Class: Roby::Coordination::Models::FaultHandler::ReplaceBy

Inherits:
ScriptInstruction show all
Defined in:
lib/roby/coordination/models/fault_handler.rb

Overview

Script element that implements the replacement part of #replace_by

Instance Attribute Summary collapse

Instance Method Summary collapse

Methods inherited from ScriptInstruction

#cancel

Constructor Details

#initialize(replacement_task) ⇒ ReplaceBy

Returns a new instance of ReplaceBy.



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# File 'lib/roby/coordination/models/fault_handler.rb', line 81

def initialize(replacement_task)
    super()

    @replacement_task = replacement_task
end

Instance Attribute Details

#replacement_task ⇒ Object (readonly)

Returns the value of attribute replacement_task.



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# File 'lib/roby/coordination/models/fault_handler.rb', line 79

def replacement_task
  @replacement_task
end

Instance Method Details

#execute(fault_handler) ⇒ Object 



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# File 'lib/roby/coordination/models/fault_handler.rb', line 91

def execute(fault_handler)
    response_task = fault_handler.root_task
    plan = response_task.plan
    replacement_task = self.replacement_task.resolve

    response_task.each_parent_object(Roby::TaskStructure::ErrorHandling) do |repaired_task|
        repaired_task_parents = repaired_task.each_parent_task.map do |parent_task|
            [parent_task, parent_task[repaired_task, Roby::TaskStructure::Dependency]]
        end
        plan.replace(repaired_task, replacement_task)
        repaired_task_parents.each do |parent_t, dependency_options|
            parent_t.add_child repaired_task, dependency_options
        end
    end
    true
end

#new(fault_handler) ⇒ Object 



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# File 'lib/roby/coordination/models/fault_handler.rb', line 87

def new(fault_handler)
    ReplaceBy.new(fault_handler.instance_for(replacement_task))
end

#to_s ⇒ Object 



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# File 'lib/roby/coordination/models/fault_handler.rb', line 108

def to_s
    "start(#{task}, #{dependency_options})"
end