roby 0.7.3 → 0.8.0

data/lib/roby/log/gui/replay_controls_ui.rb

@@ -0,0 +1,249 @@
+=begin
+** Form generated from reading ui file 'replay_controls.ui'
+**
+** Created: Mon Jan 25 15:21:37 2010
+**      by: Qt User Interface Compiler version 4.5.3
+**
+** WARNING! All changes made in this file will be lost when recompiling ui file!
+=end
+
+class Ui_ReplayControls
+    attr_reader :actionBookmarksAdd
+    attr_reader :actionGoto
+    attr_reader :actionBookmarksSave
+    attr_reader :actionBookmarksSaveAs
+    attr_reader :actionBookmarksLoad
+    attr_reader :actionBookmarksSetMark
+    attr_reader :vboxLayout
+    attr_reader :grp_play
+    attr_reader :verticalLayout
+    attr_reader :horizontalLayout
+    attr_reader :progress
+    attr_reader :goto
+    attr_reader :time_lcd
+    attr_reader :hboxLayout
+    attr_reader :textLabel1
+    attr_reader :speed
+    attr_reader :slower
+    attr_reader :play
+    attr_reader :faster
+    attr_reader :horizontalLayout_2
+    attr_reader :bookmarks
+    attr_reader :spacerItem
+    attr_reader :gridLayout
+    attr_reader :seek_start
+    attr_reader :play_step
+    attr_reader :play_next_nonempty
+
+    def setupUi(replayControls)
+    if replayControls.objectName.nil?
+        replayControls.objectName = "replayControls"
+    end
+    replayControls.resize(442, 167)
+    @actionBookmarksAdd = Qt::Action.new(replayControls)
+    @actionBookmarksAdd.objectName = "actionBookmarksAdd"
+    @actionGoto = Qt::Action.new(replayControls)
+    @actionGoto.objectName = "actionGoto"
+    @actionGoto.shortcutContext = Qt::ApplicationShortcut
+    @actionBookmarksSave = Qt::Action.new(replayControls)
+    @actionBookmarksSave.objectName = "actionBookmarksSave"
+    @actionBookmarksSave.enabled = false
+    @actionBookmarksSaveAs = Qt::Action.new(replayControls)
+    @actionBookmarksSaveAs.objectName = "actionBookmarksSaveAs"
+    @actionBookmarksSaveAs.enabled = true
+    @actionBookmarksLoad = Qt::Action.new(replayControls)
+    @actionBookmarksLoad.objectName = "actionBookmarksLoad"
+    @actionBookmarksSetMark = Qt::Action.new(replayControls)
+    @actionBookmarksSetMark.objectName = "actionBookmarksSetMark"
+    @vboxLayout = Qt::VBoxLayout.new(replayControls)
+    @vboxLayout.objectName = "vboxLayout"
+    @grp_play = Qt::GroupBox.new(replayControls)
+    @grp_play.objectName = "grp_play"
+    @verticalLayout = Qt::VBoxLayout.new(@grp_play)
+    @verticalLayout.objectName = "verticalLayout"
+    @horizontalLayout = Qt::HBoxLayout.new()
+    @horizontalLayout.objectName = "horizontalLayout"
+    @progress = Qt::ProgressBar.new(@grp_play)
+    @progress.objectName = "progress"
+    @progress.value = 0
+    @progress.orientation = Qt::Horizontal
+
+    @horizontalLayout.addWidget(@progress)
+
+    @goto = Qt::PushButton.new(@grp_play)
+    @goto.objectName = "goto"
+
+    @horizontalLayout.addWidget(@goto)
+
+    @time_lcd = Qt::LCDNumber.new(@grp_play)
+    @time_lcd.objectName = "time_lcd"
+    @time_lcd.numDigits = 6
+    @time_lcd.segmentStyle = Qt::LCDNumber::Flat
+    @time_lcd.setProperty("value", Qt::Variant.new(0))
+
+    @horizontalLayout.addWidget(@time_lcd)
+
+
+    @verticalLayout.addLayout(@horizontalLayout)
+
+    @hboxLayout = Qt::HBoxLayout.new()
+    @hboxLayout.objectName = "hboxLayout"
+    @textLabel1 = Qt::Label.new(@grp_play)
+    @textLabel1.objectName = "textLabel1"
+    @textLabel1.wordWrap = false
+
+    @hboxLayout.addWidget(@textLabel1)
+
+    @speed = Qt::LineEdit.new(@grp_play)
+    @speed.objectName = "speed"
+    @sizePolicy = Qt::SizePolicy.new(Qt::SizePolicy::Minimum, Qt::SizePolicy::Fixed)
+    @sizePolicy.setHorizontalStretch(1)
+    @sizePolicy.setVerticalStretch(0)
+    @sizePolicy.heightForWidth = @speed.sizePolicy.hasHeightForWidth
+    @speed.sizePolicy = @sizePolicy
+    @speed.maximumSize = Qt::Size.new(80, 32767)
+    @speed.alignment = Qt::AlignRight
+
+    @hboxLayout.addWidget(@speed)
+
+    @slower = Qt::PushButton.new(@grp_play)
+    @slower.objectName = "slower"
+
+    @hboxLayout.addWidget(@slower)
+
+    @play = Qt::PushButton.new(@grp_play)
+    @play.objectName = "play"
+    @sizePolicy1 = Qt::SizePolicy.new(Qt::SizePolicy::MinimumExpanding, Qt::SizePolicy::Fixed)
+    @sizePolicy1.setHorizontalStretch(2)
+    @sizePolicy1.setVerticalStretch(0)
+    @sizePolicy1.heightForWidth = @play.sizePolicy.hasHeightForWidth
+    @play.sizePolicy = @sizePolicy1
+    @play.checkable = true
+
+    @hboxLayout.addWidget(@play)
+
+    @faster = Qt::PushButton.new(@grp_play)
+    @faster.objectName = "faster"
+
+    @hboxLayout.addWidget(@faster)
+
+
+    @verticalLayout.addLayout(@hboxLayout)
+
+    @horizontalLayout_2 = Qt::HBoxLayout.new()
+    @horizontalLayout_2.objectName = "horizontalLayout_2"
+    @bookmarks = Qt::ToolButton.new(@grp_play)
+    @bookmarks.objectName = "bookmarks"
+    @bookmarks.popupMode = Qt::ToolButton::InstantPopup
+    @bookmarks.toolButtonStyle = Qt::ToolButtonTextBesideIcon
+    @bookmarks.arrowType = Qt::DownArrow
+
+    @horizontalLayout_2.addWidget(@bookmarks)
+
+    @spacerItem = Qt::SpacerItem.new(101, 20, Qt::SizePolicy::Expanding, Qt::SizePolicy::Minimum)
+
+    @horizontalLayout_2.addItem(@spacerItem)
+
+    @gridLayout = Qt::GridLayout.new()
+    @gridLayout.objectName = "gridLayout"
+    @seek_start = Qt::PushButton.new(@grp_play)
+    @seek_start.objectName = "seek_start"
+
+    @gridLayout.addWidget(@seek_start, 0, 0, 1, 1)
+
+    @play_step = Qt::PushButton.new(@grp_play)
+    @play_step.objectName = "play_step"
+
+    @gridLayout.addWidget(@play_step, 0, 1, 1, 1)
+
+    @play_next_nonempty = Qt::PushButton.new(@grp_play)
+    @play_next_nonempty.objectName = "play_next_nonempty"
+
+    @gridLayout.addWidget(@play_next_nonempty, 1, 0, 1, 2)
+
+
+    @horizontalLayout_2.addLayout(@gridLayout)
+
+
+    @verticalLayout.addLayout(@horizontalLayout_2)
+
+    play_next_nonempty.raise()
+    faster.raise()
+
+    @vboxLayout.addWidget(@grp_play)
+
+
+    retranslateUi(replayControls)
+
+    Qt::MetaObject.connectSlotsByName(replayControls)
+    end # setupUi
+
+    def setup_ui(replayControls)
+        setupUi(replayControls)
+    end
+
+    def retranslateUi(replayControls)
+    replayControls.windowTitle = Qt::Application.translate("ReplayControls", "Form", nil, Qt::Application::UnicodeUTF8)
+    @actionBookmarksAdd.text = Qt::Application.translate("ReplayControls", "Add...", nil, Qt::Application::UnicodeUTF8)
+    @actionGoto.text = Qt::Application.translate("ReplayControls", "goto", nil, Qt::Application::UnicodeUTF8)
+    @actionGoto.shortcut = Qt::Application.translate("ReplayControls", "Shift+G, G", nil, Qt::Application::UnicodeUTF8)
+    @actionBookmarksSave.text = Qt::Application.translate("ReplayControls", "Save", nil, Qt::Application::UnicodeUTF8)
+    @actionBookmarksSaveAs.text = Qt::Application.translate("ReplayControls", "Save As", nil, Qt::Application::UnicodeUTF8)
+    @actionBookmarksLoad.text = Qt::Application.translate("ReplayControls", "Load", nil, Qt::Application::UnicodeUTF8)
+    @actionBookmarksSetMark.text = Qt::Application.translate("ReplayControls", "Set mark", nil, Qt::Application::UnicodeUTF8)
+    @grp_play.title = Qt::Application.translate("ReplayControls", "Play", nil, Qt::Application::UnicodeUTF8)
+    @goto.text = Qt::Application.translate("ReplayControls", "&Goto", nil, Qt::Application::UnicodeUTF8)
+    @textLabel1.text = Qt::Application.translate("ReplayControls", "Speed", nil, Qt::Application::UnicodeUTF8)
+    @speed.toolTip = Qt::Application.translate("ReplayControls", "<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\n" \
+"p, li { white-space: pre-wrap; }\n" \
+"</style></head><body style=\" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal; text-decoration:none;\">\n" \
+"<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-weight:600;\">Current playing speed</span></p>\n" \
+"<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;\"><span style=\" font-weight:400;\">it is the factor between the time in the log file and the time of replay. For instance, 2 means that we replay twice as fast as in reality.</span></p>\n" \
+"<p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"></p></body></html>", nil, Qt::Application::UnicodeUTF8)
+    @speed.text = Qt::Application.translate("ReplayControls", "1", nil, Qt::Application::UnicodeUTF8)
+    @slower.toolTip = Qt::Application.translate("ReplayControls", "<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\n" \
+"p, li { white-space: pre-wrap; }\n" \
+"</style></head><body style=\" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal; text-decoration:none;\">\n" \
+"<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\">Decrease speed</p></body></html>", nil, Qt::Application::UnicodeUTF8)
+    @slower.text = Qt::Application.translate("ReplayControls", "Slower", nil, Qt::Application::UnicodeUTF8)
+    @play.toolTip = Qt::Application.translate("ReplayControls", "<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\n" \
+"p, li { white-space: pre-wrap; }\n" \
+"</style></head><body style=\" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal; text-decoration:none;\">\n" \
+"<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\">Play</p></body></html>", nil, Qt::Application::UnicodeUTF8)
+    @play.text = Qt::Application.translate("ReplayControls", "Play", nil, Qt::Application::UnicodeUTF8)
+    @faster.toolTip = Qt::Application.translate("ReplayControls", "<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\n" \
+"p, li { white-space: pre-wrap; }\n" \
+"</style></head><body style=\" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal; text-decoration:none;\">\n" \
+"<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\">Increase speed</p></body></html>", nil, Qt::Application::UnicodeUTF8)
+    @faster.text = Qt::Application.translate("ReplayControls", "Faster", nil, Qt::Application::UnicodeUTF8)
+    @bookmarks.text = Qt::Application.translate("ReplayControls", "Bookmarks", nil, Qt::Application::UnicodeUTF8)
+    @seek_start.toolTip = Qt::Application.translate("ReplayControls", "<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\n" \
+"p, li { white-space: pre-wrap; }\n" \
+"</style></head><body style=\" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal; text-decoration:none;\">\n" \
+"<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\">Go to start</p></body></html>", nil, Qt::Application::UnicodeUTF8)
+    @seek_start.text = Qt::Application.translate("ReplayControls", "Go To Beginning", nil, Qt::Application::UnicodeUTF8)
+    @seek_start.shortcut = ''
+    @play_step.toolTip = Qt::Application.translate("ReplayControls", "<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\n" \
+"p, li { white-space: pre-wrap; }\n" \
+"</style></head><body style=\" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal; text-decoration:none;\">\n" \
+"<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\">Go forward one step</p></body></html>", nil, Qt::Application::UnicodeUTF8)
+    @play_step.text = Qt::Application.translate("ReplayControls", "Step", nil, Qt::Application::UnicodeUTF8)
+    @play_next_nonempty.toolTip = Qt::Application.translate("ReplayControls", "<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\n" \
+"p, li { white-space: pre-wrap; }\n" \
+"</style></head><body style=\" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal; text-decoration:none;\">\n" \
+"<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\">Go to start</p></body></html>", nil, Qt::Application::UnicodeUTF8)
+    @play_next_nonempty.text = Qt::Application.translate("ReplayControls", "Play next non-empty cycle", nil, Qt::Application::UnicodeUTF8)
+    @play_next_nonempty.shortcut = ''
+    end # retranslateUi
+
+    def retranslate_ui(replayControls)
+        retranslateUi(replayControls)
+    end
+
+end
+
+module Ui
+    class ReplayControls < Ui_ReplayControls
+    end
+end  # module Ui
+

data/lib/roby/log/hooks.rb

@@ -33,30 +33,31 @@ module Roby::Log
     Roby::Task.include TaskHooks
 
     module PlanHooks
-	HOOKS = %w{inserted_tasks discarded_tasks replaced_tasks 
-		   discovered_tasks discovered_events 
-		   garbage_task finalized_task finalized_event 
-		   added_transaction removed_transaction}
+	HOOKS = %w{
+            added_mission unmarked_mission
+            added_permanent unmarked_permanent
+            added_tasks added_events finalized_task finalized_event
+            replaced_tasks garbage_task added_transaction removed_transaction}
 
-	def inserted(tasks)
+	def added_mission(tasks)
 	    super if defined? super
-	    Roby::Log.log(:inserted_tasks) { [self, tasks] }
+	    Roby::Log.log(:added_mission) { [self, tasks] }
 	end
-	def discarded(tasks)
+	def unmarked_mission(tasks)
 	    super if defined? super
-	    Roby::Log.log(:discarded_tasks) { [self, tasks] }
+	    Roby::Log.log(:unmarked_mission) { [self, tasks] }
 	end
 	def replaced(from, to)
 	    super if defined? super
 	    Roby::Log.log(:replaced_tasks) { [self, from, to] }
 	end
-	def discovered_events(tasks)
+	def added_events(tasks)
 	    super if defined? super
-	    Roby::Log.log(:discovered_events) { [self, tasks] }
+	    Roby::Log.log(:added_events) { [self, tasks] }
 	end
-	def discovered_tasks(tasks)
+	def added_tasks(tasks)
 	    super if defined? super
-	    Roby::Log.log(:discovered_tasks) { [self, tasks] }
+	    Roby::Log.log(:added_tasks) { [self, tasks] }
 	end
 	def garbage(task)
 	    super if defined? super
@@ -114,7 +115,7 @@ module Roby::Log
 
 	def calling(context)
 	    super if defined? super
-	    Roby::Log.log(:generator_calling) { [self, Roby::Propagation.source_generators, context.to_s] }
+	    Roby::Log.log(:generator_calling) { [self, plan.engine.propagation_source_generators, context.to_s] }
 	end
 
 	def called(context)
@@ -134,7 +135,7 @@ module Roby::Log
 
 	def emitting(context)
 	    super if defined? super
-	    Roby::Log.log(:generator_emitting) { [self, Roby::Propagation.source_generators, context.to_s] }
+	    Roby::Log.log(:generator_emitting) { [self, plan.engine.propagation_source_generators, context.to_s] }
 	end
 
 	def forwarding(event, to)
@@ -149,7 +150,7 @@ module Roby::Log
     end
     Roby::EventGenerator.include EventGeneratorHooks
 
-    module ControlHooks
+    module ExecutionHooks
 	HOOKS = %w{cycle_end}
 
 	def cycle_end(timings)
@@ -170,12 +171,12 @@ module Roby::Log
 	    end
 	end
     end
-    Roby::Control.include ControlHooks
+    Roby::ExecutionEngine.include ExecutionHooks
 
     def self.each_hook
 	[TransactionHooks, BasicObjectHooks, TaskHooks,
-	    PlanHooks, EventGeneratorHooks, ControlHooks,
-	    ControlHooks::ClassExtension].each do |klass|
+	    PlanHooks, EventGeneratorHooks, ExecutionHooks,
+	    ExecutionHooks::ClassExtension].each do |klass|
 		klass::HOOKS.each do |m|
 		    yield(klass, m.to_sym)
 		end

data/lib/roby/log/logger.rb

@@ -45,6 +45,7 @@ module Roby::Log
 		stop_logging
 	    end
 	    @loggers.delete logger
+            logger.close
 	end
 
 	# Remove all loggers
@@ -66,7 +67,7 @@ module Roby::Log
 	# Returns true if there is at least one loggr for the +m+ message
 	def has_logger?(m)
 	    for l in @loggers
-		return true if l.respond_to?(m)
+		return true if l.logs_message?(m)
 	    end
 	    false
 	end
@@ -84,8 +85,8 @@ module Roby::Log
 	# Logs +message+ with argument +args+. The block is called only once if
 	# there is at least one logger which listens for +message+.
 	def log(m, args = nil)
-	    if m == :discovered_tasks || m == :discovered_events
-		Roby::Control.synchronize do
+	    if m == :added_tasks || m == :added_events
+		Roby.synchronize do
 		    args ||= yield
 		    objects = args[1].to_value_set
 		    # Do not give a 'peer' argument at Distributed.format, to
@@ -94,7 +95,7 @@ module Roby::Log
 		    known_objects.merge(objects)
 		end
 	    elsif m == :finalized_task || m == :finalized_event
-		Roby::Control.synchronize do
+		Roby.synchronize do
 		    args ||= yield
 		    object = args[1]
 		    args = Roby::Distributed.format(args, self) if has_logger?(m)
@@ -104,7 +105,7 @@ module Roby::Log
 
 	    if has_logger?(m)
 		if !args && block_given?
-		    Roby::Control.synchronize do 
+		    Roby.synchronize do 
 			args = Roby::Distributed.format(yield, self)
 		    end
 		end
@@ -139,7 +140,7 @@ module Roby::Log
 	    end
 
 	rescue Exception => e
-	    Roby.fatal "logger thread dies with #{e.full_message}" unless e.kind_of?(Interrupt)
+	    Roby::Log.fatal "logger thread dies with #{e.full_message}" unless e.kind_of?(Interrupt)
 
 	ensure
 	    # Wake up any waiting thread

data/lib/roby/log/notifications.rb

@@ -42,17 +42,17 @@ module Roby
 		data.each_slice(4) do |m, sec, usec, args|
 		    time = Time.at(sec, usec)
 		    case m.to_s
-		    when /inserted/
+		    when /added_mission/
 			task = tasks[args[1]]
 			task.mission = true
 			event :added_mission, args[0], task
 
-		    when /discarded/
+		    when /unmarked_mission/
 			task = tasks[args[1]]
 			task.mission = false
-			event :discarded_mission, args[0], task
+			event :unmarked_mission, args[0], task
 
-		    when /discovered_tasks/
+		    when /added_tasks/
 			args[1].each { |t| added_task(t) }
 
 		    when /finalized_task/

data/lib/roby/log/plan_rebuilder.rb

@@ -239,18 +239,30 @@ module Roby
 		clear
 	    end
 	    
+            # Processes one cycle worth of data coming from an EventStream, and
+            # builds the corresponding plan representation
+            #
+            # It returns true if there was something noteworthy in there, and
+            # false otherwise.
 	    def process(data)
 		@time = data.last[0][:start]
 	        @start_time ||= @time
 
+                done_something = false
 		data.each_slice(4) do |m, sec, usec, args|
 		    time = Time.at(sec, usec)
 		    reason = catch :ignored do
 			begin
 			    if respond_to?(m)
 				send(m, time, *args)
+                                done_someting = true
 			    end
-			    displays.each { |d| d.send(m, time, *args) if d.respond_to?(m) }
+			    displays.each do |d|
+                                if d.respond_to?(m)
+                                    done_something = true
+                                    d.send(m, time, *args) 
+                                end
+                            end
 			rescue Exception => e
 			    display_args = args.map do |obj|
 				case obj
@@ -269,6 +281,7 @@ module Roby
 			Roby.warn "Ignored #{m}(#{args.join(", ")}): #{reason}"
 		    end
 		end
+                done_something
 	    end
 
 	    def local_object(object)
@@ -295,29 +308,14 @@ module Roby
 	    end
 
 	    def clear_integrated
-		last_finalized.clear
+                updated = false
 		plans.each do |plan|
+                    updated = !(plan.finalized_events.empty? && plan.finalized_tasks.empty?)
 		    plan.clear_finalized(plan.finalized_tasks.dup, plan.finalized_events.dup)
 		end
 
-		super
-	    end
-
-	    def display
-		plans.each do |plan|
-		    if finalized = last_finalized[plan]
-			plan.clear_finalized(*finalized)
-		    end
-		end
-
-		super
-		
-		# Save a per-plan set of finalized tasks, to be removed the
-		# next time #display is called
-		@last_finalized = Hash.new
-		plans.each do |plan|
-		    last_finalized[plan] = [plan.finalized_tasks.dup, plan.finalized_events.dup]
-		end
+		super_result = super
+                super_result || updated
 	    end
 
 	    def local_plan(plan, allow_new = false)
@@ -353,14 +351,14 @@ module Roby
 	    end
 	    def replaced_tasks(time, plan, from, to)
 	    end
-	    def discovered_events(time, plan, events)
+	    def added_events(time, plan, events)
 		plan = local_plan(plan)
 		events.each do |ev| 
 		    ev = local_event(ev) { plan }
 		    plan.free_events << ev
 		end
 	    end
-	    def discovered_tasks(time, plan, tasks)
+	    def added_tasks(time, plan, tasks)
 		plan = local_plan(plan)
 		tasks.each do |t| 
 		    t = local_task(t) { plan }