I'm trying to make a simple state machine using a ruby script in ROCK, as a test I made a component that runs some internal process and then calls state(STOPPED) internally in the updateHook() method. When viewing the component with rock-display the state is properly transitioning from RUNNING to STOPPED.
In the ruby script I am continuously polling the state of the component with component.state == :STOPPED, once this returns true I wait for 5 seconds and then call component.start to start it again. The issue is that I get the following error:
/home/computer/dev/tools/orocos.rb/lib/orocos/task_context.rb:93:in `do_start': failed to start the '/component' task of type component::Task. Tasks must be in STOPPED state before calling start, but was in RUNNING (Orocos::StateTransitionFailed)
from /home/computer/dev/tools/orocos.rb/lib/orocos/task_context.rb:93:in `block in start'
from /home/computer/dev/tools/orocos.rb/lib/orocos/corba.rb:116:in `refine_exceptions'
from /home/computer/dev/tools/orocos.rb/lib/orocos/task_context.rb:91:in `start'
from script.rb:57:in `block in <main>'
from /home/computer/dev/tools/orocos.rb/lib/orocos/process.rb:695:in `block in run'
from /home/computer/dev/tools/orocos.rb/lib/orocos/process.rb:1098:in `guard'
from /home/computer/dev/tools/orocos.rb/lib/orocos/process.rb:694:in `run'
from script.rb:12:in `<main>'
This is strange as, like I mentioned, rock-display reports that the component is in the STOPPED state.
If I call component.stop, right after having checked that component.state == :STOPPED returns true, the script works properly. I would like to avoid that since it adds redundancy. It seems state(STOPPED) is not properly recognized from the ruby side, or I am not doing it properly. In any case I have not found any documentation or examples on how to do it this way, the only documentation I found was the task states which describe what I did: http://rock-robotics.org/stable/documentation/orogen/task_states.html
Is this a bug or am I doing it wrong?
I saw that with Roby it's possible to do state machine stuff, but it looks way too complicated for such a trivial task.
Thank you for your time,
Karl Kangur
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