roby 0.7

data/bin/roby-log

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+#! /usr/bin/env ruby
+require 'roby'
+require 'optparse'
+
+def usage
+    STDERR.puts <<-EOU
+roby-log mode [options]
+where the following modes are accepted:
+    list-servers    lists the log servers available
+    upgrade-format  upgrades an event log from an old format to the current one
+    rebuild-index   rebuilds the index file for the given event log
+    stats	    displays statistics about the given event log
+    replay	    displays data saved in logged files
+    display	    displays live data received from log servers
+    help	    this help message
+
+Call roby-log mode --help for more information about each mode
+    EOU
+end
+
+STDOUT.sync = true
+
+SERVER_LIST_TIMEOUT = 5
+SERVER_LIST_POLL = 0.1
+case mode = ARGV.shift
+when "list-servers"
+    DRb.start_service "druby://:0"
+
+    require 'roby/log/server'
+    puts "Finding available servers ... (#{SERVER_LIST_TIMEOUT} seconds)"
+
+    broadcast = if ARGV.empty? then ['localhost']
+		else ARGV
+		end
+
+    Roby::Log::Server.enable_discovery broadcast
+
+    begin
+	end_time = Time.now + SERVER_LIST_TIMEOUT
+	known_servers = []
+	while end_time > Time.now
+	    sleep(SERVER_LIST_POLL)
+	    Roby::Log::Server.available_servers.each do |server|
+		next if known_servers.include?(server)
+		known_servers << server
+
+		remote = Roby::Log::Client.new(server)
+		puts "#{server.__drburi}:"
+		remote.streams.each do |s|
+		    puts "  #{s.name} [#{s.type}]"
+		end
+	    end
+	end
+    rescue Interrupt
+    end
+    exit(0)
+
+when "upgrade-format"
+    require 'roby/log/file'
+    Roby::Log::FileLogger.to_new_format(ARGV[0])
+    exit(0)
+
+when "rebuild-index"
+    require 'roby/log/file'
+
+    Roby::Log::Logfile.open(ARGV[0]) do |logfile|
+	logfile.rebuild_index
+    end
+    exit(0)
+
+when "stats"
+    require 'roby/log/file'
+    require 'roby/log/timings'
+
+    filename = if ARGV[0] == "--csv"
+		   do_csv = true
+		   ARGV[1]
+	       else
+		   ARGV[0]
+	       end
+    io = Roby::Log.open(filename)
+
+    cycle_count = io.index_data.size
+    puts "#{cycle_count} cycles between #{io.range.first.to_hms} and #{io.range.last.to_hms}"
+
+    if io.index_data.first.has_key?(:event_count)
+	min, max = nil
+	event_count = io.index_data.inject(0) do |total, cycle_info|
+	    count = cycle_info[:event_count]
+	    min = count if !min || min > count
+	    max = count if !max || max < count
+	    total + count
+	end
+	puts "#{event_count} events, #{event_count / cycle_count} events/cycle (min: #{min}, max: #{max})"
+    else
+	puts "event count unavailable, please rebuild the index"
+    end
+
+    timings = Roby::Log::Timings.new(io)
+    if do_csv
+	timings.display(false)
+    else
+	timings.stats
+    end
+    exit(0)
+
+when "replay"
+    require 'roby/log/gui/replay'
+    app  = Qt::Application.new(ARGV)
+
+    main = Replay.setup(ARGV) do |main, parser, remaining|
+	if remaining.empty?
+	    if main.log_dir
+		streams = Roby.app.data_streams(main.log_dir)
+		streams.each do |stream|
+		    stream.open
+		    main.add_stream(stream)
+		end
+	    else
+		STDERR.puts parser
+		exit(0)
+	    end
+	else
+	    remaining.each do |file|
+		if streams = Roby.app.data_streams_of([file])
+		    streams.each do |s|
+			s.open
+			main.add_stream(s)
+		    end
+		else
+		    STDERR.puts "WARN: unknown file type for #{file}"
+		end
+	    end
+	end
+    end
+
+    main.setup
+    begin
+	app.exec
+    rescue
+	STDERR.puts $!.full_message
+    end
+
+when "display"
+    require 'roby/log/gui/runtime'
+    DRb.start_service "druby://:0"
+    Roby::Log::Server.logger.level = Logger::DEBUG
+
+    broadcast = if ARGV.empty? then ['localhost']
+		else ARGV
+		end
+
+    a = Qt::Application.new([])
+    w = RuntimeDisplay.new(broadcast, Roby::Log::Server::RING_PORT, 5)
+    w.show
+    a.exec
+    exit(0)
+
+when "help"
+    usage
+    exit(0)
+
+else
+    STDERR.puts "no such mode of operation #{mode}"
+    usage
+    exit(1)
+end
+

data/bin/roby-shell

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+#! /usr/bin/env ruby
+
+require 'drb'
+require 'roby'
+require 'irb'
+
+uri = ARGV.shift
+
+DRb.start_service
+control = DRbObject.new nil, uri
+
+IRB.setup(nil)
+
+ws  = IRB::WorkSpace.new(binding)
+irb = IRB::Irb.new(ws)
+IRB.conf[:MAIN_CONTEXT] = irb.context
+
+trap("SIGINT") do
+    irb.signal_handle
+end
+
+catch(:IRB_EXIT) do
+    irb.eval_input
+end
+

data/doc/papers.rdoc

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+= Papers
+
+These are the papers which present Roby that I published the last years.
+
+* A Software Component for Plan Management in Robotics
+  ({PhD thesis}[http://roby.rubyforge.org/papers/thesis-en.pdf], slides[http://roby.rubyforge.org/papers/thesis-slides.pdf])
+* A Software Component for Simultaneous Plan Execution and Adaptation - 
+  IROS2007 ({paper}[http://roby.rubyforge.org/papers/roby-2007-iros.pdf])
+* A Plan Manager for Multi-Robot Systems - FSR2007
+  ({paper}[http://roby.rubyforge.org/papers/roby-2007-fsr.pdf], {slides}[http://roby.rubyforge.org/papers/roby-2007-fsr-slides.pdf])
+

data/doc/styles/allison.css

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+
+/* 
+ Allison 2 template
+ Copyright 2007, 2008 Cloudburst, LLC. Licensed under the AFL 3. See the included LICENSE file.
+*/
+
+/* default styles */
+
+* {
+  margin: 0
+  padding: 0
+  border: none
+}
+
+@default = "#000"
+@background = "#fff"
+@very_light = "#e4ebed"
+@light = "#ccd5dc"
+@medium = "#304878"
+@dark = "#181848"
+
+@buffer = 6
+
+.clear {
+  clear: both
+}
+
+a {
+  color: @medium
+  font-weight: bold
+  text-decoration: none
+}
+
+a:hover {
+  text-decoration: underline
+}
+
+html, body {
+	color: @default
+	font-size: @font_size = 13
+	font-family: helvetica, verdana, sans
+	background-color: @background
+	text-align: center
+	margin: 0
+	padding: 0
+}
+
+p, ul, ol {
+  line-height: @lineheight = 16
+} li {
+  margin: @buffer / 2
+  _margin-left: 40px
+} p, pre, table, ol, ul {
+  margin: @lineheight
+} #item_name {
+  margin-top: -8px
+}
+
+h1 {
+  font-size: 22px
+  margin-top: @lineheight
+} h2, h3 {
+  font-size: @medium_header_size = 18
+  margin: @buffer
+  margin-right: 0
+  padding-top: @buffer * 2
+} 
+
+/* center everything */
+
+#container {
+  margin: 20px auto 0 auto
+  width: @width = 900
+  text-align: left
+}
+
+/* header stuff */
+
+#header {
+   padding: @buffer
+   padding-top: @buffer / 2
+   width: @width - @buffer * 2
+   height: @header_height = 64 - @buffer * 2
+   _height: @header_height + @buffer
+   margin-bottom: @buffer * 2
+   vertical-align: baseline
+   background-color: @dark
+   overflow: hidden
+} .curve {
+  background-color: @dark
+  margin: 0
+  padding: 0
+  height: 1px
+  overflow: hidden /* again, ie problem */
+} 
+
+def curve(div_id, curve_array, width); s = ""; curve_array.length.times {|n| s += "\n##{div_id}#{curve_array.length - 1 - n}{border-left: #{curve_array[n]}px solid #{@background}; border-right: #{curve_array[n]}px solid #{@background}; width: #{width - curve_array[n]*2}px; _width: #{width - 12}px; }"}; s; end
+@curves = [1, 1, 2, 3, 4, 6]
+
+curve("preheader_curve_", @curves, @width)
+
+#header h1 {
+  color: @background
+  font-size: 30px
+  margin: 4px 0 0 0 
+ } #header p {
+  margin: 0
+  padding: 0
+  padding-left: 3px
+  font-size: 16px
+  color: @background
+} #header a {
+  color: @background
+  text-decoration: none
+  font-weight: bold
+}
+
+/* basic layout and navigation bars */
+  
+#left {
+  background-color: @dark
+  width: @left_width = 220
+  float: left
+  _width: @left_width - @buffer * 2
+  margin-bottom: @buffer * 4
+} #left a {
+  line-height: 14px
+} 
+
+/* navigation bar colors and text styles */
+
+.navigation {
+  width: @left_width - @buffer * 4
+  margin: @buffer
+  padding: @buffer
+  text-align: left
+  background-color: @background
+  overflow: hidden
+} .navigation h3 {
+  font-weight: bold
+  margin-bottom: 5px  
+} .navigation span, .navigation a {
+  margin-left: @buffer
+} #includes .navigation span, #includes .navigation a {
+  margin-left: 0
+} .darker {
+  background-color: @very_light 
+} #spacer {
+  background-color: @background
+  height: @buffer * 3
+  display: none
+}
+
+/* content area */
+
+#content {
+  padding: @content_padding = 20
+  width: @width - @left_width - @content_padding * 2
+  float: left
+  min-height: 450px
+  margin: 0
+  margin-bottom: -4px
+} #content img {
+  padding-top: @buffer
+  padding-bottom: @buffer * 2
+}
+
+#content h1, h2 {
+  border-top: 1px solid @very_light
+} #content h1 {
+  padding-top: @buffer * 3
+} #content #item_name { /* why does this need to be fully qualified? */
+  padding-top: 0
+  border: none
+}
+
+/* footer */
+
+#footer {
+  text-align: center
+  background-color: @background
+  padding: @buffer * 3
+  border-top: 1px solid @very_light
+  color: @light
+} #footer a {
+  font-weight: normal
+  color: @light
+}
+
+/* for that dumb redirect index page I can't avoid */
+
+#redirect {
+  text-align: center  
+} #redirect a {
+  color: @dark
+}
+
+/* tables */
+
+table {
+  width: @width - @left_width - 95
+  margin-right: 0
+  border-collapse: collapse
+  border: 1px solid @very_light
+} td, th {
+  background-color: @background
+  text-align: left
+  padding: @buffer
+  line-height: 14px
+  font-size: @font_size
+} td.normal {
+  font-family: @monospace = "Courier, Courier New, monospace"
+  font-size: @monospace_size = 12
+} td.highlight {
+  color: @medium
+}  
+
+/* method_block details */
+  
+div.method_block {
+  border-bottom: 1px solid @very_light
+  margin-left: 20px
+  margin-bottom: -17px
+  margin-top: 17px
+} div.method_block h3 {
+  color: @dark
+  margin-left: 0
+  padding: 0
+} #content div.method_block h1, #content #description h1 { 
+  margin-left: @buffer
+  color: @light
+} div.method_block a.small { /* where is this used? */
+  font-size: 3px
+  line-height: 3px
+} 
+
+/* index includes on the navigation bar */
+
+div.index a {
+  font-size: @font_size
+} #method {
+  display: none 
+} #file, #class {
+  display: block
+} div.list_header {
+  float: left
+} div.list_header_link {
+  float: right
+  padding-top: 3px
+} div.list_header_link a {
+  font-weight: normal
+} div.navigation h3, .list_header_link {
+  margin: 0
+  margin-top: @buffer
+  margin-bottom: @buffer
+  padding: 0
+}
+
+.index label {
+  font-size: @font_size
+} .index form input {
+  width: @left_width - @buffer * 14
+} .index form {
+   margin-bottom: @buffer
+}
+
+ol, ul {
+  margin-left: @buffer
+} 
+
+p.source_link a {
+  text-align: right
+  font-weight: normal
+} div.source {
+  display: none
+} pre, tt {
+  color: @dark
+  font-weight: normal
+  font-family: @monospace
+  font-size: @monospace_size
+} pre {
+  line-height: 14px
+  margin-left: @buffer * 2
+  overflow: auto
+  /* next 4 lines because IE sucks */
+  _position: relative
+  _width: @width - @left_width - (@buffer * 15 + 3)
+  _overflow-x:scroll
+  _overflow-y:visible
+} b tt, tt b {
+  font-weight: bold
+} div.source g {
+  margin-left: 0
+} p.source_link {
+  text-align: center
+} 
+
+/* source code highlighting */
+
+.source pre {
+  color: black
+}
+pre .ruby-value, pre .ruby-symbol {
+  color: @blue = "#1104bb"
+} pre .ruby-value.str, pre .ruby-node {
+  color: @dark
+} pre .ruby-ivar, pre .ruby-cvar {
+} pre .ruby-comment {
+  color: @green = "#009500"
+} pre .ruby-constant {
+  color: @orange = "#cd8802"
+} pre .ruby-keyword {
+  color: @purple = "#8d04aa"
+}