# File 'lib/roby/actions/models/method_action.rb', line 7

def action_interface_model
  @action_interface_model
end

Instance Method Details

#==(other) ⇒ Object 



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# File 'lib/roby/actions/models/method_action.rb', line 18

def ==(other)
    other.kind_of?(self.class) &&
        other.action_interface_model == action_interface_model &&
        other.name == name
end

#instanciate(plan, arguments = Hash.new) ⇒ Object

Instanciate this action on the given plan



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# File 'lib/roby/actions/models/method_action.rb', line 25

def instanciate(plan, arguments = Hash.new)
    action_interface = action_interface_model.new(plan)

    if self.arguments.empty?
        if !arguments.empty?
            raise ArgumentError, "#{name} expects no arguments, but #{arguments.size} are given"
        end
        result = action_interface.send(name).as_plan
    else
        default_arguments = self.arguments.inject(Hash.new) do |h, arg|
            h[arg.name] = arg.default
            h
        end
        arguments = Kernel.validate_options arguments, default_arguments
        self.arguments.each do |arg|
            if arg.required && !arguments.has_key?(arg.name.to_sym)
                raise ArgumentError, "required argument #{arg.name} not given to #{name}"
            end
        end
        result = action_interface.send(name, arguments).as_plan
    end
    # Make the planning task inherit the model/argument flags
    if planning_task = result.planning_task
        if planning_task.respond_to?(:action_model=)
            planning_task.action_model ||= self
        end
        if planning_task.respond_to?(:action_arguments=)
            result.planning_task.action_arguments ||= arguments
        end
    end
    result
end

#plan_pattern(arguments = Hash.new) ⇒ Object

Returns the plan pattern that will deploy this action on the plan



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# File 'lib/roby/actions/models/method_action.rb', line 74

def plan_pattern(arguments = Hash.new)
    job_id, arguments = Kernel.filter_options arguments, :job_id

    planner = Roby::Actions::Task.new(
        Hash[action_model: self,
             action_arguments: arguments].merge(job_id))
    planner.planning_result_task
end

#rebind(action_interface_model) ⇒ Action

Create a new action model that is bound to a different interface model

Parameters:

  • action_interface_model (Models::Interface) —

    the new model

  • force (Boolean) —

    the rebind will happen only if the new interface model is a submodel of the current one. If force is true, it will be done regardless.

Returns:

  • (Action) —

    the rebound action model



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# File 'lib/roby/actions/models/method_action.rb', line 65

def rebind(action_interface_model)
    rebound = dup
    if action_interface_model <= self.action_interface_model
        rebound.action_interface_model = action_interface_model
    end
    rebound
end

#to_s ⇒ Object 



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# File 'lib/roby/actions/models/method_action.rb', line 14

def to_s
    "#{super} of #{action_interface_model}"
end