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
@@ -2,14 +2,10 @@ module Roby
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def removing_plan_relation(transaction, parent, child, relations)
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def pending_dependency_failed(parent, child, reason)
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true
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# Called when an execution agent fails to start.
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def pending_executed_by_failed(agent, tasks)
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# Called when an execution agent fails to start.
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#
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def execution_agent_failed_to_start(agent, tasks, reason = nil)
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module Roby
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class ::Class
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# If true, this model will never get sent to remote peers.
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def private_model?
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@private_model
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end
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# Declares that neither this model nor its subclasses should be sent to
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# remote peers.
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#
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# I.e., from the point of view of our peers, instances of this model are
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def private_model; @private_model = true end
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class ::Module
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def private_model?; false end
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end
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# Base class for most plan-related objects (Plan, PlanObject, ...)
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#
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# This class contains the information and manipulation attributes that are
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# at the core of Roby object management. In particular, it maintains the
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class DistributedObject
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# The ID of the local process
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attr_reader :local_owner_id
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# The set of Peer objects which own this object
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attr_reader :owners
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attr_predicate :self_owned?
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40
|
+
|
41
|
+
def initialize # :nodoc:
|
42
|
+
@owners = Array.new
|
43
|
+
@self_owned = true
|
44
|
+
end
|
45
|
+
|
46
|
+
def initialize_copy(old) # :nodoc:
|
47
|
+
super
|
48
|
+
@owners = Array.new
|
49
|
+
end
|
50
|
+
|
51
|
+
def add_owner(owner)
|
52
|
+
@owners << owner
|
53
|
+
@self_owned = @owners.include?(local_owner_id)
|
54
|
+
end
|
55
|
+
|
56
|
+
def remove_owner(owner)
|
57
|
+
@owners.delete(owner)
|
58
|
+
@self_owned = @owners.empty? || @owners.include?(local_owner_id)
|
59
|
+
end
|
60
|
+
|
61
|
+
# True if the given peer owns this object
|
62
|
+
def owned_by?(peer_id)
|
63
|
+
if peer_id == local_owner_id
|
64
|
+
self_owned?
|
65
|
+
else
|
66
|
+
owners.include?(peer_id)
|
67
|
+
end
|
68
|
+
end
|
69
|
+
|
70
|
+
def clear_owners
|
71
|
+
owners.clear
|
72
|
+
@self_owned = true
|
73
|
+
end
|
74
|
+
end
|
75
|
+
end
|
76
|
+
|
data/lib/roby/droby.rb
ADDED
@@ -0,0 +1,17 @@
|
|
1
|
+
require 'roby/droby/identifiable'
|
2
|
+
require 'roby/droby/v5'
|
3
|
+
require 'roby/droby/droby_id'
|
4
|
+
require 'roby/droby/peer_id'
|
5
|
+
require 'roby/droby/remote_droby_id'
|
6
|
+
require 'roby/droby/object_manager'
|
7
|
+
require 'roby/droby/marshal'
|
8
|
+
require 'roby/droby/event_logging'
|
9
|
+
require 'roby/droby/null_event_logger'
|
10
|
+
|
11
|
+
module Roby
|
12
|
+
module DRoby
|
13
|
+
extend Logger::Hierarchy
|
14
|
+
extend Logger::Forward
|
15
|
+
end
|
16
|
+
end
|
17
|
+
|
@@ -0,0 +1,153 @@
|
|
1
|
+
require 'roby/droby'
|
2
|
+
|
3
|
+
Exception.extend Roby::DRoby::V5::Builtins::ClassDumper
|
4
|
+
Exception.extend Roby::DRoby::Identifiable
|
5
|
+
Exception.include Roby::DRoby::V5::Builtins::ExceptionDumper
|
6
|
+
Array.include Roby::DRoby::V5::Builtins::ArrayDumper
|
7
|
+
Hash.include Roby::DRoby::V5::Builtins::HashDumper
|
8
|
+
Set.include Roby::DRoby::V5::Builtins::SetDumper
|
9
|
+
Thread.include Roby::DRoby::Identifiable
|
10
|
+
|
11
|
+
class Module
|
12
|
+
def droby_dump(dest)
|
13
|
+
raise "can't dump modules (#{self})"
|
14
|
+
end
|
15
|
+
end
|
16
|
+
class Class
|
17
|
+
def droby_dump(dest)
|
18
|
+
raise "can't dump class #{self}"
|
19
|
+
end
|
20
|
+
end
|
21
|
+
|
22
|
+
class NilClass
|
23
|
+
def droby_id
|
24
|
+
end
|
25
|
+
end
|
26
|
+
|
27
|
+
module Roby
|
28
|
+
class ExceptionBase
|
29
|
+
include DRoby::V5::ExceptionBaseDumper
|
30
|
+
end
|
31
|
+
class LocalizedError
|
32
|
+
include DRoby::V5::LocalizedErrorDumper
|
33
|
+
end
|
34
|
+
class PlanningFailedError
|
35
|
+
include DRoby::V5::PlanningFailedErrorDumper
|
36
|
+
end
|
37
|
+
class ExecutionException
|
38
|
+
include DRoby::V5::ExecutionExceptionDumper
|
39
|
+
end
|
40
|
+
module Relations
|
41
|
+
class BidirectionalDirectedAdjacencyGraph
|
42
|
+
include DRoby::V5::BidirectionalGraphDumper
|
43
|
+
end
|
44
|
+
class Graph
|
45
|
+
extend DRoby::Identifiable
|
46
|
+
extend DRoby::V5::DRobyConstant::Dump
|
47
|
+
end
|
48
|
+
end
|
49
|
+
module Models
|
50
|
+
class TaskServiceModel
|
51
|
+
include DRoby::Identifiable
|
52
|
+
include DRoby::V5::Models::TaskServiceModelDumper
|
53
|
+
end
|
54
|
+
end
|
55
|
+
class Event
|
56
|
+
include DRoby::V5::EventDumper
|
57
|
+
end
|
58
|
+
|
59
|
+
class PlanObject
|
60
|
+
include DRoby::Identifiable
|
61
|
+
end
|
62
|
+
|
63
|
+
class EventGenerator
|
64
|
+
extend DRoby::Identifiable
|
65
|
+
extend DRoby::V5::DRobyConstant::Dump
|
66
|
+
include DRoby::V5::EventGeneratorDumper
|
67
|
+
end
|
68
|
+
|
69
|
+
class TaskArguments
|
70
|
+
include DRoby::V5::TaskArgumentsDumper
|
71
|
+
end
|
72
|
+
|
73
|
+
class Task
|
74
|
+
extend DRoby::Identifiable
|
75
|
+
extend DRoby::V5::Models::TaskDumper
|
76
|
+
include DRoby::V5::TaskDumper
|
77
|
+
end
|
78
|
+
class TaskEventGenerator
|
79
|
+
include DRoby::V5::TaskEventGeneratorDumper
|
80
|
+
end
|
81
|
+
class DefaultArgument
|
82
|
+
include DRoby::V5::DefaultArgumentDumper
|
83
|
+
end
|
84
|
+
class DelayedArgumentFromObject
|
85
|
+
extend DRoby::V5::Builtins::ClassDumper
|
86
|
+
include DRoby::V5::DelayedArgumentFromObjectDumper
|
87
|
+
end
|
88
|
+
class Plan
|
89
|
+
include DRoby::Identifiable
|
90
|
+
include DRoby::V5::PlanDumper
|
91
|
+
end
|
92
|
+
|
93
|
+
module Actions
|
94
|
+
class Action
|
95
|
+
include DRoby::V5::Actions::ActionDumper
|
96
|
+
end
|
97
|
+
class Interface
|
98
|
+
extend DRoby::Identifiable
|
99
|
+
extend DRoby::V5::ModelDumper
|
100
|
+
end
|
101
|
+
module Models
|
102
|
+
class Action
|
103
|
+
include DRoby::V5::Actions::Models::ActionDumper
|
104
|
+
class Argument
|
105
|
+
include DRoby::V5::Actions::Models::Action::ArgumentDumper
|
106
|
+
end
|
107
|
+
end
|
108
|
+
|
109
|
+
class MethodAction
|
110
|
+
include DRoby::V5::Actions::Models::MethodActionDumper
|
111
|
+
end
|
112
|
+
|
113
|
+
class CoordinationAction
|
114
|
+
include DRoby::V5::Actions::Models::CoordinationActionDumper
|
115
|
+
end
|
116
|
+
end
|
117
|
+
end
|
118
|
+
|
119
|
+
module Queries
|
120
|
+
class AndMatcher
|
121
|
+
include DRoby::V5::Queries::AndMatcherDumper
|
122
|
+
end
|
123
|
+
|
124
|
+
class ExecutionExceptionMatcher
|
125
|
+
include DRoby::V5::Queries::ExecutionExceptionMatcherDumper
|
126
|
+
end
|
127
|
+
|
128
|
+
class LocalizedErrorMatcher
|
129
|
+
include DRoby::V5::Queries::LocalizedErrorMatcherDumper
|
130
|
+
end
|
131
|
+
|
132
|
+
class NotMatcher
|
133
|
+
include DRoby::V5::Queries::NotMatcherDumper
|
134
|
+
end
|
135
|
+
|
136
|
+
class OrMatcher
|
137
|
+
include DRoby::V5::Queries::OrMatcherDumper
|
138
|
+
end
|
139
|
+
|
140
|
+
class PlanObjectMatcher
|
141
|
+
include DRoby::V5::Queries::PlanObjectMatcherDumper
|
142
|
+
end
|
143
|
+
|
144
|
+
class TaskMatcher
|
145
|
+
include DRoby::V5::Queries::TaskMatcherDumper
|
146
|
+
end
|
147
|
+
|
148
|
+
class Query
|
149
|
+
include DRoby::V5::Queries::QueryDumper
|
150
|
+
end
|
151
|
+
end
|
152
|
+
end
|
153
|
+
|
@@ -0,0 +1,189 @@
|
|
1
|
+
module Roby
|
2
|
+
module DRoby
|
3
|
+
# Object that acts as an observer for ExecutablePlan, handling
|
4
|
+
# the droby marshalling/demarshalling. Dumping to IO is delegated to
|
5
|
+
# {#logfile}, a separate object that must provide a #dump method the way
|
6
|
+
# {Logfile::Writer} does
|
7
|
+
class EventLogger
|
8
|
+
# The object that will be given the cycles to be written
|
9
|
+
#
|
10
|
+
# @return [#dump]
|
11
|
+
attr_reader :logfile
|
12
|
+
|
13
|
+
# The set of events for the current cycle. This is dumped only
|
14
|
+
# when the +cycle_end+ event is received
|
15
|
+
attr_reader :current_cycle
|
16
|
+
|
17
|
+
# The object manager
|
18
|
+
#
|
19
|
+
# @return [DRoby::ObjectManager]
|
20
|
+
attr_reader :object_manager
|
21
|
+
|
22
|
+
# The marshalling object
|
23
|
+
#
|
24
|
+
# @return [DRoby::Marshal]
|
25
|
+
attr_reader :marshal
|
26
|
+
|
27
|
+
# The time spent logging so far
|
28
|
+
attr_reader :dump_time
|
29
|
+
|
30
|
+
# @!method stats_mode?
|
31
|
+
# @!method stats_mode=(flag)
|
32
|
+
#
|
33
|
+
# Controls whether the logger should only dump statistics, or the
|
34
|
+
# full set of plan events
|
35
|
+
attr_predicate :stats_mode, true
|
36
|
+
|
37
|
+
# @!method sync?
|
38
|
+
# @!method sync=(flag)
|
39
|
+
#
|
40
|
+
# Controls whether log data should be flushed on disk after each
|
41
|
+
# cycle. It is set by default. Disable for improved performance
|
42
|
+
# if the data will not be displayed live
|
43
|
+
#
|
44
|
+
# {Roby::Application} disables it by default if the log server is
|
45
|
+
# disabled
|
46
|
+
attr_predicate :sync?, true
|
47
|
+
|
48
|
+
# @param [#dump] marshal the object that transforms the arguments
|
49
|
+
# into droby-compatible objects
|
50
|
+
# @param [Integer] queue_size if non-zero, the access to I/O will
|
51
|
+
# be done in a separate thread, and this parameter is the maximum
|
52
|
+
# amount of cycles that can be queued in a backlog until the
|
53
|
+
# main thread waits on the logger
|
54
|
+
def initialize(logfile, queue_size: 50)
|
55
|
+
@stats_mode = false
|
56
|
+
@logfile = logfile
|
57
|
+
@object_manager = ObjectManager.new(nil)
|
58
|
+
@marshal = Marshal.new(object_manager, nil)
|
59
|
+
@current_cycle = Array.new
|
60
|
+
@sync = true
|
61
|
+
@dump_time = 0
|
62
|
+
@mutex = Mutex.new
|
63
|
+
if queue_size > 0
|
64
|
+
@dump_queue = SizedQueue.new(queue_size)
|
65
|
+
@dump_thread = Thread.new(&method(:dump_loop))
|
66
|
+
end
|
67
|
+
end
|
68
|
+
|
69
|
+
def synchronize(&block)
|
70
|
+
@mutex.synchronize(&block)
|
71
|
+
end
|
72
|
+
|
73
|
+
def log_queue_size
|
74
|
+
if threaded? then @dump_queue.size
|
75
|
+
else 0
|
76
|
+
end
|
77
|
+
end
|
78
|
+
|
79
|
+
def threaded?
|
80
|
+
!!@dump_queue
|
81
|
+
end
|
82
|
+
|
83
|
+
def flush
|
84
|
+
if threaded?
|
85
|
+
@dump_queue.push nil
|
86
|
+
@dump_thread.join
|
87
|
+
logfile.flush
|
88
|
+
@dump_thread = Thread.new(&method(:dump_loop))
|
89
|
+
else
|
90
|
+
logfile.flush
|
91
|
+
end
|
92
|
+
end
|
93
|
+
|
94
|
+
# Close this logger, flushing the remaining data to I/O
|
95
|
+
def close
|
96
|
+
dump(:cycle_end, Time.now, [Hash.new])
|
97
|
+
if threaded?
|
98
|
+
@dump_queue.push nil
|
99
|
+
@dump_thread.join
|
100
|
+
end
|
101
|
+
|
102
|
+
ensure
|
103
|
+
logfile.close
|
104
|
+
end
|
105
|
+
|
106
|
+
def append_message(m, time, args)
|
107
|
+
if m == :merged_plan
|
108
|
+
plan_id, merged_plan = *args
|
109
|
+
|
110
|
+
merged_plan.tasks.each do |t|
|
111
|
+
object_manager.register_object(t)
|
112
|
+
end
|
113
|
+
merged_plan.free_events.each do |e|
|
114
|
+
object_manager.register_object(e)
|
115
|
+
end
|
116
|
+
merged_plan.task_events.each do |e|
|
117
|
+
object_manager.register_object(e)
|
118
|
+
end
|
119
|
+
args = [plan_id, merged_plan.droby_dump(marshal)]
|
120
|
+
elsif m == :finalized_task
|
121
|
+
task = args[1]
|
122
|
+
args = marshal.dump(args)
|
123
|
+
object_manager.deregister_object(task)
|
124
|
+
elsif m == :finalized_event
|
125
|
+
event = args[1]
|
126
|
+
args = marshal.dump(args)
|
127
|
+
object_manager.deregister_object(event)
|
128
|
+
else
|
129
|
+
args = marshal.dump(args)
|
130
|
+
end
|
131
|
+
|
132
|
+
@current_cycle << m << time.tv_sec << time.tv_usec << args
|
133
|
+
end
|
134
|
+
|
135
|
+
def dump_timepoint(event, time, args)
|
136
|
+
return if stats_mode?
|
137
|
+
|
138
|
+
synchronize do
|
139
|
+
@current_cycle << event << time.tv_sec << time.tv_usec << args
|
140
|
+
end
|
141
|
+
end
|
142
|
+
|
143
|
+
# Dump one log message
|
144
|
+
def dump(m, time, args)
|
145
|
+
return if stats_mode?
|
146
|
+
|
147
|
+
start = Time.now
|
148
|
+
synchronize do
|
149
|
+
append_message(m, time, args)
|
150
|
+
end
|
151
|
+
ensure @dump_time += (Time.now - start)
|
152
|
+
end
|
153
|
+
|
154
|
+
def flush_cycle(*last_message)
|
155
|
+
start = Time.now
|
156
|
+
if threaded?
|
157
|
+
if !@dump_thread.alive?
|
158
|
+
@dump_thread.value
|
159
|
+
end
|
160
|
+
|
161
|
+
synchronize do
|
162
|
+
append_message(*last_message)
|
163
|
+
@dump_queue << @current_cycle
|
164
|
+
@current_cycle = Array.new
|
165
|
+
end
|
166
|
+
else
|
167
|
+
append_message(*last_message)
|
168
|
+
logfile.dump(@current_cycle)
|
169
|
+
if sync?
|
170
|
+
logfile.flush
|
171
|
+
end
|
172
|
+
@current_cycle.clear
|
173
|
+
end
|
174
|
+
ensure @dump_time += (Time.now - start)
|
175
|
+
end
|
176
|
+
|
177
|
+
# Main dump loop if the logger is threaded
|
178
|
+
def dump_loop
|
179
|
+
while cycle = @dump_queue.pop
|
180
|
+
logfile.dump(cycle)
|
181
|
+
if sync?
|
182
|
+
logfile.flush
|
183
|
+
end
|
184
|
+
end
|
185
|
+
end
|
186
|
+
end
|
187
|
+
end
|
188
|
+
end
|
189
|
+
|