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
data/lib/roby/actions.rb
ADDED
@@ -0,0 +1,17 @@
|
|
1
|
+
module Roby
|
2
|
+
module Actions
|
3
|
+
extend Logger::Hierarchy
|
4
|
+
end
|
5
|
+
end
|
6
|
+
|
7
|
+
require 'roby/actions/models/action'
|
8
|
+
require 'roby/actions/models/method_action'
|
9
|
+
require 'roby/actions/models/coordination_action'
|
10
|
+
require 'roby/actions/models/interface_base'
|
11
|
+
require 'roby/actions/models/interface'
|
12
|
+
require 'roby/actions/models/library'
|
13
|
+
|
14
|
+
require 'roby/actions/action'
|
15
|
+
require 'roby/actions/interface'
|
16
|
+
require 'roby/actions/task'
|
17
|
+
require 'roby/actions/library'
|
@@ -0,0 +1,80 @@
|
|
1
|
+
module Roby
|
2
|
+
module Actions
|
3
|
+
# The representation of an action, as a model and arguments
|
4
|
+
class Action
|
5
|
+
# The action model
|
6
|
+
# @return [Models::Action]
|
7
|
+
attr_accessor :model
|
8
|
+
# The action arguments
|
9
|
+
# @return [Hash]
|
10
|
+
attr_reader :arguments
|
11
|
+
|
12
|
+
def initialize(model, **arguments)
|
13
|
+
@model, @arguments = model, arguments
|
14
|
+
end
|
15
|
+
|
16
|
+
def name
|
17
|
+
model.name
|
18
|
+
end
|
19
|
+
|
20
|
+
def ==(other)
|
21
|
+
other.kind_of?(Action) &&
|
22
|
+
model == other.model &&
|
23
|
+
arguments == other.arguments
|
24
|
+
end
|
25
|
+
|
26
|
+
# Update this object with new arguments and returns it
|
27
|
+
#
|
28
|
+
# @param [Hash] arguments new arguments
|
29
|
+
# @return [self]
|
30
|
+
def with_arguments(**arguments)
|
31
|
+
@arguments.merge!(arguments)
|
32
|
+
self
|
33
|
+
end
|
34
|
+
|
35
|
+
def has_missing_required_arg?
|
36
|
+
model.arguments.any? do |arg|
|
37
|
+
arg_sym = arg.name.to_sym
|
38
|
+
if arguments.has_key?(arg_sym)
|
39
|
+
TaskArguments.delayed_argument?(arguments.fetch(arg_sym))
|
40
|
+
else
|
41
|
+
arg.required?
|
42
|
+
end
|
43
|
+
end
|
44
|
+
end
|
45
|
+
|
46
|
+
# The task model returned by this action
|
47
|
+
def returned_type
|
48
|
+
model.returned_type
|
49
|
+
end
|
50
|
+
|
51
|
+
# Returns a plan pattern that would deploy this action in the plan
|
52
|
+
# @return [Roby::Task] the task, with a planning task of type
|
53
|
+
# {Actions::Task}
|
54
|
+
def as_plan(**arguments)
|
55
|
+
model.plan_pattern(**self.arguments.merge(arguments))
|
56
|
+
end
|
57
|
+
|
58
|
+
def rebind(action_interface_model)
|
59
|
+
model.rebind(action_interface_model).new(**arguments)
|
60
|
+
end
|
61
|
+
|
62
|
+
# Deploys this action on the given plan
|
63
|
+
def instanciate(plan, **arguments)
|
64
|
+
model.instanciate(plan, self.arguments.merge(arguments))
|
65
|
+
end
|
66
|
+
|
67
|
+
def to_s
|
68
|
+
"#{model}(#{arguments.map { |k,v| "#{k} => #{v}" }.sort.join(", ")})"
|
69
|
+
end
|
70
|
+
|
71
|
+
def to_coordination_task(task_model = Roby::Task)
|
72
|
+
Coordination::Models::TaskFromAction.new(self)
|
73
|
+
end
|
74
|
+
|
75
|
+
def to_action
|
76
|
+
self
|
77
|
+
end
|
78
|
+
end
|
79
|
+
end
|
80
|
+
end
|
@@ -0,0 +1,45 @@
|
|
1
|
+
module Roby
|
2
|
+
module Actions
|
3
|
+
# Functionality to gather information about the actions available on a
|
4
|
+
# given Roby app
|
5
|
+
#
|
6
|
+
# Actions are simply methods of arity zero or one, preceded by a call to
|
7
|
+
# #describe. The methods can modify the current plan (available as
|
8
|
+
# #plan) and must return the Roby::Task instance that will be used to
|
9
|
+
# represent the action during execution
|
10
|
+
#
|
11
|
+
# class Iface < Roby::Actions::Interface
|
12
|
+
# describe "makes the robot turn"
|
13
|
+
# def robot_turn
|
14
|
+
# end
|
15
|
+
# end
|
16
|
+
class Interface
|
17
|
+
extend Models::Interface
|
18
|
+
extend Logger::Hierarchy
|
19
|
+
|
20
|
+
# The plan to which this action interface adds tasks
|
21
|
+
attr_reader :plan
|
22
|
+
|
23
|
+
def initialize(plan)
|
24
|
+
@plan = plan
|
25
|
+
end
|
26
|
+
|
27
|
+
def model; self.class end
|
28
|
+
|
29
|
+
def action_state_machine(task, &block)
|
30
|
+
model = Coordination::ActionStateMachine.
|
31
|
+
new_submodel(action_interface: self.model, root: task.model)
|
32
|
+
model.parse(&block)
|
33
|
+
model.new(task)
|
34
|
+
end
|
35
|
+
|
36
|
+
def action_script(task, &block)
|
37
|
+
model = Coordination::ActionScript.
|
38
|
+
new_submodel(action_interface: self.model, root: task.model)
|
39
|
+
model.parse(&block)
|
40
|
+
model.new(task)
|
41
|
+
end
|
42
|
+
end
|
43
|
+
end
|
44
|
+
end
|
45
|
+
|
@@ -0,0 +1,23 @@
|
|
1
|
+
module Roby
|
2
|
+
module Actions
|
3
|
+
Library = Models::Library.new
|
4
|
+
Library.root = true
|
5
|
+
end
|
6
|
+
end
|
7
|
+
|
8
|
+
class Module
|
9
|
+
def action_library(name = nil, &block)
|
10
|
+
if name
|
11
|
+
create_and_register_submodel(self, name, Roby::Actions::Library, &block)
|
12
|
+
else
|
13
|
+
extend Roby::Actions::Models::Interface
|
14
|
+
extend MetaRuby::ModelAsModule
|
15
|
+
extend MetaRuby::Registration
|
16
|
+
self.supermodel = Roby::Actions::Library
|
17
|
+
Roby::Actions::Library.register_submodel(self)
|
18
|
+
end
|
19
|
+
end
|
20
|
+
end
|
21
|
+
|
22
|
+
|
23
|
+
|
@@ -0,0 +1,224 @@
|
|
1
|
+
module Roby
|
2
|
+
module Actions
|
3
|
+
module Models
|
4
|
+
# Basic description of an action
|
5
|
+
class Action
|
6
|
+
# Structure that stores the information about planning method arguments
|
7
|
+
#
|
8
|
+
# See MethodDescription
|
9
|
+
Argument = Struct.new :name, :doc, :required, :default do
|
10
|
+
def pretty_print(pp)
|
11
|
+
pp.text "#{name}: #{doc}"
|
12
|
+
if required then pp.text ' (required)'
|
13
|
+
else pp.text ' (optional)'
|
14
|
+
end
|
15
|
+
if default
|
16
|
+
pp.text " default=#{default}"
|
17
|
+
end
|
18
|
+
end
|
19
|
+
|
20
|
+
def required?
|
21
|
+
!!required
|
22
|
+
end
|
23
|
+
end
|
24
|
+
|
25
|
+
# The action name
|
26
|
+
attr_accessor :name
|
27
|
+
# The action description
|
28
|
+
attr_accessor :doc
|
29
|
+
# The description of the action arguments
|
30
|
+
#
|
31
|
+
# @return [Array<Argument>]
|
32
|
+
attr_reader :arguments
|
33
|
+
# If true, the method is flagged as advanced. I.e., it won't be
|
34
|
+
# listed by default in the shell when the 'actions' command is
|
35
|
+
# called
|
36
|
+
attr_predicate :advanced?, true
|
37
|
+
# The return type for this method, as a task or task service model.
|
38
|
+
# It is Roby::Task by default
|
39
|
+
#
|
40
|
+
# @return [Model<Roby::Task>,Model<Roby::TaskService>]
|
41
|
+
attr_reader :returned_type
|
42
|
+
|
43
|
+
# @return [Action] an action using this action model and the given
|
44
|
+
# arguments
|
45
|
+
def new(**arguments)
|
46
|
+
Actions::Action.new(self, normalize_arguments(arguments))
|
47
|
+
end
|
48
|
+
|
49
|
+
def ==(other)
|
50
|
+
other.kind_of?(self.class) &&
|
51
|
+
other.name == name &&
|
52
|
+
other.arguments == arguments &&
|
53
|
+
other.returned_type == returned_type
|
54
|
+
end
|
55
|
+
|
56
|
+
|
57
|
+
# Task model that can be used to represent this action in a plan
|
58
|
+
def returned_task_type
|
59
|
+
if @returned_task_type
|
60
|
+
return @returned_task_type
|
61
|
+
end
|
62
|
+
|
63
|
+
if returned_type.kind_of?(Roby::Models::TaskServiceModel)
|
64
|
+
model = Class.new(Roby::Task)
|
65
|
+
model.provides returned_type
|
66
|
+
model.fullfilled_model = [returned_type]
|
67
|
+
@returned_task_type = model
|
68
|
+
else
|
69
|
+
# Create an abstract task which will be planned
|
70
|
+
@returned_task_type = returned_type
|
71
|
+
end
|
72
|
+
end
|
73
|
+
|
74
|
+
def initialize(doc = nil)
|
75
|
+
if doc.kind_of?(Action)
|
76
|
+
@name = doc.name
|
77
|
+
@doc = doc.doc
|
78
|
+
@arguments = doc.arguments.map(&:dup)
|
79
|
+
@returned_type = doc.returned_type
|
80
|
+
@advanced = doc.advanced?
|
81
|
+
else
|
82
|
+
@name = nil
|
83
|
+
@doc = doc
|
84
|
+
@arguments = []
|
85
|
+
@returned_type = Roby::Task
|
86
|
+
@advanced = false
|
87
|
+
end
|
88
|
+
end
|
89
|
+
|
90
|
+
def initialize_copy(old)
|
91
|
+
super
|
92
|
+
@arguments = arguments.map(&:dup)
|
93
|
+
end
|
94
|
+
|
95
|
+
# @api private
|
96
|
+
#
|
97
|
+
# Validates that the information provided in the argument can safely
|
98
|
+
# be used to update self
|
99
|
+
#
|
100
|
+
# @raise [ArgumentError]
|
101
|
+
def validate_can_overload(parent)
|
102
|
+
overloaded_return = parent.returned_type
|
103
|
+
overloading_return = self.returned_type
|
104
|
+
|
105
|
+
if !overloading_return.fullfills?(overloaded_return)
|
106
|
+
if overloading_return.kind_of?(Class)
|
107
|
+
raise ArgumentError, "overloading return type #{overloading_return} does not fullfill #{overloaded_return}, cannot merge the action models"
|
108
|
+
elsif overloaded_return != Roby::Task
|
109
|
+
raise ArgumentError, "overloading return type #{overloading_return} is a service model which does not fullfill #{overloaded_return}, and Roby does not support return type specifications that are composite of services and tasks"
|
110
|
+
end
|
111
|
+
end
|
112
|
+
end
|
113
|
+
|
114
|
+
# Update this action model with information from another, to reflect
|
115
|
+
# that self overloads the other model
|
116
|
+
#
|
117
|
+
# @param [Action] parent the action model that is being overloaded
|
118
|
+
# @raise [ArgumentError] if the actions return types are not
|
119
|
+
# compatible
|
120
|
+
def overloads(parent)
|
121
|
+
validate_can_overload(parent)
|
122
|
+
|
123
|
+
self.doc ||= parent.doc
|
124
|
+
@arguments.concat(parent.arguments.find_all { |a| !has_arg?(a.name) })
|
125
|
+
end
|
126
|
+
|
127
|
+
# Documents a new required argument to the method
|
128
|
+
def required_arg(name, doc = nil)
|
129
|
+
arguments << Argument.new(name.to_s, doc, true)
|
130
|
+
self
|
131
|
+
end
|
132
|
+
|
133
|
+
# Documents a new optional argument to the method
|
134
|
+
def optional_arg(name, doc = nil, default = nil)
|
135
|
+
doc = doc.to_str if doc
|
136
|
+
arg = Argument.new(name.to_s, doc, false)
|
137
|
+
arg.default = default
|
138
|
+
arguments << arg
|
139
|
+
self
|
140
|
+
end
|
141
|
+
|
142
|
+
# Return true if this action has at least one required argument
|
143
|
+
def has_required_arg?
|
144
|
+
arguments.any?(&:required?)
|
145
|
+
end
|
146
|
+
|
147
|
+
# Return true if a argument with the given name is specified
|
148
|
+
def has_arg?(name)
|
149
|
+
!!find_arg(name)
|
150
|
+
end
|
151
|
+
|
152
|
+
# Find the argument from its name
|
153
|
+
#
|
154
|
+
# @param [String] name the argument name
|
155
|
+
# @return [Argument,nil]
|
156
|
+
def find_arg(name)
|
157
|
+
name = name.to_s
|
158
|
+
arguments.find { |arg| arg.name == name }
|
159
|
+
end
|
160
|
+
|
161
|
+
# Enumerate this action's arguments
|
162
|
+
#
|
163
|
+
# @yieldparam [Argument] arg
|
164
|
+
def each_arg(&block)
|
165
|
+
arguments.each(&block)
|
166
|
+
end
|
167
|
+
|
168
|
+
# Sets the advanced flag to true. See #advanced?
|
169
|
+
def advanced
|
170
|
+
@advanced = true
|
171
|
+
self
|
172
|
+
end
|
173
|
+
|
174
|
+
# Sets the type of task returned by the action
|
175
|
+
def returns(type)
|
176
|
+
if !type.kind_of?(Class) && !type.kind_of?(Roby::Models::TaskServiceModel)
|
177
|
+
raise ArgumentError, "#{type} is neither a task model nor a task service model"
|
178
|
+
elsif type.kind_of?(Class) && !(type <= Roby::Task)
|
179
|
+
raise ArgumentError, "#{type} is neither a task model nor a task service model"
|
180
|
+
end
|
181
|
+
@returned_type = type
|
182
|
+
self
|
183
|
+
end
|
184
|
+
|
185
|
+
def normalize_arguments(arguments)
|
186
|
+
Kernel.validate_options arguments, self.arguments.map(&:name)
|
187
|
+
end
|
188
|
+
|
189
|
+
def as_plan(**arguments)
|
190
|
+
plan_pattern(**arguments)
|
191
|
+
end
|
192
|
+
|
193
|
+
def pretty_print(pp)
|
194
|
+
pp.text "Action #{to_s}"
|
195
|
+
pp.nest(2) do
|
196
|
+
pp.breakable
|
197
|
+
pp.text "Returns "
|
198
|
+
returned_type.pretty_print(pp)
|
199
|
+
pp.breakable
|
200
|
+
if arguments.empty?
|
201
|
+
pp.text "No arguments."
|
202
|
+
else
|
203
|
+
pp.text "Arguments:"
|
204
|
+
pp.nest(2) do
|
205
|
+
pp.seplist(arguments.sort_by(&:name)) do |arg|
|
206
|
+
arg.pretty_print(pp)
|
207
|
+
end
|
208
|
+
end
|
209
|
+
end
|
210
|
+
end
|
211
|
+
end
|
212
|
+
|
213
|
+
def to_action_model
|
214
|
+
self
|
215
|
+
end
|
216
|
+
|
217
|
+
def to_action
|
218
|
+
new
|
219
|
+
end
|
220
|
+
end
|
221
|
+
end
|
222
|
+
end
|
223
|
+
end
|
224
|
+
|
@@ -0,0 +1,58 @@
|
|
1
|
+
module Roby
|
2
|
+
module Actions
|
3
|
+
module Models
|
4
|
+
# Action defined by a coordination model
|
5
|
+
class CoordinationAction < Action
|
6
|
+
# If this action is actually a coordination model, returns it
|
7
|
+
#
|
8
|
+
# @return [nil,Coordination::Models::Base]
|
9
|
+
attr_accessor :coordination_model
|
10
|
+
|
11
|
+
def initialize(coordination_model, doc = nil)
|
12
|
+
super(doc)
|
13
|
+
@coordination_model = coordination_model
|
14
|
+
end
|
15
|
+
|
16
|
+
# The underlying action interface model
|
17
|
+
def action_interface_model
|
18
|
+
coordination_model.action_interface
|
19
|
+
end
|
20
|
+
|
21
|
+
def ==(other)
|
22
|
+
other.kind_of?(self.class) &&
|
23
|
+
other.coordination_model == coordination_model
|
24
|
+
end
|
25
|
+
|
26
|
+
# (see MethodAction#rebind)
|
27
|
+
def rebind(action_interface_model)
|
28
|
+
rebound = dup
|
29
|
+
if action_interface_model < self.action_interface_model
|
30
|
+
rebound.coordination_model = coordination_model.
|
31
|
+
rebind(action_interface_model)
|
32
|
+
end
|
33
|
+
rebound
|
34
|
+
end
|
35
|
+
|
36
|
+
def instanciate(plan, arguments = Hash.new)
|
37
|
+
plan.add(root = coordination_model.task_model.new)
|
38
|
+
coordination_model.new(root, arguments)
|
39
|
+
root
|
40
|
+
end
|
41
|
+
|
42
|
+
# Returns the plan pattern that will deploy this action on the plan
|
43
|
+
def plan_pattern(arguments = Hash.new)
|
44
|
+
job_id, arguments = Kernel.filter_options arguments, :job_id
|
45
|
+
|
46
|
+
planner = Roby::Actions::Task.new(
|
47
|
+
Hash[action_model: self,
|
48
|
+
action_arguments: arguments].merge(job_id))
|
49
|
+
planner.planning_result_task
|
50
|
+
end
|
51
|
+
|
52
|
+
def to_s
|
53
|
+
"#{action_interface_model.name}.#{name}[#{coordination_model}]"
|
54
|
+
end
|
55
|
+
end
|
56
|
+
end
|
57
|
+
end
|
58
|
+
end
|