Module: Roby::Planning::Library

Includes:
Tools
Defined in:
lib/roby/planning/model.rb

Overview

A planning Library is only a way to gather a set of planning methods. It is created by

module MyLibrary
   planning_library
   method(:bla) do
   end
end

or

my_library = Roby::Planning::Library.new do
    method(:bla) do end
end

It is then used by simply including the library in another library or in a Planner class

module AnotherLibrary

include MyLibrary

end

class MyPlanner < Planner

include AnotherLibrary

end

Alternatively, you can use Planner::use and Library::use, which search for a Planning module in the given module. For instance

module Namespace

module Planning
planning_library
[...]

end end

can be used with

class MyPlanner < Planner

using Namespace

end

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Methods included from Tools

#using

Instance Attribute Details

#default_options ⇒ Object (readonly)

Returns the value of attribute default_options.



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# File 'lib/roby/planning/model.rb', line 845

def default_options
  @default_options
end

Class Method Details

.clear_model ⇒ Object 



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# File 'lib/roby/planning/model.rb', line 855

def self.clear_model
    planning_methods.clear
end

.new(&block) ⇒ Object 



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# File 'lib/roby/planning/model.rb', line 888

def self.new(&block)
    Module.new do
 extend Library
 class_eval(&block)
    end
end

Instance Method Details

#append_features(klass) ⇒ Object

Cannot use included here because included() is called after the module has been included



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# File 'lib/roby/planning/model.rb', line 861

def append_features(klass)
    new_libraries = ancestors.enum_for.
 reject { |mod| klass < mod }.
 find_all { |mod| mod.respond_to?(:planning_methods) }

    super

    unless klass < Planner
 if Class === klass
      Roby.debug "including a planning library in a class which is not a Planner, which is useless"
 else
      klass.extend Library
 end
 return
    end

    new_libraries.reverse_each do |mod|
 mod.planning_methods.each do |name, options, body| 
      begin
  klass.method(name, options, &body)
      rescue ArgumentError => e
  raise ArgumentError, "cannot include the #{self} library in #{klass}: when inserting #{name}#{options}, #{e.message}", caller(0)
      end
 end
    end
end

#method(name, options = Hash.new, &body) ⇒ Object 



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# File 'lib/roby/planning/model.rb', line 848

def method(name, options = Hash.new, &body)
    if body && default_options
 options = default_options.merge(options)
    end
    planning_methods << [name, options, body]
end

#planning_methods ⇒ Object 



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# File 'lib/roby/planning/model.rb', line 847

def planning_methods; @methods ||= Array.new end