Class: Roby::Coordination::Script::PollUntil

Inherits:
Roby::Coordination::ScriptInstruction show all
Defined in:
lib/roby/coordination/script.rb

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(root_task, event, block) ⇒ PollUntil

Returns a new instance of PollUntil.



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# File 'lib/roby/coordination/script.rb', line 42

def initialize(root_task, event, block)
    @root_task, @event, @block = root_task, event, block
end

Instance Attribute Details

#block ⇒ Object (readonly)

Returns the value of attribute block.



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# File 'lib/roby/coordination/script.rb', line 41

def block
  @block
end

#event ⇒ Object (readonly)

Returns the value of attribute event.



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# File 'lib/roby/coordination/script.rb', line 41

def event
  @event
end

#root_task ⇒ Object (readonly)

Returns the value of attribute root_task.



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# File 'lib/roby/coordination/script.rb', line 41

def root_task
  @root_task
end

Instance Method Details

#cancel ⇒ Object 



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# File 'lib/roby/coordination/script.rb', line 46

def cancel
    if @poll_handler_id
        root_task.remove_poll_handler(@poll_handler_id)
    end
    super
end

#execute(script) ⇒ Object 



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# File 'lib/roby/coordination/script.rb', line 53

def execute(script)
    @poll_handler_id = root_task.poll do
        root_task.instance_eval(&block)
    end
    event = self.event.resolve
    event.on do |ev|
        if ev.generator == self.event.resolve && !disabled?
            cancel
            script.step
        end
    end

    if event.task != script.root_task
        script.root_task.depends_on event.task, success: event.symbol
    else
        event.when_unreachable(true) do |reason, generator|
            if !disabled?
                raise Script::DeadInstruction.new(script.root_task), "the 'until' condition of #{self} will never be reached: #{reason}"
            end
        end
    end

    false
end