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
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@@ -0,0 +1,64 @@
1
+ module Roby
2
+ module Coordination
3
+ module Models
4
+ # Definition of model-level functionality for action scripts
5
+ #
6
+ # Action scripts are sequential representations of action
7
+ # coordinations. Each step is a script instruction (created with one
8
+ # of the API calls in {Script}) whose argument is a {Task} object.
9
+ # The {Task} object represents the actual work that will be done
10
+ # there
11
+ #
12
+ # Action script models are usually created through an action
13
+ # interface with Interface#action_script. The script
14
+ # model can then be retrieved using
15
+ # {Actions::Models::Action#coordination_model}.
16
+ #
17
+ # @example creating an action script
18
+ # class Main < Roby::Actions::Interface
19
+ # action_script 'example_action' do
20
+ # # Start moving at 0.1 m/s until we move more than 0.1m
21
+ # move_task = task move(speed: 0.1)
22
+ # d_monitor = task monitor_movement_threshold(d: 0.1)
23
+ # d_monitor.depends_on move_task
24
+ # execute d_monitor
25
+ #
26
+ # # Then, once we're done with that, stand still for 20s
27
+ # stand_task = task move(speed: 0)
28
+ # t_monitor = task monitor_time_threshold(t: 20)
29
+ # t_monitor.depends_on stand_task
30
+ # execute t_monitor
31
+ #
32
+ # # Finally, announce the success
33
+ # emit success_event
34
+ # end
35
+ # end
36
+ #
37
+ # @example retrieving a script model from an action
38
+ # Main.find_action_by_name('example_action').coordination_model
39
+ module ActionScript
40
+ include Models::Actions
41
+ include Models::Script
42
+
43
+ def respond_to_missing?(m, include_private)
44
+ if m =~ /(.*)!/
45
+ action_interface && action_interface.find_action_by_name(m.to_s)
46
+ else super
47
+ end
48
+ end
49
+
50
+ def method_missing(m, *args)
51
+ if m =~ /(.*)!/
52
+ action_name = $1
53
+ action = action_interface.find_action_by_name(action_name)
54
+ task = task(action.new(*args))
55
+ task.name = action_name
56
+ execute(task)
57
+ else super
58
+ end
59
+ end
60
+ end
61
+ end
62
+ end
63
+ end
64
+
@@ -0,0 +1,224 @@
1
+ module Roby
2
+ module Coordination
3
+ module Models
4
+
5
+ # Definition of model-level functionality for action state machines
6
+ #
7
+ # In an action state machine, each state is represented by a single Roby
8
+ # task. At the model level, they get represented by a {Task} object, and
9
+ # more specifically very often by a {TaskFromAction} object. One
10
+ # important bit to understand is that a given Task object represents
11
+ # always the same state (i.e. task0 == task1 if task0 and task1
12
+ # represent the same state). It is for instance possible that task0 !=
13
+ # task1 even if task0 and task1 are issued by the same action.
14
+ #
15
+ # Transitions are stored as ({Task},{Event},{Task}) triplets, specifying
16
+ # the origin state, the triggering event and the target state.
17
+ # {Event#task} is often the same than the origin state, but not
18
+ # always (see below)
19
+ #
20
+ # Note that because some states are subclasses of
21
+ # {TaskWithDependencies}, it is possible that some {Task} objects
22
+ # are not states, only tasks that are dependencies of other states
23
+ # created with {TaskWithDependencies#depends_on} or dependencies of
24
+ # the state machine itself created with {Actions#depends_on}. The events
25
+ # of these task objects can be used in transitions
26
+ #
27
+ # Action state machine models are usually created through an action
28
+ # interface with Interface#action_state_machine. The state machine
29
+ # model can then be retrieved using
30
+ # {Actions::Models::Action#coordination_model}.
31
+ #
32
+ # @example creating an action state machine model
33
+ # class Main < Roby::Actions::Interface
34
+ # action_state_machine 'example_action' do
35
+ # move = state move(speed: 0.1)
36
+ # stand = state move(speed: 0)
37
+ # # This monitor triggers each time the system moves more than
38
+ # # 0.1 meters
39
+ # d_monitor = task monitor_movement_threshold(d: 0.1)
40
+ # # This monitor triggers after 20 seconds
41
+ # t_monitor = task monitor_time_threshold(t: 20)
42
+ # # Make the distance monitor run in the move state
43
+ # move.depends_on d_monitor
44
+ # # Make the time monitor run in the stand state
45
+ # stand.depends_on t_monitor
46
+ # start move
47
+ # transition move, d_monitor.success_event, stand
48
+ # transition stand, t_monitor.success_event, move
49
+ # end
50
+ # end
51
+ #
52
+ # @example retrieving a state machine model from an action
53
+ # Main.find_action_by_name('example_action').coordination_model
54
+ module ActionStateMachine
55
+ include Actions
56
+
57
+ # The starting state
58
+ # @return [Task]
59
+ attr_reader :starting_state
60
+
61
+ # The set of defined transitions
62
+ #
63
+ # @return [Array<(Task,Event,Task)>]
64
+ inherited_attribute(:transition, :transitions) { Array.new }
65
+
66
+ # (see Actions#toplevel_state?)
67
+ def toplevel_state?(state)
68
+ root == state ||
69
+ starting_state == state ||
70
+ transitions.any? { |from_state, _, to_state| from_state == state || to_state == state }
71
+ end
72
+
73
+ # @see (Base#map_task)
74
+ def map_tasks(mapping)
75
+ super
76
+
77
+ @starting_state = mapping[starting_state]
78
+ @transitions = transitions.map do |state, event, new_state|
79
+ [mapping[state],
80
+ mapping[event.task].find_event(event.symbol),
81
+ mapping[new_state]]
82
+ end
83
+ end
84
+
85
+ def parse_names
86
+ super(Task => '_state', Capture => "")
87
+ end
88
+
89
+ # Declares the starting state
90
+ def start(state)
91
+ parse_names
92
+ @starting_state = validate_task(state)
93
+ end
94
+
95
+ def state(object, task_model = Roby::Task)
96
+ task(object, task_model)
97
+ end
98
+
99
+ # Capture the value of an event context
100
+ #
101
+ # The value returned by #capture is meant to be used as arguments to
102
+ # other states. This is a mechanism to pass information from one
103
+ # state to the next.
104
+ #
105
+ # @example determine the current heading and servo on it
106
+ # measure_heading = state(self.measure_heading)
107
+ # start(measure_heading)
108
+ # current_heading = capture(measure_heading.success_event)
109
+ # transition measure_heading.success_event, keep_heading(heading: current_heading)
110
+ #
111
+ def capture(state, event = nil, &block)
112
+ if !event
113
+ state, event = state.task, state
114
+ end
115
+
116
+ if !toplevel_state?(state)
117
+ raise ArgumentError, "#{state} is not a toplevel state, a capture's state must be toplevel"
118
+ elsif !event_active_in_state?(event, state)
119
+ raise ArgumentError, "#{event} is not an event that is active in state #{state}"
120
+ end
121
+
122
+ filter =
123
+ if block
124
+ lambda(&block)
125
+ else
126
+ lambda { |event| event.context.first }
127
+ end
128
+
129
+ capture = Capture.new(filter)
130
+ captures[capture] = [state, event]
131
+ capture
132
+ end
133
+
134
+ # Returns the state for the given name, if found, nil otherwise
135
+ #
136
+ # @return Roby::Coordination::Models::TaskFromAction
137
+ def find_state_by_name(name) find_task_by_name("#{name}_state") end
138
+
139
+ def validate_task(object) if
140
+ !object.kind_of?(Coordination::Models::Task)
141
+ raise ArgumentError, "expected a state object, got #{object}. States need to be created from e.g. actions by calling #state before they can be used in the state machine"
142
+ end
143
+ object
144
+ end
145
+
146
+ # Computes the set of states that are used in the transitions but
147
+ # are actually not reachable
148
+ #
149
+ # @return [Array<Task>]
150
+ def compute_unreachable_states
151
+ queue = [starting_state].to_set
152
+ transitions = self.each_transition.to_a.dup
153
+
154
+ done_something = true
155
+ while done_something
156
+ done_something = false
157
+ transitions.delete_if do |from, _, to|
158
+ if queue.include?(from)
159
+ queue << to
160
+ done_something = true
161
+ end
162
+ end
163
+ end
164
+
165
+ transitions.map(&:first).to_set
166
+ end
167
+
168
+ # Overloaded from Actions to validate the state machine definition
169
+ #
170
+ # @raise [UnreachableStateUsed] if some transitions are using events
171
+ # from states that cannot be reached from the start state
172
+ def parse(&block)
173
+ super
174
+
175
+ if !starting_state
176
+ raise ArgumentError, "no starting state defined"
177
+ end
178
+
179
+ # Validate that all source states in transitions are reachable
180
+ # from the start state
181
+ unreachable = compute_unreachable_states
182
+ if !unreachable.empty?
183
+ raise UnreachableStateUsed.new(unreachable), "#{unreachable.size} states are used in transitions but are actually not reachable"
184
+ end
185
+ end
186
+
187
+ # Declares a transition from a state to a new state, caused by an
188
+ # event
189
+ #
190
+ # @overload transition(state.my_event, new_state)
191
+ # declares that once the 'my' event on the given state is emitted,
192
+ # we should transition to new_state
193
+ # @overload transition(state, event, new_state)
194
+ # declares that, while in state 'state', transition to 'new_state'
195
+ # if the given event is emitted
196
+ #
197
+ def transition(*spec)
198
+ parse_names
199
+
200
+ if spec.size == 2
201
+ state_event, new_state = *spec
202
+ transition(state_event.task, state_event, new_state)
203
+ elsif spec.size != 3
204
+ raise ArgumentError, "expected 2 or 3 arguments, got #{spec.size}"
205
+ else
206
+ state, state_event, new_state = *spec
207
+ validate_task(state)
208
+ validate_task(new_state)
209
+ if !event_active_in_state?(state_event, state)
210
+ raise EventNotActiveInState, "cannot transition on #{state_event} while in state #{state} as the event is not active in this state"
211
+ end
212
+ transitions << [state, state_event, new_state]
213
+ end
214
+ end
215
+
216
+ def to_s
217
+ "#{action_interface}.#{name}"
218
+ end
219
+ end
220
+ end
221
+ end
222
+ end
223
+
224
+
@@ -0,0 +1,191 @@
1
+ module Roby
2
+ module Coordination
3
+ module Models
4
+ # Metamodel for Coordination::Actions
5
+ module Actions
6
+ include Base
7
+
8
+ attribute(:captures) { Hash.new }
9
+
10
+ # The action interface model this state machine model is defined on
11
+ # @return [Actions::Models::Interface,Actions::Models::Library]
12
+ attr_accessor :action_interface
13
+
14
+ # Create a new coordination model based on a different action
15
+ # interface
16
+ def rebind(action_interface)
17
+ m = dup
18
+ m.action_interface = action_interface
19
+
20
+ task_mapping = Hash.new
21
+ task_mapping[root] = root.rebind(m)
22
+ tasks.each do |task|
23
+ task_mapping[task] = task.rebind(m)
24
+ end
25
+ m.map_tasks(task_mapping)
26
+ m
27
+ end
28
+
29
+ # (see Base#map_tasks)
30
+ def map_tasks(mapping)
31
+ super
32
+
33
+ @forwards = forwards.map do |state, event, target_event|
34
+ state = mapping[state]
35
+ event = mapping[event.task].find_event(event.symbol)
36
+ target_event = mapping[target_event.task].find_event(target_event.symbol)
37
+ [state, event, target_event]
38
+ end
39
+
40
+ @dependencies = dependencies.map do |task, role|
41
+ [mapping[task], role]
42
+ end
43
+
44
+ @captures = captures.map_value do |capture, (state, event)|
45
+ [mapping[state], mapping[event.task].find_event(event.symbol)]
46
+ end
47
+ end
48
+
49
+ # The set of defined forwards
50
+ #
51
+ # @return [Array<(Task,Event,Event)>]
52
+ inherited_attribute(:forward, :forwards) { Array.new }
53
+
54
+ # A set of tasks that should always be active when self is active
55
+ #
56
+ # @return [Set<Task>]
57
+ inherited_attribute(:dependency, :dependencies) { Set.new }
58
+
59
+ # A list of variables that allow to capture event contexts
60
+ inherited_attribute(:capture, :captures) { Hash.new }
61
+
62
+ # Creates a new state machine model as a submodel of self
63
+ #
64
+ # @param [Model<Coordination::Actions>] submodel the submodel that
65
+ # is being setup
66
+ # @option options [Model<Actions::Interface>] :action_interface the action
67
+ # interface model on which this state machine is defined
68
+ # @option options [Model<Roby::Task>] :root the task model that is
69
+ # going to be used as a toplevel task for the state machine
70
+ def setup_submodel(submodel, action_interface: nil, **super_options)
71
+ super(submodel, **super_options)
72
+ submodel.action_interface = action_interface
73
+ submodel
74
+ end
75
+
76
+ # Declares that the given event on the root task of the state should
77
+ # be forwarded to an event on this task
78
+ #
79
+ # @overload forward(state.my_event, target_event)
80
+ # declares that, while in state 'state', forward 'my_event' to the
81
+ # given event name on the state machine task
82
+ # @overload forward(state, event, target_event)
83
+ # declares that, while in state 'state', forward 'event' to the
84
+ # given event name on the state machine task
85
+ #
86
+ def forward(*spec)
87
+ if spec.size == 2
88
+ state_event, target_event = *spec
89
+ forward(state_event.task, state_event, target_event)
90
+ elsif spec.size != 3
91
+ raise ArgumentError, "expected 2 or 3 arguments, got #{spec.size}"
92
+ else
93
+ state, event, target_event = *spec
94
+ if !toplevel_state?(state)
95
+ raise NotToplevelState, "cannot specify #{state} as the state to forward from as it is not a toplevel state"
96
+ elsif !event_active_in_state?(event, state)
97
+ raise EventNotActiveInState, "cannot forward from #{event} while in state #{state} as the event is not active in this state"
98
+ elsif !root_event?(target_event)
99
+ raise NotRootEvent, "can only forward to a root event"
100
+ end
101
+
102
+ forwards << [state, event, target_event]
103
+ end
104
+ end
105
+
106
+ # @api private
107
+ #
108
+ # Raise if the given state is not a toplevel state
109
+ def toplevel_state?(state)
110
+ true
111
+ end
112
+
113
+ # @api private
114
+ #
115
+ # Raise if an event is not "active" while in a particular state
116
+ def event_active_in_state?(event, state)
117
+ event.task == root ||
118
+ required_tasks_for(state).has_key?(event.task)
119
+ end
120
+
121
+ # @api private
122
+ #
123
+ # Raises if the event is not an event of the root task
124
+ def root_event?(event)
125
+ event.task == root
126
+ end
127
+
128
+ # Adds a toplevel dependency
129
+ #
130
+ # This declares that the given task should always run while self is
131
+ # running
132
+ #
133
+ # @param [Task] task
134
+ # @return [Task] the task itself
135
+ def depends_on(task, role: nil)
136
+ task = validate_task(task)
137
+ dependencies << [task, role]
138
+ task
139
+ end
140
+
141
+ # Returns the set of actions that should be active when the given
142
+ # task is active, as a mapping from the {Task} object to the roles
143
+ # that this object has (as "dependency roles")
144
+ #
145
+ # It includes task itself, as task should run when it is active
146
+ # @return [{Task=>Set<String>}]
147
+ def required_tasks_for(task)
148
+ result = Hash.new
149
+ task.dependencies.each do |action, role|
150
+ result[action] ||= Set.new
151
+ result[action] << role if role
152
+ end
153
+ each_dependency do |action, role|
154
+ result[action] ||= Set.new
155
+ result[action] << role if role
156
+ end
157
+ result[task] ||= Set.new
158
+ result[task] << 'current_task'
159
+ result
160
+ end
161
+
162
+ # Helper to build delayed arguments
163
+ def from(object)
164
+ Roby::Task.from(object)
165
+ end
166
+
167
+ # Helper to build delayed arguments
168
+ def from_state(state_object = State)
169
+ Roby::Task.from_state(state_object)
170
+ end
171
+
172
+ # Evaluates a state machine definition block
173
+ def parse(&block)
174
+ class_eval(&block)
175
+ end
176
+
177
+ def respond_to_missing?(m, include_private)
178
+ (action_interface && action_interface.find_action_by_name(m.to_s)) || super
179
+ end
180
+
181
+ def method_missing(m, *args)
182
+ if action = action_interface.find_action_by_name(m.to_s)
183
+ action.new(*args)
184
+ else return super
185
+ end
186
+ end
187
+ end
188
+ end
189
+ end
190
+ end
191
+