[Rock-dev] Roby tutorial on Tasks
Raul Dominguez
Raul.Dominguez at dfki.de
Tue May 7 17:05:35 CEST 2013
Hi,
When defining a Task class as explained here:
http://rock-robotics.org/stable/api/tools/roby/tutorial/tasks.html#task-control-and-monitoring-defining-events
"""
$ irb -rroby/standalone
irb(main):001:0> plan = Roby.plan
=> #<#<Roby::Plan:0x00000001ac28e8>:
missions=#<ValueSet:0x00000001ac28c0 {}>
tasks=#<ValueSet:0x00000001ac1b00 {}> events=#<ValueSet:0x00000001ac1ad8
{}> transactions=#<ValueSet:0x00000001ac25a0 {}>>
irb(main):002:0> source "my_task.rb"
"""
I get the following error:
"""
my_task.rb(main):003:0> class MyTask < Roby::Task
my_task.rb(main):004:1> event :start do
my_task.rb(main):005:2* puts "start event called"
my_task.rb(main):006:2> emit :start
my_task.rb(main):007:2> end
my_task.rb(main):008:1> event :controlable do
my_task.rb(main):009:2* puts "controlable event called"
my_task.rb(main):010:2> emit :controlable
my_task.rb(main):011:2> end
my_task.rb(main):012:1> event :contingent
my_task.rb(main):013:1>
my_task.rb(main):014:1* on(:start) { puts "start event emitted" }
my_task.rb(main):015:1> on(:controlable) { puts "controlable event
emitted" }
my_task.rb(main):016:1> on(:contingent) { puts "contingent event
emitted" }
my_task.rb(main):017:1> on(:failed) { puts "failed event emitted" }
my_task.rb(main):018:1> on(:stop) { puts "stop event emitted" }
my_task.rb(main):019:1>
my_task.rb(main):020:1* event :finished, :terminal => true
my_task.rb(main):021:1> on(:finished) { puts "finished event emitted" }
my_task.rb(main):022:1> end
ArgumentError: #<UnboundMethod: MyTask#event_command_start> does not
accept to be called with 1 argument(s)
from my_task.rb:4:in `<class:MyTask>'
from my_task.rb:3
from (irb):2
from /usr/bin/irb:12:in `<main>'
my_task.rb(main):023:0>
=> nil
"""
I guess is an easy question for you guys.
Greetings,
Raúl
--
Raul Dominguez (M.Sc.)
Space Robotics
Universität Bremen
FB 3 - Mathematik und Informatik
AG Robotik
Robert-Hooke-Straße 5
28359 Bremen, Germany
Tel.: +49 421 178 45-6617
Zentrale: +49 421 178 45-6611
Fax: +49 421 178 45-4150
E-Mail: Raul.Dominguez at uni-bremen.de
Weitere Informationen: http://www.informatik.uni-bremen.de/robotik
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