Module: Roby::Coordination::Models::Script

Extended by:

MetaRuby::Attributes

Included in:

ActionScript, FaultHandler, TaskScript

Defined in:

lib/roby/coordination/models/script.rb

Overview

The metamodel for all script-based coordination models

Defined Under Namespace

Classes: DeadInstruction, Emit, Start, TimeoutStart, TimeoutStop, Wait

Instance Method Summary

• #add(instruction) ⇒ Object
• #call(script) ⇒ Object

  Execute another script at this point in the execution.

• #emit(event) ⇒ Object

  Emit the given event.

• #execute(task, options = Hash.new) ⇒ Object

  Starts the given task, and waits for it to successfully finish.

• #instructions ⇒ Array

  The list of instructions in this script.

• #sleep(time) ⇒ Object

  Waits a certain amount of time before continuing.

• #start(task, explicit_start: false, **options) ⇒ Object

  Starts the given task.

• #terminal ⇒ Object

  Marks this script has being terminated, i.e.

• #terminal? ⇒ Boolean

  If true, this script cannot get new instructions (a terminal instruction has been added).

• #timeout_start(delay, options = Hash.new) ⇒ Object
• #timeout_stop(timeout_start) ⇒ Object
• #wait(event, timeout: nil, **wait_options) ⇒ Object

  Waits until this event gets emitted.

Instance Method Details

#add(instruction) ⇒ Object

# File 'lib/roby/coordination/models/script.rb', line 274

def add(instruction)
    if terminal?
        raise ArgumentError, "a terminal command has been called on this script, cannot add anything further"
    end
    instructions << instruction
end

#call(script) ⇒ Object

Execute another script at this point in the execution

# File 'lib/roby/coordination/models/script.rb', line 258

def call(script)
    instructions.concat(script.instructions)
end

#emit(event) ⇒ Object

Emit the given event

Parameters:

• event (Event)

# File 'lib/roby/coordination/models/script.rb', line 252

def emit(event)
    validate_event event
    add Emit.new(event)
end

#execute(task, options = Hash.new) ⇒ Object

Starts the given task, and waits for it to successfully finish

Parameters:

• task (Task) —

  the action-task. It must be created by calling Base#task on the relevant object

• options (Hash) (defaults to: Hash.new) —

  the dependency relation options. See TaskStructure::Dependency::Extension#depends_on

# File 'lib/roby/coordination/models/script.rb', line 211

def execute(task, options = Hash.new)
    task = validate_or_create_task task
    start(task, options)
    wait(task.success_event)
end

#instructions ⇒ Array

The list of instructions in this script

Returns:

• (Array)

# File 'lib/roby/coordination/models/script.rb', line 191

attribute(:instructions) { Array.new }

#sleep(time) ⇒ Object

Waits a certain amount of time before continuing

Parameters:

• time (Float) —

  the amount of time to wait, in seconds

# File 'lib/roby/coordination/models/script.rb', line 220

def sleep(time)
    task = self.task(ActionCoordination::TaskFromAsPlan.new(Tasks::Timeout.with_arguments(delay: time), Tasks::Timeout))
    start task, explicit_start: true
    wait task.stop_event
end

#start(task, explicit_start: false, **options) ⇒ Object

Starts the given task

Parameters:

• task (Task) —

  the action-task. It must be created by calling Base#task on the relevant object

• options (Hash) —

  the dependency relation options. See TaskStructure::Dependency::Extension#depends_on

# File 'lib/roby/coordination/models/script.rb', line 199

def start(task, explicit_start: false, **options)
    task = validate_or_create_task task
    add Start.new(task, explicit_start: explicit_start, **options)
    wait(task.start_event)
end

#terminal ⇒ Object

Marks this script has being terminated, i.e. that no new instructions can be added to it

Once this is called, adding new instructions will raise ArgumentError

# File 'lib/roby/coordination/models/script.rb', line 179

def terminal
    __terminal(true)
end

#terminal? ⇒ Boolean

Returns if true, this script cannot get new instructions (a terminal instruction has been added).

Returns:

• (Boolean) —

  if true, this script cannot get new instructions (a terminal instruction has been added)

# File 'lib/roby/coordination/models/script.rb', line 185

def terminal?
    __terminal
end

#timeout_start(delay, options = Hash.new) ⇒ Object

# File 'lib/roby/coordination/models/script.rb', line 262

def timeout_start(delay, options = Hash.new)
    ins = TimeoutStart.new(delay, options)
    add ins
    ins
end

#timeout_stop(timeout_start) ⇒ Object

# File 'lib/roby/coordination/models/script.rb', line 268

def timeout_stop(timeout_start)
    ins = TimeoutStop.new(timeout_start)
    add ins
    ins
end

#wait(event, timeout: nil, **wait_options) ⇒ Object

Waits until this event gets emitted

It will wait even if this event has already been emitted at this point in the script (i.e. waits for a “new” emission)

Parameters:

• event (Event) —

  the event to wait for

• options (Hash)
• timeout (Float) (defaults to: nil) —

  a timeout (for backward compatibility, use timeout(seconds) do … end instead)

# File 'lib/roby/coordination/models/script.rb', line 235

def wait(event, timeout: nil, **wait_options)
    validate_event event

    wait = Wait.new(event, **wait_options)
    if timeout
        timeout(timeout) do
            add wait
        end
    else
        add wait
    end
    wait
end