Module: Robot

Extended by:
Logger::Forward
Defined in:
lib/roby/robot.rb,
lib/roby/interface.rb

Class Attribute Summary collapse

Class Method Summary collapse

Class Attribute Details

.logger ⇒ Object

Returns the value of attribute logger.



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# File 'lib/roby/robot.rb', line 3

def logger
  @logger
end

Class Method Details

.method_missing(name, *args) ⇒ Object 



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# File 'lib/roby/interface.rb', line 40

def self.method_missing(name, *args)
  if name.to_s =~ /!$/
 name = $`.to_sym
  else
 super
  end

  if args.size > 1
 raise ArgumentError, "wrong number of arguments (#{args.size} for 1) in #{name}!"
  end

  options = args.first || {}
  task, planner = Robot.prepare_action(name, options)
  Roby.control.plan.insert(task)

  return task, planner
end

.prepare_action(name, arguments) ⇒ Object 



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# File 'lib/roby/interface.rb', line 10

def self.prepare_action(name, arguments)
  control = Roby.control

  # Check if +name+ is a planner method, and in that case
  # add a planning method for it and plan it
  planner_model = control.planners.find do |planner_model|
 planner_model.has_method?(name)
  end
  if !planner_model
 raise ArgumentError, "no such planning method #{name}"
  end

  m = planner_model.model_of(name, arguments)

  # HACK: m.returns should not be nil, but it sometimes happen
  returns_model = (m.returns if m && m.returns) || Task

  if returns_model.kind_of?(Roby::TaskModelTag)
 task = Roby::Task.new
 task.extend returns_model
  else
 # Create an abstract task which will be planned
 task = returns_model.new
  end

  planner = Roby::PlanningTask.new(:planner_model => planner_model, :method_name => name, :method_options => arguments)
  task.planned_by planner
  return task, planner
end