D alex

generators/robot/templates/robot.rb

@@ -40,7 +40,7 @@
 #
 # Add use statements here, as e.g.
 #
-#   use <%= Roby.app.module_name %>::Actions::MyActionInterface
+#   use_library <%= Roby.app.module_name %>::Actions::MyActionInterface
 #
 # or, if you're using syskit
 #

lib/roby/actions/models/action.rb

@@ -199,6 +199,9 @@ def run(action_interface, arguments = Hash.new)
                         raise ArgumentError, "#{name} expects no arguments, but #{arguments.size} are given"
                     end
                     result = action_interface.send(name).as_plan
+                    if(!result.class.has_ancestor?(returned_type))
+                        raise ArgumentError, "#{name} is expected to return #{returned_type} but returned #{result.class}"
+                    end
                 else
                     default_arguments = self.arguments.inject(Hash.new) do |h, arg|
                         h[arg.name] = arg.default
@@ -211,6 +214,9 @@ def run(action_interface, arguments = Hash.new)
                         end
                     end
                     result = action_interface.send(name, arguments).as_plan
+                    if(!result.class.has_ancestor?(returned_type))
+                        raise ArgumentError, "#{name} is expected to return #{returned_type} but returned #{result.class}"
+                    end
                 end
                 # Make the planning task inherit the model/argument flags
                 if planning_task = result.planning_task

lib/roby/coordination/models/action_state_machine.rb

@@ -87,7 +87,11 @@ module ActionStateMachine
             # Declares the starting state
             def start(state)
                 parse_task_names '_state'
-                @starting_state = validate_task(state)
+                state = validate_task(state)
+                if @starting_state && @starting_state != state
+                    raise ArgumentError, "Setting more than one start state is forbidden. Use #depends_on to run multiple tasks at the same time."
+                end
+                @starting_state = state
             end
 
             def state(object, task_model = Roby::Task)

lib/roby/coordination/script.rb

@@ -106,7 +106,7 @@ def execute(script)
                                 event.resolve.emit
                                 script.jump_to(timeout_stop)
                             else
-                                raise TimedOut.new(script.root_task, script.current_instruction), "#{script.current_instruction} timed out"
+                                raise TimedOut.new(script.root_task, script.current_instruction), "#{script.current_instruction} timed out and no custom event was set to be emitted."
                             end
                         end
                     end

lib/roby/coordination/task_script.rb

@@ -191,7 +191,7 @@ def transition!
             # emit an event (and quit the block)
             #
             # @param [Hash] options
-            # @option options [Event] :event (nil) if set, the given event will
+            # @option options [Event] :emit (nil) if set, the given event will
             #   be emitted when the timeout is reached. Otherwise, a
             #   Script::TimedOut exception is generated with the script's
             #   supporting task as origin

lib/roby/execution_engine.rb

@@ -1732,8 +1732,11 @@ def self.call_every(plan) # :nodoc:
                     end
 
                     last_call = now
+                    # delete block if it shall be called only once
+                    [block, last_call, duration] unless block.respond_to?(:once?) && block.once?
+                else
+                    [block, last_call, duration]
                 end
-                [block, last_call, duration]
             end.compact!
         end
 

lib/roby/relations/dependency.rb

@@ -921,7 +921,7 @@ def pretty_print(pp) # :nodoc:
             if mode == :failed_event
                 pp.text "triggered the failure predicate '#{relation[:failure]}': "
             elsif mode == :unreachable_success
-                pp.text "cannot reach the success condition '#{relation[:success]}': "
+                pp.text "success condition can no longer be reached '#{relation[:success]}': "
             end
             explanation.pretty_print(pp)
 

test/test_execution_engine.rb

@@ -1167,6 +1167,8 @@ def test_delayed_block
         process_events
         time = time + 4
         process_events
+        time = time + 6
+        process_events
     end
 
     def test_one_can_add_errors_during_garbage_collection