[Rock-dev] runtime states in inherited task structures

[Chris Mueller]

Hi,

we have found today a problem with catching events from the roby side 
over an inherited task structure. Here is a simplified example:

task_context "Parent" do
     runtime_states :HELLO
end

task_context "Child" do
     subclasses "Parent"

     property("bla", "double", 0.0)
end


If you create a composition in your supervision setup:

composition Whatever
     event :hello

     add_main Bla::Child, :role => 'role'
end

and start it via supervision e.g. with add_mission, it's no problem to 
catch all events from the Child Task via roby-display.

But using the composition e.g. in a planning method results to:

method :whatever do
     Cmp::Whatever.script do
         poll do
             puts role_child.hello? # returns always false
             puts role_child.history # returns always a list with only 
the start event.
         end
     end
end

----

We could solve this problem by moving the runtime_state definition from 
the Parent to the Child Task in the orogen file.
I'm not sure if inheritance for runtime_states is currently known as 
unsupported (or even deprecated). If so, a small notice on rock-robotics 
would
be nice.

Otherwise this is a bug report. (By the way, can we write bug reports 
directly on rock-robotics? Or is any autorization / registration necessary?)

Chris