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The roby plan manager
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test: modify the run_planners mechanism to handle schemes that do global resolution #190

Closed doudou closed 3 years ago

doudou commented 3 years ago

While the action planners work one-by-one, a planning handler like Syskit's does a global resolution of the whole plan. This was "hidden" by the current run_planners mechanism as it would remove finished (but successful) planning tasks instead of passing them to the planning handler. These tasks are what Syskit uses to determine what to generate for.

This commit changes the scheme by including all tasks at the beginning, but letting the handler filter them through a filter_tasks call. If filter_tasks is not present, the current behavior is retained

doudou commented 3 years ago

Yeah ... not that easy. I'm closing this for now until I figure it out.