roby 0.8.0 → 3.0.0

data/doc/guide/src/concepts/execution.page

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+---
+title: Execution
+sort_info: 30
+---
+
+What should have understood by now is the concept of [reactor](reactor.html) and
+[plan](plans.html). This page will bind both concepts together to explain how the
+plans are interpreted to actually execute _something_.
+
+So, now, we have (1) a plan which represents the tasks and events that exist on
+our system and (2) a reactor that is supposed to handle gathering events and
+executing code. Let's see how these two get combined.
+
+This page is using the same example than [the previous page](plans.html). Let's
+repeat the corresponding plan:
+
+![Simple plan example](simple_plan_example.png)
+{: .center}
+
+1: Gathering of External Events
+-------------------------------
+The first role of a reactor, and Roby is no different in that respect, is that
+it should gather events from external sources (other processes, sensors) and
+react to these. The first step in each execution cycle is therefore to _gather
+these events and emit them_.
+
+External event gatherers are essentially code blocks (routines) that get called
+at the beginning of each execution cycle. They have to read whatever "external"
+source of information (remote servers, subprocesses, time, ...) and emit the
+corresponding events.
+
+In the example above, we could for instance have a routine that reads the
+system's battery and emits the battery_low event when that reaches a certain
+threshold. Another routine would monitor the system's position and emit the
+success event on the corresponding MoveTo task when the destination is reached.
+
+2: Scheduling {#scheduling}
+-------------
+The scheduler is a source of commands. Essentially, given a plan, its job is to
+decide which task can be started, and start them.
+
+The default scheduler, the temporal scheduler, looks for temporal and dependency
+relations and bases its decision on that. In our example, when the first MoveTo
+is finished, the temporal scheduler will see that the start event of the second
+MoveTo can be emitted (the should_emit_after constraint is OK with that) and
+therefore calls it, in effect making sure that we have a proper sequence.
+
+3: Event Propagation
+------------
+Once initial events are gathered (and therefore emitted), corresponding code
+blocks called __event handlers__ get called. Identically, the scheduler's
+calling of commands causes other blocks, __event commands__ to be called. There
+are other constructs in which "user" code blocks can be attached so as to be
+called in specific situations during execution, but we won't detail them here.
+
+In both cases, these code blocks can decide to call or emit other events and
+therefore have the corresponding code blocks to be called and so on. Moreover,
+some event relations define that the relation's target should either be called
+or emitted when the parent is emitted, therefore also causing some propagation.
+
+The process of calling these blocks, emitting and calling other events and so on
+is called __event propagation__. It is managed in the main reactor loop (i.e.
+a command call or an event emission is handled the same way than the external
+events). In other words, when an event handler emits another event, this event
+is not immediately called: the emission is queued, and processed later in the
+main reactor loop.
+
+Overview of the Execution Cycle
+-------------------------------
+The execution cycle outlined above is executed periodically, with a default
+period of 100ms. See below for a graphical representation of the cycle:
+
+![Overview of the Execution Cycle](execution_cycle.png)
+
+Conclusion
+----------
+What you saw until now is: how things are represented and how code gets
+executed. There are actually two pieces missing in the overall puzzle.
+
+The first piece, which is the subject of the next page, is the management of
+tasks that are needed by the system and the ones that are not required anymore.
+In other words: garbage collection at the plan level.
+
+The second piece, that you will see later, is error representation and handling.
+

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