roby 0.7.3 → 0.8.0
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- data/History.txt +7 -5
- data/Manifest.txt +91 -16
- data/README.txt +24 -24
- data/Rakefile +92 -64
- data/app/config/app.yml +42 -43
- data/app/config/init.rb +26 -0
- data/benchmark/alloc_misc.rb +123 -0
- data/benchmark/discovery_latency.rb +67 -0
- data/benchmark/garbage_collection.rb +48 -0
- data/benchmark/genom.rb +31 -0
- data/benchmark/transactions.rb +62 -0
- data/bin/roby +1 -1
- data/bin/roby-log +16 -6
- data/doc/guide/.gitignore +2 -0
- data/doc/guide/config.yaml +34 -0
- data/doc/guide/ext/init.rb +14 -0
- data/doc/guide/ext/previous_next.rb +40 -0
- data/doc/guide/ext/rdoc_links.rb +33 -0
- data/doc/guide/index.rdoc +16 -0
- data/doc/guide/overview.rdoc +62 -0
- data/doc/guide/plan_modifications.rdoc +67 -0
- data/doc/guide/src/abstraction/achieve_with.page +8 -0
- data/doc/guide/src/abstraction/forwarding.page +8 -0
- data/doc/guide/src/abstraction/hierarchy.page +19 -0
- data/doc/guide/src/abstraction/index.page +28 -0
- data/doc/guide/src/abstraction/task_models.page +13 -0
- data/doc/guide/src/basics.template +6 -0
- data/doc/guide/src/basics/app.page +139 -0
- data/doc/guide/src/basics/code_examples.page +33 -0
- data/doc/guide/src/basics/dry.page +69 -0
- data/doc/guide/src/basics/errors.page +443 -0
- data/doc/guide/src/basics/events.page +179 -0
- data/doc/guide/src/basics/hierarchy.page +275 -0
- data/doc/guide/src/basics/index.page +11 -0
- data/doc/guide/src/basics/log_replay/goForward_1.png +0 -0
- data/doc/guide/src/basics/log_replay/goForward_2.png +0 -0
- data/doc/guide/src/basics/log_replay/goForward_3.png +0 -0
- data/doc/guide/src/basics/log_replay/goForward_4.png +0 -0
- data/doc/guide/src/basics/log_replay/goForward_5.png +0 -0
- data/doc/guide/src/basics/log_replay/hierarchy_error_1.png +0 -0
- data/doc/guide/src/basics/log_replay/hierarchy_error_2.png +0 -0
- data/doc/guide/src/basics/log_replay/hierarchy_error_3.png +0 -0
- data/doc/guide/src/basics/log_replay/plan_repair_1.png +0 -0
- data/doc/guide/src/basics/log_replay/plan_repair_2.png +0 -0
- data/doc/guide/src/basics/log_replay/plan_repair_3.png +0 -0
- data/doc/guide/src/basics/log_replay/plan_repair_4.png +0 -0
- data/doc/guide/src/basics/log_replay/roby_log_main_window.png +0 -0
- data/doc/guide/src/basics/log_replay/roby_log_relation_window.png +0 -0
- data/doc/guide/src/basics/log_replay/roby_replay_event_representation.png +0 -0
- data/doc/guide/src/basics/plan_objects.page +71 -0
- data/doc/guide/src/basics/relations_display.page +203 -0
- data/doc/guide/src/basics/roby_cycle_overview.png +0 -0
- data/doc/guide/src/basics/shell.page +102 -0
- data/doc/guide/src/basics/summary.page +32 -0
- data/doc/guide/src/basics/tasks.page +357 -0
- data/doc/guide/src/basics_shell_header.txt +16 -0
- data/doc/guide/src/cycle/cycle-overview.png +0 -0
- data/doc/guide/src/cycle/cycle-overview.svg +208 -0
- data/doc/guide/src/cycle/error_handling.page +168 -0
- data/doc/guide/src/cycle/error_instantaneous_repair.png +0 -0
- data/doc/guide/src/cycle/error_instantaneous_repair.svg +1224 -0
- data/doc/guide/src/cycle/garbage_collection.page +10 -0
- data/doc/guide/src/cycle/index.page +23 -0
- data/doc/guide/src/cycle/propagation.page +154 -0
- data/doc/guide/src/cycle/propagation_diamond.png +0 -0
- data/doc/guide/src/cycle/propagation_diamond.svg +1279 -0
- data/doc/guide/src/default.css +319 -0
- data/doc/guide/src/default.template +74 -0
- data/doc/guide/src/htmldoc.metainfo +20 -0
- data/doc/guide/src/htmldoc.virtual +18 -0
- data/doc/guide/src/images/bodybg.png +0 -0
- data/doc/guide/src/images/contbg.png +0 -0
- data/doc/guide/src/images/footerbg.png +0 -0
- data/doc/guide/src/images/gradient1.png +0 -0
- data/doc/guide/src/images/gradient2.png +0 -0
- data/doc/guide/src/index.page +7 -0
- data/doc/guide/src/introduction/index.page +29 -0
- data/doc/guide/src/introduction/install.page +133 -0
- data/doc/{papers.rdoc → guide/src/introduction/publications.page} +5 -2
- data/doc/{videos.rdoc → guide/src/introduction/videos.page} +4 -2
- data/doc/guide/src/plugins/fault_tolerance.page +44 -0
- data/doc/guide/src/plugins/index.page +11 -0
- data/doc/guide/src/plugins/subsystems.page +45 -0
- data/doc/guide/src/relations/dependency.page +89 -0
- data/doc/guide/src/relations/index.page +12 -0
- data/doc/misc/update_github +24 -0
- data/doc/tutorials/02-GoForward.rdoc +3 -3
- data/ext/graph/graph.cc +46 -0
- data/lib/roby.rb +57 -22
- data/lib/roby/app.rb +132 -112
- data/lib/roby/app/plugins/rake.rb +21 -0
- data/lib/roby/app/rake.rb +0 -7
- data/lib/roby/app/run.rb +1 -1
- data/lib/roby/app/scripts/distributed.rb +1 -2
- data/lib/roby/app/scripts/generate/bookmarks.rb +1 -1
- data/lib/roby/app/scripts/results.rb +2 -1
- data/lib/roby/app/scripts/run.rb +6 -2
- data/lib/roby/app/scripts/shell.rb +11 -11
- data/lib/roby/config.rb +1 -1
- data/lib/roby/decision_control.rb +62 -3
- data/lib/roby/distributed.rb +4 -0
- data/lib/roby/distributed/base.rb +8 -0
- data/lib/roby/distributed/communication.rb +12 -8
- data/lib/roby/distributed/connection_space.rb +61 -44
- data/lib/roby/distributed/distributed_object.rb +1 -1
- data/lib/roby/distributed/notifications.rb +22 -30
- data/lib/roby/distributed/peer.rb +13 -8
- data/lib/roby/distributed/proxy.rb +5 -5
- data/lib/roby/distributed/subscription.rb +4 -4
- data/lib/roby/distributed/transaction.rb +3 -3
- data/lib/roby/event.rb +176 -110
- data/lib/roby/exceptions.rb +12 -4
- data/lib/roby/execution_engine.rb +1604 -0
- data/lib/roby/external_process_task.rb +225 -0
- data/lib/roby/graph.rb +0 -6
- data/lib/roby/interface.rb +221 -137
- data/lib/roby/log/console.rb +5 -3
- data/lib/roby/log/data_stream.rb +94 -16
- data/lib/roby/log/dot.rb +8 -8
- data/lib/roby/log/event_stream.rb +13 -3
- data/lib/roby/log/file.rb +43 -18
- data/lib/roby/log/gui/basic_display_ui.rb +89 -0
- data/lib/roby/log/gui/chronicle_view_ui.rb +90 -0
- data/lib/roby/log/gui/data_displays.rb +4 -5
- data/lib/roby/log/gui/data_displays_ui.rb +146 -0
- data/lib/roby/log/gui/relations.rb +18 -18
- data/lib/roby/log/gui/relations_ui.rb +120 -0
- data/lib/roby/log/gui/relations_view_ui.rb +144 -0
- data/lib/roby/log/gui/replay.rb +41 -13
- data/lib/roby/log/gui/replay_controls.rb +3 -0
- data/lib/roby/log/gui/replay_controls.ui +133 -110
- data/lib/roby/log/gui/replay_controls_ui.rb +249 -0
- data/lib/roby/log/hooks.rb +19 -18
- data/lib/roby/log/logger.rb +7 -6
- data/lib/roby/log/notifications.rb +4 -4
- data/lib/roby/log/plan_rebuilder.rb +20 -22
- data/lib/roby/log/relations.rb +44 -16
- data/lib/roby/log/server.rb +1 -4
- data/lib/roby/log/timings.rb +88 -19
- data/lib/roby/plan-object.rb +135 -11
- data/lib/roby/plan.rb +408 -224
- data/lib/roby/planning/loops.rb +32 -25
- data/lib/roby/planning/model.rb +157 -51
- data/lib/roby/planning/task.rb +47 -20
- data/lib/roby/query.rb +128 -92
- data/lib/roby/relations.rb +254 -136
- data/lib/roby/relations/conflicts.rb +6 -9
- data/lib/roby/relations/dependency.rb +358 -0
- data/lib/roby/relations/ensured.rb +0 -1
- data/lib/roby/relations/error_handling.rb +0 -1
- data/lib/roby/relations/events.rb +0 -2
- data/lib/roby/relations/executed_by.rb +26 -11
- data/lib/roby/relations/planned_by.rb +14 -14
- data/lib/roby/robot.rb +46 -0
- data/lib/roby/schedulers/basic.rb +34 -0
- data/lib/roby/standalone.rb +4 -0
- data/lib/roby/standard_errors.rb +21 -15
- data/lib/roby/state/events.rb +5 -4
- data/lib/roby/support.rb +107 -6
- data/lib/roby/task-operations.rb +23 -19
- data/lib/roby/task.rb +522 -148
- data/lib/roby/task_index.rb +80 -0
- data/lib/roby/test/common.rb +283 -44
- data/lib/roby/test/distributed.rb +53 -37
- data/lib/roby/test/testcase.rb +9 -204
- data/lib/roby/test/tools.rb +3 -3
- data/lib/roby/transactions.rb +154 -111
- data/lib/roby/transactions/proxy.rb +40 -7
- data/manifest.xml +20 -0
- data/plugins/fault_injection/README.txt +0 -3
- data/plugins/fault_injection/Rakefile +2 -8
- data/plugins/fault_injection/app.rb +1 -1
- data/plugins/fault_injection/fault_injection.rb +3 -3
- data/plugins/fault_injection/test/test_fault_injection.rb +19 -25
- data/plugins/subsystems/README.txt +0 -3
- data/plugins/subsystems/Rakefile +2 -7
- data/plugins/subsystems/app.rb +27 -16
- data/plugins/subsystems/test/app/config/init.rb +3 -0
- data/plugins/subsystems/test/app/planners/main.rb +1 -1
- data/plugins/subsystems/test/app/tasks/services.rb +1 -1
- data/plugins/subsystems/test/test_subsystems.rb +23 -16
- data/test/distributed/test_communication.rb +32 -15
- data/test/distributed/test_connection.rb +28 -26
- data/test/distributed/test_execution.rb +59 -54
- data/test/distributed/test_mixed_plan.rb +34 -34
- data/test/distributed/test_plan_notifications.rb +26 -26
- data/test/distributed/test_protocol.rb +57 -48
- data/test/distributed/test_query.rb +11 -7
- data/test/distributed/test_remote_plan.rb +71 -71
- data/test/distributed/test_transaction.rb +50 -47
- data/test/mockups/external_process +28 -0
- data/test/planning/test_loops.rb +163 -119
- data/test/planning/test_model.rb +3 -3
- data/test/planning/test_task.rb +27 -7
- data/test/relations/test_conflicts.rb +3 -3
- data/test/relations/test_dependency.rb +324 -0
- data/test/relations/test_ensured.rb +2 -2
- data/test/relations/test_executed_by.rb +94 -19
- data/test/relations/test_planned_by.rb +11 -9
- data/test/suite_core.rb +6 -3
- data/test/suite_distributed.rb +1 -0
- data/test/suite_planning.rb +1 -0
- data/test/suite_relations.rb +2 -2
- data/test/tasks/test_external_process.rb +126 -0
- data/test/{test_thread_task.rb → tasks/test_thread_task.rb} +17 -20
- data/test/test_bgl.rb +21 -1
- data/test/test_event.rb +229 -155
- data/test/test_exceptions.rb +79 -80
- data/test/test_execution_engine.rb +987 -0
- data/test/test_gui.rb +1 -1
- data/test/test_interface.rb +11 -5
- data/test/test_log.rb +18 -7
- data/test/test_log_server.rb +1 -0
- data/test/test_plan.rb +229 -395
- data/test/test_query.rb +193 -35
- data/test/test_relations.rb +88 -8
- data/test/test_state.rb +55 -37
- data/test/test_support.rb +1 -1
- data/test/test_task.rb +371 -218
- data/test/test_testcase.rb +32 -16
- data/test/test_transactions.rb +211 -170
- data/test/test_transactions_proxy.rb +37 -19
- metadata +169 -71
- data/.gitignore +0 -29
- data/doc/styles/allison.css +0 -314
- data/doc/styles/allison.js +0 -316
- data/doc/styles/allison.rb +0 -276
- data/doc/styles/jamis.rb +0 -593
- data/lib/roby/control.rb +0 -746
- data/lib/roby/executives/simple.rb +0 -30
- data/lib/roby/propagation.rb +0 -562
- data/lib/roby/relations/hierarchy.rb +0 -239
- data/lib/roby/transactions/updates.rb +0 -139
- data/test/relations/test_hierarchy.rb +0 -158
- data/test/test_control.rb +0 -399
- data/test/test_propagation.rb +0 -210
data/History.txt
CHANGED
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=== 0.
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=== 0.8.0
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* major refactoring of the core code, to make it easier to reuse parts of the
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framework
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* some major usability improvements in the shell. In particular, planning
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methods can now be properly documented.
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* a lot of small changes
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License.txt
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benchmark/alloc_misc.rb
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benchmark/discovery_latency.rb
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benchmark/garbage_collection.rb
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benchmark/genom.rb
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doc/guide/ext/init.rb
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doc/guide/ext/previous_next.rb
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doc/guide/ext/rdoc_links.rb
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doc/guide/index.rdoc
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doc/guide/overview.rdoc
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doc/guide/plan_modifications.rdoc
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doc/guide/src/abstraction/achieve_with.page
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lib/roby/app/plugins/rake.rb
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lib/roby/app/rake.rb
|
76
148
|
lib/roby/app/run.rb
|
77
149
|
lib/roby/app/scripts/distributed.rb
|
@@ -84,7 +156,6 @@ lib/roby/app/scripts/shell.rb
|
|
84
156
|
lib/roby/app/scripts/test.rb
|
85
157
|
lib/roby/basic_object.rb
|
86
158
|
lib/roby/config.rb
|
87
|
-
lib/roby/control.rb
|
88
159
|
lib/roby/decision_control.rb
|
89
160
|
lib/roby/distributed.rb
|
90
161
|
lib/roby/distributed/base.rb
|
@@ -100,7 +171,8 @@ lib/roby/distributed/subscription.rb
|
|
100
171
|
lib/roby/distributed/transaction.rb
|
101
172
|
lib/roby/event.rb
|
102
173
|
lib/roby/exceptions.rb
|
103
|
-
lib/roby/
|
174
|
+
lib/roby/execution_engine.rb
|
175
|
+
lib/roby/external_process_task.rb
|
104
176
|
lib/roby/graph.rb
|
105
177
|
lib/roby/interface.rb
|
106
178
|
lib/roby/log.rb
|
@@ -145,18 +217,19 @@ lib/roby/planning.rb
|
|
145
217
|
lib/roby/planning/loops.rb
|
146
218
|
lib/roby/planning/model.rb
|
147
219
|
lib/roby/planning/task.rb
|
148
|
-
lib/roby/propagation.rb
|
149
220
|
lib/roby/query.rb
|
150
221
|
lib/roby/relations.rb
|
151
222
|
lib/roby/relations/conflicts.rb
|
223
|
+
lib/roby/relations/dependency.rb
|
152
224
|
lib/roby/relations/ensured.rb
|
153
225
|
lib/roby/relations/error_handling.rb
|
154
226
|
lib/roby/relations/events.rb
|
155
227
|
lib/roby/relations/executed_by.rb
|
156
|
-
lib/roby/relations/hierarchy.rb
|
157
228
|
lib/roby/relations/influence.rb
|
158
229
|
lib/roby/relations/planned_by.rb
|
159
230
|
lib/roby/robot.rb
|
231
|
+
lib/roby/schedulers/basic.rb
|
232
|
+
lib/roby/standalone.rb
|
160
233
|
lib/roby/standard_errors.rb
|
161
234
|
lib/roby/state.rb
|
162
235
|
lib/roby/state/events.rb
|
@@ -167,6 +240,7 @@ lib/roby/state/state.rb
|
|
167
240
|
lib/roby/support.rb
|
168
241
|
lib/roby/task-operations.rb
|
169
242
|
lib/roby/task.rb
|
243
|
+
lib/roby/task_index.rb
|
170
244
|
lib/roby/test/common.rb
|
171
245
|
lib/roby/test/distributed.rb
|
172
246
|
lib/roby/test/tasks/empty_task.rb
|
@@ -177,7 +251,7 @@ lib/roby/test/tools.rb
|
|
177
251
|
lib/roby/thread_task.rb
|
178
252
|
lib/roby/transactions.rb
|
179
253
|
lib/roby/transactions/proxy.rb
|
180
|
-
|
254
|
+
manifest.xml
|
181
255
|
plugins/fault_injection/History.txt
|
182
256
|
plugins/fault_injection/README.txt
|
183
257
|
plugins/fault_injection/Rakefile
|
@@ -212,35 +286,36 @@ test/distributed/test_protocol.rb
|
|
212
286
|
test/distributed/test_query.rb
|
213
287
|
test/distributed/test_remote_plan.rb
|
214
288
|
test/distributed/test_transaction.rb
|
289
|
+
test/mockups/external_process
|
215
290
|
test/mockups/tasks.rb
|
216
291
|
test/planning/test_loops.rb
|
217
292
|
test/planning/test_model.rb
|
218
293
|
test/planning/test_task.rb
|
219
294
|
test/relations/test_conflicts.rb
|
295
|
+
test/relations/test_dependency.rb
|
220
296
|
test/relations/test_ensured.rb
|
221
297
|
test/relations/test_executed_by.rb
|
222
|
-
test/relations/test_hierarchy.rb
|
223
298
|
test/relations/test_planned_by.rb
|
224
299
|
test/suite_core.rb
|
225
300
|
test/suite_distributed.rb
|
226
301
|
test/suite_planning.rb
|
227
302
|
test/suite_relations.rb
|
303
|
+
test/tasks/test_external_process.rb
|
304
|
+
test/tasks/test_thread_task.rb
|
228
305
|
test/test_bgl.rb
|
229
|
-
test/test_control.rb
|
230
306
|
test/test_event.rb
|
231
307
|
test/test_exceptions.rb
|
308
|
+
test/test_execution_engine.rb
|
232
309
|
test/test_gui.rb
|
233
310
|
test/test_interface.rb
|
234
311
|
test/test_log.rb
|
235
312
|
test/test_log_server.rb
|
236
313
|
test/test_plan.rb
|
237
|
-
test/test_propagation.rb
|
238
314
|
test/test_query.rb
|
239
315
|
test/test_relations.rb
|
240
316
|
test/test_state.rb
|
241
317
|
test/test_support.rb
|
242
318
|
test/test_task.rb
|
243
319
|
test/test_testcase.rb
|
244
|
-
test/test_thread_task.rb
|
245
320
|
test/test_transactions.rb
|
246
321
|
test/test_transactions_proxy.rb
|
data/README.txt
CHANGED
@@ -1,8 +1,8 @@
|
|
1
1
|
= Roby: a plan manager for robot control in Ruby
|
2
2
|
|
3
|
-
|
4
|
-
|
5
|
-
|
3
|
+
http://sites.google.com/sites/rubyinmotion
|
4
|
+
http://doudou.github.com/roby
|
5
|
+
http://github.com/doudou/roby
|
6
6
|
|
7
7
|
<b>Note for Gem users</b> While using the normal RDoc generator, the
|
8
8
|
documentation generation process of Roby is a bit modified. In particular, the
|
@@ -33,6 +33,16 @@ Roby is:
|
|
33
33
|
* (G)UI tools for interacting/controlling the living system.
|
34
34
|
* all of that in a multi-robot context.
|
35
35
|
|
36
|
+
|
37
|
+
Roby is the result of my PhD. As such, my PhD thesis can be considered as a
|
38
|
+
design document for the system. If you want an overview of the principles, you
|
39
|
+
can also refer to the two publications I did. See {this
|
40
|
+
page}[link:files/doc/papers_rdoc.html] for the list of publication and the
|
41
|
+
associated PDF files.
|
42
|
+
|
43
|
+
{This overview}[link:files/doc/overview_rdoc.html] also provides a more in-depth
|
44
|
+
overview of the implementation itself.
|
45
|
+
|
36
46
|
== Acknowledgments
|
37
47
|
|
38
48
|
This work has been supported by the DGA (http://www.defense.gouv.fr/dga) which
|
@@ -40,15 +50,6 @@ financed my PhD and the LAAS/CNRS (http://www.laas.fr), where I did it. It is
|
|
40
50
|
now supported by the DFKI (http://www.dfki.de) where I currently work and use
|
41
51
|
this plan manager.
|
42
52
|
|
43
|
-
== Related publications
|
44
|
-
|
45
|
-
Roby is the result of my PhD. As such, my PhD thesis can be considered as a
|
46
|
-
design document for the system. If you want an overview of the principles, you
|
47
|
-
can also refer to the two publications I did.
|
48
|
-
|
49
|
-
See {this page}[link:files/doc/papers_rdoc.html] for the list of publication
|
50
|
-
and the associated PDF files.
|
51
|
-
|
52
53
|
== Videos
|
53
54
|
|
54
55
|
The videos that are available show some capabilities of the system. Frankly you
|
@@ -58,10 +59,15 @@ when it is meaningful.
|
|
58
59
|
|
59
60
|
See {here}[link:files/doc/videos_rdoc.html] for the available videos.
|
60
61
|
|
61
|
-
==
|
62
|
+
== Documentation
|
63
|
+
|
64
|
+
The documentation is split into four parts:
|
65
|
+
* the API documentation (see left pane on this window)
|
66
|
+
* the {User's Guide}[link:files/doc/using/index_rdoc.html]
|
67
|
+
* the {Developer's Guide}[link:files/doc/extending/index_rdoc.html]
|
62
68
|
|
63
|
-
|
64
|
-
them:
|
69
|
+
Finally, a set of tutorials describe Roby's main features and let you experiment
|
70
|
+
with them:
|
65
71
|
1. the GettingStarted[link:files/doc/tutorials/01-GettingStarted_rdoc.html] tutorial makes
|
66
72
|
you start a brand new Roby application and explains its structure.
|
67
73
|
2. the GoForward[link:files/doc/tutorials/02-GoForward_rdoc.html] tutorial shows how to create
|
@@ -153,14 +159,8 @@ dependencies (boost with boost/graph), you can simply install it with
|
|
153
159
|
|
154
160
|
== Installing from source
|
155
161
|
|
156
|
-
|
157
|
-
from a release tarball or the RubyForge git
|
158
|
-
repository[http://rubyforge.org/projects/roby], or from the development
|
159
|
-
one[http://github.com/doudou/roby].
|
160
|
-
|
161
|
-
Once the source is installed, run
|
162
|
-
rake setup
|
162
|
+
You can also install from scratch with {this guide}[link:files/doc/install_rdoc.html]
|
163
163
|
|
164
|
-
|
165
|
-
that path is non-standard.
|
164
|
+
You may have to first define the BOOST_DIR environment variable to Boost's
|
165
|
+
installation path if that path is non-standard.
|
166
166
|
|
data/Rakefile
CHANGED
@@ -1,28 +1,32 @@
|
|
1
1
|
$LOAD_PATH.unshift File.expand_path('lib', File.dirname(__FILE__))
|
2
2
|
require 'enumerator'
|
3
|
+
require 'hoe'
|
3
4
|
require 'roby/config'
|
4
5
|
|
5
6
|
begin
|
6
7
|
require 'hoe'
|
7
8
|
namespace 'dist' do
|
8
|
-
hoe = Hoe.
|
9
|
-
|
10
|
-
|
11
|
-
|
12
|
-
|
13
|
-
|
14
|
-
|
15
|
-
"\n\nSee
|
16
|
-
|
17
|
-
|
18
|
-
|
19
|
-
|
20
|
-
|
21
|
-
['
|
22
|
-
|
23
|
-
|
24
|
-
|
25
|
-
|
9
|
+
hoe = Hoe.spec 'roby' do
|
10
|
+
self.developer 'Sylvain Joyeux', 'sylvain.joyeux@m4x.org'
|
11
|
+
|
12
|
+
self.summary = 'A plan-based control framework for autonomous systems'
|
13
|
+
self.url = paragraphs_of('README.txt', 1).join("\n\n")
|
14
|
+
self.description = paragraphs_of('README.txt', 3..5).join("\n\n")
|
15
|
+
self.description +=
|
16
|
+
"\n\nSee doudou.github.com/roby for more informations, including links to
|
17
|
+
tutorials and demonstration videos"
|
18
|
+
self.changes = paragraphs_of('History.txt', 0..1).join("\n\n")
|
19
|
+
self.post_install_message = paragraphs_of('README.txt', 2).join("\n\n")
|
20
|
+
|
21
|
+
self.extra_deps <<
|
22
|
+
['facets', '>= 2.0'] <<
|
23
|
+
['utilrb', '>= 1.3.1']
|
24
|
+
|
25
|
+
self.extra_dev_deps <<
|
26
|
+
['rdoc', '>= 2.4'] <<
|
27
|
+
['webgen', '>= 0.5']
|
28
|
+
|
29
|
+
self.need_rdoc = false
|
26
30
|
end
|
27
31
|
hoe.spec.extensions <<
|
28
32
|
'ext/droby/extconf.rb' <<
|
@@ -35,19 +39,22 @@ informations, including links to tutorials and demonstration videos"
|
|
35
39
|
|
36
40
|
hoe.spec.rdoc_options <<
|
37
41
|
'--main' << 'README.txt' <<
|
38
|
-
"--inline-source" <<
|
39
42
|
"--accessor" << "attribute" <<
|
40
43
|
"--accessor" << "attr_predicate"
|
41
44
|
|
42
|
-
|
43
|
-
|
44
|
-
|
45
|
-
|
46
|
-
|
47
|
-
|
45
|
+
task 'dist:package' => 'uic'
|
46
|
+
Rake.clear_tasks(/doc/)
|
47
|
+
|
48
|
+
desc 'update the pages that are displayed on doudou.github.com/roby'
|
49
|
+
task "publish_docs" => "doc:all" do
|
50
|
+
if !system( File.join("doc", "misc", "update_github") )
|
51
|
+
raise "cannot update the gh-pages branch"
|
52
|
+
end
|
53
|
+
end
|
48
54
|
end
|
49
|
-
rescue
|
55
|
+
rescue Exception => e
|
50
56
|
puts "cannot setup Hoe, distribution is disabled"
|
57
|
+
puts "error is: #{e.message}"
|
51
58
|
end
|
52
59
|
|
53
60
|
def build_extension(name, soname = name)
|
@@ -68,7 +75,7 @@ def clean_extension(name, soname = name)
|
|
68
75
|
end
|
69
76
|
end
|
70
77
|
|
71
|
-
task :cruise => [:setup, :
|
78
|
+
task :cruise => [:setup, 'doc:recore', :test]
|
72
79
|
|
73
80
|
#########
|
74
81
|
# Test-related targets
|
@@ -106,6 +113,10 @@ task :clean => 'dist:clean' do
|
|
106
113
|
end
|
107
114
|
|
108
115
|
UIFILES = %w{relations.ui relations_view.ui data_displays.ui replay_controls.ui basic_display.ui chronicle_view.ui}
|
116
|
+
UIFILES.each do |file|
|
117
|
+
file "lib/roby/log/gui/#{file}" => 'uic'
|
118
|
+
end
|
119
|
+
|
109
120
|
desc 'generate all Qt UI files using rbuic4'
|
110
121
|
task :uic do
|
111
122
|
rbuic = 'rbuic4'
|
@@ -126,45 +137,62 @@ end
|
|
126
137
|
#
|
127
138
|
# This redefines Hoe's targets for documentation, as the documentation
|
128
139
|
# generation is not flexible enough for us
|
129
|
-
namespace 'doc' do
|
130
|
-
require 'roby/app/rake'
|
131
|
-
Rake::RDocTask.new("core") do |rdoc|
|
132
|
-
rdoc.options << "--inline-source" << "--accessor" << "attribute" << "--accessor" << "attr_predicate"
|
133
|
-
rdoc.rdoc_dir = 'doc/rdoc/core'
|
134
|
-
rdoc.title = "Roby Core"
|
135
|
-
rdoc.template = Roby::Rake.rdoc_template
|
136
|
-
rdoc.options << '--main' << 'README.txt'
|
137
|
-
rdoc.rdoc_files.include('README.txt', 'TODO.txt', 'History.txt')
|
138
|
-
rdoc.rdoc_files.include('lib/**/*.rb', 'ext/**/*.cc')
|
139
|
-
rdoc.rdoc_files.include('doc/videos.rdoc', 'doc/papers.rdoc')
|
140
|
-
rdoc.rdoc_files.include('doc/tutorials/**/*')
|
141
|
-
rdoc.rdoc_files.exclude('lib/roby/test/**/*', 'lib/roby/app/**/*', 'lib/roby/log/gui/*')
|
142
|
-
end
|
143
140
|
|
144
|
-
|
145
|
-
|
146
|
-
|
147
|
-
|
148
|
-
|
149
|
-
|
150
|
-
|
151
|
-
|
152
|
-
|
153
|
-
end
|
141
|
+
# This is for the user's guide
|
142
|
+
begin
|
143
|
+
require 'webgen/webgentask'
|
144
|
+
require 'rdoc/task'
|
145
|
+
do_doc = true
|
146
|
+
rescue LoadError => e
|
147
|
+
STDERR.puts "webgen and/or the rdoc Gem are not available, documentation generation disabled"
|
148
|
+
STDERR.puts " Ruby reported the following load error: #{e.message}"
|
149
|
+
end
|
154
150
|
|
155
|
-
|
156
|
-
|
157
|
-
|
151
|
+
if do_doc
|
152
|
+
namespace 'doc' do
|
153
|
+
require 'roby/app/rake'
|
154
|
+
RDoc::Task.new("api") do |rdoc|
|
155
|
+
rdoc.rdoc_dir = 'doc/html/api'
|
156
|
+
rdoc.title = "Roby Core"
|
157
|
+
rdoc.options << '--show-hash'
|
158
|
+
rdoc.rdoc_files.include('lib/**/*.rb', 'ext/**/*.cc')
|
159
|
+
rdoc.rdoc_files.exclude('lib/roby/test/**/*', 'lib/roby/app/**/*', 'lib/roby/log/gui/*')
|
160
|
+
end
|
161
|
+
|
162
|
+
Webgen::WebgenTask.new('guide') do |website|
|
163
|
+
website.clobber_outdir = true
|
164
|
+
website.directory = File.join(Dir.pwd, 'doc', 'guide')
|
165
|
+
website.config_block = lambda do |config|
|
166
|
+
config['output'] = ['Webgen::Output::FileSystem', File.join(Dir.pwd, 'doc', 'html')]
|
167
|
+
end
|
168
|
+
end
|
169
|
+
|
170
|
+
def plugins_documentation_generation(target_prefix)
|
171
|
+
task "plugins_#{target_prefix}docs" do
|
172
|
+
Roby::Rake.invoke_plugin_target("#{target_prefix}docs")
|
173
|
+
end
|
174
|
+
end
|
175
|
+
desc 'generate the documentation for all installed plugins'
|
176
|
+
plugins_documentation_generation ''
|
177
|
+
desc 'remove the documentation for all installed plugins'
|
178
|
+
plugins_documentation_generation 'clobber_'
|
179
|
+
desc 'regenerate the documentation for all installed plugins'
|
180
|
+
plugins_documentation_generation 're'
|
181
|
+
|
182
|
+
desc 'generate all documentation'
|
183
|
+
task 'all' => ['doc:guide', 'doc:api', 'doc:plugins_docs']
|
184
|
+
desc 'removes all documentation'
|
185
|
+
task 'clobber' do
|
186
|
+
FileUtils.rm_rf File.join('doc', 'html')
|
187
|
+
end
|
188
|
+
|
189
|
+
desc 'regenerate all documentation'
|
190
|
+
task 'redocs' do
|
191
|
+
FileUtils.rm_rf File.join('doc', 'html')
|
192
|
+
if !system('rake', 'doc:all')
|
193
|
+
raise "failed to regenerate documentation"
|
194
|
+
end
|
158
195
|
end
|
159
196
|
end
|
160
|
-
desc 'generate the documentation for all installed plugins'
|
161
|
-
plugins_documentation_generation ''
|
162
|
-
desc 'remove the documentation for all installed plugins'
|
163
|
-
plugins_documentation_generation 'clobber_'
|
164
|
-
desc 'regenerate the documentation for all installed plugins'
|
165
|
-
plugins_documentation_generation 're'
|
166
197
|
end
|
167
|
-
|
168
|
-
task 'docs' => ['doc:core', 'doc:plugins_docs']
|
169
|
-
task 'clobber_docs' => ['doc:clobber_core', 'doc:plugins_clobber_docs']
|
170
|
-
task 'redocs' => ['doc:recore', 'doc:replugins_docs']
|
198
|
+
task 'clobber_docs' => 'doc:clobber'
|