roby 0.8.0 → 3.0.0

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Files changed (644) hide show
  1. checksums.yaml +7 -0
  2. data/.deep-cover.rb +3 -0
  3. data/.gitattributes +1 -0
  4. data/.gitignore +24 -0
  5. data/.simplecov +10 -0
  6. data/.travis.yml +17 -0
  7. data/.yardopts +4 -0
  8. data/Gemfile +15 -0
  9. data/README.md +11 -0
  10. data/Rakefile +47 -177
  11. data/benchmark/{alloc_misc.rb → attic/alloc_misc.rb} +2 -2
  12. data/benchmark/{discovery_latency.rb → attic/discovery_latency.rb} +19 -19
  13. data/benchmark/{garbage_collection.rb → attic/garbage_collection.rb} +9 -9
  14. data/benchmark/{genom.rb → attic/genom.rb} +0 -0
  15. data/benchmark/attic/transactions.rb +62 -0
  16. data/benchmark/plan_basic_operations.rb +28 -0
  17. data/benchmark/relations/graph.rb +63 -0
  18. data/benchmark/ruby/identity.rb +18 -0
  19. data/benchmark/ruby/set_intersect_vs_hash_merge.rb +39 -0
  20. data/benchmark/ruby/yield_vs_block.rb +35 -0
  21. data/benchmark/run +5 -0
  22. data/benchmark/synthetic_plan_modifications_with_transactions.rb +79 -0
  23. data/benchmark/transactions.rb +99 -51
  24. data/bin/roby +38 -197
  25. data/bin/roby-display +14 -0
  26. data/bin/roby-log +3 -176
  27. data/doc/guide/{src → attic}/abstraction/achieve_with.page +1 -1
  28. data/doc/guide/{src → attic}/abstraction/forwarding.page +1 -1
  29. data/doc/guide/{src → attic}/abstraction/hierarchy.page +1 -1
  30. data/doc/guide/{src → attic}/abstraction/index.page +1 -1
  31. data/doc/guide/{src → attic}/abstraction/task_models.page +1 -1
  32. data/doc/guide/{overview.rdoc → attic/cycle/api_overview.rdoc} +6 -1
  33. data/doc/guide/{src → attic}/cycle/cycle-overview.png +0 -0
  34. data/doc/guide/{src → attic}/cycle/cycle-overview.svg +0 -0
  35. data/doc/guide/attic/cycle/error_handling.page +98 -0
  36. data/doc/guide/{src → attic}/cycle/error_instantaneous_repair.png +0 -0
  37. data/doc/guide/{src → attic}/cycle/error_instantaneous_repair.svg +0 -0
  38. data/doc/guide/{src/cycle/error_handling.page → attic/cycle/error_sources.page} +46 -89
  39. data/doc/guide/{src → attic}/cycle/garbage_collection.page +1 -1
  40. data/doc/guide/{src → attic}/cycle/index.page +1 -1
  41. data/doc/guide/{src → attic}/cycle/propagation.page +11 -1
  42. data/doc/guide/{src → attic}/cycle/propagation_diamond.png +0 -0
  43. data/doc/guide/{src → attic}/cycle/propagation_diamond.svg +0 -0
  44. data/doc/guide/attic/plans/building_plans.page +89 -0
  45. data/doc/guide/attic/plans/code.page +192 -0
  46. data/doc/guide/{src/basics → attic/plans}/events.page +3 -4
  47. data/doc/guide/attic/plans/index.page +7 -0
  48. data/doc/guide/{plan_modifications.rdoc → attic/plans/plan_modifications.rdoc} +5 -3
  49. data/doc/guide/{src/basics → attic/plans}/plan_objects.page +2 -1
  50. data/doc/guide/attic/plans/querying_plans.page +5 -0
  51. data/doc/guide/{src/basics → attic/plans}/tasks.page +20 -20
  52. data/doc/guide/config.yaml +7 -4
  53. data/doc/guide/ext/extended_menu.rb +29 -0
  54. data/doc/guide/ext/init.rb +6 -0
  55. data/doc/guide/ext/rdoc_links.rb +7 -6
  56. data/doc/guide/src/advanced_concepts/history.page +5 -0
  57. data/doc/guide/src/advanced_concepts/index.page +11 -0
  58. data/doc/guide/src/advanced_concepts/recognizing_patterns.page +83 -0
  59. data/doc/guide/src/advanced_concepts/scheduling.page +87 -0
  60. data/doc/guide/src/advanced_concepts/transactions.page +5 -0
  61. data/doc/guide/src/advanced_concepts/unreachability.page +42 -0
  62. data/doc/guide/src/base.template +96 -0
  63. data/doc/guide/src/basics_shell_header.txt +5 -7
  64. data/doc/guide/src/building/action_coordination.page +96 -0
  65. data/doc/guide/src/building/actions.page +124 -0
  66. data/doc/guide/src/building/file_layout.page +71 -0
  67. data/doc/guide/src/building/index.page +50 -0
  68. data/doc/guide/src/building/patterns.page +86 -0
  69. data/doc/guide/src/building/patterns_forwarding.png +0 -0
  70. data/doc/guide/src/building/patterns_forwarding.svg +277 -0
  71. data/doc/guide/src/building/runtime.page +95 -0
  72. data/doc/guide/src/building/task_models.page +94 -0
  73. data/doc/guide/src/building/tasks.page +284 -0
  74. data/doc/guide/src/concepts/error_handling.page +100 -0
  75. data/doc/guide/src/concepts/exception_propagation.png +0 -0
  76. data/doc/guide/src/concepts/exception_propagation.svg +445 -0
  77. data/doc/guide/src/concepts/execution.page +85 -0
  78. data/doc/guide/src/concepts/execution.png +0 -0
  79. data/doc/guide/src/concepts/execution.svg +573 -0
  80. data/doc/guide/src/concepts/execution_cycle.png +0 -0
  81. data/doc/guide/src/concepts/garbage_collection.page +57 -0
  82. data/doc/guide/src/concepts/index.page +27 -0
  83. data/doc/guide/src/concepts/plans.page +101 -0
  84. data/doc/guide/src/concepts/policy.page +31 -0
  85. data/doc/guide/src/concepts/reactor.page +61 -0
  86. data/doc/guide/src/concepts/simple_plan_example.png +0 -0
  87. data/doc/guide/src/concepts/simple_plan_example.svg +376 -0
  88. data/doc/guide/src/default.template +9 -74
  89. data/doc/guide/src/event_relations/forward.page +71 -0
  90. data/doc/guide/src/event_relations/index.page +12 -0
  91. data/doc/guide/src/event_relations/scheduling_constraints.page +43 -0
  92. data/doc/guide/src/event_relations/signal.page +55 -0
  93. data/doc/guide/src/event_relations/temporal_constraints.page +77 -0
  94. data/doc/guide/src/htmldoc.metainfo +21 -8
  95. data/doc/guide/src/index.page +8 -3
  96. data/doc/guide/src/{introduction/install.page → installation/index.page} +37 -25
  97. data/doc/guide/src/installation/publications.page +14 -0
  98. data/doc/guide/src/{introduction → installation}/videos.page +14 -7
  99. data/doc/guide/src/interacting/index.page +16 -0
  100. data/doc/guide/src/interacting/run.page +33 -0
  101. data/doc/guide/src/interacting/shell.page +95 -0
  102. data/doc/guide/src/plugins/creating_plugins.page +72 -0
  103. data/doc/guide/src/plugins/index.page +27 -5
  104. data/doc/guide/src/plugins/{fault_tolerance.page → standard_plugins/fault_tolerance.page} +2 -2
  105. data/doc/guide/src/plugins/standard_plugins/index.page +11 -0
  106. data/doc/guide/src/plugins/{subsystems.page → standard_plugins/subsystems.page} +2 -2
  107. data/doc/guide/src/style_screen.css +687 -0
  108. data/doc/guide/src/task_relations/dependency.page +107 -0
  109. data/doc/guide/src/task_relations/executed_by.page +77 -0
  110. data/doc/guide/src/task_relations/index.page +12 -0
  111. data/doc/guide/src/task_relations/new_relations.page +119 -0
  112. data/doc/guide/src/task_relations/planned_by.page +46 -0
  113. data/doc/guide/src/tutorial/app.page +117 -0
  114. data/doc/guide/src/{basics → tutorial}/code_examples.page +6 -5
  115. data/doc/guide/src/{basics → tutorial}/dry.page +15 -15
  116. data/doc/guide/src/{basics → tutorial}/errors.page +43 -68
  117. data/doc/guide/src/tutorial/events.page +195 -0
  118. data/doc/guide/src/{basics → tutorial}/hierarchy.page +53 -52
  119. data/doc/guide/src/tutorial/index.page +13 -0
  120. data/doc/guide/src/tutorial/log_replay/goForward_1.png +0 -0
  121. data/doc/guide/src/tutorial/log_replay/goForward_2.png +0 -0
  122. data/doc/guide/src/tutorial/log_replay/goForward_3.png +0 -0
  123. data/doc/guide/src/{basics → tutorial}/log_replay/goForward_4.png +0 -0
  124. data/doc/guide/src/tutorial/log_replay/goForward_5.png +0 -0
  125. data/doc/guide/src/{basics → tutorial}/log_replay/hierarchy_error_1.png +0 -0
  126. data/doc/guide/src/{basics → tutorial}/log_replay/hierarchy_error_2.png +0 -0
  127. data/doc/guide/src/{basics → tutorial}/log_replay/hierarchy_error_3.png +0 -0
  128. data/doc/guide/src/tutorial/log_replay/moveto_code_error.png +0 -0
  129. data/doc/guide/src/{basics → tutorial}/log_replay/plan_repair_1.png +0 -0
  130. data/doc/guide/src/{basics → tutorial}/log_replay/plan_repair_2.png +0 -0
  131. data/doc/guide/src/{basics → tutorial}/log_replay/plan_repair_3.png +0 -0
  132. data/doc/guide/src/tutorial/log_replay/plan_repair_4.png +0 -0
  133. data/doc/guide/src/tutorial/log_replay/roby_log_main_window.png +0 -0
  134. data/doc/guide/src/{basics → tutorial}/log_replay/roby_log_relation_window.png +0 -0
  135. data/doc/guide/src/{basics → tutorial}/log_replay/roby_replay_event_representation.png +0 -0
  136. data/doc/guide/src/tutorial/relations_display.page +153 -0
  137. data/doc/guide/src/{basics → tutorial}/roby_cycle_overview.png +0 -0
  138. data/doc/guide/src/tutorial/shell.page +121 -0
  139. data/doc/guide/src/{basics → tutorial}/summary.page +1 -1
  140. data/doc/guide/src/tutorial/tasks.page +374 -0
  141. data/lib/roby.rb +102 -47
  142. data/lib/roby/actions.rb +17 -0
  143. data/lib/roby/actions/action.rb +80 -0
  144. data/lib/roby/actions/interface.rb +45 -0
  145. data/lib/roby/actions/library.rb +23 -0
  146. data/lib/roby/actions/models/action.rb +224 -0
  147. data/lib/roby/actions/models/coordination_action.rb +58 -0
  148. data/lib/roby/actions/models/interface.rb +22 -0
  149. data/lib/roby/actions/models/interface_base.rb +294 -0
  150. data/lib/roby/actions/models/library.rb +12 -0
  151. data/lib/roby/actions/models/method_action.rb +90 -0
  152. data/lib/roby/actions/task.rb +114 -0
  153. data/lib/roby/and_generator.rb +125 -0
  154. data/lib/roby/app.rb +2795 -829
  155. data/lib/roby/app/autotest_console_reporter.rb +138 -0
  156. data/lib/roby/app/base.rb +21 -0
  157. data/lib/roby/app/cucumber.rb +2 -0
  158. data/lib/roby/app/cucumber/controller.rb +439 -0
  159. data/lib/roby/app/cucumber/helpers.rb +280 -0
  160. data/lib/roby/app/cucumber/world.rb +32 -0
  161. data/lib/roby/app/debug.rb +136 -0
  162. data/lib/roby/app/gen.rb +2 -0
  163. data/lib/roby/app/rake.rb +178 -38
  164. data/lib/roby/app/robot_config.rb +9 -0
  165. data/lib/roby/app/robot_names.rb +115 -0
  166. data/lib/roby/app/run.rb +3 -2
  167. data/lib/roby/app/scripts.rb +72 -0
  168. data/lib/roby/app/scripts/autotest.rb +173 -0
  169. data/lib/roby/app/scripts/display.rb +2 -0
  170. data/lib/roby/app/scripts/restart.rb +52 -0
  171. data/lib/roby/app/scripts/results.rb +17 -8
  172. data/lib/roby/app/scripts/run.rb +155 -24
  173. data/lib/roby/app/scripts/shell.rb +147 -62
  174. data/lib/roby/app/scripts/test.rb +107 -22
  175. data/lib/roby/app/test_reporter.rb +74 -0
  176. data/lib/roby/app/test_server.rb +159 -0
  177. data/lib/roby/app/vagrant.rb +47 -0
  178. data/lib/roby/backports.rb +16 -0
  179. data/lib/roby/cli/display.rb +190 -0
  180. data/lib/roby/cli/exceptions.rb +17 -0
  181. data/lib/roby/cli/gen/actions/class.rb +5 -0
  182. data/lib/roby/cli/gen/actions/test.rb +6 -0
  183. data/lib/roby/cli/gen/app/.yardopts +6 -0
  184. data/lib/roby/cli/gen/app/README.md +28 -0
  185. data/lib/roby/cli/gen/app/Rakefile +15 -0
  186. data/{app → lib/roby/cli/gen/app}/config/app.yml +29 -39
  187. data/lib/roby/cli/gen/app/models/.gitattributes +1 -0
  188. data/{app → lib/roby/cli/gen/app/scripts}/controllers/.gitattributes +0 -0
  189. data/{app/data/.gitattributes → lib/roby/cli/gen/app/test/.gitignore} +0 -0
  190. data/lib/roby/cli/gen/class/class.rb +6 -0
  191. data/lib/roby/cli/gen/class/test.rb +7 -0
  192. data/lib/roby/cli/gen/helpers.rb +203 -0
  193. data/lib/roby/cli/gen/module/module.rb +5 -0
  194. data/lib/roby/cli/gen/module/test.rb +6 -0
  195. data/lib/roby/cli/gen/roby_app/config/init.rb +17 -0
  196. data/lib/roby/cli/gen/roby_app/config/robots/robot.rb +40 -0
  197. data/lib/roby/cli/gen/task/class.rb +44 -0
  198. data/lib/roby/cli/gen/task/test.rb +6 -0
  199. data/lib/roby/cli/gen_main.rb +120 -0
  200. data/lib/roby/cli/log.rb +276 -0
  201. data/lib/roby/cli/log/flamegraph.html +499 -0
  202. data/lib/roby/cli/log/flamegraph_renderer.rb +88 -0
  203. data/lib/roby/cli/main.rb +153 -0
  204. data/lib/roby/coordination.rb +60 -0
  205. data/lib/roby/coordination/action_script.rb +25 -0
  206. data/lib/roby/coordination/action_state_machine.rb +125 -0
  207. data/lib/roby/coordination/actions.rb +106 -0
  208. data/lib/roby/coordination/base.rb +145 -0
  209. data/lib/roby/coordination/calculus.rb +40 -0
  210. data/lib/roby/coordination/child.rb +28 -0
  211. data/lib/roby/coordination/event.rb +29 -0
  212. data/lib/roby/coordination/fault_handler.rb +25 -0
  213. data/lib/roby/coordination/fault_handling_task.rb +13 -0
  214. data/lib/roby/coordination/fault_response_table.rb +110 -0
  215. data/lib/roby/coordination/models/action_script.rb +64 -0
  216. data/lib/roby/coordination/models/action_state_machine.rb +224 -0
  217. data/lib/roby/coordination/models/actions.rb +191 -0
  218. data/lib/roby/coordination/models/arguments.rb +55 -0
  219. data/lib/roby/coordination/models/base.rb +176 -0
  220. data/lib/roby/coordination/models/capture.rb +86 -0
  221. data/lib/roby/coordination/models/child.rb +35 -0
  222. data/lib/roby/coordination/models/event.rb +41 -0
  223. data/lib/roby/coordination/models/exceptions.rb +42 -0
  224. data/lib/roby/coordination/models/fault_handler.rb +219 -0
  225. data/lib/roby/coordination/models/fault_response_table.rb +77 -0
  226. data/lib/roby/coordination/models/root.rb +22 -0
  227. data/lib/roby/coordination/models/script.rb +283 -0
  228. data/lib/roby/coordination/models/task.rb +184 -0
  229. data/lib/roby/coordination/models/task_from_action.rb +50 -0
  230. data/lib/roby/coordination/models/task_from_as_plan.rb +33 -0
  231. data/lib/roby/coordination/models/task_from_instanciation_object.rb +31 -0
  232. data/lib/roby/coordination/models/task_from_variable.rb +27 -0
  233. data/lib/roby/coordination/models/task_with_dependencies.rb +48 -0
  234. data/lib/roby/coordination/models/variable.rb +32 -0
  235. data/lib/roby/coordination/script.rb +200 -0
  236. data/lib/roby/coordination/script_instruction.rb +12 -0
  237. data/lib/roby/coordination/task.rb +45 -0
  238. data/lib/roby/coordination/task_base.rb +69 -0
  239. data/lib/roby/coordination/task_script.rb +293 -0
  240. data/lib/roby/coordination/task_state_machine.rb +308 -0
  241. data/lib/roby/decision_control.rb +33 -21
  242. data/lib/roby/distributed_object.rb +76 -0
  243. data/lib/roby/droby.rb +17 -0
  244. data/lib/roby/droby/droby_id.rb +6 -0
  245. data/lib/roby/droby/enable.rb +153 -0
  246. data/lib/roby/droby/event_logger.rb +189 -0
  247. data/lib/roby/droby/event_logging.rb +57 -0
  248. data/lib/roby/droby/exceptions.rb +14 -0
  249. data/lib/roby/droby/identifiable.rb +22 -0
  250. data/lib/roby/droby/logfile.rb +141 -0
  251. data/lib/roby/droby/logfile/client.rb +176 -0
  252. data/lib/roby/droby/logfile/file_format.md +97 -0
  253. data/lib/roby/droby/logfile/index.rb +117 -0
  254. data/lib/roby/droby/logfile/reader.rb +139 -0
  255. data/lib/roby/droby/logfile/server.rb +199 -0
  256. data/lib/roby/droby/logfile/writer.rb +114 -0
  257. data/lib/roby/droby/marshal.rb +264 -0
  258. data/lib/roby/droby/marshallable.rb +12 -0
  259. data/lib/roby/droby/null_event_logger.rb +25 -0
  260. data/lib/roby/droby/object_manager.rb +205 -0
  261. data/lib/roby/droby/peer_id.rb +6 -0
  262. data/lib/roby/droby/plan_rebuilder.rb +373 -0
  263. data/lib/roby/droby/rebuilt_plan.rb +160 -0
  264. data/lib/roby/droby/remote_droby_id.rb +6 -0
  265. data/lib/roby/droby/timepoints.rb +205 -0
  266. data/lib/roby/droby/timepoints_ctf.metadata.erb +101 -0
  267. data/lib/roby/droby/timepoints_ctf.rb +125 -0
  268. data/lib/roby/droby/v5.rb +14 -0
  269. data/lib/roby/droby/v5/builtin.rb +120 -0
  270. data/lib/roby/droby/v5/droby_class.rb +45 -0
  271. data/lib/roby/droby/v5/droby_constant.rb +81 -0
  272. data/lib/roby/droby/v5/droby_dump.rb +1026 -0
  273. data/lib/roby/droby/v5/droby_id.rb +44 -0
  274. data/lib/roby/droby/v5/droby_model.rb +82 -0
  275. data/lib/roby/droby/v5/peer_id.rb +10 -0
  276. data/lib/roby/droby/v5/remote_droby_id.rb +42 -0
  277. data/lib/roby/event.rb +79 -957
  278. data/lib/roby/event_constraints.rb +835 -0
  279. data/lib/roby/event_generator.rb +1047 -0
  280. data/lib/roby/event_structure/causal_link.rb +6 -0
  281. data/lib/roby/event_structure/forwarding.rb +6 -0
  282. data/lib/roby/event_structure/precedence.rb +7 -0
  283. data/lib/roby/event_structure/signal.rb +8 -0
  284. data/lib/roby/event_structure/temporal_constraints.rb +640 -0
  285. data/lib/roby/exceptions.rb +446 -152
  286. data/lib/roby/executable_plan.rb +549 -0
  287. data/lib/roby/execution_engine.rb +1997 -950
  288. data/lib/roby/filter_generator.rb +26 -0
  289. data/lib/roby/gui/chronicle_view.rb +225 -0
  290. data/lib/roby/gui/chronicle_widget.rb +925 -0
  291. data/lib/roby/gui/dot_id.rb +11 -0
  292. data/lib/roby/gui/exception_view.rb +44 -0
  293. data/lib/roby/gui/log_display.rb +273 -0
  294. data/lib/roby/gui/model_views.rb +2 -0
  295. data/lib/roby/gui/model_views/action_interface.rb +53 -0
  296. data/lib/roby/gui/model_views/task.rb +47 -0
  297. data/lib/roby/gui/model_views/task.rhtml +41 -0
  298. data/lib/roby/gui/object_info_view.rb +89 -0
  299. data/lib/roby/gui/plan_dot_layout.rb +427 -0
  300. data/lib/roby/gui/plan_rebuilder_widget.rb +357 -0
  301. data/lib/roby/gui/qt4_toMSecsSinceEpoch.rb +8 -0
  302. data/lib/roby/gui/relations_view.rb +278 -0
  303. data/lib/roby/gui/relations_view/relations.ui +139 -0
  304. data/lib/roby/gui/relations_view/relations_canvas.rb +1088 -0
  305. data/lib/roby/gui/relations_view/relations_config.rb +292 -0
  306. data/lib/roby/gui/relations_view/relations_view.ui +53 -0
  307. data/lib/roby/gui/scheduler_view.css +24 -0
  308. data/lib/roby/gui/scheduler_view.rb +46 -0
  309. data/lib/roby/gui/scheduler_view.rhtml +53 -0
  310. data/lib/roby/gui/stepping.rb +93 -0
  311. data/lib/roby/gui/stepping.ui +181 -0
  312. data/lib/roby/gui/styles.rb +81 -0
  313. data/lib/roby/gui/task_display_configuration.rb +42 -0
  314. data/lib/roby/gui/task_state_at.rb +38 -0
  315. data/lib/roby/hooks.rb +26 -0
  316. data/lib/roby/interface.rb +136 -469
  317. data/lib/roby/interface/async.rb +20 -0
  318. data/lib/roby/interface/async/action_monitor.rb +188 -0
  319. data/lib/roby/interface/async/interface.rb +498 -0
  320. data/lib/roby/interface/async/job_monitor.rb +213 -0
  321. data/lib/roby/interface/async/log.rb +238 -0
  322. data/lib/roby/interface/async/new_job_listener.rb +79 -0
  323. data/lib/roby/interface/async/ui_connector.rb +183 -0
  324. data/lib/roby/interface/client.rb +553 -0
  325. data/lib/roby/interface/command.rb +24 -0
  326. data/lib/roby/interface/command_argument.rb +16 -0
  327. data/lib/roby/interface/command_library.rb +92 -0
  328. data/lib/roby/interface/droby_channel.rb +174 -0
  329. data/lib/roby/interface/exceptions.rb +22 -0
  330. data/lib/roby/interface/interface.rb +655 -0
  331. data/lib/roby/interface/job.rb +47 -0
  332. data/lib/roby/interface/rest.rb +10 -0
  333. data/lib/roby/interface/rest/api.rb +29 -0
  334. data/lib/roby/interface/rest/helpers.rb +24 -0
  335. data/lib/roby/interface/rest/server.rb +212 -0
  336. data/lib/roby/interface/server.rb +154 -0
  337. data/lib/roby/interface/shell_client.rb +468 -0
  338. data/lib/roby/interface/shell_subcommand.rb +24 -0
  339. data/lib/roby/interface/subcommand_client.rb +35 -0
  340. data/lib/roby/interface/tcp.rb +168 -0
  341. data/lib/roby/models/arguments.rb +112 -0
  342. data/lib/roby/models/plan_object.rb +83 -0
  343. data/lib/roby/models/task.rb +835 -0
  344. data/lib/roby/models/task_event.rb +62 -0
  345. data/lib/roby/models/task_service.rb +78 -0
  346. data/lib/roby/or_generator.rb +88 -0
  347. data/lib/roby/plan.rb +1751 -864
  348. data/lib/roby/plan_object.rb +611 -0
  349. data/lib/roby/plan_service.rb +200 -0
  350. data/lib/roby/promise.rb +332 -0
  351. data/lib/roby/queries.rb +23 -0
  352. data/lib/roby/queries/and_matcher.rb +32 -0
  353. data/lib/roby/queries/any.rb +27 -0
  354. data/lib/roby/queries/code_error_matcher.rb +58 -0
  355. data/lib/roby/queries/event_generator_matcher.rb +9 -0
  356. data/lib/roby/queries/execution_exception_matcher.rb +165 -0
  357. data/lib/roby/queries/index.rb +165 -0
  358. data/lib/roby/queries/localized_error_matcher.rb +149 -0
  359. data/lib/roby/queries/matcher_base.rb +107 -0
  360. data/lib/roby/queries/none.rb +27 -0
  361. data/lib/roby/queries/not_matcher.rb +30 -0
  362. data/lib/roby/queries/op_matcher.rb +8 -0
  363. data/lib/roby/queries/or_matcher.rb +30 -0
  364. data/lib/roby/queries/plan_object_matcher.rb +363 -0
  365. data/lib/roby/queries/query.rb +188 -0
  366. data/lib/roby/queries/task_event_generator_matcher.rb +86 -0
  367. data/lib/roby/queries/task_matcher.rb +344 -0
  368. data/lib/roby/relations.rb +42 -678
  369. data/lib/roby/relations/bidirectional_directed_adjacency_graph.rb +492 -0
  370. data/lib/roby/relations/directed_relation_support.rb +268 -0
  371. data/lib/roby/relations/event_relation_graph.rb +19 -0
  372. data/lib/roby/relations/fork_merge_visitor.rb +154 -0
  373. data/lib/roby/relations/graph.rb +533 -0
  374. data/lib/roby/relations/models/directed_relation_support.rb +11 -0
  375. data/lib/roby/relations/models/graph.rb +75 -0
  376. data/lib/roby/relations/models/task_relation_graph.rb +18 -0
  377. data/lib/roby/relations/space.rb +380 -0
  378. data/lib/roby/relations/task_relation_graph.rb +20 -0
  379. data/lib/roby/robot.rb +85 -38
  380. data/lib/roby/schedulers/basic.rb +155 -25
  381. data/lib/roby/schedulers/null.rb +20 -0
  382. data/lib/roby/schedulers/reporting.rb +31 -0
  383. data/lib/roby/schedulers/state.rb +129 -0
  384. data/lib/roby/schedulers/temporal.rb +91 -0
  385. data/lib/roby/singletons.rb +87 -0
  386. data/lib/roby/standalone.rb +4 -2
  387. data/lib/roby/standard_errors.rb +405 -82
  388. data/lib/roby/state.rb +6 -3
  389. data/lib/roby/state/conf_model.rb +5 -0
  390. data/lib/roby/state/events.rb +181 -95
  391. data/lib/roby/state/goal_model.rb +77 -0
  392. data/lib/roby/state/open_struct.rb +591 -0
  393. data/lib/roby/state/open_struct_model.rb +68 -0
  394. data/lib/roby/state/pos.rb +45 -45
  395. data/lib/roby/state/shapes.rb +11 -11
  396. data/lib/roby/state/state_model.rb +303 -0
  397. data/lib/roby/state/task.rb +43 -0
  398. data/lib/roby/support.rb +88 -148
  399. data/lib/roby/task.rb +1361 -1750
  400. data/lib/roby/task_arguments.rb +428 -0
  401. data/lib/roby/task_event.rb +127 -0
  402. data/lib/roby/task_event_generator.rb +337 -0
  403. data/lib/roby/task_service.rb +6 -0
  404. data/lib/roby/task_structure/conflicts.rb +104 -0
  405. data/lib/roby/task_structure/dependency.rb +932 -0
  406. data/lib/roby/task_structure/error_handling.rb +118 -0
  407. data/lib/roby/task_structure/executed_by.rb +234 -0
  408. data/lib/roby/task_structure/planned_by.rb +90 -0
  409. data/lib/roby/tasks/aggregator.rb +37 -0
  410. data/lib/roby/tasks/external_process.rb +275 -0
  411. data/lib/roby/tasks/group.rb +27 -0
  412. data/lib/roby/tasks/null.rb +19 -0
  413. data/lib/roby/tasks/parallel.rb +43 -0
  414. data/lib/roby/tasks/sequence.rb +88 -0
  415. data/lib/roby/tasks/simple.rb +21 -0
  416. data/lib/roby/{thread_task.rb → tasks/thread.rb} +50 -24
  417. data/lib/roby/tasks/timeout.rb +17 -0
  418. data/lib/roby/tasks/virtual.rb +55 -0
  419. data/lib/roby/template_plan.rb +7 -0
  420. data/lib/roby/test/aruba_minitest.rb +74 -0
  421. data/lib/roby/test/assertion.rb +16 -0
  422. data/lib/roby/test/assertions.rb +490 -0
  423. data/lib/roby/test/common.rb +368 -591
  424. data/lib/roby/test/dsl.rb +149 -0
  425. data/lib/roby/test/error.rb +18 -0
  426. data/lib/roby/test/event_reporter.rb +83 -0
  427. data/lib/roby/test/execution_expectations.rb +1134 -0
  428. data/lib/roby/test/expect_execution.rb +151 -0
  429. data/lib/roby/test/minitest_helpers.rb +166 -0
  430. data/lib/roby/test/roby_app_helpers.rb +200 -0
  431. data/lib/roby/test/run_planners.rb +155 -0
  432. data/lib/roby/test/self.rb +112 -0
  433. data/lib/roby/test/spec.rb +198 -0
  434. data/lib/roby/test/tasks/empty_task.rb +4 -4
  435. data/lib/roby/test/tasks/goto.rb +28 -27
  436. data/lib/roby/test/teardown_plans.rb +100 -0
  437. data/lib/roby/test/testcase.rb +239 -307
  438. data/lib/roby/test/tools.rb +159 -155
  439. data/lib/roby/test/validate_state_machine.rb +75 -0
  440. data/lib/roby/transaction.rb +1125 -0
  441. data/lib/roby/transaction/event_generator_proxy.rb +63 -0
  442. data/lib/roby/transaction/plan_object_proxy.rb +99 -0
  443. data/lib/roby/transaction/plan_service_proxy.rb +43 -0
  444. data/lib/roby/transaction/proxying.rb +120 -0
  445. data/lib/roby/transaction/task_event_generator_proxy.rb +19 -0
  446. data/lib/roby/transaction/task_proxy.rb +135 -0
  447. data/lib/roby/until_generator.rb +30 -0
  448. data/lib/roby/version.rb +5 -0
  449. data/lib/roby/yard.rb +169 -0
  450. data/lib/yard-roby.rb +1 -0
  451. data/manifest.xml +32 -6
  452. data/roby.gemspec +59 -0
  453. metadata +788 -587
  454. data/Manifest.txt +0 -321
  455. data/NOTES +0 -4
  456. data/README.txt +0 -166
  457. data/TODO.txt +0 -146
  458. data/app/README.txt +0 -24
  459. data/app/Rakefile +0 -8
  460. data/app/config/ROBOT.rb +0 -5
  461. data/app/config/init.rb +0 -33
  462. data/app/config/roby.yml +0 -3
  463. data/app/controllers/ROBOT.rb +0 -2
  464. data/app/planners/ROBOT/main.rb +0 -6
  465. data/app/planners/main.rb +0 -5
  466. data/app/scripts/distributed +0 -3
  467. data/app/scripts/generate/bookmarks +0 -3
  468. data/app/scripts/replay +0 -3
  469. data/app/scripts/results +0 -3
  470. data/app/scripts/run +0 -3
  471. data/app/scripts/server +0 -3
  472. data/app/scripts/shell +0 -3
  473. data/app/scripts/test +0 -3
  474. data/app/tasks/.gitattributes +0 -0
  475. data/app/tasks/ROBOT/.gitattributes +0 -0
  476. data/bin/roby-shell +0 -25
  477. data/doc/guide/src/basics/app.page +0 -139
  478. data/doc/guide/src/basics/index.page +0 -11
  479. data/doc/guide/src/basics/log_replay/goForward_1.png +0 -0
  480. data/doc/guide/src/basics/log_replay/goForward_2.png +0 -0
  481. data/doc/guide/src/basics/log_replay/goForward_3.png +0 -0
  482. data/doc/guide/src/basics/log_replay/goForward_5.png +0 -0
  483. data/doc/guide/src/basics/log_replay/plan_repair_4.png +0 -0
  484. data/doc/guide/src/basics/log_replay/roby_log_main_window.png +0 -0
  485. data/doc/guide/src/basics/relations_display.page +0 -203
  486. data/doc/guide/src/basics/shell.page +0 -102
  487. data/doc/guide/src/default.css +0 -319
  488. data/doc/guide/src/introduction/index.page +0 -29
  489. data/doc/guide/src/introduction/publications.page +0 -14
  490. data/doc/guide/src/relations/dependency.page +0 -89
  491. data/doc/guide/src/relations/index.page +0 -12
  492. data/ext/droby/dump.cc +0 -175
  493. data/ext/droby/extconf.rb +0 -3
  494. data/ext/graph/algorithm.cc +0 -746
  495. data/ext/graph/extconf.rb +0 -7
  496. data/ext/graph/graph.cc +0 -575
  497. data/ext/graph/graph.hh +0 -183
  498. data/ext/graph/iterator_sequence.hh +0 -102
  499. data/ext/graph/undirected_dfs.hh +0 -226
  500. data/ext/graph/undirected_graph.hh +0 -421
  501. data/lib/roby/app/scripts/generate/bookmarks.rb +0 -162
  502. data/lib/roby/app/scripts/replay.rb +0 -31
  503. data/lib/roby/app/scripts/server.rb +0 -18
  504. data/lib/roby/basic_object.rb +0 -151
  505. data/lib/roby/config.rb +0 -14
  506. data/lib/roby/distributed.rb +0 -36
  507. data/lib/roby/distributed/base.rb +0 -448
  508. data/lib/roby/distributed/communication.rb +0 -875
  509. data/lib/roby/distributed/connection_space.rb +0 -616
  510. data/lib/roby/distributed/distributed_object.rb +0 -206
  511. data/lib/roby/distributed/drb.rb +0 -62
  512. data/lib/roby/distributed/notifications.rb +0 -531
  513. data/lib/roby/distributed/peer.rb +0 -555
  514. data/lib/roby/distributed/protocol.rb +0 -529
  515. data/lib/roby/distributed/proxy.rb +0 -343
  516. data/lib/roby/distributed/subscription.rb +0 -311
  517. data/lib/roby/distributed/transaction.rb +0 -498
  518. data/lib/roby/external_process_task.rb +0 -225
  519. data/lib/roby/graph.rb +0 -160
  520. data/lib/roby/log.rb +0 -3
  521. data/lib/roby/log/chronicle.rb +0 -303
  522. data/lib/roby/log/console.rb +0 -74
  523. data/lib/roby/log/data_stream.rb +0 -275
  524. data/lib/roby/log/dot.rb +0 -279
  525. data/lib/roby/log/event_stream.rb +0 -161
  526. data/lib/roby/log/file.rb +0 -396
  527. data/lib/roby/log/gui/basic_display.ui +0 -83
  528. data/lib/roby/log/gui/basic_display_ui.rb +0 -89
  529. data/lib/roby/log/gui/chronicle.rb +0 -26
  530. data/lib/roby/log/gui/chronicle_view.rb +0 -40
  531. data/lib/roby/log/gui/chronicle_view.ui +0 -70
  532. data/lib/roby/log/gui/chronicle_view_ui.rb +0 -90
  533. data/lib/roby/log/gui/data_displays.rb +0 -171
  534. data/lib/roby/log/gui/data_displays.ui +0 -155
  535. data/lib/roby/log/gui/data_displays_ui.rb +0 -146
  536. data/lib/roby/log/gui/notifications.rb +0 -26
  537. data/lib/roby/log/gui/relations.rb +0 -269
  538. data/lib/roby/log/gui/relations.ui +0 -123
  539. data/lib/roby/log/gui/relations_ui.rb +0 -120
  540. data/lib/roby/log/gui/relations_view.rb +0 -185
  541. data/lib/roby/log/gui/relations_view.ui +0 -149
  542. data/lib/roby/log/gui/relations_view_ui.rb +0 -144
  543. data/lib/roby/log/gui/replay.rb +0 -366
  544. data/lib/roby/log/gui/replay_controls.rb +0 -206
  545. data/lib/roby/log/gui/replay_controls.ui +0 -282
  546. data/lib/roby/log/gui/replay_controls_ui.rb +0 -249
  547. data/lib/roby/log/gui/runtime.rb +0 -130
  548. data/lib/roby/log/hooks.rb +0 -186
  549. data/lib/roby/log/logger.rb +0 -203
  550. data/lib/roby/log/notifications.rb +0 -244
  551. data/lib/roby/log/plan_rebuilder.rb +0 -468
  552. data/lib/roby/log/relations.rb +0 -1084
  553. data/lib/roby/log/server.rb +0 -547
  554. data/lib/roby/log/sqlite.rb +0 -47
  555. data/lib/roby/log/timings.rb +0 -233
  556. data/lib/roby/plan-object.rb +0 -371
  557. data/lib/roby/planning.rb +0 -13
  558. data/lib/roby/planning/loops.rb +0 -309
  559. data/lib/roby/planning/model.rb +0 -1012
  560. data/lib/roby/planning/task.rb +0 -180
  561. data/lib/roby/query.rb +0 -655
  562. data/lib/roby/relations/conflicts.rb +0 -67
  563. data/lib/roby/relations/dependency.rb +0 -358
  564. data/lib/roby/relations/ensured.rb +0 -19
  565. data/lib/roby/relations/error_handling.rb +0 -22
  566. data/lib/roby/relations/events.rb +0 -7
  567. data/lib/roby/relations/executed_by.rb +0 -208
  568. data/lib/roby/relations/influence.rb +0 -10
  569. data/lib/roby/relations/planned_by.rb +0 -63
  570. data/lib/roby/state/information.rb +0 -55
  571. data/lib/roby/state/state.rb +0 -367
  572. data/lib/roby/task-operations.rb +0 -186
  573. data/lib/roby/task_index.rb +0 -80
  574. data/lib/roby/test/distributed.rb +0 -230
  575. data/lib/roby/test/tasks/simple_task.rb +0 -23
  576. data/lib/roby/transactions.rb +0 -507
  577. data/lib/roby/transactions/proxy.rb +0 -325
  578. data/plugins/fault_injection/History.txt +0 -4
  579. data/plugins/fault_injection/README.txt +0 -34
  580. data/plugins/fault_injection/Rakefile +0 -12
  581. data/plugins/fault_injection/TODO.txt +0 -0
  582. data/plugins/fault_injection/app.rb +0 -52
  583. data/plugins/fault_injection/fault_injection.rb +0 -89
  584. data/plugins/fault_injection/test/test_fault_injection.rb +0 -78
  585. data/plugins/subsystems/README.txt +0 -37
  586. data/plugins/subsystems/Rakefile +0 -13
  587. data/plugins/subsystems/app.rb +0 -182
  588. data/plugins/subsystems/test/app/README +0 -24
  589. data/plugins/subsystems/test/app/Rakefile +0 -8
  590. data/plugins/subsystems/test/app/config/app.yml +0 -71
  591. data/plugins/subsystems/test/app/config/init.rb +0 -12
  592. data/plugins/subsystems/test/app/config/roby.yml +0 -3
  593. data/plugins/subsystems/test/app/planners/main.rb +0 -20
  594. data/plugins/subsystems/test/app/scripts/distributed +0 -3
  595. data/plugins/subsystems/test/app/scripts/replay +0 -3
  596. data/plugins/subsystems/test/app/scripts/results +0 -3
  597. data/plugins/subsystems/test/app/scripts/run +0 -3
  598. data/plugins/subsystems/test/app/scripts/server +0 -3
  599. data/plugins/subsystems/test/app/scripts/shell +0 -3
  600. data/plugins/subsystems/test/app/scripts/test +0 -3
  601. data/plugins/subsystems/test/app/tasks/services.rb +0 -15
  602. data/plugins/subsystems/test/test_subsystems.rb +0 -78
  603. data/test/distributed/test_communication.rb +0 -195
  604. data/test/distributed/test_connection.rb +0 -284
  605. data/test/distributed/test_execution.rb +0 -378
  606. data/test/distributed/test_mixed_plan.rb +0 -341
  607. data/test/distributed/test_plan_notifications.rb +0 -238
  608. data/test/distributed/test_protocol.rb +0 -525
  609. data/test/distributed/test_query.rb +0 -106
  610. data/test/distributed/test_remote_plan.rb +0 -491
  611. data/test/distributed/test_transaction.rb +0 -466
  612. data/test/mockups/external_process +0 -28
  613. data/test/mockups/tasks.rb +0 -27
  614. data/test/planning/test_loops.rb +0 -432
  615. data/test/planning/test_model.rb +0 -427
  616. data/test/planning/test_task.rb +0 -126
  617. data/test/relations/test_conflicts.rb +0 -42
  618. data/test/relations/test_dependency.rb +0 -324
  619. data/test/relations/test_ensured.rb +0 -38
  620. data/test/relations/test_executed_by.rb +0 -224
  621. data/test/relations/test_planned_by.rb +0 -56
  622. data/test/suite_core.rb +0 -29
  623. data/test/suite_distributed.rb +0 -10
  624. data/test/suite_planning.rb +0 -4
  625. data/test/suite_relations.rb +0 -8
  626. data/test/tasks/test_external_process.rb +0 -126
  627. data/test/tasks/test_thread_task.rb +0 -70
  628. data/test/test_bgl.rb +0 -528
  629. data/test/test_event.rb +0 -969
  630. data/test/test_exceptions.rb +0 -591
  631. data/test/test_execution_engine.rb +0 -987
  632. data/test/test_gui.rb +0 -20
  633. data/test/test_interface.rb +0 -43
  634. data/test/test_log.rb +0 -125
  635. data/test/test_log_server.rb +0 -133
  636. data/test/test_plan.rb +0 -418
  637. data/test/test_query.rb +0 -424
  638. data/test/test_relations.rb +0 -260
  639. data/test/test_state.rb +0 -432
  640. data/test/test_support.rb +0 -16
  641. data/test/test_task.rb +0 -1181
  642. data/test/test_testcase.rb +0 -138
  643. data/test/test_transactions.rb +0 -610
  644. data/test/test_transactions_proxy.rb +0 -216
@@ -1,31 +0,0 @@
1
- require 'roby'
2
- require 'roby/log/gui/replay'
3
- app = Qt::Application.new(ARGV)
4
- main = Replay.setup(ARGV)
5
-
6
- if ARGV.empty?
7
- Roby.app.setup
8
-
9
- streams = Roby.app.data_streams(Roby.app.log_dir)
10
- streams.each do |stream|
11
- stream.open
12
- main.add_stream(stream)
13
- end
14
- else
15
- ARGV.each do |file|
16
- if streams = Roby.app.data_source([file])
17
- streams.each { |s| s.open }
18
- main.add_stream(streams)
19
- else
20
- STDERR.puts "WARN: unknown file type #{file}"
21
- end
22
- end
23
- end
24
-
25
- begin
26
- main.show
27
- app.exec
28
- rescue
29
- STDERR.puts $!.full_message
30
- end
31
-
@@ -1,18 +0,0 @@
1
- require 'roby/log/server'
2
-
3
- app = Roby.app
4
- app.setup
5
- DRb.start_service "druby://:0"
6
-
7
- begin
8
- app.start_server
9
-
10
- Roby::Log::Server.info "ready"
11
- sleep
12
- rescue Interrupt
13
- ensure
14
- Roby::Log::Server.info "quitting"
15
- app.stop_server
16
- end
17
- Roby::Log::Server.info "quit"
18
-
@@ -1,151 +0,0 @@
1
- module Roby
2
- class BasicObject
3
- include DRbUndumped
4
-
5
- def initialize_copy(old) # :nodoc:
6
- super
7
-
8
- @remote_siblings = Hash[Distributed, Roby::Distributed::RemoteID.from_object(self)]
9
- end
10
-
11
- # The set of Peer objects which own this object
12
- attribute(:owners) { [Distributed] }
13
- # True if we own this object
14
- def self_owned?; owners.include?(Distributed) end
15
-
16
- # Attribute which overrides the #distribute attribute on object classes
17
- attr_writer :distribute
18
- # True if this object can be seen by remote hosts
19
- def distribute?
20
- @distribute || (@distribute.nil? && self.class.distribute?)
21
- end
22
-
23
- # True if instances of this class should be seen by remote hosts
24
- def self.distribute?; !(@distribute == false) end
25
- # Call to make the object of this class never seen by remote hosts
26
- def self.local_only; @distribute = false end
27
-
28
- def finalized?; !remote_siblings[Distributed] end
29
-
30
- # The peer => remote_object hash of known siblings for this peer: if
31
- # there is a representation of this object on a peer, then
32
- # +remote_siblings+ includes it
33
- attribute(:remote_siblings) { Hash[Distributed, remote_id] }
34
-
35
- # True if we know about a sibling on +peer+
36
- def has_sibling_on?(peer)
37
- peer == Roby::Distributed || remote_siblings.include?(peer)
38
- end
39
-
40
- # Returns the object representation of +self+ on +peer+. The returned
41
- # value is either a remote sibling (the DRbObject of the representation
42
- # of +self+ on +peer+), or self if peer is Roby::Distributed
43
- def sibling_on(peer)
44
- if sibling = remote_siblings[peer] then sibling
45
- elsif Roby::Distributed == peer then self
46
- else
47
- raise RemotePeerMismatch, "#{self} has no known sibling on #{peer}"
48
- end
49
- end
50
-
51
- # Sets +remote_object+ as the remote siblings for +self+ on +peer+, and
52
- # notifies peer that +self+ is the remote siblings for +remote_object+
53
- def sibling_of(remote_object, peer)
54
- if !distribute?
55
- raise ArgumentError, "#{self} is local only"
56
- end
57
-
58
- add_sibling_for(peer, remote_object)
59
- peer.transmit(:added_sibling, remote_object, remote_id)
60
- end
61
-
62
- # Called when all links to +peer+ should be removed.
63
- def forget_peer(peer)
64
- if remote_object = remove_sibling_for(peer)
65
- peer.removing_proxies[remote_object] << droby_dump(nil)
66
-
67
- if peer.connected?
68
- peer.transmit(:removed_sibling, remote_object, self.remote_id) do
69
- set = peer.removing_proxies[remote_object]
70
- set.shift
71
- if set.empty?
72
- peer.removing_proxies.delete(remote_object)
73
- end
74
- yield if block_given?
75
- end
76
- else
77
- peer.removing_proxies.delete(remote_object)
78
- end
79
- end
80
- end
81
-
82
- # Registers +remote_object+ as the sibling of +self+ on +peer+. Unlike
83
- # #sibling_of, do not notify the peer about it.
84
- def add_sibling_for(peer, remote_object)
85
- if old_sibling = remote_siblings[peer]
86
- if old_sibling != remote_object
87
- raise ArgumentError, "#{self} has already a sibling for #{peer} (#{old_sibling}) #{remote_siblings}"
88
- else
89
- # This is OK. The same sibling information can come from
90
- # different sources. We only check for inconsistencies
91
- return
92
- end
93
- end
94
-
95
- remote_siblings[peer] = remote_object
96
- peer.proxies[remote_object] = self
97
- Roby::Distributed.debug "added sibling #{remote_object.inspect} for #{self} on #{peer} (#{remote_siblings})"
98
- end
99
-
100
- # Remove references about the sibling registered for +peer+ and returns it
101
- def remove_sibling_for(peer, id = nil)
102
- if id && remote_siblings[peer] != id
103
- return
104
- end
105
-
106
- if remote_object = remote_siblings.delete(peer)
107
- peer.proxies.delete(remote_object)
108
- peer.subscriptions.delete(remote_object)
109
- Roby::Distributed.debug "removed sibling #{remote_object.inspect} for #{self} on #{peer}"
110
- remote_object
111
- end
112
- end
113
-
114
- # True if we explicitely want this object to be updated by our peers
115
- def subscribed?; owners.any? { |peer| peer.subscribed?(self) if peer != Distributed } end
116
-
117
- # Subscribe to this object on all the peers which own it.
118
- #
119
- # This is a blocking operation, and cannot be used in the control
120
- # thread.
121
- def subscribe
122
- if !self_owned? && !subscribed?
123
- owners.each do |peer|
124
- peer.subscribe(self) unless peer.subcribed?(self)
125
- end
126
- end
127
- end
128
-
129
- # True if this object is maintained up-to-date
130
- def updated?; self_owned? || owners.any?(&remote_siblings.method(:[])) end
131
- # True if +peer+ will send us updates about this object
132
- def updated_by?(peer); self_owned? || (remote_siblings[peer] && peer.owns?(self)) end
133
- # True if we shall send updates for this object on +peer+
134
- def update_on?(peer); (self_owned? || peer.owns?(self)) && remote_siblings[peer] end
135
- # The set of peers that will get updates of this object
136
- def updated_peers
137
- peers = remote_siblings.keys
138
- peers.delete(Distributed)
139
- peers
140
- end
141
-
142
- # True if this object is useful for our peers
143
- def remotely_useful?; self_owned? && remote_siblings.size > 1 end
144
-
145
- # True if this object can be modified in the current context
146
- def read_write?
147
- owners.include?(Distributed) || Distributed.updating?(self)
148
- end
149
- end
150
- end
151
-
@@ -1,14 +0,0 @@
1
- if RUBY_VERSION >= "1.9"
2
- STDERR.puts <<-EOB
3
- The stable version of Roby is not compatible with 1.9. If you really want to
4
- try it on 1.9, checkout the 1.9 branch of the development repository on github
5
- (see README.txt for URLs)
6
- EOB
7
- exit(1)
8
- end
9
-
10
- module Roby
11
- VERSION = '0.8.0'
12
- ROBY_LIB_DIR = File.expand_path( File.join(File.dirname(__FILE__), '..') )
13
- ROBY_ROOT_DIR = File.expand_path( File.join(ROBY_LIB_DIR, '..') )
14
- end
@@ -1,36 +0,0 @@
1
- require 'roby'
2
- require 'stringio'
3
- require 'roby/planning'
4
- require 'roby_marshalling'
5
- require 'roby/distributed/drb'
6
- require 'roby/distributed/protocol'
7
- require 'roby/distributed/base'
8
-
9
- require 'roby/distributed/proxy'
10
- require 'roby/distributed/connection_space'
11
- require 'roby/distributed/notifications'
12
- require 'roby/distributed/peer'
13
- require 'roby/distributed/transaction'
14
-
15
- # == Communication protocol (and code namespace structure)
16
- # == Getting remote objects
17
- # There is actually two ways to get a remote object
18
- # * the object has been explicitely subscribed to by calling Peer#subscribe
19
- # * the object has been sent to us because it is linked to an object we own
20
- # or an object we are subscribed to
21
- #
22
- # In the first case, the object must be referenced in the first place. It can
23
- # have been sent to us as a query result (see Query), or because it has been
24
- # involved in a distributed transaction. In the second case, it is either us
25
- # which have added the relation, or the remote peer. If it is us, we should
26
- # have subscribed to the object, added the relation, and then we may
27
- # unsubscribe to the object.
28
- #
29
- # We forget about a remote object when Plan#garbage_collect removes it.
30
- #
31
- # == Subscription management
32
- # The pDB gets updated about all objects it is subscribed to.
33
- module Roby::Distributed
34
- end
35
-
36
-
@@ -1,448 +0,0 @@
1
- require 'drb'
2
-
3
- # A thread-safe reference-counting class
4
- class RefCounting
5
- def initialize
6
- @values = Hash.new(0)
7
- @mutex = Mutex.new
8
- end
9
-
10
- # True if +obj+ is referenced
11
- def ref?(obj); @mutex.synchronize { @values[obj] > 0 } end
12
- # Dereference +obj+ by one
13
- def deref(obj)
14
- @mutex.synchronize do
15
- if (@values[obj] -= 1) == 0
16
- @values.delete(obj)
17
- return true
18
- end
19
- end
20
- false
21
- end
22
- # Add +1 to the reference count of +obj+
23
- def ref(obj)
24
- @mutex.synchronize do
25
- @values[obj] += 1
26
- end
27
- end
28
- # Returns the set of referenced objects
29
- def referenced_objects
30
- @mutex.synchronize do
31
- @values.keys
32
- end
33
- end
34
- # Remove +object+ from the set of referenced objects, regardless of its
35
- # reference count
36
- def delete(object)
37
- @mutex.synchronize do
38
- @values.delete(object)
39
- end
40
- end
41
- end
42
-
43
- class Object
44
- def initialize_copy(old) # :nodoc:
45
- super
46
- @__droby_remote_id__ = nil
47
- end
48
-
49
- # The Roby::Distributed::RemoteID for this object
50
- def remote_id
51
- @__droby_remote_id__ ||= Roby::Distributed::RemoteID.from_object(self)
52
- end
53
- end
54
-
55
- class DRbObject
56
- # We don't want this method to call the remote object.
57
- def to_s
58
- inspect
59
- end
60
- # Converts this DRbObject into Roby::Distributed::RemoteID
61
- def remote_id
62
- @__droby_remote_id__ ||= Roby::Distributed::RemoteID.new(__drburi, __drbref)
63
- end
64
- end
65
-
66
- module Roby
67
- module Distributed
68
- DISCOVERY_RING_PORT = 48901
69
- DEFAULT_DROBY_PORT = 48902
70
-
71
- class InvalidRemoteOperation < RuntimeError; end
72
-
73
- class InvalidRemoteTaskOperation < InvalidRemoteOperation
74
- attr_reader :task
75
- def initialize(task); @task = task end
76
- end
77
-
78
- extend Logger::Hierarchy
79
- extend Logger::Forward
80
-
81
- # RemoteID objects are used in dRoby to reference objects on other
82
- # peers. It uses the same mechanisms that DRbObject but is not
83
- # converted back into a local object automatically, and does not allow
84
- # to call remote methods on a remote object.
85
- class RemoteID
86
- # The URI of the DRb server
87
- attr_reader :uri
88
- # The reference ID of the object on the DRb server
89
- attr_reader :ref
90
-
91
- # Creates a new RemoteID with the given URI and ID
92
- def initialize(uri, ref)
93
- @uri, @ref = uri, ref.to_int
94
- @hash = [uri, ref].hash
95
- end
96
-
97
- def _dump(lvl) # :nodoc:
98
- @__droby_marshalled__ ||= Marshal.dump([uri, ref])
99
- end
100
- def self._load(str) # :nodoc:
101
- new(*Marshal.load(str))
102
- end
103
-
104
- def ==(other) # :nodoc:
105
- other.kind_of?(RemoteID) && other.ref == ref && other.uri == uri
106
- end
107
- alias :eql? :==
108
- attr_reader :hash
109
-
110
- # True if this object references a local object
111
- def local?; DRb.here?(uri) end
112
- # If this ID references a local object, returns it. Otherwise, returns self.
113
- def local_object
114
- if DRb.here?(uri)
115
- DRb.to_obj(ref)
116
- else
117
- self
118
- end
119
- end
120
-
121
- def to_s(peer = nil)
122
- if peer
123
- "0x#{Object.address_from_id(ref).to_s(16)}@#{peer.name}"
124
- else
125
- "0x#{Object.address_from_id(ref).to_s(16)}@#{uri}"
126
- end
127
- end
128
- def inspect; to_s end
129
- def pretty_print(pp); pp.text to_s end
130
-
131
- def to_local(peer, create)
132
- object = local_object
133
- if object.kind_of?(RemoteID)
134
- if local_proxy = peer.proxies[object]
135
- return peer.proxy_setup(local_proxy)
136
- elsif !create
137
- return
138
- elsif peer.removing_proxies.has_key?(object)
139
- marshalled_object = peer.removing_proxies[object].last
140
- Distributed.debug "reusing marshalled #{marshalled_object} for #{self} from #{peer}"
141
- marshalled_object.remote_siblings.delete(Distributed.droby_dump)
142
- marshalled_object.remote_siblings[peer.droby_dump] = self
143
-
144
- if marshalled_object.respond_to?(:plan) && !marshalled_object.plan
145
- # Take care of the "proxy is GCed while the peer
146
- # sends us messages about it" case. In this case,
147
- # the object has already been removed when it is
148
- # marshalled (#plan == nil).
149
- #
150
- # This cannot happen in transactions: it only happens
151
- # in plans where one side can remove an object while
152
- # the other side is doing something on it
153
- marshalled_object.instance_variable_set(:@plan, Roby.plan)
154
- end
155
-
156
- object = peer.local_object(marshalled_object)
157
-
158
- if object.respond_to?(:plan) && !object.plan
159
- raise "#{object} has no plan !"
160
- end
161
-
162
- return object
163
- end
164
- raise ArgumentError, "#{self} has no proxy"
165
- else
166
- object
167
- end
168
- end
169
-
170
- private :remote_id
171
-
172
- # Returns the RemoteID object for +obj+. This is actually
173
- # equivalent to obj.remote_id
174
- def self.from_object(obj)
175
- Roby::Distributed::RemoteID.new(DRb.current_server.uri, DRb.to_id(obj) || 0)
176
- end
177
-
178
- # Creates a DRbObject corresponding to the object referenced by this RemoteID
179
- def to_drb_object
180
- DRbObject.new_with(uri, (ref == 0 ? nil : ref))
181
- end
182
- end
183
-
184
- @updated_objects = ValueSet.new
185
- @allowed_remote_access = Array.new
186
- @keep = RefCounting.new
187
- @removed_objects = ValueSet.new
188
- class << self
189
- # The one and only ConnectionSpace object
190
- attr_reader :state
191
-
192
- # Sets the #state attribute for Roby::Distributed
193
- def state=(new_state)
194
- if log = logger
195
- if new_state
196
- logger.progname = new_state.name
197
- else
198
- logger.progname = "Roby"
199
- end
200
- end
201
-
202
- if !Roby.plan
203
- Roby.instance_variable_set :@plan, new_state.plan
204
- Roby.instance_variable_set :@engine, new_state.plan.engine
205
- elsif new_state && Roby.plan != new_state.plan
206
- raise ArgumentError, "plan mismatch between Roby.plan(#{plan}) and new_state.plan(#{new_state.plan}). Cannot set Distributed.state"
207
- end
208
-
209
- @state = new_state
210
- end
211
-
212
- # True if this plan manager owns +object+
213
- def owns?(object); !state || state.owns?(object) end
214
-
215
- # The set of objects we should temporarily keep because they are used
216
- # in a callback mechanism (like a remote query or a trigger)
217
- attr_reader :keep
218
-
219
- # Compute the subset of +candidates+ that are to be considered as
220
- # useful because of our peers and returns it.
221
- #
222
- # More specifically, an object will be included in the result if:
223
- # * this plan manager is subscribed to it
224
- # * the object is directly related to a self-owned object
225
- # * if +include_subscriptions_relations+ is true, +object+ is
226
- # directly related to a subscribed object.
227
- #
228
- # The method takes into account plan children in its computation:
229
- # for instance, a task will be included in the result if one of
230
- # its events meet the requirements described above.
231
- #
232
- # If +result+ is non-nil, the method adds the objects to +result+
233
- # using #<< and returns it.
234
- def remotely_useful_objects(candidates, include_subscriptions_relations, result = nil)
235
- return ValueSet.new if candidates.empty?
236
-
237
- result ||= Distributed.keep.referenced_objects.to_value_set
238
-
239
- child_set = ValueSet.new
240
- for obj in candidates
241
- if result.include?(obj.root_object)
242
- next
243
- elsif obj.subscribed?
244
- result << obj
245
- next
246
- end
247
-
248
- not_found = obj.each_relation do |rel|
249
- next unless rel.distribute? && rel.root_relation?
250
-
251
- not_found = obj.each_parent_object(rel) do |parent|
252
- parent = parent.root_object
253
- if parent.distribute? &&
254
- ((include_subscriptions_relations && parent.subscribed?) || parent.self_owned?)
255
- result << obj.root_object
256
- break
257
- end
258
- end
259
- break unless not_found
260
-
261
- not_found = obj.each_child_object(rel) do |child|
262
- child = child.root_object
263
- if child.distribute? &&
264
- ((include_subscriptions_relations && child.subscribed?) || child.self_owned?)
265
- result << obj.root_object
266
- break
267
- end
268
- end
269
- break unless not_found
270
- end
271
-
272
- if not_found && obj.respond_to?(:each_plan_child)
273
- obj.each_plan_child { |plan_child| child_set << plan_child }
274
- end
275
- end
276
-
277
- result.merge remotely_useful_objects(child_set, false, result)
278
- end
279
-
280
- # The list of objects that are being updated because of remote update
281
- attr_reader :updated_objects
282
-
283
- # True if we are updating +object+
284
- def updating?(object)
285
- updated_objects.include?(object)
286
- end
287
-
288
- # True if we are updating all objects in +objects+
289
- def updating_all?(objects)
290
- updated_objects.include_all?(objects.to_value_set)
291
- end
292
-
293
- # Call the block with the objects in +objects+ added to the
294
- # updated_objects set
295
- def update_all(objects)
296
- old_updated_objects = @updated_objects
297
- @updated_objects |= objects.to_value_set
298
- yield
299
- ensure
300
- @updated_objects = old_updated_objects
301
- end
302
-
303
- # Call the block with the objects in +objects+ added to the
304
- # updated_objects set
305
- def update(object)
306
- if object.respond_to?(:__getobj__) && !object.kind_of?(Roby::Transactions::Proxy)
307
- object = object.__getobj__
308
- end
309
-
310
- included = unless updated_objects.include?(object)
311
- @updated_objects << object
312
- end
313
-
314
- yield
315
- ensure
316
- @updated_objects.delete(object) if included
317
- end
318
-
319
- # Yields the relations of +object+ which are to be distributed
320
- # among peers.
321
- def each_object_relation(object)
322
- object.each_relation do |rel|
323
- yield(rel) if rel.distribute?
324
- end
325
- end
326
-
327
- # The list of known peers. See ConnectionSpace#peers
328
- def peers
329
- if state then state.peers
330
- else {}
331
- end
332
- end
333
-
334
- # The set of objects that have been removed locally, but for which
335
- # there are still references on our peers
336
- attr_reader :removed_objects
337
- end
338
-
339
- @cycles_rx = Queue.new
340
- @pending_cycles = Array.new
341
- @pending_remote_events = Array.new
342
-
343
- class << self
344
- # The queue of cycles read by ConnectionSpace#receive and not processed
345
- attr_reader :cycles_rx
346
- # The set of cycles that have been read from #pending_cycles but
347
- # have not been processed yet because the peers have disabled_rx? set
348
- #
349
- # This variable must be accessed only in the control thread
350
- attr_reader :pending_cycles
351
- end
352
-
353
- # Extract data received so far from our peers and replays it if
354
- # possible. Data can be ignored if RX is disabled with this peer
355
- # (through Peer#disable_rx), or delayed if there is event propagation
356
- # involved. In that last case, the events will be fired at the
357
- # beginning of the next execution cycle and the remaining messages at
358
- # the end of that same cycle.
359
- def self.process_pending
360
- delayed_cycles = []
361
- while !(pending_cycles.empty? && cycles_rx.empty?)
362
- peer, calls = if pending_cycles.empty?
363
- cycles_rx.pop
364
- else pending_cycles.shift
365
- end
366
-
367
- if peer.disabled_rx?
368
- delayed_cycles.push [peer, calls]
369
- else
370
- if remaining = process_cycle(peer, calls)
371
- delayed_cycles.push [peer, remaining]
372
- end
373
- end
374
- end
375
-
376
- ensure
377
- @pending_cycles = delayed_cycles
378
- end
379
-
380
- # Process once cycle worth of data from the given peer.
381
- def self.process_cycle(peer, calls)
382
- from = Time.now
383
- calls_size = calls.size
384
-
385
- peer_server = peer.local_server
386
- peer_server.processing = true
387
-
388
- if !peer.connected?
389
- return
390
- end
391
-
392
- while call_spec = calls.shift
393
- return unless call_spec
394
-
395
- is_callback, method, args, critical, message_id = *call_spec
396
- Distributed.debug do
397
- args_s = args.map { |obj| obj ? obj.to_s : 'nil' }
398
- "processing #{is_callback ? 'callback' : 'method'} [#{message_id}]#{method}(#{args_s.join(", ")})"
399
- end
400
-
401
- result = catch(:ignore_this_call) do
402
- peer_server.queued_completion = false
403
- peer_server.current_message_id = message_id
404
- peer_server.processing_callback = !!is_callback
405
-
406
- result = begin
407
- peer_server.send(method, *args)
408
- rescue Exception => e
409
- if critical
410
- peer.fatal_error e, method, args
411
- else
412
- peer_server.completed!(e, true)
413
- end
414
- end
415
-
416
- if !peer.connected?
417
- return
418
- end
419
- result
420
- end
421
-
422
- if method != :completed && method != :completion_group && !peer.disconnecting? && !peer.disconnected?
423
- if peer_server.queued_completion?
424
- Distributed.debug "done and already queued the completion message"
425
- else
426
- Distributed.debug { "done, returns #{result || 'nil'}" }
427
- peer.queue_call false, :completed, [result, false, message_id]
428
- end
429
- end
430
-
431
- if peer.disabled_rx?
432
- return calls
433
- end
434
-
435
- end
436
-
437
- Distributed.debug "successfully served #{calls_size} calls in #{Time.now - from} seconds"
438
- nil
439
-
440
- rescue Exception => e
441
- Distributed.info "error in dRoby processing: #{e.full_message}"
442
- peer.disconnect
443
-
444
- ensure
445
- peer_server.processing = false
446
- end
447
- end
448
- end