Class: Roby::Test::RunPlanners::ActionPlanningHandler

Inherits:
Object
  • Object
show all
Defined in:
lib/roby/test/run_planners.rb

Overview

Planning handler for #roby_run_planner that handles roby action tasks

Instance Method Summary collapse

Constructor Details

#initialize(test) ⇒ ActionPlanningHandler

Returns a new instance of ActionPlanningHandler.



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# File 'lib/roby/test/run_planners.rb', line 190

def initialize(test)
    @test = test
end

Instance Method Details

#finished? ⇒ Boolean

Whether planning is finished for the given tasks

This is called within a propagation context

Returns:

  • (Boolean) 


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# File 'lib/roby/test/run_planners.rb', line 205

def finished?
    @planning_tasks.all?(&:finished?)
end

#start(tasks) ⇒ Object

Start planning these tasks

This is called within a propagation context



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# File 'lib/roby/test/run_planners.rb', line 195

def start(tasks)
    @planning_tasks = tasks.map do |planned_task|
        planning_task = planned_task.planning_task
        execution_engine = planning_task.execution_engine
        planning_task.start! unless execution_engine.scheduler.enabled?
        planning_task
    end
end