Module: Roby::TaskStructure::ExecutionAgentSpawn

Included in:
Plan
Defined in:
lib/roby/relations/executed_by.rb

Overview

This module is included in Roby::Plan to automatically add execution agents to tasks that require it and are discovered in the executable plan.

Instance Method Summary collapse

Instance Method Details

#discovered_tasks(tasks) ⇒ Object

Hook into plan discovery to add execution agents to new tasks. See ExecutionAgentSpawn.spawn



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# File 'lib/roby/relations/executed_by.rb', line 176

def discovered_tasks(tasks)
    # For now, settle on adding the execution agents only in the
    # main plan. Otherwise, it is possible that two transactions
    # will try to add two different agents
    #
    # Note that it would be solved by plan merging ...
    return unless executable?

    for task in tasks
  if !task.execution_agent && task.model.execution_agent && task.self_owned?
      ExecutionAgent.spawn(task)
  end
    end
end