roby 0.8.0 → 3.0.0

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Files changed (644) hide show
  1. checksums.yaml +7 -0
  2. data/.deep-cover.rb +3 -0
  3. data/.gitattributes +1 -0
  4. data/.gitignore +24 -0
  5. data/.simplecov +10 -0
  6. data/.travis.yml +17 -0
  7. data/.yardopts +4 -0
  8. data/Gemfile +15 -0
  9. data/README.md +11 -0
  10. data/Rakefile +47 -177
  11. data/benchmark/{alloc_misc.rb → attic/alloc_misc.rb} +2 -2
  12. data/benchmark/{discovery_latency.rb → attic/discovery_latency.rb} +19 -19
  13. data/benchmark/{garbage_collection.rb → attic/garbage_collection.rb} +9 -9
  14. data/benchmark/{genom.rb → attic/genom.rb} +0 -0
  15. data/benchmark/attic/transactions.rb +62 -0
  16. data/benchmark/plan_basic_operations.rb +28 -0
  17. data/benchmark/relations/graph.rb +63 -0
  18. data/benchmark/ruby/identity.rb +18 -0
  19. data/benchmark/ruby/set_intersect_vs_hash_merge.rb +39 -0
  20. data/benchmark/ruby/yield_vs_block.rb +35 -0
  21. data/benchmark/run +5 -0
  22. data/benchmark/synthetic_plan_modifications_with_transactions.rb +79 -0
  23. data/benchmark/transactions.rb +99 -51
  24. data/bin/roby +38 -197
  25. data/bin/roby-display +14 -0
  26. data/bin/roby-log +3 -176
  27. data/doc/guide/{src → attic}/abstraction/achieve_with.page +1 -1
  28. data/doc/guide/{src → attic}/abstraction/forwarding.page +1 -1
  29. data/doc/guide/{src → attic}/abstraction/hierarchy.page +1 -1
  30. data/doc/guide/{src → attic}/abstraction/index.page +1 -1
  31. data/doc/guide/{src → attic}/abstraction/task_models.page +1 -1
  32. data/doc/guide/{overview.rdoc → attic/cycle/api_overview.rdoc} +6 -1
  33. data/doc/guide/{src → attic}/cycle/cycle-overview.png +0 -0
  34. data/doc/guide/{src → attic}/cycle/cycle-overview.svg +0 -0
  35. data/doc/guide/attic/cycle/error_handling.page +98 -0
  36. data/doc/guide/{src → attic}/cycle/error_instantaneous_repair.png +0 -0
  37. data/doc/guide/{src → attic}/cycle/error_instantaneous_repair.svg +0 -0
  38. data/doc/guide/{src/cycle/error_handling.page → attic/cycle/error_sources.page} +46 -89
  39. data/doc/guide/{src → attic}/cycle/garbage_collection.page +1 -1
  40. data/doc/guide/{src → attic}/cycle/index.page +1 -1
  41. data/doc/guide/{src → attic}/cycle/propagation.page +11 -1
  42. data/doc/guide/{src → attic}/cycle/propagation_diamond.png +0 -0
  43. data/doc/guide/{src → attic}/cycle/propagation_diamond.svg +0 -0
  44. data/doc/guide/attic/plans/building_plans.page +89 -0
  45. data/doc/guide/attic/plans/code.page +192 -0
  46. data/doc/guide/{src/basics → attic/plans}/events.page +3 -4
  47. data/doc/guide/attic/plans/index.page +7 -0
  48. data/doc/guide/{plan_modifications.rdoc → attic/plans/plan_modifications.rdoc} +5 -3
  49. data/doc/guide/{src/basics → attic/plans}/plan_objects.page +2 -1
  50. data/doc/guide/attic/plans/querying_plans.page +5 -0
  51. data/doc/guide/{src/basics → attic/plans}/tasks.page +20 -20
  52. data/doc/guide/config.yaml +7 -4
  53. data/doc/guide/ext/extended_menu.rb +29 -0
  54. data/doc/guide/ext/init.rb +6 -0
  55. data/doc/guide/ext/rdoc_links.rb +7 -6
  56. data/doc/guide/src/advanced_concepts/history.page +5 -0
  57. data/doc/guide/src/advanced_concepts/index.page +11 -0
  58. data/doc/guide/src/advanced_concepts/recognizing_patterns.page +83 -0
  59. data/doc/guide/src/advanced_concepts/scheduling.page +87 -0
  60. data/doc/guide/src/advanced_concepts/transactions.page +5 -0
  61. data/doc/guide/src/advanced_concepts/unreachability.page +42 -0
  62. data/doc/guide/src/base.template +96 -0
  63. data/doc/guide/src/basics_shell_header.txt +5 -7
  64. data/doc/guide/src/building/action_coordination.page +96 -0
  65. data/doc/guide/src/building/actions.page +124 -0
  66. data/doc/guide/src/building/file_layout.page +71 -0
  67. data/doc/guide/src/building/index.page +50 -0
  68. data/doc/guide/src/building/patterns.page +86 -0
  69. data/doc/guide/src/building/patterns_forwarding.png +0 -0
  70. data/doc/guide/src/building/patterns_forwarding.svg +277 -0
  71. data/doc/guide/src/building/runtime.page +95 -0
  72. data/doc/guide/src/building/task_models.page +94 -0
  73. data/doc/guide/src/building/tasks.page +284 -0
  74. data/doc/guide/src/concepts/error_handling.page +100 -0
  75. data/doc/guide/src/concepts/exception_propagation.png +0 -0
  76. data/doc/guide/src/concepts/exception_propagation.svg +445 -0
  77. data/doc/guide/src/concepts/execution.page +85 -0
  78. data/doc/guide/src/concepts/execution.png +0 -0
  79. data/doc/guide/src/concepts/execution.svg +573 -0
  80. data/doc/guide/src/concepts/execution_cycle.png +0 -0
  81. data/doc/guide/src/concepts/garbage_collection.page +57 -0
  82. data/doc/guide/src/concepts/index.page +27 -0
  83. data/doc/guide/src/concepts/plans.page +101 -0
  84. data/doc/guide/src/concepts/policy.page +31 -0
  85. data/doc/guide/src/concepts/reactor.page +61 -0
  86. data/doc/guide/src/concepts/simple_plan_example.png +0 -0
  87. data/doc/guide/src/concepts/simple_plan_example.svg +376 -0
  88. data/doc/guide/src/default.template +9 -74
  89. data/doc/guide/src/event_relations/forward.page +71 -0
  90. data/doc/guide/src/event_relations/index.page +12 -0
  91. data/doc/guide/src/event_relations/scheduling_constraints.page +43 -0
  92. data/doc/guide/src/event_relations/signal.page +55 -0
  93. data/doc/guide/src/event_relations/temporal_constraints.page +77 -0
  94. data/doc/guide/src/htmldoc.metainfo +21 -8
  95. data/doc/guide/src/index.page +8 -3
  96. data/doc/guide/src/{introduction/install.page → installation/index.page} +37 -25
  97. data/doc/guide/src/installation/publications.page +14 -0
  98. data/doc/guide/src/{introduction → installation}/videos.page +14 -7
  99. data/doc/guide/src/interacting/index.page +16 -0
  100. data/doc/guide/src/interacting/run.page +33 -0
  101. data/doc/guide/src/interacting/shell.page +95 -0
  102. data/doc/guide/src/plugins/creating_plugins.page +72 -0
  103. data/doc/guide/src/plugins/index.page +27 -5
  104. data/doc/guide/src/plugins/{fault_tolerance.page → standard_plugins/fault_tolerance.page} +2 -2
  105. data/doc/guide/src/plugins/standard_plugins/index.page +11 -0
  106. data/doc/guide/src/plugins/{subsystems.page → standard_plugins/subsystems.page} +2 -2
  107. data/doc/guide/src/style_screen.css +687 -0
  108. data/doc/guide/src/task_relations/dependency.page +107 -0
  109. data/doc/guide/src/task_relations/executed_by.page +77 -0
  110. data/doc/guide/src/task_relations/index.page +12 -0
  111. data/doc/guide/src/task_relations/new_relations.page +119 -0
  112. data/doc/guide/src/task_relations/planned_by.page +46 -0
  113. data/doc/guide/src/tutorial/app.page +117 -0
  114. data/doc/guide/src/{basics → tutorial}/code_examples.page +6 -5
  115. data/doc/guide/src/{basics → tutorial}/dry.page +15 -15
  116. data/doc/guide/src/{basics → tutorial}/errors.page +43 -68
  117. data/doc/guide/src/tutorial/events.page +195 -0
  118. data/doc/guide/src/{basics → tutorial}/hierarchy.page +53 -52
  119. data/doc/guide/src/tutorial/index.page +13 -0
  120. data/doc/guide/src/tutorial/log_replay/goForward_1.png +0 -0
  121. data/doc/guide/src/tutorial/log_replay/goForward_2.png +0 -0
  122. data/doc/guide/src/tutorial/log_replay/goForward_3.png +0 -0
  123. data/doc/guide/src/{basics → tutorial}/log_replay/goForward_4.png +0 -0
  124. data/doc/guide/src/tutorial/log_replay/goForward_5.png +0 -0
  125. data/doc/guide/src/{basics → tutorial}/log_replay/hierarchy_error_1.png +0 -0
  126. data/doc/guide/src/{basics → tutorial}/log_replay/hierarchy_error_2.png +0 -0
  127. data/doc/guide/src/{basics → tutorial}/log_replay/hierarchy_error_3.png +0 -0
  128. data/doc/guide/src/tutorial/log_replay/moveto_code_error.png +0 -0
  129. data/doc/guide/src/{basics → tutorial}/log_replay/plan_repair_1.png +0 -0
  130. data/doc/guide/src/{basics → tutorial}/log_replay/plan_repair_2.png +0 -0
  131. data/doc/guide/src/{basics → tutorial}/log_replay/plan_repair_3.png +0 -0
  132. data/doc/guide/src/tutorial/log_replay/plan_repair_4.png +0 -0
  133. data/doc/guide/src/tutorial/log_replay/roby_log_main_window.png +0 -0
  134. data/doc/guide/src/{basics → tutorial}/log_replay/roby_log_relation_window.png +0 -0
  135. data/doc/guide/src/{basics → tutorial}/log_replay/roby_replay_event_representation.png +0 -0
  136. data/doc/guide/src/tutorial/relations_display.page +153 -0
  137. data/doc/guide/src/{basics → tutorial}/roby_cycle_overview.png +0 -0
  138. data/doc/guide/src/tutorial/shell.page +121 -0
  139. data/doc/guide/src/{basics → tutorial}/summary.page +1 -1
  140. data/doc/guide/src/tutorial/tasks.page +374 -0
  141. data/lib/roby.rb +102 -47
  142. data/lib/roby/actions.rb +17 -0
  143. data/lib/roby/actions/action.rb +80 -0
  144. data/lib/roby/actions/interface.rb +45 -0
  145. data/lib/roby/actions/library.rb +23 -0
  146. data/lib/roby/actions/models/action.rb +224 -0
  147. data/lib/roby/actions/models/coordination_action.rb +58 -0
  148. data/lib/roby/actions/models/interface.rb +22 -0
  149. data/lib/roby/actions/models/interface_base.rb +294 -0
  150. data/lib/roby/actions/models/library.rb +12 -0
  151. data/lib/roby/actions/models/method_action.rb +90 -0
  152. data/lib/roby/actions/task.rb +114 -0
  153. data/lib/roby/and_generator.rb +125 -0
  154. data/lib/roby/app.rb +2795 -829
  155. data/lib/roby/app/autotest_console_reporter.rb +138 -0
  156. data/lib/roby/app/base.rb +21 -0
  157. data/lib/roby/app/cucumber.rb +2 -0
  158. data/lib/roby/app/cucumber/controller.rb +439 -0
  159. data/lib/roby/app/cucumber/helpers.rb +280 -0
  160. data/lib/roby/app/cucumber/world.rb +32 -0
  161. data/lib/roby/app/debug.rb +136 -0
  162. data/lib/roby/app/gen.rb +2 -0
  163. data/lib/roby/app/rake.rb +178 -38
  164. data/lib/roby/app/robot_config.rb +9 -0
  165. data/lib/roby/app/robot_names.rb +115 -0
  166. data/lib/roby/app/run.rb +3 -2
  167. data/lib/roby/app/scripts.rb +72 -0
  168. data/lib/roby/app/scripts/autotest.rb +173 -0
  169. data/lib/roby/app/scripts/display.rb +2 -0
  170. data/lib/roby/app/scripts/restart.rb +52 -0
  171. data/lib/roby/app/scripts/results.rb +17 -8
  172. data/lib/roby/app/scripts/run.rb +155 -24
  173. data/lib/roby/app/scripts/shell.rb +147 -62
  174. data/lib/roby/app/scripts/test.rb +107 -22
  175. data/lib/roby/app/test_reporter.rb +74 -0
  176. data/lib/roby/app/test_server.rb +159 -0
  177. data/lib/roby/app/vagrant.rb +47 -0
  178. data/lib/roby/backports.rb +16 -0
  179. data/lib/roby/cli/display.rb +190 -0
  180. data/lib/roby/cli/exceptions.rb +17 -0
  181. data/lib/roby/cli/gen/actions/class.rb +5 -0
  182. data/lib/roby/cli/gen/actions/test.rb +6 -0
  183. data/lib/roby/cli/gen/app/.yardopts +6 -0
  184. data/lib/roby/cli/gen/app/README.md +28 -0
  185. data/lib/roby/cli/gen/app/Rakefile +15 -0
  186. data/{app → lib/roby/cli/gen/app}/config/app.yml +29 -39
  187. data/lib/roby/cli/gen/app/models/.gitattributes +1 -0
  188. data/{app → lib/roby/cli/gen/app/scripts}/controllers/.gitattributes +0 -0
  189. data/{app/data/.gitattributes → lib/roby/cli/gen/app/test/.gitignore} +0 -0
  190. data/lib/roby/cli/gen/class/class.rb +6 -0
  191. data/lib/roby/cli/gen/class/test.rb +7 -0
  192. data/lib/roby/cli/gen/helpers.rb +203 -0
  193. data/lib/roby/cli/gen/module/module.rb +5 -0
  194. data/lib/roby/cli/gen/module/test.rb +6 -0
  195. data/lib/roby/cli/gen/roby_app/config/init.rb +17 -0
  196. data/lib/roby/cli/gen/roby_app/config/robots/robot.rb +40 -0
  197. data/lib/roby/cli/gen/task/class.rb +44 -0
  198. data/lib/roby/cli/gen/task/test.rb +6 -0
  199. data/lib/roby/cli/gen_main.rb +120 -0
  200. data/lib/roby/cli/log.rb +276 -0
  201. data/lib/roby/cli/log/flamegraph.html +499 -0
  202. data/lib/roby/cli/log/flamegraph_renderer.rb +88 -0
  203. data/lib/roby/cli/main.rb +153 -0
  204. data/lib/roby/coordination.rb +60 -0
  205. data/lib/roby/coordination/action_script.rb +25 -0
  206. data/lib/roby/coordination/action_state_machine.rb +125 -0
  207. data/lib/roby/coordination/actions.rb +106 -0
  208. data/lib/roby/coordination/base.rb +145 -0
  209. data/lib/roby/coordination/calculus.rb +40 -0
  210. data/lib/roby/coordination/child.rb +28 -0
  211. data/lib/roby/coordination/event.rb +29 -0
  212. data/lib/roby/coordination/fault_handler.rb +25 -0
  213. data/lib/roby/coordination/fault_handling_task.rb +13 -0
  214. data/lib/roby/coordination/fault_response_table.rb +110 -0
  215. data/lib/roby/coordination/models/action_script.rb +64 -0
  216. data/lib/roby/coordination/models/action_state_machine.rb +224 -0
  217. data/lib/roby/coordination/models/actions.rb +191 -0
  218. data/lib/roby/coordination/models/arguments.rb +55 -0
  219. data/lib/roby/coordination/models/base.rb +176 -0
  220. data/lib/roby/coordination/models/capture.rb +86 -0
  221. data/lib/roby/coordination/models/child.rb +35 -0
  222. data/lib/roby/coordination/models/event.rb +41 -0
  223. data/lib/roby/coordination/models/exceptions.rb +42 -0
  224. data/lib/roby/coordination/models/fault_handler.rb +219 -0
  225. data/lib/roby/coordination/models/fault_response_table.rb +77 -0
  226. data/lib/roby/coordination/models/root.rb +22 -0
  227. data/lib/roby/coordination/models/script.rb +283 -0
  228. data/lib/roby/coordination/models/task.rb +184 -0
  229. data/lib/roby/coordination/models/task_from_action.rb +50 -0
  230. data/lib/roby/coordination/models/task_from_as_plan.rb +33 -0
  231. data/lib/roby/coordination/models/task_from_instanciation_object.rb +31 -0
  232. data/lib/roby/coordination/models/task_from_variable.rb +27 -0
  233. data/lib/roby/coordination/models/task_with_dependencies.rb +48 -0
  234. data/lib/roby/coordination/models/variable.rb +32 -0
  235. data/lib/roby/coordination/script.rb +200 -0
  236. data/lib/roby/coordination/script_instruction.rb +12 -0
  237. data/lib/roby/coordination/task.rb +45 -0
  238. data/lib/roby/coordination/task_base.rb +69 -0
  239. data/lib/roby/coordination/task_script.rb +293 -0
  240. data/lib/roby/coordination/task_state_machine.rb +308 -0
  241. data/lib/roby/decision_control.rb +33 -21
  242. data/lib/roby/distributed_object.rb +76 -0
  243. data/lib/roby/droby.rb +17 -0
  244. data/lib/roby/droby/droby_id.rb +6 -0
  245. data/lib/roby/droby/enable.rb +153 -0
  246. data/lib/roby/droby/event_logger.rb +189 -0
  247. data/lib/roby/droby/event_logging.rb +57 -0
  248. data/lib/roby/droby/exceptions.rb +14 -0
  249. data/lib/roby/droby/identifiable.rb +22 -0
  250. data/lib/roby/droby/logfile.rb +141 -0
  251. data/lib/roby/droby/logfile/client.rb +176 -0
  252. data/lib/roby/droby/logfile/file_format.md +97 -0
  253. data/lib/roby/droby/logfile/index.rb +117 -0
  254. data/lib/roby/droby/logfile/reader.rb +139 -0
  255. data/lib/roby/droby/logfile/server.rb +199 -0
  256. data/lib/roby/droby/logfile/writer.rb +114 -0
  257. data/lib/roby/droby/marshal.rb +264 -0
  258. data/lib/roby/droby/marshallable.rb +12 -0
  259. data/lib/roby/droby/null_event_logger.rb +25 -0
  260. data/lib/roby/droby/object_manager.rb +205 -0
  261. data/lib/roby/droby/peer_id.rb +6 -0
  262. data/lib/roby/droby/plan_rebuilder.rb +373 -0
  263. data/lib/roby/droby/rebuilt_plan.rb +160 -0
  264. data/lib/roby/droby/remote_droby_id.rb +6 -0
  265. data/lib/roby/droby/timepoints.rb +205 -0
  266. data/lib/roby/droby/timepoints_ctf.metadata.erb +101 -0
  267. data/lib/roby/droby/timepoints_ctf.rb +125 -0
  268. data/lib/roby/droby/v5.rb +14 -0
  269. data/lib/roby/droby/v5/builtin.rb +120 -0
  270. data/lib/roby/droby/v5/droby_class.rb +45 -0
  271. data/lib/roby/droby/v5/droby_constant.rb +81 -0
  272. data/lib/roby/droby/v5/droby_dump.rb +1026 -0
  273. data/lib/roby/droby/v5/droby_id.rb +44 -0
  274. data/lib/roby/droby/v5/droby_model.rb +82 -0
  275. data/lib/roby/droby/v5/peer_id.rb +10 -0
  276. data/lib/roby/droby/v5/remote_droby_id.rb +42 -0
  277. data/lib/roby/event.rb +79 -957
  278. data/lib/roby/event_constraints.rb +835 -0
  279. data/lib/roby/event_generator.rb +1047 -0
  280. data/lib/roby/event_structure/causal_link.rb +6 -0
  281. data/lib/roby/event_structure/forwarding.rb +6 -0
  282. data/lib/roby/event_structure/precedence.rb +7 -0
  283. data/lib/roby/event_structure/signal.rb +8 -0
  284. data/lib/roby/event_structure/temporal_constraints.rb +640 -0
  285. data/lib/roby/exceptions.rb +446 -152
  286. data/lib/roby/executable_plan.rb +549 -0
  287. data/lib/roby/execution_engine.rb +1997 -950
  288. data/lib/roby/filter_generator.rb +26 -0
  289. data/lib/roby/gui/chronicle_view.rb +225 -0
  290. data/lib/roby/gui/chronicle_widget.rb +925 -0
  291. data/lib/roby/gui/dot_id.rb +11 -0
  292. data/lib/roby/gui/exception_view.rb +44 -0
  293. data/lib/roby/gui/log_display.rb +273 -0
  294. data/lib/roby/gui/model_views.rb +2 -0
  295. data/lib/roby/gui/model_views/action_interface.rb +53 -0
  296. data/lib/roby/gui/model_views/task.rb +47 -0
  297. data/lib/roby/gui/model_views/task.rhtml +41 -0
  298. data/lib/roby/gui/object_info_view.rb +89 -0
  299. data/lib/roby/gui/plan_dot_layout.rb +427 -0
  300. data/lib/roby/gui/plan_rebuilder_widget.rb +357 -0
  301. data/lib/roby/gui/qt4_toMSecsSinceEpoch.rb +8 -0
  302. data/lib/roby/gui/relations_view.rb +278 -0
  303. data/lib/roby/gui/relations_view/relations.ui +139 -0
  304. data/lib/roby/gui/relations_view/relations_canvas.rb +1088 -0
  305. data/lib/roby/gui/relations_view/relations_config.rb +292 -0
  306. data/lib/roby/gui/relations_view/relations_view.ui +53 -0
  307. data/lib/roby/gui/scheduler_view.css +24 -0
  308. data/lib/roby/gui/scheduler_view.rb +46 -0
  309. data/lib/roby/gui/scheduler_view.rhtml +53 -0
  310. data/lib/roby/gui/stepping.rb +93 -0
  311. data/lib/roby/gui/stepping.ui +181 -0
  312. data/lib/roby/gui/styles.rb +81 -0
  313. data/lib/roby/gui/task_display_configuration.rb +42 -0
  314. data/lib/roby/gui/task_state_at.rb +38 -0
  315. data/lib/roby/hooks.rb +26 -0
  316. data/lib/roby/interface.rb +136 -469
  317. data/lib/roby/interface/async.rb +20 -0
  318. data/lib/roby/interface/async/action_monitor.rb +188 -0
  319. data/lib/roby/interface/async/interface.rb +498 -0
  320. data/lib/roby/interface/async/job_monitor.rb +213 -0
  321. data/lib/roby/interface/async/log.rb +238 -0
  322. data/lib/roby/interface/async/new_job_listener.rb +79 -0
  323. data/lib/roby/interface/async/ui_connector.rb +183 -0
  324. data/lib/roby/interface/client.rb +553 -0
  325. data/lib/roby/interface/command.rb +24 -0
  326. data/lib/roby/interface/command_argument.rb +16 -0
  327. data/lib/roby/interface/command_library.rb +92 -0
  328. data/lib/roby/interface/droby_channel.rb +174 -0
  329. data/lib/roby/interface/exceptions.rb +22 -0
  330. data/lib/roby/interface/interface.rb +655 -0
  331. data/lib/roby/interface/job.rb +47 -0
  332. data/lib/roby/interface/rest.rb +10 -0
  333. data/lib/roby/interface/rest/api.rb +29 -0
  334. data/lib/roby/interface/rest/helpers.rb +24 -0
  335. data/lib/roby/interface/rest/server.rb +212 -0
  336. data/lib/roby/interface/server.rb +154 -0
  337. data/lib/roby/interface/shell_client.rb +468 -0
  338. data/lib/roby/interface/shell_subcommand.rb +24 -0
  339. data/lib/roby/interface/subcommand_client.rb +35 -0
  340. data/lib/roby/interface/tcp.rb +168 -0
  341. data/lib/roby/models/arguments.rb +112 -0
  342. data/lib/roby/models/plan_object.rb +83 -0
  343. data/lib/roby/models/task.rb +835 -0
  344. data/lib/roby/models/task_event.rb +62 -0
  345. data/lib/roby/models/task_service.rb +78 -0
  346. data/lib/roby/or_generator.rb +88 -0
  347. data/lib/roby/plan.rb +1751 -864
  348. data/lib/roby/plan_object.rb +611 -0
  349. data/lib/roby/plan_service.rb +200 -0
  350. data/lib/roby/promise.rb +332 -0
  351. data/lib/roby/queries.rb +23 -0
  352. data/lib/roby/queries/and_matcher.rb +32 -0
  353. data/lib/roby/queries/any.rb +27 -0
  354. data/lib/roby/queries/code_error_matcher.rb +58 -0
  355. data/lib/roby/queries/event_generator_matcher.rb +9 -0
  356. data/lib/roby/queries/execution_exception_matcher.rb +165 -0
  357. data/lib/roby/queries/index.rb +165 -0
  358. data/lib/roby/queries/localized_error_matcher.rb +149 -0
  359. data/lib/roby/queries/matcher_base.rb +107 -0
  360. data/lib/roby/queries/none.rb +27 -0
  361. data/lib/roby/queries/not_matcher.rb +30 -0
  362. data/lib/roby/queries/op_matcher.rb +8 -0
  363. data/lib/roby/queries/or_matcher.rb +30 -0
  364. data/lib/roby/queries/plan_object_matcher.rb +363 -0
  365. data/lib/roby/queries/query.rb +188 -0
  366. data/lib/roby/queries/task_event_generator_matcher.rb +86 -0
  367. data/lib/roby/queries/task_matcher.rb +344 -0
  368. data/lib/roby/relations.rb +42 -678
  369. data/lib/roby/relations/bidirectional_directed_adjacency_graph.rb +492 -0
  370. data/lib/roby/relations/directed_relation_support.rb +268 -0
  371. data/lib/roby/relations/event_relation_graph.rb +19 -0
  372. data/lib/roby/relations/fork_merge_visitor.rb +154 -0
  373. data/lib/roby/relations/graph.rb +533 -0
  374. data/lib/roby/relations/models/directed_relation_support.rb +11 -0
  375. data/lib/roby/relations/models/graph.rb +75 -0
  376. data/lib/roby/relations/models/task_relation_graph.rb +18 -0
  377. data/lib/roby/relations/space.rb +380 -0
  378. data/lib/roby/relations/task_relation_graph.rb +20 -0
  379. data/lib/roby/robot.rb +85 -38
  380. data/lib/roby/schedulers/basic.rb +155 -25
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  382. data/lib/roby/schedulers/reporting.rb +31 -0
  383. data/lib/roby/schedulers/state.rb +129 -0
  384. data/lib/roby/schedulers/temporal.rb +91 -0
  385. data/lib/roby/singletons.rb +87 -0
  386. data/lib/roby/standalone.rb +4 -2
  387. data/lib/roby/standard_errors.rb +405 -82
  388. data/lib/roby/state.rb +6 -3
  389. data/lib/roby/state/conf_model.rb +5 -0
  390. data/lib/roby/state/events.rb +181 -95
  391. data/lib/roby/state/goal_model.rb +77 -0
  392. data/lib/roby/state/open_struct.rb +591 -0
  393. data/lib/roby/state/open_struct_model.rb +68 -0
  394. data/lib/roby/state/pos.rb +45 -45
  395. data/lib/roby/state/shapes.rb +11 -11
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  400. data/lib/roby/task_arguments.rb +428 -0
  401. data/lib/roby/task_event.rb +127 -0
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  462. data/app/config/roby.yml +0 -3
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@@ -1,378 +0,0 @@
1
- $LOAD_PATH.unshift File.expand_path(File.join('..', '..', 'lib'), File.dirname(__FILE__))
2
- require 'roby/test/distributed'
3
- require 'roby/test/tasks/simple_task'
4
- require 'flexmock'
5
-
6
- class TC_DistributedExecution < Test::Unit::TestCase
7
- include Roby::Distributed::Test
8
- SimpleTask = Roby::Test::SimpleTask
9
-
10
- def setup
11
- super
12
- Roby.app.filter_backtraces = false
13
- end
14
-
15
- def test_event_status
16
- peer2peer do |remote|
17
- class << remote
18
- attr_reader :controlable
19
- attr_reader :contingent
20
- def create
21
- # Put the task to avoir having GC clearing the events
22
- plan.add_mission(t = SimpleTask.new(:id => 'task'))
23
- plan.add(@controlable = Roby::EventGenerator.new(true))
24
- plan.add(@contingent = Roby::EventGenerator.new(false))
25
- t.signals(:start, controlable, :start)
26
- t.forward_to(:start, contingent, :start)
27
- nil
28
- end
29
- def fire
30
- engine.execute do
31
- controlable.call(nil)
32
- contingent.emit(nil)
33
- end
34
- nil
35
- end
36
- end
37
- end
38
-
39
- remote.create
40
- task = subscribe_task(:id => 'task')
41
- controlable = *task.event(:start).child_objects(EventStructure::Signal).to_a
42
- contingent = *task.event(:start).child_objects(EventStructure::Forwarding).to_a
43
-
44
- FlexMock.use do |mock|
45
- controlable.on do
46
- mock.fired_controlable(engine.gathering?)
47
- end
48
- contingent.on do
49
- mock.fired_contingent(engine.gathering?)
50
- end
51
-
52
- mock.should_receive(:fired_controlable).with(true).once
53
- mock.should_receive(:fired_contingent).with(true).once
54
- remote.fire
55
- remote_peer.synchro_point
56
- end
57
-
58
- assert(controlable.happened?)
59
- assert(contingent.happened?)
60
- end
61
-
62
- def test_signal_establishment
63
- peer2peer do |remote|
64
- Roby::Distributed.on_transaction do |trsc|
65
- trsc.edit do
66
- local_task = trsc.find_tasks.which_fullfills(Roby::Test::SimpleTask).to_a.first
67
- t = trsc[SimpleTask.new(:id => 'remote_task')]
68
- local_task.depends_on t
69
- local_task.signals :start, t, :start
70
- nil
71
- end
72
- end
73
- end
74
-
75
- trsc = Roby::Distributed::Transaction.new(plan)
76
- trsc.add_owner remote_peer
77
- trsc.propose(remote_peer)
78
-
79
- plan.add_mission(local_task = Roby::Test::SimpleTask.new)
80
- trsc[local_task]
81
- trsc.release
82
- trsc.edit
83
- trsc.commit_transaction
84
-
85
- engine.execute { local_task.start! }
86
- engine.wait_one_cycle
87
- remote_peer.synchro_point
88
- remote_task = subscribe_task(:id => 'remote_task')
89
- assert(remote_task.running?)
90
-
91
- engine.execute do
92
- plan.unmark_mission(local_task)
93
- local_task.stop!
94
- end
95
- end
96
-
97
- # This test that the event/plan modification order is kept on a remote host
98
- def test_keeps_causality
99
- peer2peer do |remote|
100
- class << remote
101
- attr_reader :event
102
- attr_reader :task
103
- def create
104
- # Put the task to avoir having GC clearing the events
105
- plan.add_mission(@task = SimpleTask.new(:id => 'task'))
106
- plan.add(@event = Roby::EventGenerator.new(true))
107
- event.signals task.event(:start)
108
- nil
109
- end
110
- def fire
111
- engine.execute do
112
- event.on do
113
- plan.unmark_mission(task)
114
- task.event(:start).signals task.event(:success)
115
- end
116
-
117
- event.call(nil)
118
- end
119
- nil
120
- end
121
- end
122
- end
123
-
124
- remote.create
125
- task = subscribe_task(:id => 'task')
126
- event = *task.event(:start).parent_objects(EventStructure::Signal).to_a
127
-
128
- FlexMock.use do |mock|
129
- event.on do
130
- mock.fired
131
- assert(plan.free_events.include?(event))
132
- end
133
-
134
- mock.should_receive(:fired).once
135
- remote.fire
136
- remote_peer.synchro_point
137
- end
138
-
139
- assert(event.happened?)
140
- end
141
-
142
- def test_task_status
143
- Roby.app.abort_on_exception = false
144
- peer2peer do |remote|
145
- class << remote
146
- include Test::Unit::Assertions
147
- attr_reader :task
148
- def create_task
149
- plan.clear
150
- plan.add_mission(@task = SimpleTask.new(:id => 1))
151
- end
152
- def start_task; engine.once { task.start! }; nil end
153
- def stop_task
154
- assert(task.executable?)
155
- engine.once do
156
- plan.unmark_mission(task)
157
- task.stop!
158
- end
159
- nil
160
- end
161
- end
162
- end
163
-
164
- remote.create_task
165
- p_task = remote_task(:id => 1)
166
- assert(!p_task.event(:start).happened?)
167
- process_events
168
- assert(!p_task.plan)
169
-
170
- # Start the task *before* subscribing to test that #subscribe maps the
171
- # task status
172
- remote.start_task
173
- process_events
174
- p_task = subscribe_task(:id => 1)
175
- assert(p_task.running?)
176
- assert(p_task.event(:start).happened?)
177
-
178
- # Stop the task to see if the fired event is propagated
179
- remote.stop_task
180
- process_events
181
- assert(p_task.finished?)
182
- assert(p_task.failed?)
183
- assert(p_task.event(:stop).happened?)
184
- assert(p_task.finished?)
185
- end
186
-
187
- def test_signalling
188
- peer2peer do |remote|
189
- remote.plan.add_mission(task = SimpleTask.new(:id => 1))
190
- remote.class.class_eval do
191
- include Test::Unit::Assertions
192
- define_method(:start_task) do
193
- events = plan.free_events.to_a
194
- assert_equal(2, events.size)
195
- assert(sev = events.find { |ev| ev.controlable? })
196
- assert(fev = events.find { |ev| !ev.controlable? })
197
- assert(task.event(:start).child_object?(sev, Roby::EventStructure::Signal))
198
- assert(task.event(:start).child_object?(fev, Roby::EventStructure::Forwarding))
199
- engine.once { task.start! }
200
- nil
201
- end
202
- end
203
- end
204
- p_task = subscribe_task(:id => 1)
205
-
206
- FlexMock.use do |mock|
207
- signalled_ev = EventGenerator.new do |context|
208
- mock.signal_command
209
- signalled_ev.emit(nil)
210
- end
211
- signalled_ev.on { |ev| mock.signal_emitted }
212
- assert(signalled_ev.controlable?)
213
-
214
- forwarded_ev = EventGenerator.new
215
- forwarded_ev.on { |ev| mock.forward_emitted }
216
- assert(!forwarded_ev.controlable?)
217
-
218
- p_task.event(:start).signals signalled_ev
219
- p_task.event(:start).forward_to forwarded_ev
220
-
221
- mock.should_receive(:signal_command).once.ordered('signal')
222
- mock.should_receive(:signal_emitted).once.ordered('signal')
223
- mock.should_receive(:forward_emitted).once
224
- process_events
225
-
226
- remote.start_task
227
- process_events
228
- assert(signalled_ev.happened?)
229
- assert(forwarded_ev.happened?)
230
- end
231
- end
232
-
233
- def test_event_handlers
234
- peer2peer do |remote|
235
- remote.plan.add_mission(task = SimpleTask.new(:id => 1))
236
- def remote.start(task)
237
- task = local_peer.local_object(task)
238
- engine.once { task.start! }
239
- nil
240
- end
241
- end
242
- FlexMock.use do |mock|
243
- mock.should_receive(:started).once
244
-
245
- task = subscribe_task(:id => 1)
246
- task.on(:start) { mock.started }
247
- remote.start(Distributed.format(task))
248
- process_events
249
-
250
- assert(task.running?)
251
- end
252
- end
253
-
254
- # Test that we can 'forget' running tasks that was known to us because they
255
- # were related to subscribed tasks
256
- def test_forgetting
257
- peer2peer do |remote|
258
- parent, child =
259
- SimpleTask.new(:id => 'parent'),
260
- SimpleTask.new(:id => 'child')
261
- parent.depends_on child
262
-
263
- remote.plan.add_mission(parent)
264
- child.start!
265
- remote.singleton_class.class_eval do
266
- define_method(:remove_link) do
267
- parent.remove_child(child)
268
- end
269
- end
270
- end
271
-
272
- parent = subscribe_task(:id => 'parent')
273
- child = nil
274
- assert(child = local.plan.known_tasks.find { |t| t.arguments[:id] == 'child' })
275
- assert(!child.subscribed?)
276
- assert(child.running?)
277
- remote.remove_link
278
- process_events
279
- assert(!local.plan.known_tasks.find { |t| t.arguments[:id] == 'child' })
280
- end
281
-
282
- # Tests that running remote tasks are aborted and pending tasks GCed if the
283
- # connection is killed
284
- def test_disconnect_kills_tasks
285
- peer2peer do |remote|
286
- remote.plan.add_mission(task = SimpleTask.new(:id => 'remote-1'))
287
- def remote.start(task)
288
- task = local_peer.local_object(task)
289
- engine.execute do
290
- task.start!
291
- end
292
- nil
293
- end
294
- end
295
-
296
- task = subscribe_task(:id => 'remote-1')
297
- remote.start(Distributed.format(task))
298
- process_events
299
- assert(task.running?)
300
- assert(task.child_object?(remote_peer.task, TaskStructure::ExecutionAgent))
301
- assert(task.subscribed?)
302
-
303
- engine.execute do
304
- remote_peer.disconnected!
305
- end
306
- assert(!task.subscribed?)
307
- assert(remote_peer.task.finished?)
308
- assert(remote_peer.task.event(:aborted).happened?)
309
- assert(remote_peer.task.event(:stop).happened?)
310
- assert(task.finished?)
311
- end
312
-
313
- # Checks that the code blocks are called only in owning controllers
314
- class CodeBlocksOwnersMockup < Roby::Test::SimpleTask
315
- attr_reader :command_called
316
- event :start do
317
- @command_called = true
318
- emit :start
319
- end
320
-
321
- attr_reader :handler_called
322
- on(:start) { @handler_called = true }
323
-
324
- attr_reader :poller_called
325
- poll { @poller_called = true }
326
- end
327
-
328
- def test_code_blocks_owners
329
- peer2peer do |remote|
330
- remote.plan.add_mission(CodeBlocksOwnersMockup.new(:id => 'mockup'))
331
-
332
- def remote.call
333
- task = plan.find_tasks(CodeBlocksOwnersMockup).to_a.first
334
- engine.execute { task.start! }
335
- end
336
-
337
- def remote.blocks_called
338
- task = plan.find_tasks(CodeBlocksOwnersMockup).to_a.first
339
- task.command_called && task.poller_called && task.handler_called
340
- end
341
- end
342
-
343
- mockup = subscribe_task(:id => 'mockup')
344
- remote.call
345
- remote_peer.synchro_point
346
-
347
- assert(remote.blocks_called)
348
- assert(!mockup.command_called)
349
- assert(!mockup.poller_called)
350
- assert(!mockup.handler_called)
351
- end
352
-
353
- # Checks that we get the update fine if +fired+ and +signalled+ are
354
- # received in the same cycle
355
- def test_joint_fired_signalled
356
- peer2peer do |remote|
357
- remote.plan.add_mission(task = SimpleTask.new(:id => 'remote-1'))
358
- engine.once { task.start! }
359
- end
360
-
361
- event_time = Time.now
362
- remote = subscribe_task(:id => 'remote-1')
363
- plan.add_mission(local = SimpleTask.new(:id => 'local'))
364
- remote_peer.synchro_point
365
-
366
- engine.execute do
367
- remote_peer.local_server.event_fired(remote.event(:success), 0, Time.now, [42])
368
- remote_peer.local_server.event_add_propagation(true, remote.event(:success), local.event(:start), 0, event_time, [42])
369
- end
370
- process_events
371
-
372
- assert(remote.finished?)
373
- assert(remote.success?)
374
- assert(local.started?)
375
- assert_equal(1, remote.history.size, remote.history)
376
- end
377
- end
378
-
@@ -1,341 +0,0 @@
1
- $LOAD_PATH.unshift File.expand_path(File.join('..', '..', 'lib'), File.dirname(__FILE__))
2
- require 'roby/test/distributed'
3
- require 'roby/test/tasks/simple_task'
4
-
5
- # This testcase tests buildings plans where local tasks are interacting with remote tasks
6
- #
7
- # Naming scheme:
8
- # test_r<type of remote object>_realizes_l<type of local object>(_dynamic)
9
- #
10
- # For instance, test_rproxy_realizes_lproxy means that we are building a
11
- # transaction where a remote transaction proxy is linked to a local transaction
12
- # proxy. If _dynamic is appended, #propose is called when the transaction is still
13
- # empty. Otherwise, #propose is called after all modifications have been put into
14
- # the transaction (propose then build or build then propose)
15
- #
16
- # The transaction is always built locally
17
- class TC_DistributedMixedPlan < Test::Unit::TestCase
18
- include Roby::Distributed::Test
19
-
20
- # Creates in +plan+ a task which is a child in a depends_on relation and a parent
21
- # in a planned_by relation. All tasks have an ID of "#{name}-#{number}", with
22
- # 2 for the central task, 1 for its parent task and 3 for its planning task.
23
- #
24
- # Returns [-1, -2, -3]
25
- def add_tasks(plan, name)
26
- t1, t2, t3 = (1..3).map { |i| SimpleTask.new(:id => "#{name}-#{i}") }
27
- t1.depends_on t2
28
- t2.planned_by t3
29
- plan.add_mission(t1)
30
- plan.add(t2)
31
- plan.add(t3)
32
-
33
- [t1, t2, t3]
34
- end
35
-
36
- def check_local_center_structure(node, removed_planner)
37
- if node.respond_to?(:__getobj__)
38
- assert_equal(["remote-2"], node.parents.map { |obj| obj.arguments[:id] })
39
- else
40
- assert_equal(["local-1", "remote-2"].to_set, node.parents.map { |obj| obj.arguments[:id] }.to_set)
41
- unless removed_planner
42
- assert_equal(["local-3"], node.enum_for(:each_planning_task).map { |obj| obj.arguments[:id] })
43
- end
44
- end
45
- end
46
-
47
- def check_remote_center_structure(node, removed_planner)
48
- assert_equal(["local-2"], node.children.map { |obj| obj.arguments[:id] })
49
- unless node.respond_to?(:__getobj__)
50
- assert_equal(["remote-1"], node.parents.map { |obj| obj.arguments[:id] })
51
- unless removed_planner
52
- assert_equal(["remote-3"], node.enum_for(:each_planning_task).map { |obj| obj.arguments[:id] })
53
- end
54
- end
55
- end
56
-
57
- # Checks that +plan+ has all 6 tasks with remote-2 and local-2 linked as
58
- # expected +plan+ may be either the transaction or the plan
59
- #
60
- # Tests are in two parts: first we build the transaction and check the
61
- # relations of the resulting proxies. Then, we remove all relations of
62
- # tasks *in the plan*. Since we have added a depends_on between the
63
- # central tasks, the depends_on relations are kept inside the transaction.
64
- # However, this is not the case for planning relations. Thus, the planning
65
- # relation does not exist anymore in the transaction after they have been
66
- # removed from the plan.
67
- def check_resulting_plan(plan, removed_planner)
68
- assert(remote_center_node = plan.known_tasks.find { |t| t.arguments[:id] == "remote-2" }, plan.known_tasks)
69
- check_remote_center_structure(remote_center_node, removed_planner)
70
- assert(local_center_node = plan.known_tasks.find { |t| t.arguments[:id] == "local-2" }, plan.known_tasks)
71
- check_local_center_structure(local_center_node, removed_planner)
72
- end
73
-
74
- def assert_cleared_relations(plan)
75
- if remote_center_node = plan.known_tasks.find { |t| t.arguments[:id] == "remote-2" }
76
- assert_equal([], remote_center_node.enum_for(:each_planning_task).to_a)
77
- end
78
-
79
- if local_center_node = plan.known_tasks.find { |t| t.arguments[:id] == "local-2" }
80
- assert_equal([], local_center_node.enum_for(:each_planning_task).to_a)
81
- end
82
- end
83
-
84
- # Common setup of the remote peer
85
- def common_setup(propose_first)
86
- peer2peer do |remote|
87
- testcase = self
88
- remote.singleton_class.class_eval do
89
- define_method(:add_tasks) do |plan|
90
- plan = local_peer.proxy(plan)
91
- plan.edit do
92
- testcase.add_tasks(plan, "remote")
93
- end
94
- end
95
- define_method(:check_resulting_plan) do |plan, removed_planner|
96
- plan = local_peer.proxy(plan)
97
- plan.edit do
98
- testcase.check_resulting_plan(local_peer.proxy(plan), removed_planner)
99
- end
100
- end
101
- define_method(:assert_cleared_relations) do |plan|
102
- plan = local_peer.proxy(plan)
103
- plan.edit do
104
- testcase.assert_cleared_relations(local_peer.proxy(plan))
105
- end
106
- end
107
- def remove_relations(t2)
108
- plan.edit do
109
- t2 = local_peer.local_object(t2)
110
- raise unless t3 = t2.planning_task
111
- t2.remove_planning_task(t3)
112
- end
113
- end
114
- def subscribe(remote_task)
115
- local_peer.subscribe(remote_task)
116
- end
117
- end
118
- end
119
-
120
- # Create the transaction, and do the necessary modifications
121
- trsc = Distributed::Transaction.new(plan)
122
-
123
- trsc.add_owner remote_peer
124
- trsc.self_owned
125
- trsc.propose(remote_peer) if propose_first
126
-
127
- yield(trsc)
128
-
129
- # Check the transaction is still valid, regardless of the
130
- # changes we made to the plan
131
- check_resulting_plan(trsc, true)
132
- trsc.release(false)
133
- remote.check_resulting_plan(Distributed.format(trsc), true)
134
- trsc.edit
135
-
136
- # Commit and check the result
137
- trsc.commit_transaction
138
-
139
- check_resulting_plan(plan, true)
140
- remote.check_resulting_plan(Distributed.format(plan), true)
141
- end
142
-
143
- def test_rproxy_realizes_lproxy(propose_first = false)
144
- common_setup(propose_first) do |trsc|
145
- # First, add relations between two nodes that are already existing
146
- remote.add_tasks(Distributed.format(plan))
147
- r_t2 = subscribe_task(:id => 'remote-2')
148
- assert(1, r_t2.parents.to_a.size)
149
- r_t1 = r_t2.parents.find { true }
150
- t1, t2, t3 = Roby.synchronize { add_tasks(plan, "local") }
151
-
152
- assert(plan.useful_task?(r_t1))
153
- trsc[r_t2].depends_on trsc[t2]
154
- trsc[r_t2].signals(:start, trsc[t2], :start)
155
- assert(plan.useful_task?(r_t1))
156
- check_resulting_plan(trsc, false)
157
- if propose_first
158
- trsc.release(false)
159
- remote.check_resulting_plan(Distributed.format(trsc), false)
160
- trsc.edit
161
- end
162
-
163
- # Remove the relations in the real tasks (not the proxies)
164
- Roby.synchronize do
165
- t2.remove_planning_task(t3)
166
- end
167
- remote.remove_relations(Distributed.format(r_t2))
168
- remote.subscribe(Distributed.format(t2))
169
-
170
- process_events
171
- assert(plan.useful_task?(r_t1))
172
- assert_cleared_relations(plan)
173
-
174
- unless propose_first
175
- trsc.propose(remote_peer)
176
- end
177
-
178
- process_events
179
- remote.assert_cleared_relations(Distributed.format(plan))
180
- end
181
- end
182
- def test_rproxy_realizes_lproxy_dynamic; test_rproxy_realizes_lproxy(true) end
183
-
184
- def test_rproxy_realizes_ltask(propose_first = false)
185
- common_setup(propose_first) do |trsc|
186
- remote.add_tasks(Distributed.format(plan))
187
- r_t2 = subscribe_task(:id => 'remote-2')
188
- t1, t2, t3 = Roby.synchronize { add_tasks(trsc, "local") }
189
-
190
- trsc[r_t2].depends_on t2
191
- trsc[r_t2].signals(:start, t2, :start)
192
- check_resulting_plan(trsc, false)
193
- process_events
194
- if propose_first
195
- remote_peer.push_subscription(t2)
196
- trsc.release(false)
197
- remote.check_resulting_plan(Distributed.format(trsc), false)
198
- trsc.edit
199
- end
200
-
201
- # remove the relations in the real tasks (not the proxies)
202
- remote.remove_relations(Distributed.format(r_t2))
203
-
204
- unless propose_first
205
- trsc.propose(remote_peer)
206
- remote_peer.push_subscription(t2)
207
- end
208
- process_events
209
- remote.assert_cleared_relations(Distributed.format(plan))
210
- end
211
- end
212
- def test_rproxy_realizes_ltask_dynamic; test_rproxy_realizes_ltask(true) end
213
-
214
- # no non-dynamic version for that since we need the transactio to be
215
- # present on both sides if we want to have remote tasks in it
216
- def test_rtask_realizes_lproxy
217
- common_setup(true) do |trsc|
218
- trsc.release(false)
219
- r_t1, r_t2, r_t3 = remote.add_tasks(Distributed.format(trsc)).map { |t| remote_peer.proxy(t) }
220
- trsc.edit
221
-
222
- assert(r_t2.subscribed?)
223
- t1, t2, t3 = Roby.synchronize { add_tasks(plan, "local") }
224
- r_t2.depends_on trsc[t2]
225
- r_t2.signals(:start, trsc[t2], :start)
226
- remote_peer.subscribe(r_t2)
227
- remote_peer.push_subscription(t2)
228
-
229
- check_resulting_plan(trsc, false)
230
- trsc.release(false)
231
- remote.check_resulting_plan(Distributed.format(trsc), false)
232
- trsc.edit
233
-
234
- # remove the relations in the real tasks (not the proxies)
235
- t2.remove_planning_task(t3)
236
- process_events
237
- remote.assert_cleared_relations(Distributed.format(plan))
238
- end
239
- end
240
-
241
- def test_garbage_collect
242
- peer2peer do |remote|
243
- remote.plan.add_mission(SimpleTask.new(:id => 'remote-1'))
244
- def remote.insert_children(trsc, root_task)
245
- trsc = local_peer.local_object(trsc)
246
- root_task = local_peer.local_object(root_task)
247
- trsc.edit
248
-
249
- root_task.depends_on(r2 = SimpleTask.new(:id => 'remote-2'))
250
- r2.depends_on(r3 = SimpleTask.new(:id => 'remote-3'))
251
- trsc.release(false)
252
- end
253
- end
254
-
255
- r1 = subscribe_task(:id => 'remote-1')
256
- assert(!plan.unneeded_tasks.include?(r1))
257
-
258
- t1 = SimpleTask.new
259
-
260
- # Add a local child to r1. This local child, and r1, must be kept event
261
- # we are not subscribed to r1 anymore
262
- trsc = Distributed::Transaction.new(plan)
263
- trsc.add_owner(remote_peer)
264
- trsc[r1].depends_on t1
265
- Roby.synchronize do
266
- remote_peer.unsubscribe(r1)
267
- assert(!plan.unneeded_tasks.include?(r1))
268
- end
269
-
270
- trsc.propose(remote_peer)
271
- trsc.commit_transaction
272
- assert(!plan.unneeded_tasks.include?(r1))
273
- assert(!plan.unneeded_tasks.include?(t1), plan.unneeded_tasks)
274
-
275
- # Ok, we now create a r1 => t1 => t2 => t3 chain
276
- # * t2 and t3 are kept because they are useful for r1
277
- t2, t3 = nil
278
- Roby.synchronize do
279
- t1.depends_on(t2 = SimpleTask.new)
280
- assert(!plan.unneeded_tasks.include?(t2))
281
- t2.depends_on(t3 = SimpleTask.new)
282
- assert(!plan.unneeded_tasks.include?(t3))
283
- end
284
-
285
- # Now, create a t3 => r2 => r3 chain
286
- # * r2 should be kept since it is related to a task which is kept
287
- # * r3 should not be kept
288
- trsc = Distributed::Transaction.new(plan)
289
- trsc.add_owner(remote_peer)
290
- trsc.propose(remote_peer)
291
- trsc.release
292
- remote.insert_children(Distributed.format(trsc), Distributed.format(trsc[t3]))
293
- trsc.edit
294
- trsc.commit_transaction
295
- process_events
296
-
297
- r2 = remote_task(:id => 'remote-2')
298
- Roby.synchronize do
299
- assert(r2.plan && !plan.unneeded_tasks.include?(r2))
300
- assert(t3.child_object?(r2, TaskStructure::Hierarchy))
301
- end
302
-
303
- r3 = remote_task(:id => 'remote-3')
304
- Roby.synchronize do
305
- assert(!r3.plan || plan.unneeded_tasks.include?(r3))
306
- end
307
- end
308
-
309
- # This tests that the race condition between transaction commit and plan GC
310
- # is handled properly: if a task inside a transaction will be GCed just
311
- # after the commit, there is a race condition possibility if the other
312
- # peers do not have committed the transaction yet
313
- def test_commit_race_condition
314
- peer2peer do |remote|
315
- def remote.add_task(trsc)
316
- trsc = local_peer.local_object(trsc)
317
- trsc.edit
318
- trsc.add(SimpleTask.new(:id => 'remote'))
319
- trsc.release(false)
320
- end
321
- end
322
-
323
- # Create an empty transaction and send it to our peer
324
- # The peer will then add a task, which
325
- # will be GCed as soon as the transaction is committed
326
- trsc = Distributed::Transaction.new(plan)
327
- trsc.add_owner(remote_peer)
328
- trsc.propose(remote_peer)
329
- trsc.release
330
- remote.add_task(Distributed.format(trsc))
331
- trsc.edit
332
-
333
- assert_nothing_raised do
334
- trsc.commit_transaction
335
- process_events
336
- end
337
- assert(remote_peer.connected?)
338
- end
339
- end
340
-
341
-