RubyGems - roby - Versions diffs - 0.7.3 → 0.8.0 - Mend

roby 0.7.3 → 0.8.0

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Files changed (236) hide show

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/doc/guide/src/cycle/error_handling.page ADDED

@@ -0,0 +1,168 @@
+---
+title: Error Handling
+sort_info: 200
+--- name:content pipeline:tags,markdown,blocks
+Where do errors come from ?
+---------------------------
+In a robotic system, errors can come from multiple sources:
+ * the most obvious one is the _environment_. In this case, an "error" is the
+   inability for the system to cope with its current environment. This usually
+   translates into the failure to reach a goal, or an algorithm malfunction.
+   A great example of this is the hesitation that some local obstacle avoidance
+   have: the algorithm goes into an endless (or at least very long) loop because
+   it hesitates between two solutions.
+ * failing hardware. Hardware can fail and in this case the supervision system
+   has to cope with a "crippled" robot.
+ * the other source is the programmer itself: the robotic system mainly runs on
+   software, which - as all software - has bugs. Even the supervision system's
+   code can have bugs. As we will see later on, even this latter case is at
+   least partially taken into account.
+In Roby terms, these three sources of errors take essentially two forms:
+ * the plan is inconsistent. Task and event relations may define _constraints_,
+   and the plan is said to be inconsistent if one of those constraints are not
+   met. Example: the hierarchy relation lists some events that should be emitted
+   and some that should not. A failure to meet one of these constraints is
+   interpreted by the Roby kernel as an error that must be dealt with. This can
+   be used to represent problems with the environment (failure to complete
+   a task).
+ * the Ruby code raises an exception. Most of the time, it will be caused by
+   a bug in the code, but also may be a way to represent a problem with
+   a particular process (the "bug in external software supervised by Roby"
+   case).
+When using Roby to control a complex robotic systems, one will usually have two
+different kind of tasks in the plan. On one side, some tasks are mapped
+one-to-one with actual external processes as for instance a task that is running
+in a module of the robot's functional layer. For these, the task's implementation
+has two roles:
+ * use the means of communication it has with the external process. In the
+   functional layer case, the modules usually have ways to report their state
+   and, if needs be, the occurrence of errors.
+ * _diagnostics_. In this case, the task does not assume that what the external
+   process is reporting is true, but instead tries to assess the external
+   process states by indirect means. A simple example is to verify that the
+   output values of the module is within specified boundaries.
+The most useful strategy is to actually do _both_. Simple diagnostics can be
+implemented using the task's __poll__ block. More complex ones can use two
+different tasks (one task for the process, one task for the monitoring), and
+according task relations.
+On the other side, the hierarchy relation allows to create more abstract views
+of the plan: an abstract action (e.g. MoveTo) is decomposed into actual external
+processes (e.g. Localization, Control, PathPlanning). Nonetheless, it is
+still possible at the abstract level to monitor the good progress of the task.
+It is actually possible, at this level, to spot problems that the lower levels
+where missing, as for instance a recurring hesitation of the robot in a movement
+task, that forbids him to reach its goal.
+In any case, Roby offers a unique way to represent __fault modes__. Instead of
+having a binary success/failure outcome, it is possible to define an arbitrary
+set of terminal events. Then, by forwarding these events to either _success_ or
+_failed_, the events become either a nominal outcome or a fault mode. As we will
+see later on, it has an interesting impact on the fault handling possibilities.
+Taking the example of the hesitation problem, one would write:
+{coderay:: ruby}
+class MoveTo < Roby::Task
+   event :hesitates
+   forward :hesitates => :failed
+end
+{coderay}
+and then {coderay:: {lang: ruby, wrap: span}}emit :hesitates{coderay} when
+applicable.
+Integration in the execution cycle
+----------------------------------
+As was just explained, errors take two forms in Roby:
+ * failure to meet the constraints set by the task/event relations
+ * exceptions that come from the Ruby code
+For language exceptions, we will actually have to distinguish between exceptions
+that come from task/event code (essentially event commands and handlers, polling
+blocks) and Roby code itself.
+The root of error handling is to be able to automatically compute what the
+consequences of an error are. In Roby, the plan has the role of showing these
+links (a task's failure impacts the tasks that depend on it, i.e. its parents in
+the hierarchy relation). Therefore, Roby is only able to handle these errors
+that can be associated with a task (this error impacts that task), namely: the
+exceptions that come from task/event code and the constraint violations. The
+other exceptions (that come from Roby code) are not handled automatically by
+Roby and they lead by default to a shutdown of the whole system.
+In the execution cycle, a constraint analysis is ran on the whole plan _after
+the event propagation phase_. This is because that pass has to see the "big
+picture", i.e. the result of all the event propagation in the current cycle.
+We will now see the three means of error handling that Roby offers, and then
+conclude with an overview of the whole error handling phase.
+Repairing the plan during the event propagation
+-----------------------------------------------
+As has just been noticed, Roby has to analyze the plan __after__ all events have
+been propagated. So, if a constraint gets both violated *and* repaired during
+the event propagation phase, that won't really count as an error.
+That mean of "error repair" is useful for simple cases. The most obvious case is
+when a task should simply be restarted when it fails, for instance because the
+failure is a spurious error.
+As an example, I had a robot where the control module, in the functional layer,
+was checking that its input data flow was updated often enough (timeout).
+This is a fine design decision given the security it adds. And was working fine
+on the realtime operating system the functional layer was originally running on.
+But when I came at this lab, the functional layer was running on a standard
+Linux kernel, and therefore there were outliers in the command update rate (i.e.
+latencies much higher than expected). They were rare, but they happened.
+Changing the timeout was not the right solution, as its effect would have to
+actually make it much less useful (we would have had to move it to more than one
+second). So, I had to handle this in the supervision layer.
+How it was done was the following: whenever that particular failure message was
+coming in (<tt>poster\_not\_updated</tt>), the control task was simply restarted
+_unless it had already been restarted in the last second_.
+It was implemented like this:
+{coderay:: ruby}
+on :poster_not_updated do |event|
+  if (TrackSpeedStart.last_error - Time.now) > 1
+    plan.respawn(self)
+    TrackSpeedStart.last_error = Time.now
+  end
+end
+{coderay}
+Where <tt>plan.respawn</tt> do the job of creating a new task of the same type
+and with the same arguments, replacing the current version with the new instance
+and start the new instance.
+The execution trace looks like the following, with the original plan in the left
+and the plan after the error on the right.
+![](error_instantaneous_repair.png)
+Roby's exception system: synchronous reparations
+------------------------------------------------
+Plan repairs: asynchronous reparations
+--------------------------------------
+What to do with non-repaired tasks ?
+------------------------------------
+Summary
+-------

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