roby 0.8.0 → 3.0.0

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Files changed (644) hide show
  1. checksums.yaml +7 -0
  2. data/.deep-cover.rb +3 -0
  3. data/.gitattributes +1 -0
  4. data/.gitignore +24 -0
  5. data/.simplecov +10 -0
  6. data/.travis.yml +17 -0
  7. data/.yardopts +4 -0
  8. data/Gemfile +15 -0
  9. data/README.md +11 -0
  10. data/Rakefile +47 -177
  11. data/benchmark/{alloc_misc.rb → attic/alloc_misc.rb} +2 -2
  12. data/benchmark/{discovery_latency.rb → attic/discovery_latency.rb} +19 -19
  13. data/benchmark/{garbage_collection.rb → attic/garbage_collection.rb} +9 -9
  14. data/benchmark/{genom.rb → attic/genom.rb} +0 -0
  15. data/benchmark/attic/transactions.rb +62 -0
  16. data/benchmark/plan_basic_operations.rb +28 -0
  17. data/benchmark/relations/graph.rb +63 -0
  18. data/benchmark/ruby/identity.rb +18 -0
  19. data/benchmark/ruby/set_intersect_vs_hash_merge.rb +39 -0
  20. data/benchmark/ruby/yield_vs_block.rb +35 -0
  21. data/benchmark/run +5 -0
  22. data/benchmark/synthetic_plan_modifications_with_transactions.rb +79 -0
  23. data/benchmark/transactions.rb +99 -51
  24. data/bin/roby +38 -197
  25. data/bin/roby-display +14 -0
  26. data/bin/roby-log +3 -176
  27. data/doc/guide/{src → attic}/abstraction/achieve_with.page +1 -1
  28. data/doc/guide/{src → attic}/abstraction/forwarding.page +1 -1
  29. data/doc/guide/{src → attic}/abstraction/hierarchy.page +1 -1
  30. data/doc/guide/{src → attic}/abstraction/index.page +1 -1
  31. data/doc/guide/{src → attic}/abstraction/task_models.page +1 -1
  32. data/doc/guide/{overview.rdoc → attic/cycle/api_overview.rdoc} +6 -1
  33. data/doc/guide/{src → attic}/cycle/cycle-overview.png +0 -0
  34. data/doc/guide/{src → attic}/cycle/cycle-overview.svg +0 -0
  35. data/doc/guide/attic/cycle/error_handling.page +98 -0
  36. data/doc/guide/{src → attic}/cycle/error_instantaneous_repair.png +0 -0
  37. data/doc/guide/{src → attic}/cycle/error_instantaneous_repair.svg +0 -0
  38. data/doc/guide/{src/cycle/error_handling.page → attic/cycle/error_sources.page} +46 -89
  39. data/doc/guide/{src → attic}/cycle/garbage_collection.page +1 -1
  40. data/doc/guide/{src → attic}/cycle/index.page +1 -1
  41. data/doc/guide/{src → attic}/cycle/propagation.page +11 -1
  42. data/doc/guide/{src → attic}/cycle/propagation_diamond.png +0 -0
  43. data/doc/guide/{src → attic}/cycle/propagation_diamond.svg +0 -0
  44. data/doc/guide/attic/plans/building_plans.page +89 -0
  45. data/doc/guide/attic/plans/code.page +192 -0
  46. data/doc/guide/{src/basics → attic/plans}/events.page +3 -4
  47. data/doc/guide/attic/plans/index.page +7 -0
  48. data/doc/guide/{plan_modifications.rdoc → attic/plans/plan_modifications.rdoc} +5 -3
  49. data/doc/guide/{src/basics → attic/plans}/plan_objects.page +2 -1
  50. data/doc/guide/attic/plans/querying_plans.page +5 -0
  51. data/doc/guide/{src/basics → attic/plans}/tasks.page +20 -20
  52. data/doc/guide/config.yaml +7 -4
  53. data/doc/guide/ext/extended_menu.rb +29 -0
  54. data/doc/guide/ext/init.rb +6 -0
  55. data/doc/guide/ext/rdoc_links.rb +7 -6
  56. data/doc/guide/src/advanced_concepts/history.page +5 -0
  57. data/doc/guide/src/advanced_concepts/index.page +11 -0
  58. data/doc/guide/src/advanced_concepts/recognizing_patterns.page +83 -0
  59. data/doc/guide/src/advanced_concepts/scheduling.page +87 -0
  60. data/doc/guide/src/advanced_concepts/transactions.page +5 -0
  61. data/doc/guide/src/advanced_concepts/unreachability.page +42 -0
  62. data/doc/guide/src/base.template +96 -0
  63. data/doc/guide/src/basics_shell_header.txt +5 -7
  64. data/doc/guide/src/building/action_coordination.page +96 -0
  65. data/doc/guide/src/building/actions.page +124 -0
  66. data/doc/guide/src/building/file_layout.page +71 -0
  67. data/doc/guide/src/building/index.page +50 -0
  68. data/doc/guide/src/building/patterns.page +86 -0
  69. data/doc/guide/src/building/patterns_forwarding.png +0 -0
  70. data/doc/guide/src/building/patterns_forwarding.svg +277 -0
  71. data/doc/guide/src/building/runtime.page +95 -0
  72. data/doc/guide/src/building/task_models.page +94 -0
  73. data/doc/guide/src/building/tasks.page +284 -0
  74. data/doc/guide/src/concepts/error_handling.page +100 -0
  75. data/doc/guide/src/concepts/exception_propagation.png +0 -0
  76. data/doc/guide/src/concepts/exception_propagation.svg +445 -0
  77. data/doc/guide/src/concepts/execution.page +85 -0
  78. data/doc/guide/src/concepts/execution.png +0 -0
  79. data/doc/guide/src/concepts/execution.svg +573 -0
  80. data/doc/guide/src/concepts/execution_cycle.png +0 -0
  81. data/doc/guide/src/concepts/garbage_collection.page +57 -0
  82. data/doc/guide/src/concepts/index.page +27 -0
  83. data/doc/guide/src/concepts/plans.page +101 -0
  84. data/doc/guide/src/concepts/policy.page +31 -0
  85. data/doc/guide/src/concepts/reactor.page +61 -0
  86. data/doc/guide/src/concepts/simple_plan_example.png +0 -0
  87. data/doc/guide/src/concepts/simple_plan_example.svg +376 -0
  88. data/doc/guide/src/default.template +9 -74
  89. data/doc/guide/src/event_relations/forward.page +71 -0
  90. data/doc/guide/src/event_relations/index.page +12 -0
  91. data/doc/guide/src/event_relations/scheduling_constraints.page +43 -0
  92. data/doc/guide/src/event_relations/signal.page +55 -0
  93. data/doc/guide/src/event_relations/temporal_constraints.page +77 -0
  94. data/doc/guide/src/htmldoc.metainfo +21 -8
  95. data/doc/guide/src/index.page +8 -3
  96. data/doc/guide/src/{introduction/install.page → installation/index.page} +37 -25
  97. data/doc/guide/src/installation/publications.page +14 -0
  98. data/doc/guide/src/{introduction → installation}/videos.page +14 -7
  99. data/doc/guide/src/interacting/index.page +16 -0
  100. data/doc/guide/src/interacting/run.page +33 -0
  101. data/doc/guide/src/interacting/shell.page +95 -0
  102. data/doc/guide/src/plugins/creating_plugins.page +72 -0
  103. data/doc/guide/src/plugins/index.page +27 -5
  104. data/doc/guide/src/plugins/{fault_tolerance.page → standard_plugins/fault_tolerance.page} +2 -2
  105. data/doc/guide/src/plugins/standard_plugins/index.page +11 -0
  106. data/doc/guide/src/plugins/{subsystems.page → standard_plugins/subsystems.page} +2 -2
  107. data/doc/guide/src/style_screen.css +687 -0
  108. data/doc/guide/src/task_relations/dependency.page +107 -0
  109. data/doc/guide/src/task_relations/executed_by.page +77 -0
  110. data/doc/guide/src/task_relations/index.page +12 -0
  111. data/doc/guide/src/task_relations/new_relations.page +119 -0
  112. data/doc/guide/src/task_relations/planned_by.page +46 -0
  113. data/doc/guide/src/tutorial/app.page +117 -0
  114. data/doc/guide/src/{basics → tutorial}/code_examples.page +6 -5
  115. data/doc/guide/src/{basics → tutorial}/dry.page +15 -15
  116. data/doc/guide/src/{basics → tutorial}/errors.page +43 -68
  117. data/doc/guide/src/tutorial/events.page +195 -0
  118. data/doc/guide/src/{basics → tutorial}/hierarchy.page +53 -52
  119. data/doc/guide/src/tutorial/index.page +13 -0
  120. data/doc/guide/src/tutorial/log_replay/goForward_1.png +0 -0
  121. data/doc/guide/src/tutorial/log_replay/goForward_2.png +0 -0
  122. data/doc/guide/src/tutorial/log_replay/goForward_3.png +0 -0
  123. data/doc/guide/src/{basics → tutorial}/log_replay/goForward_4.png +0 -0
  124. data/doc/guide/src/tutorial/log_replay/goForward_5.png +0 -0
  125. data/doc/guide/src/{basics → tutorial}/log_replay/hierarchy_error_1.png +0 -0
  126. data/doc/guide/src/{basics → tutorial}/log_replay/hierarchy_error_2.png +0 -0
  127. data/doc/guide/src/{basics → tutorial}/log_replay/hierarchy_error_3.png +0 -0
  128. data/doc/guide/src/tutorial/log_replay/moveto_code_error.png +0 -0
  129. data/doc/guide/src/{basics → tutorial}/log_replay/plan_repair_1.png +0 -0
  130. data/doc/guide/src/{basics → tutorial}/log_replay/plan_repair_2.png +0 -0
  131. data/doc/guide/src/{basics → tutorial}/log_replay/plan_repair_3.png +0 -0
  132. data/doc/guide/src/tutorial/log_replay/plan_repair_4.png +0 -0
  133. data/doc/guide/src/tutorial/log_replay/roby_log_main_window.png +0 -0
  134. data/doc/guide/src/{basics → tutorial}/log_replay/roby_log_relation_window.png +0 -0
  135. data/doc/guide/src/{basics → tutorial}/log_replay/roby_replay_event_representation.png +0 -0
  136. data/doc/guide/src/tutorial/relations_display.page +153 -0
  137. data/doc/guide/src/{basics → tutorial}/roby_cycle_overview.png +0 -0
  138. data/doc/guide/src/tutorial/shell.page +121 -0
  139. data/doc/guide/src/{basics → tutorial}/summary.page +1 -1
  140. data/doc/guide/src/tutorial/tasks.page +374 -0
  141. data/lib/roby.rb +102 -47
  142. data/lib/roby/actions.rb +17 -0
  143. data/lib/roby/actions/action.rb +80 -0
  144. data/lib/roby/actions/interface.rb +45 -0
  145. data/lib/roby/actions/library.rb +23 -0
  146. data/lib/roby/actions/models/action.rb +224 -0
  147. data/lib/roby/actions/models/coordination_action.rb +58 -0
  148. data/lib/roby/actions/models/interface.rb +22 -0
  149. data/lib/roby/actions/models/interface_base.rb +294 -0
  150. data/lib/roby/actions/models/library.rb +12 -0
  151. data/lib/roby/actions/models/method_action.rb +90 -0
  152. data/lib/roby/actions/task.rb +114 -0
  153. data/lib/roby/and_generator.rb +125 -0
  154. data/lib/roby/app.rb +2795 -829
  155. data/lib/roby/app/autotest_console_reporter.rb +138 -0
  156. data/lib/roby/app/base.rb +21 -0
  157. data/lib/roby/app/cucumber.rb +2 -0
  158. data/lib/roby/app/cucumber/controller.rb +439 -0
  159. data/lib/roby/app/cucumber/helpers.rb +280 -0
  160. data/lib/roby/app/cucumber/world.rb +32 -0
  161. data/lib/roby/app/debug.rb +136 -0
  162. data/lib/roby/app/gen.rb +2 -0
  163. data/lib/roby/app/rake.rb +178 -38
  164. data/lib/roby/app/robot_config.rb +9 -0
  165. data/lib/roby/app/robot_names.rb +115 -0
  166. data/lib/roby/app/run.rb +3 -2
  167. data/lib/roby/app/scripts.rb +72 -0
  168. data/lib/roby/app/scripts/autotest.rb +173 -0
  169. data/lib/roby/app/scripts/display.rb +2 -0
  170. data/lib/roby/app/scripts/restart.rb +52 -0
  171. data/lib/roby/app/scripts/results.rb +17 -8
  172. data/lib/roby/app/scripts/run.rb +155 -24
  173. data/lib/roby/app/scripts/shell.rb +147 -62
  174. data/lib/roby/app/scripts/test.rb +107 -22
  175. data/lib/roby/app/test_reporter.rb +74 -0
  176. data/lib/roby/app/test_server.rb +159 -0
  177. data/lib/roby/app/vagrant.rb +47 -0
  178. data/lib/roby/backports.rb +16 -0
  179. data/lib/roby/cli/display.rb +190 -0
  180. data/lib/roby/cli/exceptions.rb +17 -0
  181. data/lib/roby/cli/gen/actions/class.rb +5 -0
  182. data/lib/roby/cli/gen/actions/test.rb +6 -0
  183. data/lib/roby/cli/gen/app/.yardopts +6 -0
  184. data/lib/roby/cli/gen/app/README.md +28 -0
  185. data/lib/roby/cli/gen/app/Rakefile +15 -0
  186. data/{app → lib/roby/cli/gen/app}/config/app.yml +29 -39
  187. data/lib/roby/cli/gen/app/models/.gitattributes +1 -0
  188. data/{app → lib/roby/cli/gen/app/scripts}/controllers/.gitattributes +0 -0
  189. data/{app/data/.gitattributes → lib/roby/cli/gen/app/test/.gitignore} +0 -0
  190. data/lib/roby/cli/gen/class/class.rb +6 -0
  191. data/lib/roby/cli/gen/class/test.rb +7 -0
  192. data/lib/roby/cli/gen/helpers.rb +203 -0
  193. data/lib/roby/cli/gen/module/module.rb +5 -0
  194. data/lib/roby/cli/gen/module/test.rb +6 -0
  195. data/lib/roby/cli/gen/roby_app/config/init.rb +17 -0
  196. data/lib/roby/cli/gen/roby_app/config/robots/robot.rb +40 -0
  197. data/lib/roby/cli/gen/task/class.rb +44 -0
  198. data/lib/roby/cli/gen/task/test.rb +6 -0
  199. data/lib/roby/cli/gen_main.rb +120 -0
  200. data/lib/roby/cli/log.rb +276 -0
  201. data/lib/roby/cli/log/flamegraph.html +499 -0
  202. data/lib/roby/cli/log/flamegraph_renderer.rb +88 -0
  203. data/lib/roby/cli/main.rb +153 -0
  204. data/lib/roby/coordination.rb +60 -0
  205. data/lib/roby/coordination/action_script.rb +25 -0
  206. data/lib/roby/coordination/action_state_machine.rb +125 -0
  207. data/lib/roby/coordination/actions.rb +106 -0
  208. data/lib/roby/coordination/base.rb +145 -0
  209. data/lib/roby/coordination/calculus.rb +40 -0
  210. data/lib/roby/coordination/child.rb +28 -0
  211. data/lib/roby/coordination/event.rb +29 -0
  212. data/lib/roby/coordination/fault_handler.rb +25 -0
  213. data/lib/roby/coordination/fault_handling_task.rb +13 -0
  214. data/lib/roby/coordination/fault_response_table.rb +110 -0
  215. data/lib/roby/coordination/models/action_script.rb +64 -0
  216. data/lib/roby/coordination/models/action_state_machine.rb +224 -0
  217. data/lib/roby/coordination/models/actions.rb +191 -0
  218. data/lib/roby/coordination/models/arguments.rb +55 -0
  219. data/lib/roby/coordination/models/base.rb +176 -0
  220. data/lib/roby/coordination/models/capture.rb +86 -0
  221. data/lib/roby/coordination/models/child.rb +35 -0
  222. data/lib/roby/coordination/models/event.rb +41 -0
  223. data/lib/roby/coordination/models/exceptions.rb +42 -0
  224. data/lib/roby/coordination/models/fault_handler.rb +219 -0
  225. data/lib/roby/coordination/models/fault_response_table.rb +77 -0
  226. data/lib/roby/coordination/models/root.rb +22 -0
  227. data/lib/roby/coordination/models/script.rb +283 -0
  228. data/lib/roby/coordination/models/task.rb +184 -0
  229. data/lib/roby/coordination/models/task_from_action.rb +50 -0
  230. data/lib/roby/coordination/models/task_from_as_plan.rb +33 -0
  231. data/lib/roby/coordination/models/task_from_instanciation_object.rb +31 -0
  232. data/lib/roby/coordination/models/task_from_variable.rb +27 -0
  233. data/lib/roby/coordination/models/task_with_dependencies.rb +48 -0
  234. data/lib/roby/coordination/models/variable.rb +32 -0
  235. data/lib/roby/coordination/script.rb +200 -0
  236. data/lib/roby/coordination/script_instruction.rb +12 -0
  237. data/lib/roby/coordination/task.rb +45 -0
  238. data/lib/roby/coordination/task_base.rb +69 -0
  239. data/lib/roby/coordination/task_script.rb +293 -0
  240. data/lib/roby/coordination/task_state_machine.rb +308 -0
  241. data/lib/roby/decision_control.rb +33 -21
  242. data/lib/roby/distributed_object.rb +76 -0
  243. data/lib/roby/droby.rb +17 -0
  244. data/lib/roby/droby/droby_id.rb +6 -0
  245. data/lib/roby/droby/enable.rb +153 -0
  246. data/lib/roby/droby/event_logger.rb +189 -0
  247. data/lib/roby/droby/event_logging.rb +57 -0
  248. data/lib/roby/droby/exceptions.rb +14 -0
  249. data/lib/roby/droby/identifiable.rb +22 -0
  250. data/lib/roby/droby/logfile.rb +141 -0
  251. data/lib/roby/droby/logfile/client.rb +176 -0
  252. data/lib/roby/droby/logfile/file_format.md +97 -0
  253. data/lib/roby/droby/logfile/index.rb +117 -0
  254. data/lib/roby/droby/logfile/reader.rb +139 -0
  255. data/lib/roby/droby/logfile/server.rb +199 -0
  256. data/lib/roby/droby/logfile/writer.rb +114 -0
  257. data/lib/roby/droby/marshal.rb +264 -0
  258. data/lib/roby/droby/marshallable.rb +12 -0
  259. data/lib/roby/droby/null_event_logger.rb +25 -0
  260. data/lib/roby/droby/object_manager.rb +205 -0
  261. data/lib/roby/droby/peer_id.rb +6 -0
  262. data/lib/roby/droby/plan_rebuilder.rb +373 -0
  263. data/lib/roby/droby/rebuilt_plan.rb +160 -0
  264. data/lib/roby/droby/remote_droby_id.rb +6 -0
  265. data/lib/roby/droby/timepoints.rb +205 -0
  266. data/lib/roby/droby/timepoints_ctf.metadata.erb +101 -0
  267. data/lib/roby/droby/timepoints_ctf.rb +125 -0
  268. data/lib/roby/droby/v5.rb +14 -0
  269. data/lib/roby/droby/v5/builtin.rb +120 -0
  270. data/lib/roby/droby/v5/droby_class.rb +45 -0
  271. data/lib/roby/droby/v5/droby_constant.rb +81 -0
  272. data/lib/roby/droby/v5/droby_dump.rb +1026 -0
  273. data/lib/roby/droby/v5/droby_id.rb +44 -0
  274. data/lib/roby/droby/v5/droby_model.rb +82 -0
  275. data/lib/roby/droby/v5/peer_id.rb +10 -0
  276. data/lib/roby/droby/v5/remote_droby_id.rb +42 -0
  277. data/lib/roby/event.rb +79 -957
  278. data/lib/roby/event_constraints.rb +835 -0
  279. data/lib/roby/event_generator.rb +1047 -0
  280. data/lib/roby/event_structure/causal_link.rb +6 -0
  281. data/lib/roby/event_structure/forwarding.rb +6 -0
  282. data/lib/roby/event_structure/precedence.rb +7 -0
  283. data/lib/roby/event_structure/signal.rb +8 -0
  284. data/lib/roby/event_structure/temporal_constraints.rb +640 -0
  285. data/lib/roby/exceptions.rb +446 -152
  286. data/lib/roby/executable_plan.rb +549 -0
  287. data/lib/roby/execution_engine.rb +1997 -950
  288. data/lib/roby/filter_generator.rb +26 -0
  289. data/lib/roby/gui/chronicle_view.rb +225 -0
  290. data/lib/roby/gui/chronicle_widget.rb +925 -0
  291. data/lib/roby/gui/dot_id.rb +11 -0
  292. data/lib/roby/gui/exception_view.rb +44 -0
  293. data/lib/roby/gui/log_display.rb +273 -0
  294. data/lib/roby/gui/model_views.rb +2 -0
  295. data/lib/roby/gui/model_views/action_interface.rb +53 -0
  296. data/lib/roby/gui/model_views/task.rb +47 -0
  297. data/lib/roby/gui/model_views/task.rhtml +41 -0
  298. data/lib/roby/gui/object_info_view.rb +89 -0
  299. data/lib/roby/gui/plan_dot_layout.rb +427 -0
  300. data/lib/roby/gui/plan_rebuilder_widget.rb +357 -0
  301. data/lib/roby/gui/qt4_toMSecsSinceEpoch.rb +8 -0
  302. data/lib/roby/gui/relations_view.rb +278 -0
  303. data/lib/roby/gui/relations_view/relations.ui +139 -0
  304. data/lib/roby/gui/relations_view/relations_canvas.rb +1088 -0
  305. data/lib/roby/gui/relations_view/relations_config.rb +292 -0
  306. data/lib/roby/gui/relations_view/relations_view.ui +53 -0
  307. data/lib/roby/gui/scheduler_view.css +24 -0
  308. data/lib/roby/gui/scheduler_view.rb +46 -0
  309. data/lib/roby/gui/scheduler_view.rhtml +53 -0
  310. data/lib/roby/gui/stepping.rb +93 -0
  311. data/lib/roby/gui/stepping.ui +181 -0
  312. data/lib/roby/gui/styles.rb +81 -0
  313. data/lib/roby/gui/task_display_configuration.rb +42 -0
  314. data/lib/roby/gui/task_state_at.rb +38 -0
  315. data/lib/roby/hooks.rb +26 -0
  316. data/lib/roby/interface.rb +136 -469
  317. data/lib/roby/interface/async.rb +20 -0
  318. data/lib/roby/interface/async/action_monitor.rb +188 -0
  319. data/lib/roby/interface/async/interface.rb +498 -0
  320. data/lib/roby/interface/async/job_monitor.rb +213 -0
  321. data/lib/roby/interface/async/log.rb +238 -0
  322. data/lib/roby/interface/async/new_job_listener.rb +79 -0
  323. data/lib/roby/interface/async/ui_connector.rb +183 -0
  324. data/lib/roby/interface/client.rb +553 -0
  325. data/lib/roby/interface/command.rb +24 -0
  326. data/lib/roby/interface/command_argument.rb +16 -0
  327. data/lib/roby/interface/command_library.rb +92 -0
  328. data/lib/roby/interface/droby_channel.rb +174 -0
  329. data/lib/roby/interface/exceptions.rb +22 -0
  330. data/lib/roby/interface/interface.rb +655 -0
  331. data/lib/roby/interface/job.rb +47 -0
  332. data/lib/roby/interface/rest.rb +10 -0
  333. data/lib/roby/interface/rest/api.rb +29 -0
  334. data/lib/roby/interface/rest/helpers.rb +24 -0
  335. data/lib/roby/interface/rest/server.rb +212 -0
  336. data/lib/roby/interface/server.rb +154 -0
  337. data/lib/roby/interface/shell_client.rb +468 -0
  338. data/lib/roby/interface/shell_subcommand.rb +24 -0
  339. data/lib/roby/interface/subcommand_client.rb +35 -0
  340. data/lib/roby/interface/tcp.rb +168 -0
  341. data/lib/roby/models/arguments.rb +112 -0
  342. data/lib/roby/models/plan_object.rb +83 -0
  343. data/lib/roby/models/task.rb +835 -0
  344. data/lib/roby/models/task_event.rb +62 -0
  345. data/lib/roby/models/task_service.rb +78 -0
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  350. data/lib/roby/promise.rb +332 -0
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  357. data/lib/roby/queries/index.rb +165 -0
  358. data/lib/roby/queries/localized_error_matcher.rb +149 -0
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  360. data/lib/roby/queries/none.rb +27 -0
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  366. data/lib/roby/queries/task_event_generator_matcher.rb +86 -0
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  368. data/lib/roby/relations.rb +42 -678
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  370. data/lib/roby/relations/directed_relation_support.rb +268 -0
  371. data/lib/roby/relations/event_relation_graph.rb +19 -0
  372. data/lib/roby/relations/fork_merge_visitor.rb +154 -0
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  374. data/lib/roby/relations/models/directed_relation_support.rb +11 -0
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  377. data/lib/roby/relations/space.rb +380 -0
  378. data/lib/roby/relations/task_relation_graph.rb +20 -0
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  393. data/lib/roby/state/open_struct_model.rb +68 -0
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  464. data/app/planners/ROBOT/main.rb +0 -6
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@@ -0,0 +1,57 @@
1
+ module Roby
2
+ module DRoby
3
+ # Mixin to add event-logging related functionality to a class
4
+ #
5
+ # The class must provide a #event_logger object. It must be non-nil, and
6
+ # can be initialized with {NullEventLogger} for a no-op logger
7
+ module EventLogging
8
+ # Log an event on the underlying logger
9
+ def log(m, *args)
10
+ event_logger.dump(m, Time.now, args)
11
+ end
12
+
13
+ # Log a timepoint on the underlying logger
14
+ def log_timepoint(name)
15
+ current_thread = Thread.current
16
+ event_logger.dump_timepoint(:timepoint, Time.now, [current_thread.droby_id, current_thread.name, name])
17
+ end
18
+
19
+ # Run a block within a timepoint group
20
+ def log_timepoint_group(name)
21
+ log_timepoint_group_start(name)
22
+ yield
23
+ ensure
24
+ log_timepoint_group_end(name)
25
+ end
26
+
27
+ # Log a timepoint on the underlying logger
28
+ #
29
+ # The logger will NOT do any validation of the group start/end
30
+ # pairing at logging time. This is done at replay time
31
+ def log_timepoint_group_start(name)
32
+ current_thread = Thread.current
33
+ event_logger.dump_timepoint(:timepoint_group_start, Time.now, [current_thread.droby_id, current_thread.name, name])
34
+ end
35
+
36
+ # End a timepoint group
37
+ #
38
+ # The logger will NOT do any validation of the group start/end
39
+ # pairing at logging time. This is done at replay time
40
+ def log_timepoint_group_end(name)
41
+ current_thread = Thread.current
42
+ event_logger.dump_timepoint(:timepoint_group_end, Time.now, [current_thread.droby_id, current_thread.name, name])
43
+ end
44
+
45
+ # The amount of cycles pending in the {#event_logger}'s dump queue
46
+ def log_queue_size
47
+ event_logger.log_queue_size
48
+ end
49
+
50
+ def log_flush_cycle(m, *args)
51
+ event_logger.flush_cycle(m, Time.now, args)
52
+ end
53
+ end
54
+ end
55
+ end
56
+
57
+
@@ -0,0 +1,14 @@
1
+ module Roby
2
+ module DRoby
3
+ # Exception raised when trying to resolve a sibling for which we
4
+ # don't have any information
5
+ class UnknownSibling < RuntimeError
6
+ end
7
+
8
+ # Exception raised when an attempt to resolve a marshalled object into a
9
+ # local object failed
10
+ class NoLocalObject < RuntimeError
11
+ end
12
+ end
13
+ end
14
+
@@ -0,0 +1,22 @@
1
+ module Roby
2
+ module DRoby
3
+ module Identifiable
4
+ # The DRobyID for this object
5
+ def droby_id
6
+ if @__droby_remote_id__
7
+ @__droby_remote_id__
8
+ elsif !frozen?
9
+ @__droby_remote_id__ = DRobyID.allocate
10
+ end
11
+ end
12
+
13
+ def initialize_copy(old) # :nodoc:
14
+ super
15
+ @__droby_remote_id__ = nil
16
+ end
17
+ end
18
+ end
19
+ end
20
+
21
+
22
+
@@ -0,0 +1,141 @@
1
+ module Roby
2
+ module DRoby
3
+ # Module containing all the logfile-related code
4
+ #
5
+ # Note that unlike other Roby facilities, this file is not meant to be
6
+ # required directly. Require either logfile/reader or logfile/writer
7
+ # depending on what you need
8
+ module Logfile
9
+ extend Logger::Hierarchy
10
+
11
+ MAGIC_CODE = "ROBYLOG"
12
+ PROLOGUE_SIZE = MAGIC_CODE.size + 4
13
+ FORMAT_VERSION = 5
14
+
15
+ class IndexInvalid < RuntimeError; end
16
+ class IndexMissing < RuntimeError; end
17
+
18
+ # Exception raised when attempting to guess the format version of a
19
+ # log file, and the guess fails
20
+ class UnknownFormatVersion < RuntimeError; end
21
+
22
+ # Execption raised when loading a good-looking prologue of a log
23
+ # file, but the contained log version does not match our
24
+ # expectations
25
+ class InvalidFormatVersion < RuntimeError; end
26
+
27
+ # Exception raised when attempting to load a file that does not look
28
+ # like a Roby log file
29
+ class InvalidFileError < RuntimeError; end
30
+
31
+ class TruncatedFileError < InvalidFileError; end
32
+
33
+ def self.write_prologue(io)
34
+ io.write(MAGIC_CODE)
35
+ io.write([FORMAT_VERSION].pack("L<"))
36
+ end
37
+
38
+ # Write a log file header
39
+ #
40
+ # The created log file will always have {FORMAT_VERSION} as its
41
+ # version field
42
+ def self.write_header(io, options = Hash.new)
43
+ write_prologue(io)
44
+ options = ::Marshal.dump(options)
45
+ io.write [options.size].pack("L<")
46
+ io.write options
47
+ end
48
+
49
+ # Guess the log file format version for the given IO
50
+ def self.guess_version(input)
51
+ input.rewind
52
+
53
+ magic = input.read(Logfile::MAGIC_CODE.size)
54
+ if magic == Logfile::MAGIC_CODE
55
+ return input.read(4).unpack("L<").first
56
+ else
57
+ input.rewind
58
+ header =
59
+ begin ::Marshal.load(input)
60
+ rescue TypeError
61
+ return
62
+ end
63
+
64
+ case header
65
+ when Hash then return header[:log_format]
66
+ when Symbol
67
+ first_chunk =
68
+ begin ::Marshal.load(input)
69
+ rescue TypeError
70
+ return
71
+ end
72
+
73
+ if first_chunk.kind_of?(Array)
74
+ return 0
75
+ end
76
+ when Array
77
+ if header[-2] == :cycle_end
78
+ return 1
79
+ end
80
+ end
81
+ end
82
+
83
+ ensure
84
+ input.rewind
85
+ end
86
+
87
+ # Read a file prologue, validating that it is of the latest file
88
+ # format
89
+ #
90
+ # @raise [InvalidFileError,InvalidFormatVersion,UnknownFormatVersion]
91
+ def self.read_prologue(io)
92
+ magic = io.read(MAGIC_CODE.size)
93
+ if magic != MAGIC_CODE
94
+ raise InvalidFileError, "no magic code at beginning of file"
95
+ end
96
+
97
+ log_format = io.read(4).unpack('I').first
98
+ validate_format(log_format)
99
+
100
+ rescue InvalidFormatVersion
101
+ raise
102
+ rescue Exception => e
103
+ if format = guess_version(io)
104
+ validate_format(format)
105
+ else
106
+ raise
107
+ end
108
+ end
109
+
110
+ # @api private
111
+ #
112
+ # Validate the given format version
113
+ #
114
+ # @raise [InvalidFormatVersion]
115
+ def self.validate_format(format)
116
+ if format < FORMAT_VERSION
117
+ raise InvalidFormatVersion, "this is an outdated format (#{format}, current is #{FORMAT_VERSION}). Please run roby-log upgrade-format"
118
+ elsif format > FORMAT_VERSION
119
+ raise InvalidFormatVersion, "this is an unknown format version #{format}: expected #{FORMAT_VERSION}. This file can be read only by newest version of Roby"
120
+ end
121
+ end
122
+
123
+ # Load a chunk of data from an event file. +buffer+, if given, must be
124
+ # a String object that will be used as intermediate buffer in the
125
+ # process
126
+ def self.read_one_chunk(io)
127
+ data_size = io.read(4)
128
+ return if !data_size
129
+
130
+ data_size = data_size.unpack("L<").first
131
+ buffer = io.read(data_size) || ''
132
+ if buffer.size < data_size
133
+ raise TruncatedFileError, "expected a chunk of size #{data_size} at #{io.tell}, but got only #{buffer ? buffer.size : '0'} bytes"
134
+ end
135
+
136
+ buffer
137
+ end
138
+ end
139
+ end
140
+ end
141
+
@@ -0,0 +1,176 @@
1
+ require 'roby/droby/logfile/reader'
2
+
3
+ module Roby
4
+ module DRoby
5
+ module Logfile
6
+ # The client part of the event log distribution service
7
+ class Client
8
+ include Hooks
9
+ include Hooks::InstanceHooks
10
+
11
+ # @!group Hooks
12
+
13
+ # @!method on_init_progress()
14
+ # @yieldparam [Integer] rx the amount of bytes processed so far
15
+ # @yieldparam [Integer] init_size the amount of bytes expected to
16
+ # be received for the init phase
17
+ # @return [void]
18
+ define_hooks :on_init_progress
19
+
20
+ # @!method on_init_done()
21
+ # Hooks called when we finished processing the initial set of data
22
+ # @return [void]
23
+ define_hooks :on_init_done
24
+
25
+ # @!method on_data
26
+ # Hooks called with one cycle worth of data
27
+ #
28
+ # @yieldparam [Array] data the data as logged, unmarshalled (with
29
+ # Marshal.load) but not unmarshalled by Roby. It is a flat array
30
+ # of 4-elements tuples of the form (event_name, sec, usec,
31
+ # args). See {lib/roby/droby/logfile/file_format.md} for more
32
+ # details.
33
+ # @return [void]
34
+ define_hooks :on_data
35
+
36
+ # @!endgroup
37
+
38
+ # The socket through which we are connected to the remote host
39
+ attr_reader :socket
40
+ # The host we are contacting
41
+ attr_reader :host
42
+ # The port on which a connection is created
43
+ attr_reader :port
44
+ # Data that is not a full cycle worth of data (i.e. buffer needed
45
+ # for packet reassembly)
46
+ attr_reader :buffer
47
+ # The amount of bytes received so far
48
+ attr_reader :rx
49
+
50
+ def initialize(host, port = Server::DEFAULT_PORT)
51
+ @host = host
52
+ @port = port
53
+ @buffer = ""
54
+
55
+ @rx = 0
56
+ @socket =
57
+ begin TCPSocket.new(host, port)
58
+ rescue Errno::ECONNREFUSED => e
59
+ raise Interface::ConnectionError, "cannot contact Roby log server at '#{host}:#{port}': #{e.message}"
60
+ end
61
+ socket.fcntl(Fcntl::FD_CLOEXEC, 1)
62
+ socket.fcntl(Fcntl::F_SETFL, Fcntl::O_NONBLOCK)
63
+ rescue Exception
64
+ socket.close if socket
65
+ raise
66
+ end
67
+
68
+ def disconnect
69
+ @socket.close
70
+ end
71
+
72
+ def close
73
+ @socket.close
74
+ end
75
+
76
+ def closed?
77
+ @socket.closed?
78
+ end
79
+
80
+ def add_listener(&block)
81
+ on_data(&block)
82
+ end
83
+
84
+ def alive?
85
+ @alive
86
+ end
87
+
88
+ # Read and process data
89
+ #
90
+ # @param [Numeric] max max time we can spend processing. The method
91
+ # will at least process one cycle worth of data regardless of this
92
+ # parameter
93
+ # @return [Boolean] true if the last call processed something and
94
+ # false otherwise. It is an indicator of whether there could be
95
+ # still some data pending
96
+ def read_and_process_pending(max: 0)
97
+ current_time = start = Time.now
98
+ while (processed_one_cycle = read_and_process_one_pending_cycle) && (current_time - start) <= max
99
+ current_time = Time.now
100
+ end
101
+ processed_one_cycle
102
+ end
103
+
104
+ # The number of bytes that have to be transferred to finish
105
+ # initializing the connection
106
+ attr_reader :init_size
107
+
108
+ def init_done?
109
+ @init_done
110
+ end
111
+
112
+ # @api private
113
+ #
114
+ # Read data from the underlying socket
115
+ #
116
+ # @return [Boolean] true if some data was read, false otherwise
117
+ def read_from_socket(size = Server::DATA_CHUNK_SIZE)
118
+ @buffer.concat(socket.read_nonblock(size))
119
+ true
120
+ rescue EOFError, Errno::ECONNRESET, Errno::EPIPE => e
121
+ raise Interface::ComError, e.message, e.backtrace
122
+ rescue Errno::EAGAIN
123
+ false
124
+ end
125
+
126
+ # @api private
127
+ #
128
+ # Reads the socket and processes at most one cycle of data
129
+ #
130
+ # @return [Boolean] whether there might be one more cyc
131
+ def read_and_process_one_pending_cycle
132
+ Logfile.debug "#{buffer.size} bytes of data in buffer"
133
+
134
+ while true
135
+ if buffer.size > 4
136
+ data_size = buffer.unpack('L<').first
137
+ Logfile.debug "expecting data block of #{data_size} bytes"
138
+ if buffer.size >= data_size + 4
139
+ break
140
+ end
141
+ return if !read_from_socket([Server::DATA_CHUNK_SIZE, buffer.size - data_size].max)
142
+ else
143
+ return if !read_from_socket
144
+ end
145
+
146
+ end
147
+
148
+ if data_size && (buffer.size >= data_size + 4)
149
+ cycle_data = buffer[4, data_size]
150
+ @buffer = buffer[(data_size + 4)..-1]
151
+ data = ::Marshal.load_with_missing_constants(cycle_data)
152
+ if data.kind_of?(Hash)
153
+ Reader.process_options_hash(data)
154
+ elsif data == Server::CONNECTION_INIT_DONE
155
+ @init_done = true
156
+ run_hook :on_init_done
157
+ elsif data[0] == Server::CONNECTION_INIT
158
+ @init_size = data[1]
159
+ else
160
+ @rx += (data_size + 4)
161
+ if !init_done?
162
+ run_hook :on_init_progress, rx, init_size
163
+ end
164
+ run_hook :on_data, data
165
+ end
166
+ Logfile.debug "processed #{data_size} bytes of data, #{@buffer.size} remaining in buffer"
167
+ true
168
+ end
169
+
170
+ rescue Errno::EAGAIN
171
+ end
172
+ end
173
+ end
174
+ end
175
+ end
176
+
@@ -0,0 +1,97 @@
1
+ The Roby log file format uses Ruby's Marshal and Roby's own DRoby mechanisms to
2
+ save data to disk.
3
+
4
+ A log file starts with
5
+
6
+ ROBYLOG#{FORMAT_VERSION}#{OPTIONS}
7
+
8
+ FORMAT_VERSION is an integer encoded in little-endian 32-bit. This version is
9
+ incremented each time the format is changed in a backward-incompatible way.
10
+ When the log file format changes, newer ruby versions will require one to run
11
+ the roby-log upgrade command on older log files before they can be interpreted.
12
+
13
+ OPTIONS is a Hash marshalled using Ruby's Marshal facility and prefixed by the
14
+ size of the marshalled hash, in bytes, encoded as a little-endian 32-bit. This
15
+ hash contains the following keys:
16
+
17
+ plugins: [String] the list of plugins loaded in the Roby instance
18
+
19
+ The rest of the file is a list of blocks. Each block is prefixed by its size
20
+ represented with a 32-bit unsigned integer. The rest of the block is a Ruby
21
+ array marshalled using Marshal.dump. The array contains a flat list of log
22
+ messages for one execution cycle. All cycles end with the same cycle_end message.
23
+
24
+ Each message is represented by 4 elements in the array
25
+
26
+ mesage_name, time_seconds, time_microseconds, args
27
+
28
+ where message_name is an event name (listed below), Time is the time where the
29
+ message was queued for logging and 'args' are a list of message-specific
30
+ parameters
31
+
32
+ = Messages in Roby log format version 5
33
+
34
+ Only executable plans log operations that are performed on them. Transactions
35
+ and template plans are currently not logged.
36
+
37
+ A new ExecutablePlan registers itself on the logger with
38
+
39
+ register_executable_plan plan_id
40
+
41
+ Where plan_id is ExecutablePlan#remote_id
42
+
43
+ Every plan object must be registered in an executable plan before it can be
44
+ referred to into other messages or objects. A plan object is registered through
45
+ the merged_plan hook, where the 'plan' parameter is a full dump of the task and
46
+ events that it contains.
47
+
48
+ After a merge_plan message, all further messages will refer to a plan object
49
+ through its #remote_id attribute.
50
+
51
+ merged_plan(plan, merged_plan)
52
+
53
+ Plan modification hooks
54
+
55
+ added_edge(parent, child, relations, info)
56
+ updated_edge_info(parent, child, relation, info)
57
+ removed_edge(parent, child, relations)
58
+ notify_plan_status_change(task, status)
59
+ garbage(object)
60
+ finalized_task(plan, task)
61
+ finalized_event(plan, event)
62
+ task_arguments_updated(task, key, value)
63
+
64
+ Event propagation hooks:
65
+
66
+ task_failed_to_start(task, reason)
67
+ generator_fired(event)
68
+ generator_emit_failed(generator, error)
69
+ generator_propagate_event(is_forwarding, events, generator)
70
+ generator_unreachable(generator, reason)
71
+ exception_notification(plan_id, mode, error, involved_objects)
72
+ mode == EXCEPTION_FATAL -> involved_objects Roby::Task
73
+ mode == EXCEPTION_NONFATAL -> involved_objects Roby::Task
74
+ mode == EXCEPTION_HANDLED -> involved_objects Roby::Task or Roby::Plan
75
+
76
+ Scheduler state:
77
+
78
+ scheduler_report_pending_non_executable_task(msg, task, *args)
79
+ scheduler_report_trigger(generator)
80
+ scheduler_report_holdoff(msg, task, *args)
81
+ scheduler_report_action(msg, task, *args)
82
+
83
+ Cycle information. This message always ends one cycle of data, e.g. each entry
84
+ in a log file will end with this message
85
+
86
+ cycle_end(info)
87
+
88
+ The info parameter is a Hash containing a list of statistics and general
89
+ information from the Roby ExecutionEngine. In addition, it contains the
90
+ following two logger-specific informations:
91
+
92
+ pos: the position of this cycle in the file
93
+ event_count: the number of log messages received during this cycle
94
+
95
+ The log file generated along a log file is simply a list of such cycle_end
96
+ messages.
97
+