[Rock-dev] [rock] #119: Runtime states in inherited task structures

[rock]

#119: Runtime states in inherited task structures
----------------------+-----------------------------------
Reporter:  anonymous  |      Owner:  rock-dev-mailing-list
    Type:  defect     |     Status:  new
Priority:  major      |  Component:  toolchain
Keywords:             |
----------------------+-----------------------------------
 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.

 It seems runtime states in a parent task (defined in an orogen file) are
 not clearly inherited from roby side within a composition.

-- 
Ticket URL: <http://rock.opendfki.de/ticket/119>
rock <http://rock.opendfki.de>
rock: the robot construction kit