roby 0.8.0 → 3.0.0

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

@@ -0,0 +1,57 @@
+---
+title: Useful and useless tasks
+sort_info: 40
+---
+
+So far, we have seen that the plan is basically a bunch of tasks and events that
+are related to each other.
+
+What this page will detail is how Roby knows what is needed by the system and
+what is not. And what it does with the garbage ...
+
+Missions and permanent tasks
+----------------------------
+In any Roby plan, a certain, usually very limited, number of tasks are marked
+either as __missions__ or as __permanent__ tasks. The missions are the current
+robot's main activities (i.e. what it should do). The permanent tasks are the
+tasks that the system's controller wants to keep around, but which are not
+essential to its function. This marking is either done manually, or
+automatically by some of the Roby interfaces when the system is given a
+high-level command.
+
+Garbage collection
+------------------
+At the end of each execution cycle, Roby looks at all the tasks in the system's
+plan. Tasks that are __needed__ by a mission or a permanent tasks are left
+alone. Everything else is stopped automatically and 
+
+Roby determines what is "needed" and what is "not needed" by looking at the
+task relations. Unless specified otherwise in the relation declaration,
+relations all express a "needed by" relationship, i.e. the source of a relation
+edge needs the target of that edge to function properly.
+
+In other words, Roby follows all the relations, from the missions and permanent
+tasks, and marks all tasks it finds as "useful". Everything else is garbage
+collected.
+
+The stopping order is top-down, i.e. the toplevel tasks (that are not a child in
+one of the task relations) is stopped. Once that task is stopped, it is removed
+from the plan and the process continues until there is nothing to stop.
+
+In general, the garbage collection mechanism allows to manage only the
+high-level actions (i.e. the missions), leaving the rest of the tasks in the
+system to Roby.
+
+Conclusion
+----------
+What we have seen so far:
+
+ - the concept of reactors
+ - the structuration of tasks and events in plans
+ - how these plans get executed
+ - and how, in Roby, one can only manage the high-level mission tasks, leaving
+   the cleanup to automatic garbage collection handling
+
+The next step is to understand [how Roby represents and handles
+errors](error_handling.html)
+

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

@@ -0,0 +1,27 @@
+---
+title: Concepts
+sort_info: 0
+---
+
+What Roby is:
+
+ * it is an __event based__ description of a system or of a system of systems,
+   and its(their) execution. At the root of everything are events, that
+   represent single points in time, i.e. "things" that happen during execution.
+   Roby allows to structure the reaction to these events, i.e. what code should
+   be executed when event X is received.
+ * it is __single threaded__. Roby's design is based on the reactor pattern. In
+   other words, the Roby applications are structured in a receive_event =>
+   react_to_event loop, where the reactions should not block. Roby's programming
+   interface is the tool that makes this single threaded structure usable.
+ * it is __structured__. Unlike other implementations of the reactor patterns,
+   events are heavily structured, allowing to understand more easily what
+   is happening to the system and -- in the long run -- autonomously adapting
+   during execution.
+ * it is __plan based__. It is possible, inside Roby, to represent both what
+   happened to the system in the past, but also what will happen to it in the
+   future.
+ * it is an __integration framework__. For those that know those terms: Roby is
+   not a planner, but is a plan execution layer. It is not a component
+   framework, but allows to monitor those.
+

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

@@ -0,0 +1,101 @@
+---
+title: Plans
+sort_info: 20
+---
+
+Now that we have seen what the [reactor pattern](reactor.html) is about, we will
+dig a bit more into how things are managed inside Roby.
+
+The main issue with reactor frameworks in general is their inability to offer a
+high-level structure. Events are the only things that you deal with. This
+becomes tedious when errors happen, as tracking down what caused the errors are
+very hard. Since Roby is designed with the ability, in the long run, to have
+the systems _autonomously_ repair the errors, that's not acceptable.
+
+So, in contrast, Roby tries very hard to provide a structure to what happens to the
+system. This page will describe how this is done
+
+The root data structure is the __plan__. A plan is basically a collection of plan objects
+(events and tasks, see below) that are linked in different __relations__. Relations,
+in this context, are graphs that link two plan objects together, while adding some
+additional information to describe how they are related.
+
+Plan Objects
+------------
+The basic object is the __event__. Events are, obviously, a representation of
+what happens to the system. As we will see later, it is also a way to represent
+which commands can be sent to it.
+
+Events are usually (but not necessarily) grouped in **tasks**. While events are
+single-shot, i.e. represent one thing that happened to the system, tasks
+represent what the system (or other systems) do in the long run. For instance,
+one could represent the fact that the battery of a robot gets low with a single
+battery_low event, but would represent the fact that the robot moves to a certain
+position with a move_to_position task. In other words, the event represents a
+single point in time, while tasks represent processes that change in time.
+
+As mentionned, plans therefore contain _free events_, i.e. events that are not
+part of a task, and _task events_, i.e. events that are given meaning by the
+task they are in. Building on the example above, the fact that the robot
+reached its destination could be represented by a free reached_destination
+event, but would in effect be represented as the success of the
+move_to_position task, i.e. as the success event of that task.
+
+Relations
+---------
+In a Roby plan, relations describe how the events and tasks are related to each
+other.
+
+For instance, the most common __task relation__ is the dependency: it says that
+a given task requires "something" from another task. What is actually required
+is added as additional information to each edge in the relation graph. In our
+move_to_position example above, it is very likely that the move_to_position task
+would depend on a localization task (i.e. the robot would need to know where it
+is to go to reach its goal).
+
+Common __event relations__ describe how the system should evolve in time: for
+instance, the temporal relation allows to say that an event should happend (a.k.a.
+be emitted) after another, allowing to build sequences by expressing that the stop
+event of a task should happen before the start event of another.
+
+Relations are not fixed, i.e. Roby can be augmented with additional relations.
+However, the most standard relations are predefined in the Roby core
+application.
+
+Example
+-------
+To put these concepts into play, let's represent what could be a Roby plan to
+represent the following scenario:
+ 
+ * go to position (10, 10)
+ * then, go to position (20, 10)
+ * both movements require localization to run
+ * if the battery is low, abort
+
+To match the Roby nomenclature, the task types are represented in CamelCase
+(i.e. MoveTo) and the events in snake_case (i.e. battery_low)
+
+![Simple plan example](simple_plan_example.png)
+{: .center}
+
+This example shows another aspect of the events: the event commands. Let's
+explain that.
+
+Events as commands
+------------------
+As mentionned earlier, events are both a way to represent what happened __(past
+tense)__ to the system and a way to __command__ the system. The command side of
+the events can be explained as follows: event commands are_a way to make sure
+that the event is going to be emitted_.
+
+For instance, in the above example, the stop events of MoveTo has a command.
+This command, when called, ensures that the task gets stopped, i.e. that the
+event is emitted. The __signals__ relation that is added between low_battery and
+stop represents that this command should be called whenever the low_battery
+event is emitted. In other words: the MoveTo tasks should be stopped when the
+battery is low.
+
+Conclusion
+----------
+That's all for the description of plans. The [next page](execution.html) will lead you to the
+execution, i.e. what code is executed when, and why.

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

@@ -0,0 +1,31 @@
+---
+title: Policy
+sort_info: 60
+---
+
+Let's look at the following situation. One creates a plan in which a MoveTo
+task depends on an already running Localization task. In this plan, MoveTo is
+not yet running while Localization already is. **Before** MoveTo gets started,
+Localization fails.
+
+Is that an error or not ?
+
+In principle, not, as there is time to restart a new Localization task without
+affecting the ability of MoveTo to achieve its goal. However, this assumes that
+there is a high-level process that will exactly do that (which is not the case
+by default in Roby).
+
+This kind of "decisions", or policies, that need to be made during execution
+are all centralized in a single component called the decision control component.
+In Roby, this is a single class.
+
+This class embeds all of Roby's default policies. It can be modified so as to
+change the default behaviour on these cases where there is not a "one fits
+all" rule.
+
+Conclusion
+----------
+This finishes the explanation of Roby concepts. The rest of the documentation
+will guide you through the Roby API so that you can start using it to control
+your own systems ...
+

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

@@ -0,0 +1,61 @@
+---
+title: The Reactor Pattern
+sort_info: 10
+---
+
+__Note__ all the code blocks in this page are pseudocode. They are close to what
+you will do in Roby, but are not Roby API.
+{: .warning}
+
+The execution layer in Roby can be summarized in a single big loop:
+
+{coderay:: ruby}
+loop do
+  events = read_events
+  react_to_events(events)
+end
+{coderay}
+
+Where 'events' can represent anything: from some sensor data (e.g. a button got
+pressed), to some reports from some outside process (e.g. process X crashed), to
+some events internally generated inside the Roby process itself (you're late for
+your 12:00 appointment).
+
+The __reaction__ to these events is some code that is being executed.  Roby has
+quite a few ways to handle this, but we won't talk about it yet. The important
+point, to understand the concept of the __reactor pattern__ is that the complete
+execution cycle above is __single threaded__. It means that the code that reacts
+to these events should __never block__ (or it will block the complete reactor).
+
+Let's assume we have two events: button_pressed and button_released. One could
+(naively) do:
+
+{coderay:: ruby}
+button_pressed.on do |event|
+  # Wait for the button to be released
+  while !button_released.emitted?
+    sleep 0.1
+  end
+  puts "you successfully clicked the button !"
+end
+{coderay}
+
+Since the reactor is single threaded, the button_released.emitted? method
+__cannot__ change value: if it has been released in the past, it will return
+true, otherwise it will always return false as the first line of the main loop
+is not executed until the block returns. The right way to code this behaviour in
+a reactor would be:
+
+{coderay:: ruby}
+emitted = false
+button_pressed.on do |event|
+  emitted = true
+end
+button_released.on do |event|
+  if emitted
+    puts "you successfully clicked the button !"
+  end
+  emitted = false
+end
+{coderay}
+

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