Class: Roby::GoalModel

Inherits:
OpenStructModel show all
Defined in:
lib/roby/state/goal_model.rb

Overview

Representation of a level in the state model

Constant Summary

Constants inherited from OpenStruct

OpenStruct::FORBIDDEN_NAMES, OpenStruct::FORBIDDEN_NAMES_RX, OpenStruct::NOT_OVERRIDABLE, OpenStruct::NOT_OVERRIDABLE_RX

Instance Attribute Summary

Attributes inherited from OpenStructModel

#superclass

Attributes inherited from OpenStruct

#__parent_name, #__parent_struct, #model

Instance Method Summary collapse

Methods inherited from OpenStructModel

#__get, #each_member, #respond_to_missing?

Methods inherited from OpenStruct

#__get, #__merge, #__parent, #__root, #__root?, #_dump, _load, #alias, #alias?, #attach, #attach_child, #attach_model, #attach_to, #attached?, #clear, #clear_model, #delete, #detached!, #each_member, #empty?, #filter, #freeze, #get, #global_filter, #has_method?, #link_to, #member?, #method_missing, #new_model, #on_change, #path, #pretty_print, #respond_to_missing?, #set, #stable!, #stable?, #to_hash, #update, #updated

Constructor Details

#initialize(state_model = nil, superclass = nil, attach_to = nil, attach_name = nil) ⇒ GoalModel

rubocop:disable Metrics/ParameterLists



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# File 'lib/roby/state/goal_model.rb', line 35

def initialize(state_model = nil, superclass = nil, attach_to = nil, attach_name = nil) # rubocop:disable Metrics/ParameterLists
    super(superclass, attach_to, attach_name)

    @model = state_model
    if @model
        attach_model
    end

    global_filter do |name, value|
        if value.respond_to?(:to_goal_variable_model)
            value.to_goal_variable_model(self, name)
        else
            raise ArgumentError,
                  "cannot set #{value} on #{name} in a goal model. Only "\
                  "allowed values are GoalVariableModel, and values that "\
                  "respond to #to_goal_variable_model"
        end
    end
end

Dynamic Method Handling

This class handles dynamic methods through the method_missing method in the class Roby::OpenStruct

Instance Method Details

#create_model ⇒ Object 



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# File 'lib/roby/state/goal_model.rb', line 55

def create_model
    GoalModel.new
end

#create_subfield(name) ⇒ Object 



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# File 'lib/roby/state/goal_model.rb', line 59

def create_subfield(name)
    superklass = superclass&.get(name)
    supermodel = model&.get(name)
    self.class.new(supermodel, superklass, self, name)
end

#resolve_goals(obj, space) ⇒ Object

Once the task is completely instanciated, we should be able to determine its goal



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# File 'lib/roby/state/goal_model.rb', line 67

def resolve_goals(obj, space)
    each_member do |name, value|
        if value.respond_to?(:resolve_goals)
            value.resolve_goals(obj, space.get(name))
        else
            space.set(name, value.call(obj))
        end
    end
end