Class: Roby::Tasks::Sequence

Inherits:
TaskAggregator show all
Defined in:
lib/roby/tasks/sequence.rb

Overview

Creates an ordered sequence of tasks.

Tasks added to this aggregator are started one after the other. Task(i+1) is started when Task(i) has finished successfully. The Sequence finishes successfully when the last task finished.

Constant Summary

Constants included from Models::Arguments

Models::Arguments::NO_DEFAULT_ARGUMENT

Instance Attribute Summary

Attributes inherited from TaskAggregator

#tasks

Attributes inherited from Roby::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 Roby::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 TaskAggregator

#delete, #each_task, #empty?, #initialize

Methods inherited from Roby::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, #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_s, #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 Roby::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::Tasks::TaskAggregator

Instance Method Details

#<<(task) ⇒ Object

Adds task at the end of the sequence



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# File 'lib/roby/tasks/sequence.rb', line 80

def <<(task)
    raise "trying to do Sequence#<< on a finished sequence" if finished?

    connect_start(task) if @tasks.empty?
    connect_stop(task)

    @tasks << task
    depends_on task
    self
end

#child_of(task = nil) ⇒ Object

Quite often, a sequence is meant to implement a higher-level functionality. In this case, it is better to not use a Sequence task at all, but instead create the sequence as dependency of a high-level task instance.

#to_task transfers the underlying sequence to the task given as argument. If task is a task model instead of a task instance, it first creates a new instance of this model and returns it.

For instance:

seq = (Sequence.new <<
    GoTo.new(target: a) <<
    Pickup.new(object: b) <<
    GoTo.new(target: c)

mission = GetObject.new(object: b)
seq.child_of(mission)



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# File 'lib/roby/tasks/sequence.rb', line 33

def child_of(task = nil)
    return super() unless task

    task = task.new unless task.kind_of?(Roby::Task)
    @tasks.each { |t| task.depends_on t }

    task.start_event.signals @tasks.first.start_event
    @tasks.last.success_event.forward_to task.success_event

    delete

    task
end

#name ⇒ Object

:nodoc:



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# File 'lib/roby/tasks/sequence.rb', line 10

def name # :nodoc:
    @name || @tasks.map(&:name).join("+")
end

#to_sequence ⇒ Object

:nodoc:



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# File 'lib/roby/tasks/sequence.rb', line 91

def to_sequence # :nodoc:
    self
end

#unshift(task) ⇒ Object

Adds task at the beginning of the sequence



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# File 'lib/roby/tasks/sequence.rb', line 66

def unshift(task)
    if running? || finished?
        raise "trying to do Sequence#unshift on a running or finished sequence"
    end

    connect_start(task)
    connect_stop(task) if @tasks.empty?

    @tasks.unshift(task)
    depends_on task
    self
end