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
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  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
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  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
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  380. data/lib/roby/schedulers/basic.rb +155 -25
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  382. data/lib/roby/schedulers/reporting.rb +31 -0
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  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
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  389. data/lib/roby/state/conf_model.rb +5 -0
  390. data/lib/roby/state/events.rb +181 -95
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  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
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@@ -1,23 +0,0 @@
1
- require 'roby/task'
2
-
3
- module Roby
4
- module Test
5
- # This task model is a simple task where +start+, +success+ and
6
- # +failed+ are pass-through controlable events. They have an +id+
7
- # argument which is automatically set to the object's #object_id if not
8
- # explicitely given at initialization.
9
- class SimpleTask < Roby::Task
10
- argument :id
11
-
12
- def initialize(arguments = {}) # :nodoc:
13
- arguments = { :id => object_id.to_s }.merge(arguments)
14
- super(arguments)
15
- end
16
-
17
- event :start, :command => true
18
- event :success, :command => true, :terminal => true
19
- terminates
20
- end
21
- end
22
- end
23
-
@@ -1,507 +0,0 @@
1
- module Roby
2
- # Exception raised when someone tries do commit an invalid transaction
3
- class InvalidTransaction < RuntimeError; end
4
-
5
- # A transaction is a special kind of plan. It allows to build plans in a separate
6
- # sandbox, and then to apply the modifications to the real plan (using #commit_transaction), or
7
- # to discard all modifications (using #discard)
8
- class Transaction < Plan
9
- Proxy = Transactions::Proxy
10
-
11
- # A transaction is not an executable plan
12
- def executable?; false end
13
- attr_predicate :freezed
14
- attr_predicate :committed
15
-
16
- def do_wrap(object, do_include = false) # :nodoc:
17
- raise "transaction #{self} has been either committed or discarded. No modification allowed" if freezed?
18
-
19
- proxy = proxy_objects[object] = Proxy.proxy_class(object).new(object, self)
20
- if do_include && object.root_object?
21
- proxy.plan = self
22
- add(proxy)
23
- end
24
-
25
- copy_object_relations(object, proxy)
26
- proxy
27
- end
28
-
29
- def propose; end
30
- def edit
31
- yield if block_given?
32
- end
33
-
34
- # This method copies on +proxy+ all relations of +object+ for which
35
- # both ends of the relation are already in the transaction.
36
- def copy_object_relations(object, proxy)
37
- Roby.synchronize do
38
- # Create edges between the neighbours that are really in the transaction
39
- object.each_relation do |rel|
40
- object.each_parent_object(rel) do |parent|
41
- if parent_proxy = self[parent, false]
42
- parent_proxy.add_child_object(proxy, rel, parent[object, rel])
43
- end
44
- end
45
-
46
- object.each_child_object(rel) do |child|
47
- if child_proxy = self[child, false]
48
- proxy.add_child_object(child_proxy, rel, object[child, rel])
49
- end
50
- end
51
- end
52
- end
53
- end
54
-
55
- # Get the transaction proxy for +object+
56
- def wrap(object, create = true)
57
- if object.kind_of?(PlanObject)
58
- if object.plan == self then return object
59
- elsif proxy = proxy_objects[object] then return proxy
60
- end
61
-
62
- if !object.plan && !object.finalized?
63
- object.plan = self
64
- add(object)
65
- return object
66
- end
67
-
68
- if create
69
- if object.plan == self.plan
70
- wrapped = do_wrap(object, true)
71
- if plan.mission?(object)
72
- add_mission(wrapped)
73
- elsif plan.permanent?(object)
74
- add_permanent(wrapped)
75
- end
76
- return wrapped
77
- else
78
- raise ArgumentError, "#{object} is in #{object.plan}, this transaction #{self} applies on #{self.plan}"
79
- end
80
- end
81
- nil
82
- elsif object.respond_to?(:to_ary)
83
- object.map { |o| wrap(o, create) }
84
- elsif object.respond_to?(:each)
85
- raise ArgumentError, "don't know how to wrap containers of class #{objects.class}"
86
- else
87
- raise TypeError, "don't know how to wrap #{object || 'nil'} of type #{object.class.ancestors}"
88
- end
89
- end
90
- alias :[] :wrap
91
-
92
- def restore_relation(proxy, relation)
93
- object = proxy.__getobj__
94
-
95
- Roby.synchronize do
96
- proxy_children = proxy.child_objects(relation)
97
- object.child_objects(relation).each do |object_child|
98
- next unless proxy_child = wrap(object_child, false)
99
- if proxy_children.include?(proxy_child)
100
- relation.unlink(proxy, proxy_child)
101
- end
102
- end
103
-
104
- proxy_parents = proxy.parent_objects(relation)
105
- object.parent_objects(relation).each do |object_parent|
106
- next unless proxy_parent = wrap(object_parent, false)
107
- if proxy_parents.include?(proxy_parent)
108
- relation.unlink(parent, proxy_parent)
109
- end
110
- end
111
- end
112
-
113
- added_objects.delete(proxy)
114
- proxy.discovered_relations.delete(relation)
115
- proxy.do_discover(relation, false)
116
- end
117
-
118
- # Removes an object from this transaction
119
- #
120
- # This does *not* remove the object from the underlying plan. Removing
121
- # objects directly is (at best) dangerous, and should be handled by
122
- # garbage collection.
123
- def remove_object(object)
124
- raise "transaction #{self} has been either committed or discarded. No modification allowed" if freezed?
125
-
126
- object = may_unwrap(object)
127
- proxy = proxy_objects.delete(object)
128
- if (proxy || object).plan != self
129
- raise InternalError, "inconsistency"
130
- end
131
-
132
- if proxy
133
- discarded_tasks.delete(object)
134
- auto_tasks.delete(object)
135
- if proxy.respond_to?(:each_plan_child)
136
- proxy.each_plan_child(true) do |child_proxy|
137
- auto_tasks.delete(child_proxy)
138
- end
139
- end
140
- end
141
-
142
- proxy ||= object
143
- if proxy.root_object?
144
- super(proxy)
145
- end
146
- self
147
- end
148
-
149
- def may_wrap(objects, create = true)
150
- if objects.respond_to?(:to_ary)
151
- objects.map { |obj| may_wrap(obj, create) }
152
- elsif objects.respond_to?(:each)
153
- raise ArgumentError, "don't know how to wrap containers of class #{objects.class}"
154
- elsif objects.kind_of?(PlanObject)
155
- wrap(objects, create)
156
- else
157
- objects
158
- end
159
- end
160
-
161
- # If +object+ is in this transaction, may_unwrap will return the
162
- # underlying plan object. In all other cases, returns object.
163
- def may_unwrap(object)
164
- if object.respond_to?(:plan)
165
- if object.plan == self && object.respond_to?(:__getobj__)
166
- object.__getobj__
167
- elsif object.plan == self.plan
168
- object
169
- else
170
- object
171
- end
172
- else object
173
- end
174
- end
175
-
176
- # The list of discarded
177
- attr_reader :discarded_tasks
178
- # The list of permanent tasks that have been auto'ed
179
- attr_reader :auto_tasks
180
- # The plan this transaction applies on
181
- attr_reader :plan
182
- # The proxy objects built for this transaction
183
- attr_reader :proxy_objects
184
- # The option hash given at initialization
185
- attr_reader :options
186
-
187
- # The decision control object associated with this transaction. It is
188
- # in general plan.control
189
- def control; plan.control end
190
-
191
- # Creates a new transaction which applies on +plan+
192
- def initialize(plan, options = {})
193
- @options = options
194
- super()
195
-
196
- @plan = plan
197
-
198
- @proxy_objects = Hash.new
199
- @discarded_tasks = ValueSet.new
200
- @auto_tasks = ValueSet.new
201
-
202
- Roby.synchronize do
203
- plan.transactions << self
204
- plan.added_transaction(self)
205
- end
206
- end
207
-
208
- # Calls the given block in the execution thread of the engine of the
209
- # underlying plan. If there is no engine attached to this plan, yields
210
- # immediately.
211
- #
212
- # See Plan#execute and ExecutionEngine#execute
213
- def execute(&block)
214
- plan.execute(&block)
215
- end
216
-
217
- def discover_neighborhood(object)
218
- stack = object.transaction_stack
219
- object = object.real_object
220
- while stack.size > 1
221
- plan = stack.pop
222
- next_plan = stack.last
223
-
224
- next_plan[object]
225
- object.each_relation do |rel|
226
- object.each_parent_object(rel) { |obj| next_plan[obj] }
227
- object.each_child_object(rel) { |obj| next_plan[obj] }
228
- end
229
- object = next_plan[object]
230
- end
231
- nil
232
- end
233
-
234
- def replace(from, to)
235
- # Make sure +from+, its events and all the related tasks and events
236
- # are in the transaction
237
- discover_neighborhood(from)
238
- from.each_event do |ev|
239
- discover_neighborhood(ev)
240
- end
241
-
242
- super(from, to)
243
- end
244
-
245
- def add_mission(t)
246
- raise "transaction #{self} has been either committed or discarded. No modification allowed" if freezed?
247
- if proxy = self[t, false]
248
- discarded_tasks.delete(may_unwrap(proxy))
249
- end
250
- super(t)
251
- end
252
- def add_permanent(t)
253
- raise "transaction #{self} has been either committed or discarded. No modification allowed" if freezed?
254
- if proxy = self[t, false]
255
- auto_tasks.delete(may_unwrap(proxy))
256
- end
257
- super(t)
258
- end
259
- def add(objects)
260
- raise "transaction #{self} has been either committed or discarded. No modification allowed" if freezed?
261
- super(objects)
262
- self
263
- end
264
-
265
- def unmark_permanent(t)
266
- raise "transaction #{self} has been either committed or discarded. No modification allowed" if freezed?
267
- if proxy = self[t, false]
268
- super(proxy)
269
- end
270
-
271
- t = may_unwrap(t)
272
- if t.plan == self.plan
273
- auto_tasks.insert(t)
274
- end
275
- end
276
-
277
- def unmark_mission(t)
278
- raise "transaction #{self} has been either committed or discarded. No modification allowed" if freezed?
279
- if proxy = self[t, false]
280
- super(proxy)
281
- end
282
-
283
- t = may_unwrap(t)
284
- if t.plan == self.plan
285
- discarded_tasks.insert(t)
286
- end
287
- end
288
-
289
- attribute(:invalidation_reasons) { Array.new }
290
-
291
- def invalid=(flag)
292
- if !flag
293
- invalidation_reasons.clear
294
- end
295
- @invalid = flag
296
- end
297
-
298
- def invalid?; @invalid end
299
- def valid_transaction?; transactions.empty? && !invalid? end
300
- def invalidate(reason = nil)
301
- self.invalid = true
302
- invalidation_reasons << [reason, caller(1)] if reason
303
- Roby.debug do
304
- "invalidating #{self}: #{reason}"
305
- end
306
- end
307
- def check_valid_transaction
308
- return if valid_transaction?
309
-
310
- unless transactions.empty?
311
- raise InvalidTransaction, "there is still transactions on top of this one"
312
- end
313
- message = invalidation_reasons.map do |reason, trace|
314
- "#{trace[0]}: #{reason}\n #{trace[1..-1].join("\n ")}"
315
- end.join("\n")
316
- raise InvalidTransaction, "invalid transaction: #{message}"
317
- end
318
-
319
- # Commit all modifications that have been registered
320
- # in this transaction
321
- def commit_transaction
322
- # if !Roby.control.running?
323
- # raise "#commit_transaction requires the presence of a control thread"
324
- # end
325
-
326
- check_valid_transaction
327
- freezed!
328
-
329
- plan.execute do
330
- auto_tasks.each { |t| plan.unmark_permanent(t) }
331
- discarded_tasks.each { |t| plan.unmark_mission(t) }
332
-
333
- discover_tasks = ValueSet.new
334
- discover_events = ValueSet.new
335
- insert = ValueSet.new
336
- permanent = ValueSet.new
337
- known_tasks.dup.each do |t|
338
- unwrapped = if t.kind_of?(Transactions::Proxy)
339
- finalized_task(t)
340
- t.__getobj__
341
- else
342
- known_tasks.delete(t)
343
- t
344
- end
345
-
346
- if missions.include?(t) && t.self_owned?
347
- missions.delete(t)
348
- insert << unwrapped
349
- elsif permanent_tasks.include?(t) && t.self_owned?
350
- permanent_tasks.delete(t)
351
- permanent << unwrapped
352
- end
353
-
354
- discover_tasks << unwrapped
355
- end
356
-
357
- free_events.dup.each do |ev|
358
- unwrapped = if ev.kind_of?(Transactions::Proxy)
359
- finalized_event(ev)
360
- ev.__getobj__
361
- else
362
- free_events.delete(ev)
363
- ev
364
- end
365
- if permanent_events.include?(ev) && ev.self_owned?
366
- permanent_events.delete(ev)
367
- permanent << unwrapped
368
- end
369
-
370
- discover_events << unwrapped
371
- end
372
-
373
- new_tasks = plan.add_task_set(discover_tasks)
374
- new_tasks.each do |task|
375
- if task.respond_to?(:commit_transaction)
376
- task.commit_transaction
377
- end
378
- end
379
-
380
- new_events = plan.add_event_set(discover_events)
381
- new_events.each do |event|
382
- if event.respond_to?(:commit_transaction)
383
- event.commit_transaction
384
- end
385
- end
386
-
387
- # Set the plan to nil in known tasks to avoid having the checks on
388
- # #plan to raise an exception
389
- proxy_objects.each_value { |proxy| proxy.commit_transaction }
390
- proxy_objects.each_value { |proxy| proxy.clear_relations }
391
-
392
- insert.each { |t| plan.add_mission(t) }
393
- permanent.each { |t| plan.add_permanent(t) }
394
-
395
- proxies = proxy_objects.dup
396
- clear
397
- # Replace proxies by forwarder objects
398
- proxies.each do |object, proxy|
399
- forwarder = Proxy.forwarder(object)
400
- forwarder.freeze
401
- Kernel.swap! proxy, forwarder
402
- end
403
-
404
- @committed = true
405
- committed_transaction
406
- plan.remove_transaction(self)
407
- @plan = nil
408
-
409
- yield if block_given?
410
- end
411
- end
412
- def committed_transaction; super if defined? super end
413
- def finalized?; !plan end
414
-
415
- def enable_proxying; @disable_proxying = false end
416
- def disable_proxying
417
- @disable_proxying = true
418
- if block_given?
419
- begin
420
- yield
421
- ensure
422
- @disable_proxying = false
423
- end
424
- end
425
- end
426
- def proxying?; !@freezed && !@disable_proxying end
427
-
428
- # Discard all the modifications that have been registered
429
- # in this transaction
430
- def discard_transaction
431
- # if !Roby.control.running?
432
- # raise "#commit_transaction requires the presence of a control thread"
433
- if !transactions.empty?
434
- raise InvalidTransaction, "there is still transactions on top of this one"
435
- end
436
-
437
- freezed!
438
- proxy_objects.each_value { |proxy| proxy.discard_transaction }
439
- clear
440
-
441
- discarded_transaction
442
- plan.execute do
443
- plan.remove_transaction(self)
444
- end
445
- @plan = nil
446
- end
447
- def discarded_transaction; super if defined? super end
448
-
449
- def freezed!
450
- @freezed = true
451
- end
452
-
453
- def clear
454
- discarded_tasks.clear
455
- proxy_objects.each_value { |proxy| proxy.clear_relations }
456
- proxy_objects.clear
457
- super
458
- end
459
-
460
- def finalized_plan_task(task)
461
- proxied_task = task.__getobj__
462
-
463
- invalidate("task #{task} has been removed from the plan")
464
- discard_modifications(proxied_task)
465
- control.finalized_plan_task(self, task)
466
- end
467
-
468
- def finalized_plan_event(event)
469
- proxied_event = event.__getobj__
470
-
471
- invalidate("event #{event} has been removed from the plan")
472
- discard_modifications(proxied_event)
473
- control.finalized_plan_event(self, event)
474
- end
475
-
476
- def adding_plan_relation(parent, child, relations, info)
477
- missing_relations = relations.find_all do |rel|
478
- !parent.child_object?(child, rel)
479
- end
480
- unless missing_relations.empty?
481
- invalidate("plan added a relation #{parent} -> #{child} in #{relations} with info #{info}")
482
- control.adding_plan_relation(self, parent, child, relations, info)
483
- end
484
- end
485
-
486
- def removing_plan_relation(parent, child, relations)
487
- present_relations = relations.find_all do |rel|
488
- parent.child_object?(child, rel)
489
- end
490
- unless present_relations.empty?
491
- invalidate("plan removed a relation #{parent} -> #{child} in #{relations}")
492
- control.removing_plan_relation(self, parent, child, relations)
493
- end
494
- end
495
-
496
- # Run a garbage collection pass in the transaction. This is 'static', as
497
- # it does not care about the task's state: it will simply remove *from
498
- # the transaction* any task that is not useful *in the context of the
499
- # transaction*.
500
- def static_garbage_collect
501
- for t in unneeded_tasks
502
- remove_object(t)
503
- end
504
- end
505
- end
506
- end
507
-