Class: Roby::Actions::Task

Inherits:
Task show all
Defined in:
lib/roby/actions/task.rb

Overview

A task that calls an action interface to generate a plan

Constant Summary

Constants included from Models::Arguments

Models::Arguments::NO_DEFAULT_ARGUMENT

Instance Attribute Summary collapse

Attributes inherited from Task

#arguments, #bound_events, #data, #execute_handlers, #failed_to_start_time, #failure_event, #failure_reason, #history, #poll_handlers, #quarantine_reason, #state_machine, #terminal_event

Attributes included from GUI::RelationsCanvasTask

#displayed_state, #last_event

Attributes inherited from PlanObject

#addition_time, #executable, #execution_engine, #finalization_handlers, #finalization_time, #model, #plan, #promise_executor, #removed_at

Attributes included from Transaction::Proxying::Cache

#transaction_forwarder_module, #transaction_proxy_module

Attributes included from Relations::DirectedRelationSupport

#relation_graphs

Attributes inherited from DistributedObject

#local_owner_id, #owners

Instance Method Summary collapse

Methods inherited from Task

#+, #abstract?, #action_state_machine, #add_child_object, #add_coordination_object, #apply_terminal_flags, #as_plan, #as_service, #assign_argument, #assign_arguments, #can_merge?, #can_replace?, #check_emission_validity, #clear_events_external_relations, #clear_relations, #commit_transaction, #compatible_state?, #compute_replacement_candidates, #compute_subplan_replacement_operation, #compute_task_replacement_operation, #create_fresh_copy, create_script, #create_transaction_proxy, #current_state, #current_state?, #do_not_reuse, #do_poll, #each_coordination_object, #each_event, #each_exception_handler, #emit, #end_time, #ensure_poll_handler_called, #event, #event_model, #executable=, #executable?, #execute, #failed_to_start!, #failed_to_start?, #filter_events_from_strongly_related_tasks, #find_event, #fired_event, #forcefully_terminate, #forward_to, #freeze_delayed_arguments, #fullfills?, #fully_instanciated?, #garbage!, goal, #goal, #handle_exception, #has_argument?, #has_event?, #initialize, #initialize_copy, #initialize_replacement, #inspect, #interruptible?, #invalidate_terminal_flag, #invalidated_terminal_flag?, #last_event, #lifetime, #list_unset_arguments, #mark_failed_to_start, #match, #meaningful_arguments, #name, #null?, #on, #partially_instanciated?, #plan=, #poll, #poll_handler, #pretty_print, #promise, #quarantined!, #quarantined?, #related_events, #related_tasks, #remove_coordination_object, #remove_poll_handler, #replace_by, #replace_subplan_by, #resolve_goals, #resolve_state_sources, #respawn, #reusable?, #running?, script, #script, #signals, #simulate, #start_time, state, #state, #terminal_events, #to_execution_exception, #to_task, #transform_candidates_into_operations, #transition!, #update_task_status, #update_terminal_flag, #updated_data, #use_fault_response_table, #when_finalized, #|

Methods included from Models::Task

#abstract, #all_models, #as_plan, #can_merge?, #causal_link, #clear_model, #compute_terminal_events, #define_command_method, #define_event_methods, define_method_unless_present, #discover_terminal_events, #enum_events, #event, #event_model, #find_event_model, #forward, #from, #from_state, #fullfills?, #instantiate_event_relations, #interruptible, #invalidate_template, #match, model_attribute_list, model_relation, #on, #on_exception, #poll, #precondition, #provided_services, #query, #signal, #template, #terminal_events, #terminates, #to_coordination_task, #to_execution_exception_matcher, #update_terminal_flag, #with_arguments

Methods included from Models::Arguments

#argument, #arguments, #default_argument, #fullfills?, #meaningful_arguments

Methods included from TaskStateHelper

#import_events_to_roby, #namespace, #namespace=, #refine_running_state, #state_machine

Methods included from DRoby::Identifiable

#droby_id, #initialize_copy

Methods included from DRoby::V5::Models::TaskDumper

#droby_dump

Methods included from DRoby::V5::ModelDumper

#droby_dump, #droby_marshallable?

Methods included from DRoby::V5::TaskDumper

#droby_dump

Methods included from GUI::GraphvizTask

#apply_layout, #dot_label, #to_dot_events

Methods included from GUI::GraphvizPlanObject

#apply_layout, #dot_label, #to_dot

Methods included from GUI::RelationsCanvasTask

#display, #display_create, #display_name, #display_time_end, #display_time_start, #layout_events, to_svg, #update_graphics

Methods included from GUI::RelationsCanvasPlanObject

#display, #display_create, #display_events, #display_name, #display_parent

Methods included from ExceptionHandlingObject

#add_error, #handle_exception, #pass_exception

Methods inherited from PlanObject

#add_child_object, #apply_relation_changes, #as_plan, #can_finalize?, #commit_transaction, #concrete_model, #connection_space, #each_finalization_handler, #each_in_neighbour_merged, #each_out_neighbour_merged, #each_plan_child, #engine, #executable?, #finalized!, #finalized?, #forget_peer, #fullfills?, #garbage!, #garbage?, #initialize, #initialize_copy, #initialize_replacement, #merged_relations, #promise, #read_write?, #real_object, #remotely_useful?, #replace_by, #replace_subplan_by, #root_object, #root_object?, #subscribed?, #transaction_proxy?, #transaction_stack, #update_on?, #updated_by?, #when_finalized

Methods included from Models::PlanObject

#child_plan_object, #finalization_handler, #match, #when_finalized

Methods included from Relations::DirectedRelationSupport

#[], #[]=, #add_child_object, #add_parent_object, #child_object?, #child_objects, #clear_vertex, #each_child_object, #each_in_neighbour, #each_out_neighbour, #each_parent_object, #each_relation, #each_relation_graph, #each_relation_sorted, #each_root_relation_graph, #enum_child_objects, #enum_parent_objects, #enum_relations, #leaf?, #parent_object?, #parent_objects, #related_object?, #related_objects, #relation_graph_for, #relations, #remove_child_object, #remove_children, #remove_parent_object, #remove_parents, #remove_relations, #root?, #sorted_relations

Methods inherited from DistributedObject

#add_owner, #clear_owners, #initialize, #initialize_copy, #owned_by?, #remove_owner

Constructor Details

This class inherits a constructor from Roby::Task

Instance Attribute Details

#result ⇒ Object (readonly)

The planner result. It is either an exception or a task object



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

def result
  @result
end

#transaction ⇒ Transaction (readonly)

Once the task has been started, this is the transaction object that is being used / has been used to generate before committing in the plan

Returns:



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# File 'lib/roby/actions/task.rb', line 15

def transaction
  @transaction
end

Instance Method Details

#action_arguments ⇒ Hash

The arguments for the action method

Returns:

  • (Hash) 


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

argument :action_arguments, default: {}

#action_interface_model ⇒ Model<Interface>

The action interface model used by this planner

Returns:



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# File 'lib/roby/actions/task.rb', line 36

def action_interface_model
    action_model.action_interface_model
end

#action_model ⇒ Models::Action

The action itself

Returns:



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# File 'lib/roby/actions/task.rb', line 22

argument :action_model

#job_name ⇒ Object 



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# File 'lib/roby/actions/task.rb', line 40

def job_name
    formatted_arguments = (action_arguments || {}).map do |k, v|
        "#{k} => #{v}"
    end.join(", ")
    "#{action_model}(#{formatted_arguments})"
end

#planned_model ⇒ Model<Roby::Task>

The model of the roby task that is going to represent the action in the plan

Returns:



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# File 'lib/roby/actions/task.rb', line 30

def planned_model
    action_model.returned_task_type
end

#planning_result_task ⇒ Object 



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# File 'lib/roby/actions/task.rb', line 55

def planning_result_task
    if success? || result
        result
    elsif task = planned_tasks.find { true }
        task
    elsif pending?
        task = planned_model.new
        task.planned_by self
        task.abstract = true
        task
    end
end

#to_s ⇒ Object 



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# File 'lib/roby/actions/task.rb', line 47

def to_s
    if action_model
        "#{super}[#{action_interface_model}:#{action_model}](#{action_arguments}) -> #{action_model.returned_type}"
    else
        super.to_s
    end
end