roby 0.7

data/Manifest.txt

@@ -0,0 +1,245 @@
+.gitignore
+History.txt
+License-fr.txt
+License.txt
+Manifest.txt
+NOTES
+README.txt
+Rakefile
+TODO.txt
+app/README.txt
+app/Rakefile
+app/config/ROBOT.rb
+app/config/app.yml
+app/config/init.rb
+app/config/roby.yml
+app/controllers/.gitattributes
+app/controllers/ROBOT.rb
+app/data/.gitattributes
+app/planners/ROBOT/main.rb
+app/planners/main.rb
+app/scripts/distributed
+app/scripts/generate/bookmarks
+app/scripts/replay
+app/scripts/results
+app/scripts/run
+app/scripts/server
+app/scripts/shell
+app/scripts/test
+app/tasks/.gitattributes
+app/tasks/ROBOT/.gitattributes
+bin/roby
+bin/roby-log
+bin/roby-shell
+doc/images/event_generalization.png
+doc/images/exception_propagation_1.png
+doc/images/exception_propagation_2.png
+doc/images/exception_propagation_3.png
+doc/images/exception_propagation_4.png
+doc/images/exception_propagation_5.png
+doc/images/replay_handler_error.png
+doc/images/replay_handler_error_0.png
+doc/images/replay_handler_error_1.png
+doc/images/roby_cycle_overview.png
+doc/images/roby_replay_02.png
+doc/images/roby_replay_03.png
+doc/images/roby_replay_04.png
+doc/images/roby_replay_event_representation.png
+doc/images/roby_replay_first_state.png
+doc/images/roby_replay_relations.png
+doc/images/roby_replay_startup.png
+doc/images/task_event_generalization.png
+doc/papers.rdoc
+doc/styles/allison.css
+doc/styles/allison.js
+doc/styles/allison.rb
+doc/styles/jamis.rb
+doc/tutorials/01-GettingStarted.rdoc
+doc/tutorials/02-GoForward.rdoc
+doc/tutorials/03-PlannedPath.rdoc
+doc/tutorials/04-EventPropagation.rdoc
+doc/tutorials/05-ErrorHandling.rdoc
+doc/tutorials/06-Overview.rdoc
+doc/videos.rdoc
+ext/droby/dump.cc
+ext/droby/extconf.rb
+ext/graph/algorithm.cc
+ext/graph/extconf.rb
+ext/graph/graph.cc
+ext/graph/graph.hh
+ext/graph/iterator_sequence.hh
+ext/graph/undirected_dfs.hh
+ext/graph/undirected_graph.hh
+lib/roby.rb
+lib/roby/app.rb
+lib/roby/app/rake.rb
+lib/roby/app/run.rb
+lib/roby/app/scripts/distributed.rb
+lib/roby/app/scripts/generate/bookmarks.rb
+lib/roby/app/scripts/replay.rb
+lib/roby/app/scripts/results.rb
+lib/roby/app/scripts/run.rb
+lib/roby/app/scripts/server.rb
+lib/roby/app/scripts/shell.rb
+lib/roby/app/scripts/test.rb
+lib/roby/basic_object.rb
+lib/roby/config.rb
+lib/roby/control.rb
+lib/roby/decision_control.rb
+lib/roby/distributed.rb
+lib/roby/distributed/base.rb
+lib/roby/distributed/communication.rb
+lib/roby/distributed/connection_space.rb
+lib/roby/distributed/distributed_object.rb
+lib/roby/distributed/drb.rb
+lib/roby/distributed/notifications.rb
+lib/roby/distributed/peer.rb
+lib/roby/distributed/protocol.rb
+lib/roby/distributed/proxy.rb
+lib/roby/distributed/subscription.rb
+lib/roby/distributed/transaction.rb
+lib/roby/event.rb
+lib/roby/exceptions.rb
+lib/roby/executives/simple.rb
+lib/roby/graph.rb
+lib/roby/interface.rb
+lib/roby/log.rb
+lib/roby/log/chronicle.rb
+lib/roby/log/console.rb
+lib/roby/log/data_stream.rb
+lib/roby/log/dot.rb
+lib/roby/log/event_stream.rb
+lib/roby/log/file.rb
+lib/roby/log/gui/basic_display.ui
+lib/roby/log/gui/basic_display_ui.rb
+lib/roby/log/gui/chronicle.rb
+lib/roby/log/gui/chronicle_view.rb
+lib/roby/log/gui/chronicle_view.ui
+lib/roby/log/gui/chronicle_view_ui.rb
+lib/roby/log/gui/data_displays.rb
+lib/roby/log/gui/data_displays.ui
+lib/roby/log/gui/data_displays_ui.rb
+lib/roby/log/gui/notifications.rb
+lib/roby/log/gui/relations.rb
+lib/roby/log/gui/relations.ui
+lib/roby/log/gui/relations_ui.rb
+lib/roby/log/gui/relations_view.rb
+lib/roby/log/gui/relations_view.ui
+lib/roby/log/gui/relations_view_ui.rb
+lib/roby/log/gui/replay.rb
+lib/roby/log/gui/replay_controls.rb
+lib/roby/log/gui/replay_controls.ui
+lib/roby/log/gui/replay_controls_ui.rb
+lib/roby/log/gui/runtime.rb
+lib/roby/log/hooks.rb
+lib/roby/log/logger.rb
+lib/roby/log/notifications.rb
+lib/roby/log/plan_rebuilder.rb
+lib/roby/log/relations.rb
+lib/roby/log/server.rb
+lib/roby/log/sqlite.rb
+lib/roby/log/timings.rb
+lib/roby/plan-object.rb
+lib/roby/plan.rb
+lib/roby/planning.rb
+lib/roby/planning/loops.rb
+lib/roby/planning/model.rb
+lib/roby/planning/task.rb
+lib/roby/propagation.rb
+lib/roby/query.rb
+lib/roby/relations.rb
+lib/roby/relations/conflicts.rb
+lib/roby/relations/ensured.rb
+lib/roby/relations/error_handling.rb
+lib/roby/relations/events.rb
+lib/roby/relations/executed_by.rb
+lib/roby/relations/hierarchy.rb
+lib/roby/relations/influence.rb
+lib/roby/relations/planned_by.rb
+lib/roby/robot.rb
+lib/roby/standard_errors.rb
+lib/roby/state.rb
+lib/roby/state/events.rb
+lib/roby/state/information.rb
+lib/roby/state/pos.rb
+lib/roby/state/shapes.rb
+lib/roby/state/state.rb
+lib/roby/support.rb
+lib/roby/task-operations.rb
+lib/roby/task.rb
+lib/roby/test/common.rb
+lib/roby/test/distributed.rb
+lib/roby/test/tasks/empty_task.rb
+lib/roby/test/tasks/goto.rb
+lib/roby/test/tasks/simple_task.rb
+lib/roby/test/testcase.rb
+lib/roby/test/tools.rb
+lib/roby/thread_task.rb
+lib/roby/transactions.rb
+lib/roby/transactions/proxy.rb
+lib/roby/transactions/updates.rb
+plugins/fault_injection/History.txt
+plugins/fault_injection/README.txt
+plugins/fault_injection/Rakefile
+plugins/fault_injection/TODO.txt
+plugins/fault_injection/app.rb
+plugins/fault_injection/fault_injection.rb
+plugins/fault_injection/test/test_fault_injection.rb
+plugins/subsystems/README.txt
+plugins/subsystems/Rakefile
+plugins/subsystems/app.rb
+plugins/subsystems/test/app/README
+plugins/subsystems/test/app/Rakefile
+plugins/subsystems/test/app/config/app.yml
+plugins/subsystems/test/app/config/init.rb
+plugins/subsystems/test/app/config/roby.yml
+plugins/subsystems/test/app/planners/main.rb
+plugins/subsystems/test/app/scripts/distributed
+plugins/subsystems/test/app/scripts/replay
+plugins/subsystems/test/app/scripts/results
+plugins/subsystems/test/app/scripts/run
+plugins/subsystems/test/app/scripts/server
+plugins/subsystems/test/app/scripts/shell
+plugins/subsystems/test/app/scripts/test
+plugins/subsystems/test/app/tasks/services.rb
+plugins/subsystems/test/test_subsystems.rb
+test/distributed/test_communication.rb
+test/distributed/test_connection.rb
+test/distributed/test_execution.rb
+test/distributed/test_mixed_plan.rb
+test/distributed/test_plan_notifications.rb
+test/distributed/test_protocol.rb
+test/distributed/test_query.rb
+test/distributed/test_remote_plan.rb
+test/distributed/test_transaction.rb
+test/mockups/tasks.rb
+test/planning/test_loops.rb
+test/planning/test_model.rb
+test/planning/test_task.rb
+test/relations/test_conflicts.rb
+test/relations/test_ensured.rb
+test/relations/test_executed_by.rb
+test/relations/test_hierarchy.rb
+test/relations/test_planned_by.rb
+test/suite_core.rb
+test/suite_distributed.rb
+test/suite_planning.rb
+test/suite_relations.rb
+test/test_bgl.rb
+test/test_control.rb
+test/test_event.rb
+test/test_exceptions.rb
+test/test_interface.rb
+test/test_log.rb
+test/test_log_server.rb
+test/test_plan.rb
+test/test_propagation.rb
+test/test_query.rb
+test/test_relations.rb
+test/test_state.rb
+test/test_support.rb
+test/test_task.rb
+test/test_testcase.rb
+test/test_thread_task.rb
+test/test_transactions.rb
+test/test_transactions_proxy.rb

data/NOTES

@@ -0,0 +1,4 @@
+* Consistency checking on relations is done in adding_(parent|child)_object. Don't modify any
+  internal structure before having called add_child_object or remove_child_object as the
+  task is supposed to behave if one of these hooks raises an exception
+

data/README.txt

@@ -0,0 +1,163 @@
+= Roby: a plan manager for robot control in Ruby
+
+  http://roby.rubyforge.org
+  http://www.rubyforge.org/projects/roby
+  http://github.com/doudou/roby (dev. repository)
+
+<b>Note for Gem users</b> While using the normal RDoc generator, the
+documentation generation process of Roby is a bit modified. In particular, the
+plugin documentation is separated from the core documentation, and a clearer
+template is used instead of the standard one. RubyGems does not support any
+kind of customization in that area, so I would _strongly_ suggest that you use
+the documentation provided at http://roby.rubyforge.org instead of the
+RubyGem-generated one.
+
+= What is Roby ?
+
+Roby is a plan manager: it allows to represent, execute and adapt a plan, which
+is a representation of the past, present and future activities of a robot along
+with the information needed to verify that their executin is going well, and to
+manage errors.
+
+Roby is:
+* a task/event model in which one can represent the activities (Roby::Task) and
+  the noticeable situations during execution (Roby::EventGenerator,
+  Roby::Task.event).
+* a set of task relations describing the interactions between the activities
+  (Roby::TaskStructure).
+* a set of event relations describing the reaction the system should have in
+  response to some situations (Roby::EventStructure).
+* error management tools which allow to catch errors during execution and
+  repair them (i.e. let the system manage the error).
+* a mean to modify the plan as it is being executed (Roby::Transaction)
+* (G)UI tools for interacting/controlling the living system.
+* all of that in a multi-robot context.
+
+== Acknowledgments
+
+This work has been supported by the DGA (http://www.defense.gouv.fr/dga) which
+financed my PhD and the LAAS/CNRS (http://www.laas.fr), where I did it. It is
+now supported by the DFKI (http://www.dfki.de) where I currently work and use
+this plan manager.
+
+== Related publications
+
+Roby is the result of my PhD. As such, my PhD thesis can be considered as a
+design document for the system. If you want an overview of the principles, you
+can also refer to the two publications I did.
+
+See {this page}[link:files/doc/papers_rdoc.html] for the list of publication
+and the associated PDF files.
+
+== Videos
+
+The videos that are available show some capabilities of the system. Frankly you
+will not be able to understand them unless you have already an idea on what is
+going on. They are also referenced in other parts of the API documentation,
+when it is meaningful.
+
+See {here}[link:files/doc/videos_rdoc.html] for the available videos.
+
+== Tutorials
+
+A set of tutorials describe Roby's main features and let you experiment with
+them:
+1. the GettingStarted[link:files/doc/tutorials/01-GettingStarted_rdoc.html] tutorial makes
+   you start a brand new Roby application and explains its structure.
+2. the GoForward[link:files/doc/tutorials/02-GoForward_rdoc.html] tutorial shows how to create
+   a simple task, how to start the Roby controller and how to interact with it
+   using a shell.
+3. the PlannedPath[link:files/doc/tutorials/03-PlannedPath_rdoc.html] tutorial
+   shows how to create a (slightly) more complex plan, using the plan-generation
+   capabilities of Roby. It also shows some properties of that plan.
+4. the EventPropagation[link:files/doc/tutorials/04-EventPropagation_rdoc.html]
+   tutorial describes how the plan execution actually goes, with examples from
+   Roby's plan execution display (requires to have QtRuby)
+5. the ErrorHandling[link:files/doc/tutorials/05-ErrorHandling_rdoc.html]
+   tutorial shows how errors are represented in the system, and how it is possible
+   to handle and repair them.
+6. {not really a tutorial}[link:files/doc/tutorials/06-Overview_rdoc.html], but
+   an overview of features that have not been presented in the first five
+   tutorials.
+
+== License
+
+  Copyright 2006-2007, LAAS/CNRS <openrobots@laas.fr>
+  Copyright 2006-2008, Sylvain Joyeux <sylvain.joyeux@m4x.org>
+  Copyright 2008 DFKI <robotik-bremen@dfki.de>
+
+This work is licensed under the CeCiLL-B license, which is a free software
+license with the same spirit than the BSD license. See License.txt for details,
+and License-fr.txt for the french version.
+
+== Plugins
+
+=== Core plugins
+
+Two plugins are shipped with the Roby core:
+fault_injection[link:../plugins/fault_injection/index.html] and
+subsystems[link:../plugins/subsystems/index.html]. See their respective
+documentation for description and usage.
+
+Roby::Application#using(plugin_name) must be calledallows to enable the
+plugins at initialization time. You can for instance put the following in
+<tt>config/init.rb</tt>
+
+  Roby.app.using 'fault_injection'
+
+=== External plugins
+
+For now, only one plugins exists. This plugin allows to represent and control
+seamlessly a Genom[http://softs.laas.fr/openrobots] functional layer in a Roby
+plan. This plugin is not yet released, but if you're interested I can give you
+directions on how to get it and install it. The documentation is available here[link:../plugins/genom/index.html]
+
+= Installation
+
+== External dependencies
+* The Roby engine needs 
+  * +utilrb+, which is available on RubyForge[http://utilrb.rubyforge.org] as a gem
+  * Facets, available on RubyForge[http://rubyforge.org/projects/facets] or as a gem
+  * ActiveSupport, available on RubyForge[http://rubyforge.org/projects/activesupport] or as a gem
+  * the Boost C++ library, including Boost/Graph[www.boost.org]
+
+* the test suite needs also
+  * FlexMock, available on RubyForge[http://rubyforge.org/projects/flexmock]
+
+* finally, the GUI requires {QtRuby >=
+  1.4.9}[http://rubyforge.org/projects/korundum], SVG export requires QtRuby to
+  be built with Qt >= 4.3
+
+== Before installation
+
+Whatever the way you install Roby, the only dependencies that you really have
+to install yourself are boost (including boost/graph) and (optionally) QtRuby
+(see above). If boost is not installed in a standard location, you will also
+have to use the --with-boost-dir option to build Roby graph's extension.
+
+Moreover, Roby uses {the jamis
+template}[http://weblog.jamisbuck.org/2005/4/8/rdoc-template], which is
+provided with the Roby sources (nothing needs to be done). If you want to use
+another template, you can define the +ROBY_RDOC_TEMPLATE+ environment variable
+before the installation. For instance, to use the standard RDoc HTML template,
+do (for Unix-like shells):
+
+  ROBY_RDOC_TEMPLATE=html rake docs
+
+== Installing the easy way
+
+Roby is available on RubyForge as a gem. After having installed the C++
+dependencies (boost with boost/graph), you can simply install it with
+
+  gem install roby
+
+== Installing from source
+
+First, install all the required dependencies. Then, get the sources either
+from a release tarball or the RubyForge git
+repository[http://rubyforge.org/projects/roby], or from the development
+one[http://github.com/doudou/roby].
+
+Once the source is installed, run
+  rake setup
+

data/Rakefile

@@ -0,0 +1,161 @@
+$LOAD_PATH.unshift File.expand_path('lib', File.dirname(__FILE__))
+require 'enumerator'
+require 'hoe'
+require 'roby/config'
+
+begin
+    require 'hoe'
+    namespace 'dist' do
+        hoe = Hoe.new('roby', Roby::VERSION) do |p|
+            p.developer 'Sylvain Joyeux', 'sylvain.joyeux@m4x.org'
+
+            p.summary = 'A plan-based control framework for autonomous systems'
+            p.url         = p.paragraphs_of('README.txt', 1).join("\n\n")
+            p.description = p.paragraphs_of('README.txt', 2..18).join("\n\n")
+            p.changes     = p.paragraphs_of('History.txt', 0..1).join("\n\n")
+            p.post_install_message = p.paragraphs_of('README.txt', 2).join("\n\n")
+
+            p.extra_deps << ['facets', '>= 2.0'] << 'activesupport' << ['utilrb', '1.2']
+            if p.respond_to? :need_rdoc=
+                p.need_rdoc = false
+            end
+        end
+	hoe.spec.extensions << 
+	    'ext/droby/extconf.rb' <<
+	    'ext/graph/extconf.rb'
+
+        hoe.spec.extra_rdoc_files =
+            hoe.spec.files.grep /(\.rdoc|\.cc|\.hh|\.rb|\.txt)$/
+
+        hoe.spec.description = hoe.summary
+            
+        hoe.spec.rdoc_options << 
+            '--main' << 'README.txt' <<
+            "--inline-source" << 
+            "--accessor" << "attribute" << 
+            "--accessor" << "attr_predicate"
+
+	if !hoe.respond_to? :need_rdoc=
+	    # This sucks, I know, but Hoe's handling of documentation is not
+	    # enough for me
+	    tasks = Rake.application.instance_variable_get :@tasks
+	    tasks.delete_if { |n, _| n =~ /dist:(re|clobber_|)docs/ }
+	end
+    end
+rescue LoadError
+    puts "cannot load the Hoe gem, distribution is disabled"
+end
+
+def build_extension(name, soname = name)
+    Dir.chdir("ext/#{name}") do
+	extconf = "ruby extconf.rb"
+	extconf << " --with-boost-dir=#{ENV['BOOST_DIR']}" if ENV['BOOST_DIR']
+	if !system(extconf) || !system("make")
+	    raise "cannot set up #{name} extension"
+	end
+    end
+    FileUtils.ln_sf "../../ext/#{name}/#{soname}.so", "lib/roby/#{soname}.so"
+end
+def clean_extension(name, soname = name)
+    puts "Cleaning ext/#{name}"
+    Dir.chdir("ext/#{name}") do
+	FileUtils.rm_f ["#{soname}.so", 'Makefile', 'mkmf.log']
+	FileUtils.rm_f Dir.enum_for(:glob, '*.o').to_a
+    end
+end
+
+task :cruise => [:setup, :recore_docs, :test]
+
+#########
+# Test-related targets
+
+desc 'run all tests'
+task :test => ['test:core', 'test:distributed']
+
+namespace 'test' do
+    desc 'run tests on the Core'
+    task 'core' => :setup do
+        if !system("testrb test/suite_core.rb")
+            puts "failed core suite"
+            exit(1)
+        end
+    end
+    desc 'run tests on Distributed Roby'
+    task 'distributed' => :setup do
+        if !system("testrb test/suite_distributed.rb")
+            puts "failed droby suite"
+            exit(1)
+        end
+    end
+end
+
+desc 'generate and build all the necessary files'
+task :setup => :uic do
+    build_extension 'droby'
+    build_extension 'graph', 'bgl'
+end
+
+desc 'remove all generated files'
+task :clean => 'dist:clean' do
+    clean_extension 'droby'
+    clean_extension 'graph', 'bgl'
+end
+
+UIFILES = %w{relations.ui relations_view.ui data_displays.ui replay_controls.ui basic_display.ui chronicle_view.ui}
+desc 'generate all Qt UI files using rbuic4'
+task :uic do
+    UIFILES.each do |file|
+	file = 'lib/roby/log/gui/' + file
+	if !system('rbuic4', '-o', file.gsub(/\.ui$/, '_ui.rb'), file)
+	    STDERR.puts "Failed to generate #{file}"
+	end
+    end
+end
+
+###########
+# Documentation generation
+#
+# This redefines Hoe's targets for documentation, as the documentation
+# generation is not flexible enough for us
+namespace 'doc' do
+    require 'roby/app/rake'
+    Rake::RDocTask.new("core") do |rdoc|
+      rdoc.options << "--inline-source" << "--accessor" << "attribute" << "--accessor" << "attr_predicate"
+      rdoc.rdoc_dir = 'doc/rdoc/core'
+      rdoc.title    = "Roby Core"
+      rdoc.template = Roby::Rake.rdoc_template
+      rdoc.options << '--main' << 'README.txt'
+      rdoc.rdoc_files.include('README.txt', 'TODO.txt', 'History.txt')
+      rdoc.rdoc_files.include('lib/**/*.rb', 'ext/**/*.cc')
+      rdoc.rdoc_files.include('doc/videos.rdoc', 'doc/papers.rdoc')
+      rdoc.rdoc_files.include('doc/tutorials/**/*')
+      rdoc.rdoc_files.exclude('lib/roby/test/**/*', 'lib/roby/app/**/*', 'lib/roby/log/gui/*')
+    end
+
+    Rake::RDocTask.new("tutorials") do |rdoc|
+      rdoc.options << "--inline-source" << "--accessor" << "attribute" << "--accessor" << "attr_predicate"
+      rdoc.rdoc_dir = 'doc/rdoc/tutorials'
+      rdoc.title    = "Roby Tutorials"
+      rdoc.template = Roby::Rake.rdoc_template
+      rdoc.options << '--main' << 'README.txt'
+      rdoc.rdoc_files.include('README.txt', 'TODO.txt', 'History.txt')
+      rdoc.rdoc_files.include('doc/videos.rdoc', 'doc/papers.rdoc')
+      rdoc.rdoc_files.include('doc/tutorials/**/*')
+    end
+
+    def plugins_documentation_generation(target_prefix)
+        task "plugins_#{target_prefix}docs" do
+            Roby::Rake.invoke_plugin_target("#{target_prefix}docs")
+        end
+    end
+    desc 'generate the documentation for all installed plugins'
+    plugins_documentation_generation ''
+    desc 'remove the documentation for all installed plugins'
+    plugins_documentation_generation 'clobber_'
+    desc 'regenerate the documentation for all installed plugins'
+    plugins_documentation_generation 're'
+end
+
+task 'docs' => ['doc:core', 'doc:plugins_docs']
+task 'clobber_docs' => ['doc:clobber_core', 'doc:plugins_clobber_docs']
+task 'redocs' => ['doc:recore', 'doc:replugins_docs']