roby 0.8.0 → 3.0.0

data/lib/roby/gui/stepping.rb

@@ -0,0 +1,93 @@
+require 'roby/gui/stepping_ui'
+
+module Roby
+    module GUI
+        # GUI dialog that allows to display plans step-by-step instead of
+        # cycle-by-cycle
+        class Stepping < Qt::Dialog
+            attr_reader :ui
+
+            attr_reader :plan
+            attr_reader :logfile
+            attr_reader :plan_rebuilder
+
+            # Create a step-by-step replay starting at the beginning of a cycle
+            # in the log stream
+            #
+            # @param main_widget this widget's parent
+            # @param [DRoby::RebuiltPlan] plan the plan into which the replay is
+            #   done. Most of the time it will be the plan that is being
+            #   displayed
+            # @param [DRoby::Logfile::Reader] logfile the log file
+            # @param [Integer] starting_cycle the ID of the cycle at which to
+            #   start stepping
+            def initialize(main_widget, plan, logfile, starting_cycle)
+                super(main_widget)
+
+                @ui = Ui_Stepping.new
+                @ui.setupUi(self)
+                Qt::Object.connect(ui.btn_next, SIGNAL("clicked()"), self, SLOT("step_forward()"))
+
+                @main_widget = main_widget
+                @plan = plan
+                plan.clear
+                @plan_rebuilder = DRoby::PlanRebuilder.new(plan: plan)
+                @logfile = logfile
+                PlanRebuilderWidget.analyze(plan_rebuilder, logfile, until_cycle: starting_cycle - 1)
+
+                @main_widget.redraw
+
+                @current_cycle_data = []
+
+                @current_cycle_position = 0
+                @current_cycle_size = 0
+                if !logfile.eof?
+                    @current_cycle_data = logfile.load_one_cycle
+                    @current_cycle_position = 0
+                    @current_cycle_size = @current_cycle_data.size / 4
+                end
+                display_current_position
+            end
+
+            def display_current_position
+                ui.index.text = @current_cycle_position.to_s
+                ui.index_count.text = @current_cycle_size.to_s
+                ui.cycle.text = @plan_rebuilder.cycle_index.to_s
+                ui.cycle_count.text = @logfile.index.cycle_count.to_s
+                ui.time.text = @plan_rebuilder.current_time.to_hms
+            end
+
+            def step_forward
+                plan_rebuilder.clear_integrated
+                @plan_rebuilder.plan.clear_integrated
+                while !logfile.eof?
+                    while @current_cycle_data.empty?
+                        @current_cycle_data = logfile.load_one_cycle
+                        @current_cycle_position = 0
+                        @current_cycle_size = @current_cycle_data.size / 4
+                    end
+
+                    while !@current_cycle_data.empty?
+                        data = []
+                        4.times do
+                            data << @current_cycle_data.shift
+                        end
+                        @current_cycle_position += 1
+
+                        plan_rebuilder.process_one_cycle(data)
+                        if plan_rebuilder.has_event_propagation_updates? ||
+                            plan_rebuilder.has_structure_updates?
+                            plan_rebuilder.clear_changes
+                            return
+                        end
+                    end
+                end
+            ensure
+                display_current_position
+                @main_widget.redraw
+            end
+            slots 'step_forward()'
+        end
+    end
+end
+

data/lib/roby/gui/stepping.ui

@@ -0,0 +1,181 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <author>Alexander Duda</author>
+ <class>Stepping</class>
+ <widget class="QDialog" name="Stepping">
+  <property name="windowModality">
+   <enum>Qt::WindowModal</enum>
+  </property>
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>356</width>
+    <height>78</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>356</width>
+    <height>0</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Stepping</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0" rowspan="3">
+    <widget class="QPushButton" name="btn_next">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>60</width>
+       <height>60</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>70</width>
+       <height>70</height>
+      </size>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="icon">
+      <iconset>
+       <normaloff>next.png</normaloff>next.png</iconset>
+     </property>
+     <property name="iconSize">
+      <size>
+       <width>40</width>
+       <height>40</height>
+      </size>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="1">
+    <widget class="QLabel" name="lbl_index">
+     <property name="font">
+      <font>
+       <pointsize>8</pointsize>
+      </font>
+     </property>
+     <property name="text">
+      <string>Index</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="2">
+    <widget class="QLabel" name="index">
+     <property name="text">
+      <string>0</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="3">
+    <widget class="QLabel" name="index_count">
+     <property name="text">
+      <string>/0</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="1">
+    <widget class="QLabel" name="lbl_cycle">
+     <property name="font">
+      <font>
+       <pointsize>8</pointsize>
+      </font>
+     </property>
+     <property name="text">
+      <string>Cycle</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="2">
+    <widget class="QLabel" name="cycle">
+     <property name="text">
+      <string>0</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="3">
+    <widget class="QLabel" name="cycle_count">
+     <property name="text">
+      <string>/0</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="1">
+    <widget class="QLabel" name="lbl_time">
+     <property name="font">
+      <font>
+       <pointsize>8</pointsize>
+      </font>
+     </property>
+     <property name="text">
+      <string>Time:</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="2" colspan="2">
+    <widget class="QLabel" name="time">
+     <property name="maximumSize">
+      <size>
+       <width>252</width>
+       <height>250</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <family>Times New Roman</family>
+       <pointsize>8</pointsize>
+      </font>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::Box</enum>
+     </property>
+     <property name="lineWidth">
+      <number>1</number>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+ <designerdata>
+  <property name="gridDeltaX">
+   <number>10</number>
+  </property>
+  <property name="gridDeltaY">
+   <number>10</number>
+  </property>
+  <property name="gridSnapX">
+   <bool>true</bool>
+  </property>
+  <property name="gridSnapY">
+   <bool>true</bool>
+  </property>
+  <property name="gridVisible">
+   <bool>true</bool>
+  </property>
+ </designerdata>
+</ui>

data/lib/roby/gui/styles.rb

@@ -0,0 +1,81 @@
+module Roby
+    module GUI
+        EVENT_CIRCLE_RADIUS = 3
+        TASK_EVENT_SPACING  = 5
+        DEFAULT_TASK_WIDTH = 20
+        DEFAULT_TASK_HEIGHT = 10
+        ARROW_COLOR   = Qt::Color.new('black')
+        ARROW_OPENING = 30
+        ARROW_SIZE    = 10
+
+        TASK_BRUSH_COLORS = {
+            pending:  Qt::Color.new('#6DF3FF'),
+            running:  Qt::Color.new('#B0FFA6'),
+            success:  Qt::Color.new('#E2E2E2'),
+            finished: Qt::Color.new('#E2A8A8'),
+            finalized: Qt::Color.new('#555555')
+        }
+        TASK_BRUSHES = Hash.new
+        TASK_BRUSH_COLORS.each do |name, color|
+            TASK_BRUSHES[name] = Qt::Brush.new(color)
+        end
+        TASK_PEN_COLORS = {
+            pending:  Qt::Color.new('#6DF3FF'),
+            running:  Qt::Color.new('#B0FFA6'),
+            success:  Qt::Color.new('#E2E2E2'),
+            finished: Qt::Color.new('#E2A8A8'),
+            finalized: Qt::Color.new('#555555')
+        }
+        TASK_PENS = Hash.new
+        TASK_PEN_COLORS.each do |name, color|
+            TASK_PENS[name] = Qt::Pen.new(color)
+        end
+        TASK_NAME_COLOR = Qt::Color.new('black')
+        TASK_NAME_PEN = Qt::Pen.new(TASK_NAME_COLOR)
+        TASK_MESSAGE_COLOR = Qt::Color.new('#606060')
+        TASK_MESSAGE_PEN = Qt::Pen.new(TASK_MESSAGE_COLOR)
+        TASK_MESSAGE_MARGIN = 10
+        EVENT_NAME_COLOR = Qt::Color.new('black')
+        EVENT_NAME_PEN = Qt::Pen.new(EVENT_NAME_COLOR)
+        TASK_FONTSIZE = 10
+
+        PENDING_EVENT_COLOR    = 'black' # default color for events
+        FIRED_EVENT_COLOR      = 'green'
+        EVENT_FONTSIZE = 8
+
+        PLAN_LAYER             = 0
+        TASK_LAYER             = PLAN_LAYER + 20
+        EVENT_LAYER            = PLAN_LAYER + 30
+        EVENT_PROPAGATION_LAYER = PLAN_LAYER + 40
+
+        FIND_MARGIN = 10
+
+        EVENT_CALLED  = 1
+        EVENT_EMITTED = 2
+        EVENT_CALLED_AND_EMITTED = EVENT_CALLED | EVENT_EMITTED
+
+        EVENT_CONTROLABLE = 4
+        EVENT_CONTINGENT  = 8
+        FAILED_EMISSION   = 16
+
+        EVENT_STYLES = Hash.new
+        EVENT_STYLES[EVENT_CONTROLABLE | EVENT_CALLED] =
+            [Qt::Brush.new(Qt::Color.new(PENDING_EVENT_COLOR)),
+                Qt::Pen.new(Qt::Color.new(PENDING_EVENT_COLOR))]
+        EVENT_STYLES[EVENT_CONTROLABLE | EVENT_EMITTED] =
+            [Qt::Brush.new(Qt::Color.new(FIRED_EVENT_COLOR)),
+                Qt::Pen.new(Qt::Color.new(FIRED_EVENT_COLOR))]
+        EVENT_STYLES[EVENT_CONTROLABLE | EVENT_CALLED_AND_EMITTED] =
+            [Qt::Brush.new(Qt::Color.new(FIRED_EVENT_COLOR)),
+                Qt::Pen.new(Qt::Color.new(PENDING_EVENT_COLOR))]
+        EVENT_STYLES[EVENT_CONTINGENT | EVENT_EMITTED] =
+            [Qt::Brush.new(Qt::Color.new('white')), Qt::Pen.new(Qt::Color.new(FIRED_EVENT_COLOR))]
+        EVENT_STYLES[EVENT_CONTROLABLE | FAILED_EMISSION] =
+            [Qt::Brush.new(Qt::Color.new('red')), Qt::Pen.new(Qt::Color.new('red'))]
+        EVENT_STYLES[EVENT_CONTINGENT | FAILED_EMISSION] =
+            [Qt::Brush.new(Qt::Color.new('red')), Qt::Pen.new(Qt::Color.new('red'))]
+
+        TIMELINE_RULER_LINE_LENGTH = 10
+    end
+end
+

data/lib/roby/gui/task_display_configuration.rb

@@ -0,0 +1,42 @@
+module Roby
+    module GUI
+        module TaskDisplayConfiguration
+            # A set of prefixes that should be removed from the task names
+            attribute(:removed_prefixes) { Set.new }
+
+            # Any task whose label matches one regular expression in this set is
+            # not displayed
+            attribute(:hidden_labels) { Array.new }
+
+            # Compute the prefixes to remove from in filter_prefixes:
+            # enable only the ones that are flagged, and sort them by
+            # prefix length
+            def update_prefixes_removal
+                @prefixes_removal = removed_prefixes.to_a.
+                    sort_by { |p| p.length }.
+                    reverse
+            end
+
+            def filtered_out_label?(label)
+                (!hidden_labels.empty? && hidden_labels.any? { |match| label.include?(match) })
+            end
+
+            def filter_prefixes(string)
+                # @prefixes_removal is computed in RelationsCanvas#update
+                for prefix in @prefixes_removal
+                    string = string.gsub(prefix, '')
+                end
+                if string =~ /^::/
+                    string = string[2..-1]
+                end
+                string
+            end
+
+            # If true, show the ownership in the task descriptions
+            attribute(:show_ownership) { true }
+            # If true, show the arguments in the task descriptions
+            attribute(:show_arguments) { false }
+        end
+    end
+end
+

data/lib/roby/gui/task_state_at.rb

@@ -0,0 +1,38 @@
+module Roby
+    module GUI
+        # Determine the state a task had at a certain point in time, for display
+        # purposes
+        #
+        # @param [Task] task
+        # @param [Time] time
+        # @return [Symbol] one of :pending, :running, :success or :finished
+        def self.task_state_at(task, time)
+            if task.failed_to_start?
+                if task.failed_to_start_time > time
+                    return :pending
+                else
+                    return :finished
+                end
+            end
+
+            last_emitted_event = nil
+            task.history.each do |ev|
+                break if ev.time > time
+                last_emitted_event = ev
+            end
+
+            if !last_emitted_event
+                return :pending
+            end
+
+            gen = last_emitted_event.generator
+            if !gen
+                return :pending
+            elsif gen.terminal?
+                return [:success, :finished, :running].find { |flag| task.send("#{flag}?") } 
+            else
+                return :running
+            end
+        end
+    end
+end

data/lib/roby/hooks.rb

@@ -0,0 +1,26 @@
+module Roby
+    # Override of the global Hooks behaviour w.r.t. blocks. Blocks are evaluated
+    # in their definition context in Roby instead of the default evaluation in
+    # the context of the receiver
+    module Hooks
+        include ::Hooks
+
+        def self.included(base)
+            base.class_eval do
+                extend Uber::InheritableAttr
+                extend ClassMethods
+                inheritable_attr :_hooks
+                self._hooks= HookSet.new
+            end
+        end
+
+        module ClassMethods
+            include ::Hooks::ClassMethods
+
+            def define_hooks(callback, scope: lambda { |c, s| s if !c.proc? })
+                super
+            end
+        end
+    end
+end
+