[Rock-dev] Syskit/Roby and start/configure sequences

[Matthias Goldhoorn]

I had the problem that i need to define some configure/start 
dependedencies between tasks.

I had the following Problem:
1. a Simulation needs to be configured AND started
2. after that the configuration of simulated servos could be done

i tried to add some constraints to the plans of the devices:

  19             robot do
  20                 Limes::JOINT_NAMES.keys.each_with_index do |name, i|
  21                      foo = device(Dev::Simulation::Servo, :as => name).
  22                          use_deployments("servo_#{i}")
  23                      servo_plans << foo.as_plan
  24                 end
  25             end
...
  32             a = define 'mantis_sim', MantisSim.use(servo_mappings)
  33             servo_plans.each do |p|
  34                 p.should_start_after a.as_plan
  35             end

This helped to force the _START_ order of the tasks, but the 
configuration of the servos is still done before the start of the 
Simulation.

My question is how i can get an handle to the "configuration Roby::Task"?.
The as_plan gives me only an handle to the _to_be_started_or_running_ 
task from my Understanding.

Is there an way to do this, get the handle to the "configuration-plan"?

Greetings,
Matthias

-- 
  Dipl.-Inf. Matthias Goldhoorn
  Space and Underwater Robotic

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
  Robert-Hooke-Straße 5
  28359 Bremen, Germany

  Tel.:     +49 421 178 45-4193
  Zentrale: +49 421 178 45-6550
  Fax:      +49 421 178 45-4150
  E-Mail:   matthias.goldhoorn at uni-bremen.de

  Weitere Informationen: http://www.informatik.uni-bremen.de/robotik