Class: Roby::Coordination::TaskBase

Inherits:
Object
  • Object
show all
Defined in:
lib/roby/coordination/task_base.rb

Overview

Base functionality for task-like objects in coordination models (Task, Child)

Direct Known Subclasses

Child, Task

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(execution_context, model) ⇒ TaskBase

Returns a new instance of TaskBase.



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# File 'lib/roby/coordination/task_base.rb', line 15

def initialize(execution_context, model)
    @execution_context = execution_context
    @model = model
end

Instance Attribute Details

#execution_context ⇒ Base (readonly)

Returns the underlying execution context.

Returns:

  • (Base) —

    the underlying execution context



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# File 'lib/roby/coordination/task_base.rb', line 11

def execution_context
  @execution_context
end

#model ⇒ Coordination::Models::Task (readonly)

Returns:



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# File 'lib/roby/coordination/task_base.rb', line 13

def model
  @model
end

Instance Method Details

#find_child(role, child_model = nil) ⇒ Object 



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# File 'lib/roby/coordination/task_base.rb', line 26

def find_child(role, child_model = nil)
    child_model ||= model.find_child_model(role)
    unless child_model
        begin
            task = self.resolve
            if child_task = task.find_child_from_role(role)
                child_model = child_task.model
            end
        rescue ResolvingUnboundObject
        end
    end

    if child = model.find_child(role, child_model)
        execution_context.instance_for(child)
    end
end

#find_event(symbol) ⇒ Object 



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# File 'lib/roby/coordination/task_base.rb', line 43

def find_event(symbol)
    if event = model.find_event(symbol)
        execution_context.instance_for(event)
    end
end

#resolve ⇒ Object

Method that must be reimplemented in the task objects actually used in the coordination primitives

Raises:

  • (NotImplementedError) 


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# File 'lib/roby/coordination/task_base.rb', line 22

def resolve
    raise NotImplementedError, "#resolve must be reimplemented in objects meant to be used in the coordination primitives"
end

#to_coordination_task(task_model) ⇒ Object 



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

def to_coordination_task(task_model)
    model.to_coordination_task(task_model)
end