Method: Roby::Application#action_from_model

Defined in:
lib/roby/app.rb

#action_from_model(model) ⇒ Actions::Models::Action

Find an action on the planning interface that can generate the given task model

Returns:

Raises:



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# File 'lib/roby/app.rb', line 3091

def action_from_model(model)
    candidates = []
    planners.each do |planner_model|
        planner_model.find_all_actions_by_type(model).each do |action|
            candidates << [planner_model, action]
        end
    end
    candidates = candidates.uniq

    if candidates.empty?
        raise ActionResolutionError, "cannot find an action to produce #{model}"
    elsif candidates.size > 1
        candidates_s = candidates
                       .map { |pl, m| "#{pl}.#{m.name}" }
                       .sort.join(", ")

        raise ActionResolutionError,
              "more than one actions available produce #{model}: #{candidates_s}"
    else
        candidates.first
    end
end