Class: Roby::Coordination::Models::Script::Wait

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

Overview

Script element that implements #wait

Instance Attribute Summary collapse

Instance Method Summary collapse

Methods inherited from ScriptInstruction

#cancel

Constructor Details

#initialize(event, after: nil) ⇒ Wait

Returns a new instance of Wait.

Parameters:

  • options (Hash) —

    a customizable set of options



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# File 'lib/roby/coordination/models/script.rb', line 66

def initialize(event, after: nil)
    super()

    @event = event
    @done = false
    @time_barrier = after
end

Instance Attribute Details

#event ⇒ Object (readonly)

Returns the value of attribute event.



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

def event
  @event
end

#time_barrier ⇒ Time? (readonly)

Returns time after which an emission is valid. ‘nil’ means that only emissions that have happened after the script reached this instruction are considered.

Returns:

  • (Time, nil) —

    time after which an emission is valid. ‘nil’ means that only emissions that have happened after the script reached this instruction are considered



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# File 'lib/roby/coordination/models/script.rb', line 51

def time_barrier
  @time_barrier
end

#timeout ⇒ Float (readonly)

Returns number of seconds after which the wait instruction should generate an error.

Returns:

  • (Float) —

    number of seconds after which the wait instruction should generate an error



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# File 'lib/roby/coordination/models/script.rb', line 55

def timeout
  @timeout
end

Instance Method Details

#done? ⇒ Boolean

Returns true if the watched event got emitted.

Returns:

  • (Boolean) —

    true if the watched event got emitted



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# File 'lib/roby/coordination/models/script.rb', line 61

attr_predicate :done?

#execute(script) ⇒ Object 



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# File 'lib/roby/coordination/models/script.rb', line 78

def execute(script)
    event     = self.event.resolve
    plan      = script.plan
    root_task = script.root_task

    if time_barrier
        last_event = event.history.last
        if last_event && last_event.time > time_barrier
            return true
        end
    end

    if event.unreachable?
        plan.add_error(DeadInstruction.new(script.root_task))
        return false
    end

    if event.task != root_task
        role_name = "wait_#{self.object_id}"
        current_roles =
            root_task.depends_on?(event.task) &&
            root_task.roles_of(event.task)

        root_task.depends_on(
            event.task, success: nil, role: role_name
        )
    end

    event.if_unreachable(
        cancel_at_emission: true
    ) do |reason, generator|
        unless disabled?
            generator.plan.add_error(
                DeadInstruction.new(script.root_task)
            )
        end
    end

    event.on on_replace: :copy do |event|
        if event.generator == self.event.resolve && !disabled?
            handle_event(script, role_name, current_roles, event)
        end
    end

    false
end

#handle_event(script, role_name, current_roles, event) ⇒ Object

This method is part of a private API. You should avoid using this method if possible, as it may be removed or be changed in the future.

Helper to handle events



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# File 'lib/roby/coordination/models/script.rb', line 128

def handle_event(script, role_name, current_roles, event)
    return if time_barrier && event.time < time_barrier

    child = role_name &&
            script.root_task.find_child_from_role(role_name)
    if child
        script.root_task.remove_roles(
            child, role_name,
            remove_child_when_empty:
                !current_roles || !current_roles.empty?
        )
    end

    cancel
    script.step
end

#initialized? ⇒ Boolean

Returns true if #execute has been called once.

Returns:

  • (Boolean) —

    true if #execute has been called once



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# File 'lib/roby/coordination/models/script.rb', line 58

attr_predicate :initialized?

#new(script) ⇒ Object 



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# File 'lib/roby/coordination/models/script.rb', line 74

def new(script)
    Wait.new(script.instance_for(event), after: time_barrier)
end

#to_s ⇒ Object 



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# File 'lib/roby/coordination/models/script.rb', line 149

def to_s
    "wait(#{event})"
end

#waited_task_role ⇒ Object 



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# File 'lib/roby/coordination/models/script.rb', line 145

def waited_task_role
    "wait_#{object_id}"
end