class Roby::Actions::Interface

Functionality to gather information about the actions available on a given Roby app

Actions are simply methods of arity zero or one, preceded by a call to describe. The methods can modify the current plan (available as plan) and must return the Roby::Task instance that will be used to represent the action during execution

class Iface < Roby::Actions::Interface
    describe "makes the robot turn"
    def robot_turn
    end
end

Attributes

plan[R]

The plan to which this action interface adds tasks

Public Class Methods

new(plan) click to toggle source
# File lib/roby/actions/interface.rb, line 23
def initialize(plan)
    @plan = plan
end

Public Instance Methods

action_script(task, &block) click to toggle source
# File lib/roby/actions/interface.rb, line 36
def action_script(task, &block)
    model = Coordination::ActionScript.
        new_submodel(action_interface: self.model, root: task.model)
    model.parse(&block)
    model.new(task)
end
action_state_machine(task, &block) click to toggle source
# File lib/roby/actions/interface.rb, line 29
def action_state_machine(task, &block)
    model = Coordination::ActionStateMachine.
        new_submodel(action_interface: self.model, root: task.model)
    model.parse(&block)
    model.new(task)
end
model() click to toggle source
# File lib/roby/actions/interface.rb, line 27
def model; self.class end