roby 0.8.0 → 3.0.0
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- checksums.yaml +7 -0
- data/.deep-cover.rb +3 -0
- data/.gitattributes +1 -0
- data/.gitignore +24 -0
- data/.simplecov +10 -0
- data/.travis.yml +17 -0
- data/.yardopts +4 -0
- data/Gemfile +15 -0
- data/README.md +11 -0
- data/Rakefile +47 -177
- data/benchmark/{alloc_misc.rb → attic/alloc_misc.rb} +2 -2
- data/benchmark/{discovery_latency.rb → attic/discovery_latency.rb} +19 -19
- data/benchmark/{garbage_collection.rb → attic/garbage_collection.rb} +9 -9
- data/benchmark/{genom.rb → attic/genom.rb} +0 -0
- data/benchmark/attic/transactions.rb +62 -0
- data/benchmark/plan_basic_operations.rb +28 -0
- data/benchmark/relations/graph.rb +63 -0
- data/benchmark/ruby/identity.rb +18 -0
- data/benchmark/ruby/set_intersect_vs_hash_merge.rb +39 -0
- data/benchmark/ruby/yield_vs_block.rb +35 -0
- data/benchmark/run +5 -0
- data/benchmark/synthetic_plan_modifications_with_transactions.rb +79 -0
- data/benchmark/transactions.rb +99 -51
- data/bin/roby +38 -197
- data/bin/roby-display +14 -0
- data/bin/roby-log +3 -176
- data/doc/guide/{src → attic}/abstraction/achieve_with.page +1 -1
- data/doc/guide/{src → attic}/abstraction/forwarding.page +1 -1
- data/doc/guide/{src → attic}/abstraction/hierarchy.page +1 -1
- data/doc/guide/{src → attic}/abstraction/index.page +1 -1
- data/doc/guide/{src → attic}/abstraction/task_models.page +1 -1
- data/doc/guide/{overview.rdoc → attic/cycle/api_overview.rdoc} +6 -1
- data/doc/guide/{src → attic}/cycle/cycle-overview.png +0 -0
- data/doc/guide/{src → attic}/cycle/cycle-overview.svg +0 -0
- data/doc/guide/attic/cycle/error_handling.page +98 -0
- data/doc/guide/{src → attic}/cycle/error_instantaneous_repair.png +0 -0
- data/doc/guide/{src → attic}/cycle/error_instantaneous_repair.svg +0 -0
- data/doc/guide/{src/cycle/error_handling.page → attic/cycle/error_sources.page} +46 -89
- data/doc/guide/{src → attic}/cycle/garbage_collection.page +1 -1
- data/doc/guide/{src → attic}/cycle/index.page +1 -1
- data/doc/guide/{src → attic}/cycle/propagation.page +11 -1
- data/doc/guide/{src → attic}/cycle/propagation_diamond.png +0 -0
- data/doc/guide/{src → attic}/cycle/propagation_diamond.svg +0 -0
- data/doc/guide/attic/plans/building_plans.page +89 -0
- data/doc/guide/attic/plans/code.page +192 -0
- data/doc/guide/{src/basics → attic/plans}/events.page +3 -4
- data/doc/guide/attic/plans/index.page +7 -0
- data/doc/guide/{plan_modifications.rdoc → attic/plans/plan_modifications.rdoc} +5 -3
- data/doc/guide/{src/basics → attic/plans}/plan_objects.page +2 -1
- data/doc/guide/attic/plans/querying_plans.page +5 -0
- data/doc/guide/{src/basics → attic/plans}/tasks.page +20 -20
- data/doc/guide/config.yaml +7 -4
- data/doc/guide/ext/extended_menu.rb +29 -0
- data/doc/guide/ext/init.rb +6 -0
- data/doc/guide/ext/rdoc_links.rb +7 -6
- data/doc/guide/src/advanced_concepts/history.page +5 -0
- data/doc/guide/src/advanced_concepts/index.page +11 -0
- data/doc/guide/src/advanced_concepts/recognizing_patterns.page +83 -0
- data/doc/guide/src/advanced_concepts/scheduling.page +87 -0
- data/doc/guide/src/advanced_concepts/transactions.page +5 -0
- data/doc/guide/src/advanced_concepts/unreachability.page +42 -0
- data/doc/guide/src/base.template +96 -0
- data/doc/guide/src/basics_shell_header.txt +5 -7
- data/doc/guide/src/building/action_coordination.page +96 -0
- data/doc/guide/src/building/actions.page +124 -0
- data/doc/guide/src/building/file_layout.page +71 -0
- data/doc/guide/src/building/index.page +50 -0
- data/doc/guide/src/building/patterns.page +86 -0
- data/doc/guide/src/building/patterns_forwarding.png +0 -0
- data/doc/guide/src/building/patterns_forwarding.svg +277 -0
- data/doc/guide/src/building/runtime.page +95 -0
- data/doc/guide/src/building/task_models.page +94 -0
- data/doc/guide/src/building/tasks.page +284 -0
- data/doc/guide/src/concepts/error_handling.page +100 -0
- data/doc/guide/src/concepts/exception_propagation.png +0 -0
- data/doc/guide/src/concepts/exception_propagation.svg +445 -0
- data/doc/guide/src/concepts/execution.page +85 -0
- data/doc/guide/src/concepts/execution.png +0 -0
- data/doc/guide/src/concepts/execution.svg +573 -0
- data/doc/guide/src/concepts/execution_cycle.png +0 -0
- data/doc/guide/src/concepts/garbage_collection.page +57 -0
- data/doc/guide/src/concepts/index.page +27 -0
- data/doc/guide/src/concepts/plans.page +101 -0
- data/doc/guide/src/concepts/policy.page +31 -0
- data/doc/guide/src/concepts/reactor.page +61 -0
- data/doc/guide/src/concepts/simple_plan_example.png +0 -0
- data/doc/guide/src/concepts/simple_plan_example.svg +376 -0
- data/doc/guide/src/default.template +9 -74
- data/doc/guide/src/event_relations/forward.page +71 -0
- data/doc/guide/src/event_relations/index.page +12 -0
- data/doc/guide/src/event_relations/scheduling_constraints.page +43 -0
- data/doc/guide/src/event_relations/signal.page +55 -0
- data/doc/guide/src/event_relations/temporal_constraints.page +77 -0
- data/doc/guide/src/htmldoc.metainfo +21 -8
- data/doc/guide/src/index.page +8 -3
- data/doc/guide/src/{introduction/install.page → installation/index.page} +37 -25
- data/doc/guide/src/installation/publications.page +14 -0
- data/doc/guide/src/{introduction → installation}/videos.page +14 -7
- data/doc/guide/src/interacting/index.page +16 -0
- data/doc/guide/src/interacting/run.page +33 -0
- data/doc/guide/src/interacting/shell.page +95 -0
- data/doc/guide/src/plugins/creating_plugins.page +72 -0
- data/doc/guide/src/plugins/index.page +27 -5
- data/doc/guide/src/plugins/{fault_tolerance.page → standard_plugins/fault_tolerance.page} +2 -2
- data/doc/guide/src/plugins/standard_plugins/index.page +11 -0
- data/doc/guide/src/plugins/{subsystems.page → standard_plugins/subsystems.page} +2 -2
- data/doc/guide/src/style_screen.css +687 -0
- data/doc/guide/src/task_relations/dependency.page +107 -0
- data/doc/guide/src/task_relations/executed_by.page +77 -0
- data/doc/guide/src/task_relations/index.page +12 -0
- data/doc/guide/src/task_relations/new_relations.page +119 -0
- data/doc/guide/src/task_relations/planned_by.page +46 -0
- data/doc/guide/src/tutorial/app.page +117 -0
- data/doc/guide/src/{basics → tutorial}/code_examples.page +6 -5
- data/doc/guide/src/{basics → tutorial}/dry.page +15 -15
- data/doc/guide/src/{basics → tutorial}/errors.page +43 -68
- data/doc/guide/src/tutorial/events.page +195 -0
- data/doc/guide/src/{basics → tutorial}/hierarchy.page +53 -52
- data/doc/guide/src/tutorial/index.page +13 -0
- data/doc/guide/src/tutorial/log_replay/goForward_1.png +0 -0
- data/doc/guide/src/tutorial/log_replay/goForward_2.png +0 -0
- data/doc/guide/src/tutorial/log_replay/goForward_3.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/goForward_4.png +0 -0
- data/doc/guide/src/tutorial/log_replay/goForward_5.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/hierarchy_error_1.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/hierarchy_error_2.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/hierarchy_error_3.png +0 -0
- data/doc/guide/src/tutorial/log_replay/moveto_code_error.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/plan_repair_1.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/plan_repair_2.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/plan_repair_3.png +0 -0
- data/doc/guide/src/tutorial/log_replay/plan_repair_4.png +0 -0
- data/doc/guide/src/tutorial/log_replay/roby_log_main_window.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/roby_log_relation_window.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/roby_replay_event_representation.png +0 -0
- data/doc/guide/src/tutorial/relations_display.page +153 -0
- data/doc/guide/src/{basics → tutorial}/roby_cycle_overview.png +0 -0
- data/doc/guide/src/tutorial/shell.page +121 -0
- data/doc/guide/src/{basics → tutorial}/summary.page +1 -1
- data/doc/guide/src/tutorial/tasks.page +374 -0
- data/lib/roby.rb +102 -47
- data/lib/roby/actions.rb +17 -0
- data/lib/roby/actions/action.rb +80 -0
- data/lib/roby/actions/interface.rb +45 -0
- data/lib/roby/actions/library.rb +23 -0
- data/lib/roby/actions/models/action.rb +224 -0
- data/lib/roby/actions/models/coordination_action.rb +58 -0
- data/lib/roby/actions/models/interface.rb +22 -0
- data/lib/roby/actions/models/interface_base.rb +294 -0
- data/lib/roby/actions/models/library.rb +12 -0
- data/lib/roby/actions/models/method_action.rb +90 -0
- data/lib/roby/actions/task.rb +114 -0
- data/lib/roby/and_generator.rb +125 -0
- data/lib/roby/app.rb +2795 -829
- data/lib/roby/app/autotest_console_reporter.rb +138 -0
- data/lib/roby/app/base.rb +21 -0
- data/lib/roby/app/cucumber.rb +2 -0
- data/lib/roby/app/cucumber/controller.rb +439 -0
- data/lib/roby/app/cucumber/helpers.rb +280 -0
- data/lib/roby/app/cucumber/world.rb +32 -0
- data/lib/roby/app/debug.rb +136 -0
- data/lib/roby/app/gen.rb +2 -0
- data/lib/roby/app/rake.rb +178 -38
- data/lib/roby/app/robot_config.rb +9 -0
- data/lib/roby/app/robot_names.rb +115 -0
- data/lib/roby/app/run.rb +3 -2
- data/lib/roby/app/scripts.rb +72 -0
- data/lib/roby/app/scripts/autotest.rb +173 -0
- data/lib/roby/app/scripts/display.rb +2 -0
- data/lib/roby/app/scripts/restart.rb +52 -0
- data/lib/roby/app/scripts/results.rb +17 -8
- data/lib/roby/app/scripts/run.rb +155 -24
- data/lib/roby/app/scripts/shell.rb +147 -62
- data/lib/roby/app/scripts/test.rb +107 -22
- data/lib/roby/app/test_reporter.rb +74 -0
- data/lib/roby/app/test_server.rb +159 -0
- data/lib/roby/app/vagrant.rb +47 -0
- data/lib/roby/backports.rb +16 -0
- data/lib/roby/cli/display.rb +190 -0
- data/lib/roby/cli/exceptions.rb +17 -0
- data/lib/roby/cli/gen/actions/class.rb +5 -0
- data/lib/roby/cli/gen/actions/test.rb +6 -0
- data/lib/roby/cli/gen/app/.yardopts +6 -0
- data/lib/roby/cli/gen/app/README.md +28 -0
- data/lib/roby/cli/gen/app/Rakefile +15 -0
- data/{app → lib/roby/cli/gen/app}/config/app.yml +29 -39
- data/lib/roby/cli/gen/app/models/.gitattributes +1 -0
- data/{app → lib/roby/cli/gen/app/scripts}/controllers/.gitattributes +0 -0
- data/{app/data/.gitattributes → lib/roby/cli/gen/app/test/.gitignore} +0 -0
- data/lib/roby/cli/gen/class/class.rb +6 -0
- data/lib/roby/cli/gen/class/test.rb +7 -0
- data/lib/roby/cli/gen/helpers.rb +203 -0
- data/lib/roby/cli/gen/module/module.rb +5 -0
- data/lib/roby/cli/gen/module/test.rb +6 -0
- data/lib/roby/cli/gen/roby_app/config/init.rb +17 -0
- data/lib/roby/cli/gen/roby_app/config/robots/robot.rb +40 -0
- data/lib/roby/cli/gen/task/class.rb +44 -0
- data/lib/roby/cli/gen/task/test.rb +6 -0
- data/lib/roby/cli/gen_main.rb +120 -0
- data/lib/roby/cli/log.rb +276 -0
- data/lib/roby/cli/log/flamegraph.html +499 -0
- data/lib/roby/cli/log/flamegraph_renderer.rb +88 -0
- data/lib/roby/cli/main.rb +153 -0
- data/lib/roby/coordination.rb +60 -0
- data/lib/roby/coordination/action_script.rb +25 -0
- data/lib/roby/coordination/action_state_machine.rb +125 -0
- data/lib/roby/coordination/actions.rb +106 -0
- data/lib/roby/coordination/base.rb +145 -0
- data/lib/roby/coordination/calculus.rb +40 -0
- data/lib/roby/coordination/child.rb +28 -0
- data/lib/roby/coordination/event.rb +29 -0
- data/lib/roby/coordination/fault_handler.rb +25 -0
- data/lib/roby/coordination/fault_handling_task.rb +13 -0
- data/lib/roby/coordination/fault_response_table.rb +110 -0
- data/lib/roby/coordination/models/action_script.rb +64 -0
- data/lib/roby/coordination/models/action_state_machine.rb +224 -0
- data/lib/roby/coordination/models/actions.rb +191 -0
- data/lib/roby/coordination/models/arguments.rb +55 -0
- data/lib/roby/coordination/models/base.rb +176 -0
- data/lib/roby/coordination/models/capture.rb +86 -0
- data/lib/roby/coordination/models/child.rb +35 -0
- data/lib/roby/coordination/models/event.rb +41 -0
- data/lib/roby/coordination/models/exceptions.rb +42 -0
- data/lib/roby/coordination/models/fault_handler.rb +219 -0
- data/lib/roby/coordination/models/fault_response_table.rb +77 -0
- data/lib/roby/coordination/models/root.rb +22 -0
- data/lib/roby/coordination/models/script.rb +283 -0
- data/lib/roby/coordination/models/task.rb +184 -0
- data/lib/roby/coordination/models/task_from_action.rb +50 -0
- data/lib/roby/coordination/models/task_from_as_plan.rb +33 -0
- data/lib/roby/coordination/models/task_from_instanciation_object.rb +31 -0
- data/lib/roby/coordination/models/task_from_variable.rb +27 -0
- data/lib/roby/coordination/models/task_with_dependencies.rb +48 -0
- data/lib/roby/coordination/models/variable.rb +32 -0
- data/lib/roby/coordination/script.rb +200 -0
- data/lib/roby/coordination/script_instruction.rb +12 -0
- data/lib/roby/coordination/task.rb +45 -0
- data/lib/roby/coordination/task_base.rb +69 -0
- data/lib/roby/coordination/task_script.rb +293 -0
- data/lib/roby/coordination/task_state_machine.rb +308 -0
- data/lib/roby/decision_control.rb +33 -21
- data/lib/roby/distributed_object.rb +76 -0
- data/lib/roby/droby.rb +17 -0
- data/lib/roby/droby/droby_id.rb +6 -0
- data/lib/roby/droby/enable.rb +153 -0
- data/lib/roby/droby/event_logger.rb +189 -0
- data/lib/roby/droby/event_logging.rb +57 -0
- data/lib/roby/droby/exceptions.rb +14 -0
- data/lib/roby/droby/identifiable.rb +22 -0
- data/lib/roby/droby/logfile.rb +141 -0
- data/lib/roby/droby/logfile/client.rb +176 -0
- data/lib/roby/droby/logfile/file_format.md +97 -0
- data/lib/roby/droby/logfile/index.rb +117 -0
- data/lib/roby/droby/logfile/reader.rb +139 -0
- data/lib/roby/droby/logfile/server.rb +199 -0
- data/lib/roby/droby/logfile/writer.rb +114 -0
- data/lib/roby/droby/marshal.rb +264 -0
- data/lib/roby/droby/marshallable.rb +12 -0
- data/lib/roby/droby/null_event_logger.rb +25 -0
- data/lib/roby/droby/object_manager.rb +205 -0
- data/lib/roby/droby/peer_id.rb +6 -0
- data/lib/roby/droby/plan_rebuilder.rb +373 -0
- data/lib/roby/droby/rebuilt_plan.rb +160 -0
- data/lib/roby/droby/remote_droby_id.rb +6 -0
- data/lib/roby/droby/timepoints.rb +205 -0
- data/lib/roby/droby/timepoints_ctf.metadata.erb +101 -0
- data/lib/roby/droby/timepoints_ctf.rb +125 -0
- data/lib/roby/droby/v5.rb +14 -0
- data/lib/roby/droby/v5/builtin.rb +120 -0
- data/lib/roby/droby/v5/droby_class.rb +45 -0
- data/lib/roby/droby/v5/droby_constant.rb +81 -0
- data/lib/roby/droby/v5/droby_dump.rb +1026 -0
- data/lib/roby/droby/v5/droby_id.rb +44 -0
- data/lib/roby/droby/v5/droby_model.rb +82 -0
- data/lib/roby/droby/v5/peer_id.rb +10 -0
- data/lib/roby/droby/v5/remote_droby_id.rb +42 -0
- data/lib/roby/event.rb +79 -957
- data/lib/roby/event_constraints.rb +835 -0
- data/lib/roby/event_generator.rb +1047 -0
- data/lib/roby/event_structure/causal_link.rb +6 -0
- data/lib/roby/event_structure/forwarding.rb +6 -0
- data/lib/roby/event_structure/precedence.rb +7 -0
- data/lib/roby/event_structure/signal.rb +8 -0
- data/lib/roby/event_structure/temporal_constraints.rb +640 -0
- data/lib/roby/exceptions.rb +446 -152
- data/lib/roby/executable_plan.rb +549 -0
- data/lib/roby/execution_engine.rb +1997 -950
- data/lib/roby/filter_generator.rb +26 -0
- data/lib/roby/gui/chronicle_view.rb +225 -0
- data/lib/roby/gui/chronicle_widget.rb +925 -0
- data/lib/roby/gui/dot_id.rb +11 -0
- data/lib/roby/gui/exception_view.rb +44 -0
- data/lib/roby/gui/log_display.rb +273 -0
- data/lib/roby/gui/model_views.rb +2 -0
- data/lib/roby/gui/model_views/action_interface.rb +53 -0
- data/lib/roby/gui/model_views/task.rb +47 -0
- data/lib/roby/gui/model_views/task.rhtml +41 -0
- data/lib/roby/gui/object_info_view.rb +89 -0
- data/lib/roby/gui/plan_dot_layout.rb +427 -0
- data/lib/roby/gui/plan_rebuilder_widget.rb +357 -0
- data/lib/roby/gui/qt4_toMSecsSinceEpoch.rb +8 -0
- data/lib/roby/gui/relations_view.rb +278 -0
- data/lib/roby/gui/relations_view/relations.ui +139 -0
- data/lib/roby/gui/relations_view/relations_canvas.rb +1088 -0
- data/lib/roby/gui/relations_view/relations_config.rb +292 -0
- data/lib/roby/gui/relations_view/relations_view.ui +53 -0
- data/lib/roby/gui/scheduler_view.css +24 -0
- data/lib/roby/gui/scheduler_view.rb +46 -0
- data/lib/roby/gui/scheduler_view.rhtml +53 -0
- data/lib/roby/gui/stepping.rb +93 -0
- data/lib/roby/gui/stepping.ui +181 -0
- data/lib/roby/gui/styles.rb +81 -0
- data/lib/roby/gui/task_display_configuration.rb +42 -0
- data/lib/roby/gui/task_state_at.rb +38 -0
- data/lib/roby/hooks.rb +26 -0
- data/lib/roby/interface.rb +136 -469
- data/lib/roby/interface/async.rb +20 -0
- data/lib/roby/interface/async/action_monitor.rb +188 -0
- data/lib/roby/interface/async/interface.rb +498 -0
- data/lib/roby/interface/async/job_monitor.rb +213 -0
- data/lib/roby/interface/async/log.rb +238 -0
- data/lib/roby/interface/async/new_job_listener.rb +79 -0
- data/lib/roby/interface/async/ui_connector.rb +183 -0
- data/lib/roby/interface/client.rb +553 -0
- data/lib/roby/interface/command.rb +24 -0
- data/lib/roby/interface/command_argument.rb +16 -0
- data/lib/roby/interface/command_library.rb +92 -0
- data/lib/roby/interface/droby_channel.rb +174 -0
- data/lib/roby/interface/exceptions.rb +22 -0
- data/lib/roby/interface/interface.rb +655 -0
- data/lib/roby/interface/job.rb +47 -0
- data/lib/roby/interface/rest.rb +10 -0
- data/lib/roby/interface/rest/api.rb +29 -0
- data/lib/roby/interface/rest/helpers.rb +24 -0
- data/lib/roby/interface/rest/server.rb +212 -0
- data/lib/roby/interface/server.rb +154 -0
- data/lib/roby/interface/shell_client.rb +468 -0
- data/lib/roby/interface/shell_subcommand.rb +24 -0
- data/lib/roby/interface/subcommand_client.rb +35 -0
- data/lib/roby/interface/tcp.rb +168 -0
- data/lib/roby/models/arguments.rb +112 -0
- data/lib/roby/models/plan_object.rb +83 -0
- data/lib/roby/models/task.rb +835 -0
- data/lib/roby/models/task_event.rb +62 -0
- data/lib/roby/models/task_service.rb +78 -0
- data/lib/roby/or_generator.rb +88 -0
- data/lib/roby/plan.rb +1751 -864
- data/lib/roby/plan_object.rb +611 -0
- data/lib/roby/plan_service.rb +200 -0
- data/lib/roby/promise.rb +332 -0
- data/lib/roby/queries.rb +23 -0
- data/lib/roby/queries/and_matcher.rb +32 -0
- data/lib/roby/queries/any.rb +27 -0
- data/lib/roby/queries/code_error_matcher.rb +58 -0
- data/lib/roby/queries/event_generator_matcher.rb +9 -0
- data/lib/roby/queries/execution_exception_matcher.rb +165 -0
- data/lib/roby/queries/index.rb +165 -0
- data/lib/roby/queries/localized_error_matcher.rb +149 -0
- data/lib/roby/queries/matcher_base.rb +107 -0
- data/lib/roby/queries/none.rb +27 -0
- data/lib/roby/queries/not_matcher.rb +30 -0
- data/lib/roby/queries/op_matcher.rb +8 -0
- data/lib/roby/queries/or_matcher.rb +30 -0
- data/lib/roby/queries/plan_object_matcher.rb +363 -0
- data/lib/roby/queries/query.rb +188 -0
- data/lib/roby/queries/task_event_generator_matcher.rb +86 -0
- data/lib/roby/queries/task_matcher.rb +344 -0
- data/lib/roby/relations.rb +42 -678
- data/lib/roby/relations/bidirectional_directed_adjacency_graph.rb +492 -0
- data/lib/roby/relations/directed_relation_support.rb +268 -0
- data/lib/roby/relations/event_relation_graph.rb +19 -0
- data/lib/roby/relations/fork_merge_visitor.rb +154 -0
- data/lib/roby/relations/graph.rb +533 -0
- data/lib/roby/relations/models/directed_relation_support.rb +11 -0
- data/lib/roby/relations/models/graph.rb +75 -0
- data/lib/roby/relations/models/task_relation_graph.rb +18 -0
- data/lib/roby/relations/space.rb +380 -0
- data/lib/roby/relations/task_relation_graph.rb +20 -0
- data/lib/roby/robot.rb +85 -38
- data/lib/roby/schedulers/basic.rb +155 -25
- data/lib/roby/schedulers/null.rb +20 -0
- data/lib/roby/schedulers/reporting.rb +31 -0
- data/lib/roby/schedulers/state.rb +129 -0
- data/lib/roby/schedulers/temporal.rb +91 -0
- data/lib/roby/singletons.rb +87 -0
- data/lib/roby/standalone.rb +4 -2
- data/lib/roby/standard_errors.rb +405 -82
- data/lib/roby/state.rb +6 -3
- data/lib/roby/state/conf_model.rb +5 -0
- data/lib/roby/state/events.rb +181 -95
- data/lib/roby/state/goal_model.rb +77 -0
- data/lib/roby/state/open_struct.rb +591 -0
- data/lib/roby/state/open_struct_model.rb +68 -0
- data/lib/roby/state/pos.rb +45 -45
- data/lib/roby/state/shapes.rb +11 -11
- data/lib/roby/state/state_model.rb +303 -0
- data/lib/roby/state/task.rb +43 -0
- data/lib/roby/support.rb +88 -148
- data/lib/roby/task.rb +1361 -1750
- data/lib/roby/task_arguments.rb +428 -0
- data/lib/roby/task_event.rb +127 -0
- data/lib/roby/task_event_generator.rb +337 -0
- data/lib/roby/task_service.rb +6 -0
- data/lib/roby/task_structure/conflicts.rb +104 -0
- data/lib/roby/task_structure/dependency.rb +932 -0
- data/lib/roby/task_structure/error_handling.rb +118 -0
- data/lib/roby/task_structure/executed_by.rb +234 -0
- data/lib/roby/task_structure/planned_by.rb +90 -0
- data/lib/roby/tasks/aggregator.rb +37 -0
- data/lib/roby/tasks/external_process.rb +275 -0
- data/lib/roby/tasks/group.rb +27 -0
- data/lib/roby/tasks/null.rb +19 -0
- data/lib/roby/tasks/parallel.rb +43 -0
- data/lib/roby/tasks/sequence.rb +88 -0
- data/lib/roby/tasks/simple.rb +21 -0
- data/lib/roby/{thread_task.rb → tasks/thread.rb} +50 -24
- data/lib/roby/tasks/timeout.rb +17 -0
- data/lib/roby/tasks/virtual.rb +55 -0
- data/lib/roby/template_plan.rb +7 -0
- data/lib/roby/test/aruba_minitest.rb +74 -0
- data/lib/roby/test/assertion.rb +16 -0
- data/lib/roby/test/assertions.rb +490 -0
- data/lib/roby/test/common.rb +368 -591
- data/lib/roby/test/dsl.rb +149 -0
- data/lib/roby/test/error.rb +18 -0
- data/lib/roby/test/event_reporter.rb +83 -0
- data/lib/roby/test/execution_expectations.rb +1134 -0
- data/lib/roby/test/expect_execution.rb +151 -0
- data/lib/roby/test/minitest_helpers.rb +166 -0
- data/lib/roby/test/roby_app_helpers.rb +200 -0
- data/lib/roby/test/run_planners.rb +155 -0
- data/lib/roby/test/self.rb +112 -0
- data/lib/roby/test/spec.rb +198 -0
- data/lib/roby/test/tasks/empty_task.rb +4 -4
- data/lib/roby/test/tasks/goto.rb +28 -27
- data/lib/roby/test/teardown_plans.rb +100 -0
- data/lib/roby/test/testcase.rb +239 -307
- data/lib/roby/test/tools.rb +159 -155
- data/lib/roby/test/validate_state_machine.rb +75 -0
- data/lib/roby/transaction.rb +1125 -0
- data/lib/roby/transaction/event_generator_proxy.rb +63 -0
- data/lib/roby/transaction/plan_object_proxy.rb +99 -0
- data/lib/roby/transaction/plan_service_proxy.rb +43 -0
- data/lib/roby/transaction/proxying.rb +120 -0
- data/lib/roby/transaction/task_event_generator_proxy.rb +19 -0
- data/lib/roby/transaction/task_proxy.rb +135 -0
- data/lib/roby/until_generator.rb +30 -0
- data/lib/roby/version.rb +5 -0
- data/lib/roby/yard.rb +169 -0
- data/lib/yard-roby.rb +1 -0
- data/manifest.xml +32 -6
- data/roby.gemspec +59 -0
- metadata +788 -587
- data/Manifest.txt +0 -321
- data/NOTES +0 -4
- data/README.txt +0 -166
- data/TODO.txt +0 -146
- data/app/README.txt +0 -24
- data/app/Rakefile +0 -8
- data/app/config/ROBOT.rb +0 -5
- data/app/config/init.rb +0 -33
- data/app/config/roby.yml +0 -3
- data/app/controllers/ROBOT.rb +0 -2
- data/app/planners/ROBOT/main.rb +0 -6
- data/app/planners/main.rb +0 -5
- data/app/scripts/distributed +0 -3
- data/app/scripts/generate/bookmarks +0 -3
- data/app/scripts/replay +0 -3
- data/app/scripts/results +0 -3
- data/app/scripts/run +0 -3
- data/app/scripts/server +0 -3
- data/app/scripts/shell +0 -3
- data/app/scripts/test +0 -3
- data/app/tasks/.gitattributes +0 -0
- data/app/tasks/ROBOT/.gitattributes +0 -0
- data/bin/roby-shell +0 -25
- data/doc/guide/src/basics/app.page +0 -139
- data/doc/guide/src/basics/index.page +0 -11
- data/doc/guide/src/basics/log_replay/goForward_1.png +0 -0
- data/doc/guide/src/basics/log_replay/goForward_2.png +0 -0
- data/doc/guide/src/basics/log_replay/goForward_3.png +0 -0
- data/doc/guide/src/basics/log_replay/goForward_5.png +0 -0
- data/doc/guide/src/basics/log_replay/plan_repair_4.png +0 -0
- data/doc/guide/src/basics/log_replay/roby_log_main_window.png +0 -0
- data/doc/guide/src/basics/relations_display.page +0 -203
- data/doc/guide/src/basics/shell.page +0 -102
- data/doc/guide/src/default.css +0 -319
- data/doc/guide/src/introduction/index.page +0 -29
- data/doc/guide/src/introduction/publications.page +0 -14
- data/doc/guide/src/relations/dependency.page +0 -89
- data/doc/guide/src/relations/index.page +0 -12
- data/ext/droby/dump.cc +0 -175
- data/ext/droby/extconf.rb +0 -3
- data/ext/graph/algorithm.cc +0 -746
- data/ext/graph/extconf.rb +0 -7
- data/ext/graph/graph.cc +0 -575
- data/ext/graph/graph.hh +0 -183
- data/ext/graph/iterator_sequence.hh +0 -102
- data/ext/graph/undirected_dfs.hh +0 -226
- data/ext/graph/undirected_graph.hh +0 -421
- data/lib/roby/app/scripts/generate/bookmarks.rb +0 -162
- data/lib/roby/app/scripts/replay.rb +0 -31
- data/lib/roby/app/scripts/server.rb +0 -18
- data/lib/roby/basic_object.rb +0 -151
- data/lib/roby/config.rb +0 -14
- data/lib/roby/distributed.rb +0 -36
- data/lib/roby/distributed/base.rb +0 -448
- data/lib/roby/distributed/communication.rb +0 -875
- data/lib/roby/distributed/connection_space.rb +0 -616
- data/lib/roby/distributed/distributed_object.rb +0 -206
- data/lib/roby/distributed/drb.rb +0 -62
- data/lib/roby/distributed/notifications.rb +0 -531
- data/lib/roby/distributed/peer.rb +0 -555
- data/lib/roby/distributed/protocol.rb +0 -529
- data/lib/roby/distributed/proxy.rb +0 -343
- data/lib/roby/distributed/subscription.rb +0 -311
- data/lib/roby/distributed/transaction.rb +0 -498
- data/lib/roby/external_process_task.rb +0 -225
- data/lib/roby/graph.rb +0 -160
- data/lib/roby/log.rb +0 -3
- data/lib/roby/log/chronicle.rb +0 -303
- data/lib/roby/log/console.rb +0 -74
- data/lib/roby/log/data_stream.rb +0 -275
- data/lib/roby/log/dot.rb +0 -279
- data/lib/roby/log/event_stream.rb +0 -161
- data/lib/roby/log/file.rb +0 -396
- data/lib/roby/log/gui/basic_display.ui +0 -83
- data/lib/roby/log/gui/basic_display_ui.rb +0 -89
- data/lib/roby/log/gui/chronicle.rb +0 -26
- data/lib/roby/log/gui/chronicle_view.rb +0 -40
- data/lib/roby/log/gui/chronicle_view.ui +0 -70
- data/lib/roby/log/gui/chronicle_view_ui.rb +0 -90
- data/lib/roby/log/gui/data_displays.rb +0 -171
- data/lib/roby/log/gui/data_displays.ui +0 -155
- data/lib/roby/log/gui/data_displays_ui.rb +0 -146
- data/lib/roby/log/gui/notifications.rb +0 -26
- data/lib/roby/log/gui/relations.rb +0 -269
- data/lib/roby/log/gui/relations.ui +0 -123
- data/lib/roby/log/gui/relations_ui.rb +0 -120
- data/lib/roby/log/gui/relations_view.rb +0 -185
- data/lib/roby/log/gui/relations_view.ui +0 -149
- data/lib/roby/log/gui/relations_view_ui.rb +0 -144
- data/lib/roby/log/gui/replay.rb +0 -366
- data/lib/roby/log/gui/replay_controls.rb +0 -206
- data/lib/roby/log/gui/replay_controls.ui +0 -282
- data/lib/roby/log/gui/replay_controls_ui.rb +0 -249
- data/lib/roby/log/gui/runtime.rb +0 -130
- data/lib/roby/log/hooks.rb +0 -186
- data/lib/roby/log/logger.rb +0 -203
- data/lib/roby/log/notifications.rb +0 -244
- data/lib/roby/log/plan_rebuilder.rb +0 -468
- data/lib/roby/log/relations.rb +0 -1084
- data/lib/roby/log/server.rb +0 -547
- data/lib/roby/log/sqlite.rb +0 -47
- data/lib/roby/log/timings.rb +0 -233
- data/lib/roby/plan-object.rb +0 -371
- data/lib/roby/planning.rb +0 -13
- data/lib/roby/planning/loops.rb +0 -309
- data/lib/roby/planning/model.rb +0 -1012
- data/lib/roby/planning/task.rb +0 -180
- data/lib/roby/query.rb +0 -655
- data/lib/roby/relations/conflicts.rb +0 -67
- data/lib/roby/relations/dependency.rb +0 -358
- data/lib/roby/relations/ensured.rb +0 -19
- data/lib/roby/relations/error_handling.rb +0 -22
- data/lib/roby/relations/events.rb +0 -7
- data/lib/roby/relations/executed_by.rb +0 -208
- data/lib/roby/relations/influence.rb +0 -10
- data/lib/roby/relations/planned_by.rb +0 -63
- data/lib/roby/state/information.rb +0 -55
- data/lib/roby/state/state.rb +0 -367
- data/lib/roby/task-operations.rb +0 -186
- data/lib/roby/task_index.rb +0 -80
- data/lib/roby/test/distributed.rb +0 -230
- data/lib/roby/test/tasks/simple_task.rb +0 -23
- data/lib/roby/transactions.rb +0 -507
- data/lib/roby/transactions/proxy.rb +0 -325
- data/plugins/fault_injection/History.txt +0 -4
- data/plugins/fault_injection/README.txt +0 -34
- data/plugins/fault_injection/Rakefile +0 -12
- data/plugins/fault_injection/TODO.txt +0 -0
- data/plugins/fault_injection/app.rb +0 -52
- data/plugins/fault_injection/fault_injection.rb +0 -89
- data/plugins/fault_injection/test/test_fault_injection.rb +0 -78
- data/plugins/subsystems/README.txt +0 -37
- data/plugins/subsystems/Rakefile +0 -13
- data/plugins/subsystems/app.rb +0 -182
- data/plugins/subsystems/test/app/README +0 -24
- data/plugins/subsystems/test/app/Rakefile +0 -8
- data/plugins/subsystems/test/app/config/app.yml +0 -71
- data/plugins/subsystems/test/app/config/init.rb +0 -12
- data/plugins/subsystems/test/app/config/roby.yml +0 -3
- data/plugins/subsystems/test/app/planners/main.rb +0 -20
- data/plugins/subsystems/test/app/scripts/distributed +0 -3
- data/plugins/subsystems/test/app/scripts/replay +0 -3
- data/plugins/subsystems/test/app/scripts/results +0 -3
- data/plugins/subsystems/test/app/scripts/run +0 -3
- data/plugins/subsystems/test/app/scripts/server +0 -3
- data/plugins/subsystems/test/app/scripts/shell +0 -3
- data/plugins/subsystems/test/app/scripts/test +0 -3
- data/plugins/subsystems/test/app/tasks/services.rb +0 -15
- data/plugins/subsystems/test/test_subsystems.rb +0 -78
- data/test/distributed/test_communication.rb +0 -195
- data/test/distributed/test_connection.rb +0 -284
- data/test/distributed/test_execution.rb +0 -378
- data/test/distributed/test_mixed_plan.rb +0 -341
- data/test/distributed/test_plan_notifications.rb +0 -238
- data/test/distributed/test_protocol.rb +0 -525
- data/test/distributed/test_query.rb +0 -106
- data/test/distributed/test_remote_plan.rb +0 -491
- data/test/distributed/test_transaction.rb +0 -466
- data/test/mockups/external_process +0 -28
- data/test/mockups/tasks.rb +0 -27
- data/test/planning/test_loops.rb +0 -432
- data/test/planning/test_model.rb +0 -427
- data/test/planning/test_task.rb +0 -126
- data/test/relations/test_conflicts.rb +0 -42
- data/test/relations/test_dependency.rb +0 -324
- data/test/relations/test_ensured.rb +0 -38
- data/test/relations/test_executed_by.rb +0 -224
- data/test/relations/test_planned_by.rb +0 -56
- data/test/suite_core.rb +0 -29
- data/test/suite_distributed.rb +0 -10
- data/test/suite_planning.rb +0 -4
- data/test/suite_relations.rb +0 -8
- data/test/tasks/test_external_process.rb +0 -126
- data/test/tasks/test_thread_task.rb +0 -70
- data/test/test_bgl.rb +0 -528
- data/test/test_event.rb +0 -969
- data/test/test_exceptions.rb +0 -591
- data/test/test_execution_engine.rb +0 -987
- data/test/test_gui.rb +0 -20
- data/test/test_interface.rb +0 -43
- data/test/test_log.rb +0 -125
- data/test/test_log_server.rb +0 -133
- data/test/test_plan.rb +0 -418
- data/test/test_query.rb +0 -424
- data/test/test_relations.rb +0 -260
- data/test/test_state.rb +0 -432
- data/test/test_support.rb +0 -16
- data/test/test_task.rb +0 -1181
- data/test/test_testcase.rb +0 -138
- data/test/test_transactions.rb +0 -610
- data/test/test_transactions_proxy.rb +0 -216
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** Form generated from reading ui file 'relations_view.ui'
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** Created: Mon Jan 25 15:21:37 2010
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** by: Qt User Interface Compiler version 4.5.3
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class Ui_RelationsView
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attr_reader :actionShowAll
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attr_reader :actionZoom
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attr_reader :actionUnzoom
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attr_reader :actionFit
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attr_reader :actionPrint
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attr_reader :actionKeepSignals
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attr_reader :actionBookmarksAdd
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attr_reader :actionHideFinalized
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attr_reader :centralwidget
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attr_reader :graphics
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attr_reader :menuView
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def setupUi(relationsView)
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relationsView.objectName = "relationsView"
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end
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relationsView.resize(800, 600)
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@actionShowAll = Qt::Action.new(relationsView)
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@actionShowAll.objectName = "actionShowAll"
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@actionRedraw = Qt::Action.new(relationsView)
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@actionRedraw.objectName = "actionRedraw"
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@actionZoom = Qt::Action.new(relationsView)
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@actionZoom.objectName = "actionZoom"
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@actionUnzoom = Qt::Action.new(relationsView)
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@actionUnzoom.objectName = "actionUnzoom"
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@actionFit = Qt::Action.new(relationsView)
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@actionFit.objectName = "actionFit"
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@actionOwnership = Qt::Action.new(relationsView)
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@actionOwnership.objectName = "actionOwnership"
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@actionOwnership.checkable = true
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@actionOwnership.checked = true
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@actionPrefixAdd = Qt::Action.new(relationsView)
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@actionPrefixAdd.objectName = "actionPrefixAdd"
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@actionSVGExport = Qt::Action.new(relationsView)
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@actionSVGExport.objectName = "actionSVGExport"
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@actionPrint = Qt::Action.new(relationsView)
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@actionPrint.objectName = "actionPrint"
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@actionKeepSignals = Qt::Action.new(relationsView)
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@actionKeepSignals.objectName = "actionKeepSignals"
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@actionKeepSignals.checkable = true
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@actionKeepSignals.checked = false
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@actionBookmarksAdd = Qt::Action.new(relationsView)
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@actionBookmarksAdd.objectName = "actionBookmarksAdd"
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@actionHideFinalized = Qt::Action.new(relationsView)
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@actionHideFinalized.objectName = "actionHideFinalized"
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@actionHideFinalized.checkable = true
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@actionHideFinalized.checked = true
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@centralwidget = Qt::Widget.new(relationsView)
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@centralwidget.objectName = "centralwidget"
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@vboxLayout = Qt::VBoxLayout.new(@centralwidget)
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@vboxLayout.objectName = "vboxLayout"
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@graphics = Qt::GraphicsView.new(@centralwidget)
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@graphics.objectName = "graphics"
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@graphics.renderHints = Qt::Painter::Antialiasing|Qt::Painter::TextAntialiasing
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@vboxLayout.addWidget(@graphics)
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relationsView.centralWidget = @centralwidget
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@menubar = Qt::MenuBar.new(relationsView)
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@menubar.objectName = "menubar"
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@menubar.geometry = Qt::Rect.new(0, 0, 800, 29)
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@menuView = Qt::Menu.new(@menubar)
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@menuView.objectName = "menuView"
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@menuTask_labels = Qt::Menu.new(@menubar)
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@menuTask_labels.objectName = "menuTask_labels"
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@menuRemovedPrefixes = Qt::Menu.new(@menuTask_labels)
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@menuRemovedPrefixes.objectName = "menuRemovedPrefixes"
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relationsView.setMenuBar(@menubar)
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@menubar.addAction(@menuView.menuAction())
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@menubar.addAction(@menuTask_labels.menuAction())
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@menuView.addAction(@actionKeepSignals)
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@menuView.addAction(@actionHideFinalized)
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@menuView.addAction(@actionShowAll)
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@menuView.addAction(@actionRedraw)
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@menuView.addSeparator()
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@menuView.addAction(@actionZoom)
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@menuView.addAction(@actionUnzoom)
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@menuView.addAction(@actionFit)
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@menuView.addSeparator()
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@menuView.addAction(@actionSVGExport)
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@menuView.addAction(@actionPrint)
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@menuTask_labels.addAction(@actionOwnership)
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@menuTask_labels.addAction(@menuRemovedPrefixes.menuAction())
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@menuRemovedPrefixes.addAction(@actionPrefixAdd)
|
104
|
-
@menuRemovedPrefixes.addSeparator()
|
105
|
-
|
106
|
-
retranslateUi(relationsView)
|
107
|
-
|
108
|
-
Qt::MetaObject.connectSlotsByName(relationsView)
|
109
|
-
end # setupUi
|
110
|
-
|
111
|
-
def setup_ui(relationsView)
|
112
|
-
setupUi(relationsView)
|
113
|
-
end
|
114
|
-
|
115
|
-
def retranslateUi(relationsView)
|
116
|
-
relationsView.windowTitle = Qt::Application.translate("RelationsView", "MainWindow", nil, Qt::Application::UnicodeUTF8)
|
117
|
-
@actionShowAll.text = Qt::Application.translate("RelationsView", "Show All", nil, Qt::Application::UnicodeUTF8)
|
118
|
-
@actionRedraw.text = Qt::Application.translate("RelationsView", "Redaw", nil, Qt::Application::UnicodeUTF8)
|
119
|
-
@actionZoom.text = Qt::Application.translate("RelationsView", "Zoom +", nil, Qt::Application::UnicodeUTF8)
|
120
|
-
@actionUnzoom.text = Qt::Application.translate("RelationsView", "Zoom -", nil, Qt::Application::UnicodeUTF8)
|
121
|
-
@actionFit.text = Qt::Application.translate("RelationsView", "Fit", nil, Qt::Application::UnicodeUTF8)
|
122
|
-
@actionOwnership.text = Qt::Application.translate("RelationsView", "Ownership", nil, Qt::Application::UnicodeUTF8)
|
123
|
-
@actionPrefixAdd.text = Qt::Application.translate("RelationsView", "Add...", nil, Qt::Application::UnicodeUTF8)
|
124
|
-
@actionSVGExport.text = Qt::Application.translate("RelationsView", "SVG Export", nil, Qt::Application::UnicodeUTF8)
|
125
|
-
@actionPrint.text = Qt::Application.translate("RelationsView", "Print", nil, Qt::Application::UnicodeUTF8)
|
126
|
-
@actionKeepSignals.text = Qt::Application.translate("RelationsView", "Keep signals", nil, Qt::Application::UnicodeUTF8)
|
127
|
-
@actionBookmarksAdd.text = Qt::Application.translate("RelationsView", "Add ...", nil, Qt::Application::UnicodeUTF8)
|
128
|
-
@actionHideFinalized.text = Qt::Application.translate("RelationsView", "Hide Finalized", nil, Qt::Application::UnicodeUTF8)
|
129
|
-
@menuView.title = Qt::Application.translate("RelationsView", "View", nil, Qt::Application::UnicodeUTF8)
|
130
|
-
@menuTask_labels.title = Qt::Application.translate("RelationsView", "Task labels", nil, Qt::Application::UnicodeUTF8)
|
131
|
-
@menuRemovedPrefixes.title = Qt::Application.translate("RelationsView", "Removed prefixes", nil, Qt::Application::UnicodeUTF8)
|
132
|
-
end # retranslateUi
|
133
|
-
|
134
|
-
def retranslate_ui(relationsView)
|
135
|
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retranslateUi(relationsView)
|
136
|
-
end
|
137
|
-
|
138
|
-
end
|
139
|
-
|
140
|
-
module Ui
|
141
|
-
class RelationsView < Ui_RelationsView
|
142
|
-
end
|
143
|
-
end # module Ui
|
144
|
-
|
data/lib/roby/log/gui/replay.rb
DELETED
@@ -1,366 +0,0 @@
|
|
1
|
-
require 'Qt4'
|
2
|
-
require 'roby/app'
|
3
|
-
require 'optparse'
|
4
|
-
|
5
|
-
require 'roby/log/event_stream'
|
6
|
-
require 'roby/log/gui/replay_controls'
|
7
|
-
require 'roby/log/gui/data_displays'
|
8
|
-
|
9
|
-
# This class is a data stream list model for offline replay:
|
10
|
-
# it holds a list of log file which can then be used for
|
11
|
-
# display by log/replay
|
12
|
-
class OfflineStreamListModel < DataStreamListModel
|
13
|
-
def edit(stream)
|
14
|
-
dir = if !stream || stream.files.empty? then ""
|
15
|
-
else File.dirname(stream.files.first) end
|
16
|
-
|
17
|
-
newfiles = Qt::FileDialog.get_open_file_names nil, "New data stream", dir
|
18
|
-
return if newfiles.empty?
|
19
|
-
if !newfiles.empty?
|
20
|
-
newstreams = Roby.app.data_streams_of(newfiles)
|
21
|
-
if !newstreams.empty?
|
22
|
-
newstreams.each do |s|
|
23
|
-
s.open
|
24
|
-
end
|
25
|
-
return newstreams
|
26
|
-
else
|
27
|
-
Qt::MessageBox.warning nil, "Add data stream", "Cannot determine data stream type for #{newfiles.join(", ")}"
|
28
|
-
return
|
29
|
-
end
|
30
|
-
end
|
31
|
-
end
|
32
|
-
end
|
33
|
-
|
34
|
-
class Replay < Qt::MainWindow
|
35
|
-
attr_reader :streams
|
36
|
-
attr_reader :streams_model
|
37
|
-
|
38
|
-
# The widget which controls the data stream => display mapping, and display
|
39
|
-
# control
|
40
|
-
attr_reader :ui_displays
|
41
|
-
# The widget which hold the replay controls (play, pause, ...)
|
42
|
-
attr_reader :ui_controls
|
43
|
-
|
44
|
-
# The set of bookmarks as a name => time map
|
45
|
-
attr_reader :bookmarks
|
46
|
-
|
47
|
-
KEY_GOTO = Qt::KeySequence.new('g')
|
48
|
-
|
49
|
-
# True if we should start playing right away
|
50
|
-
attr_accessor :play_now
|
51
|
-
# The log directory, or Roby.app.log_dir
|
52
|
-
attr_accessor :log_dir
|
53
|
-
# Set to a time at which we should go to
|
54
|
-
attr_accessor :initial_time
|
55
|
-
# A set of procs which are to be called to set up the display
|
56
|
-
attr_accessor :initial_setup
|
57
|
-
# Set to true if we are playing some data right now
|
58
|
-
attr_predicate :running?, true
|
59
|
-
|
60
|
-
def initialize
|
61
|
-
super()
|
62
|
-
@play_speed = 1.0
|
63
|
-
@play_now = nil
|
64
|
-
@logdir = nil
|
65
|
-
@goto = nil
|
66
|
-
@initial_setup = []
|
67
|
-
@bookmarks = Hash.new
|
68
|
-
|
69
|
-
# Create the vertical layout for this window
|
70
|
-
central_widget = Qt::Widget.new(self)
|
71
|
-
self.central_widget = central_widget
|
72
|
-
layout = Qt::VBoxLayout.new(central_widget)
|
73
|
-
layout.spacing = 6
|
74
|
-
layout.margin = 0
|
75
|
-
|
76
|
-
# Add support for the data streams and display setup
|
77
|
-
@streams = Array.new
|
78
|
-
@streams_model = OfflineStreamListModel.new(streams)
|
79
|
-
displays_holder = Qt::Widget.new(central_widget)
|
80
|
-
layout.add_widget displays_holder
|
81
|
-
@ui_displays = Ui_DataDisplays.new
|
82
|
-
ui_displays.setupUi(displays_holder)
|
83
|
-
ui_displays.streams.model = streams_model
|
84
|
-
connect(ui_displays.add_stream, SIGNAL("clicked()"), self, SLOT("add_stream()"))
|
85
|
-
connect(ui_displays.remove_stream, SIGNAL("clicked()"), self, SLOT("remove_stream()"))
|
86
|
-
connect(ui_displays.display_add, SIGNAL("clicked()"), self, SLOT("add_display()"))
|
87
|
-
|
88
|
-
controls_holder = Qt::Widget.new(central_widget)
|
89
|
-
@ui_controls = Ui::ReplayControls.new
|
90
|
-
ui_controls.setupUi(self, controls_holder)
|
91
|
-
layout.add_widget controls_holder
|
92
|
-
end
|
93
|
-
|
94
|
-
def play_speed=(value)
|
95
|
-
ui_controls.speed.text = value.to_s
|
96
|
-
@play_speed = value
|
97
|
-
|
98
|
-
if play_timer
|
99
|
-
play_timer.stop
|
100
|
-
play_timer.start(Integer(time_slice * 1000))
|
101
|
-
end
|
102
|
-
end
|
103
|
-
def time_slice
|
104
|
-
if play_speed < 1
|
105
|
-
BASE_TIME_SLICE / play_speed
|
106
|
-
else
|
107
|
-
BASE_TIME_SLICE
|
108
|
-
end
|
109
|
-
end
|
110
|
-
|
111
|
-
def displayed_streams
|
112
|
-
streams.find_all do |s|
|
113
|
-
s.displayed?
|
114
|
-
end
|
115
|
-
end
|
116
|
-
|
117
|
-
# Time of the first known sample
|
118
|
-
attr_reader :first_sample
|
119
|
-
# Time of the last known sample
|
120
|
-
attr_reader :last_sample
|
121
|
-
|
122
|
-
def seek(time, integrate = true)
|
123
|
-
if time && !first_sample
|
124
|
-
seek(nil)
|
125
|
-
elsif time && first_sample && time < first_sample
|
126
|
-
time = nil
|
127
|
-
end
|
128
|
-
|
129
|
-
displayed_streams.each { |s| s.prepare_seek(time) }
|
130
|
-
if !time || time == Time.at(0)
|
131
|
-
min, max = displayed_streams.inject([nil, nil]) do |(min, max), stream|
|
132
|
-
stream_min, stream_max = stream.range
|
133
|
-
if stream_min && stream_max
|
134
|
-
if !min || stream_min < min
|
135
|
-
min = stream_min
|
136
|
-
end
|
137
|
-
if !max || stream_max > max
|
138
|
-
max = stream_max
|
139
|
-
end
|
140
|
-
end
|
141
|
-
[min, max]
|
142
|
-
end
|
143
|
-
|
144
|
-
@first_sample = @time = min
|
145
|
-
@last_sample = max
|
146
|
-
|
147
|
-
if min
|
148
|
-
ui_controls.progress.minimum = min.to_i
|
149
|
-
ui_controls.progress.maximum = max.to_i
|
150
|
-
ui_controls.update_bookmarks_menu
|
151
|
-
else
|
152
|
-
ui_controls.progress.minimum = 0
|
153
|
-
ui_controls.progress.maximum = 1
|
154
|
-
end
|
155
|
-
else
|
156
|
-
play_until time, integrate
|
157
|
-
end
|
158
|
-
|
159
|
-
update_time_display
|
160
|
-
end
|
161
|
-
|
162
|
-
def update_time_display
|
163
|
-
if first_sample
|
164
|
-
ui_controls.time_lcd.display(((self.time - first_sample) * 1000.0).round / 1000.0)
|
165
|
-
ui_controls.progress.value = self.time.to_i
|
166
|
-
else
|
167
|
-
ui_controls.time_lcd.display(0)
|
168
|
-
ui_controls.progress.value = 0
|
169
|
-
end
|
170
|
-
end
|
171
|
-
|
172
|
-
attr_reader :time
|
173
|
-
|
174
|
-
def next_time
|
175
|
-
displayed_streams.
|
176
|
-
map { |s| s.next_time }.
|
177
|
-
compact.min
|
178
|
-
end
|
179
|
-
|
180
|
-
BASE_TIME_SLICE = 0.5
|
181
|
-
attr_reader :play_timer, :play_speed
|
182
|
-
def play
|
183
|
-
seek(nil) unless first_sample
|
184
|
-
|
185
|
-
@play_timer = Qt::Timer.new(self)
|
186
|
-
connect(play_timer, SIGNAL("timeout()"), self, SLOT("play_step_timer()"))
|
187
|
-
play_timer.start(Integer(time_slice * 1000))
|
188
|
-
end
|
189
|
-
|
190
|
-
def stop
|
191
|
-
self.running = false
|
192
|
-
if play_timer
|
193
|
-
ui_controls.play.checked = false
|
194
|
-
play_timer.stop
|
195
|
-
@play_timer = nil
|
196
|
-
end
|
197
|
-
end
|
198
|
-
|
199
|
-
def play_step
|
200
|
-
seek(nil) unless first_sample
|
201
|
-
play_until(next_time)
|
202
|
-
end
|
203
|
-
|
204
|
-
def play_step_timer
|
205
|
-
start = Time.now
|
206
|
-
play_until(time + time_slice * play_speed)
|
207
|
-
end
|
208
|
-
slots 'play_step_timer()'
|
209
|
-
|
210
|
-
def play_next_nonempty
|
211
|
-
self.running = true
|
212
|
-
while running? && !play_step
|
213
|
-
end
|
214
|
-
end
|
215
|
-
|
216
|
-
def play_until(max_time, integrate = false)
|
217
|
-
start_at = Time.now
|
218
|
-
displayed_streams.inject(timeline = []) do |timeline, s|
|
219
|
-
if s.next_time
|
220
|
-
timeline << [s.next_time, s]
|
221
|
-
end
|
222
|
-
timeline
|
223
|
-
end
|
224
|
-
|
225
|
-
if timeline.empty?
|
226
|
-
stop
|
227
|
-
return
|
228
|
-
end
|
229
|
-
|
230
|
-
needs_display = Set.new
|
231
|
-
updated_streams = Set.new
|
232
|
-
|
233
|
-
timeline.sort_by { |t, _| t }
|
234
|
-
while !timeline.empty? && (timeline[0][0] - max_time) < 0.001
|
235
|
-
@time, stream = timeline.first
|
236
|
-
|
237
|
-
unless integrate
|
238
|
-
if stream.clear_integrated
|
239
|
-
needs_display << stream
|
240
|
-
end
|
241
|
-
end
|
242
|
-
|
243
|
-
if stream.advance
|
244
|
-
needs_display << stream
|
245
|
-
updated_streams << stream
|
246
|
-
end
|
247
|
-
|
248
|
-
if next_time = stream.next_time
|
249
|
-
timeline[0] = [next_time, stream]
|
250
|
-
else
|
251
|
-
timeline.shift
|
252
|
-
end
|
253
|
-
timeline.sort_by { |t, _| t }
|
254
|
-
end
|
255
|
-
|
256
|
-
replayed = Time.now
|
257
|
-
|
258
|
-
needs_display.each do |stream|
|
259
|
-
stream.display
|
260
|
-
end
|
261
|
-
|
262
|
-
STDERR.puts "replay #{replayed - start_at}, display #{Time.now-replayed}"
|
263
|
-
|
264
|
-
if timeline.empty? then stop
|
265
|
-
else @time = max_time
|
266
|
-
end
|
267
|
-
|
268
|
-
if time > last_sample
|
269
|
-
@last_sample = time
|
270
|
-
|
271
|
-
time_display = time.to_i
|
272
|
-
if ui_controls.progress.maximum < time_display
|
273
|
-
ui_controls.progress.maximum = (first_sample + (last_sample - first_sample) * 4 / 3).to_i
|
274
|
-
end
|
275
|
-
end
|
276
|
-
update_time_display
|
277
|
-
!updated_streams.empty?
|
278
|
-
|
279
|
-
rescue Exception => e
|
280
|
-
message = "<html>#{Qt.escape(e.message)}<ul><li>#{e.backtrace.join("</li><li>")}</li></ul></html>"
|
281
|
-
Qt::MessageBox.critical self, "Replay failure", message
|
282
|
-
stop
|
283
|
-
end
|
284
|
-
|
285
|
-
def add_stream(stream = nil)
|
286
|
-
streams_model.add_new(stream)
|
287
|
-
end
|
288
|
-
slots 'add_stream()'
|
289
|
-
|
290
|
-
def remove_stream
|
291
|
-
index = ui_displays.streams.current_index.row
|
292
|
-
streams.removeRow(index, Qt::ModelIndex.new)
|
293
|
-
end
|
294
|
-
slots 'remove_stream()'
|
295
|
-
|
296
|
-
def add_display(kind = nil)
|
297
|
-
ui_displays.add_display(streams_model, kind)
|
298
|
-
end
|
299
|
-
slots 'add_display()'
|
300
|
-
|
301
|
-
def self.setup(argv)
|
302
|
-
replay = self.new
|
303
|
-
|
304
|
-
parser = OptionParser.new do |opt|
|
305
|
-
opt.on('--require=FILE', '-r FILE', String, 'load this file at startup') do |file|
|
306
|
-
require file
|
307
|
-
end
|
308
|
-
Ui_DataDisplays::DISPLAYS.each_value do |config_ui|
|
309
|
-
config_ui.setup_optparse(opt, replay)
|
310
|
-
end
|
311
|
-
|
312
|
-
opt.on("--logdir=DIR", String, "the log directory in which we initialize the data streams") do |dir|
|
313
|
-
replay.log_dir = dir
|
314
|
-
end
|
315
|
-
opt.on("--play", "start playing after loading the event log") do
|
316
|
-
replay.play_now = true
|
317
|
-
end
|
318
|
-
|
319
|
-
opt.on("--speed=SPEED", Integer, "play speed") do |speed|
|
320
|
-
replay.play_speed = speed
|
321
|
-
end
|
322
|
-
opt.on("--goto=TIME", String, "go to TIME before playing normally. Time is given relatively to the simulation start") do |goto|
|
323
|
-
replay.initial_time = goto
|
324
|
-
end
|
325
|
-
opt.on('--bookmarks=FILE', String, "load the bookmarks in FILE") do |file|
|
326
|
-
replay.ui_controls.load_bookmarks(file)
|
327
|
-
end
|
328
|
-
end
|
329
|
-
args = argv.dup
|
330
|
-
parser.parse!(args)
|
331
|
-
|
332
|
-
yield(replay, parser, args) if block_given?
|
333
|
-
|
334
|
-
replay
|
335
|
-
end
|
336
|
-
|
337
|
-
def setup
|
338
|
-
initial_setup.each do |prc|
|
339
|
-
prc.call(self)
|
340
|
-
end
|
341
|
-
|
342
|
-
show
|
343
|
-
if initial_time
|
344
|
-
seek(nil)
|
345
|
-
|
346
|
-
seek_time = if initial_time[0] == ?@
|
347
|
-
Time.from_hms(initial_time[1..-1])
|
348
|
-
else
|
349
|
-
first_sample + (Time.from_hms(initial_time) - Time.at(0))
|
350
|
-
end
|
351
|
-
seek(seek_time, false)
|
352
|
-
end
|
353
|
-
|
354
|
-
if play_now
|
355
|
-
ui_controls.play.checked = true
|
356
|
-
end
|
357
|
-
end
|
358
|
-
end
|
359
|
-
|
360
|
-
if $0 == __FILE__
|
361
|
-
a = Qt::Application.new(ARGV)
|
362
|
-
w = Replay.new
|
363
|
-
w.show
|
364
|
-
a.exec
|
365
|
-
end
|
366
|
-
|