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
  346. data/lib/roby/or_generator.rb +88 -0
  347. data/lib/roby/plan.rb +1751 -864
  348. data/lib/roby/plan_object.rb +611 -0
  349. data/lib/roby/plan_service.rb +200 -0
  350. data/lib/roby/promise.rb +332 -0
  351. data/lib/roby/queries.rb +23 -0
  352. data/lib/roby/queries/and_matcher.rb +32 -0
  353. data/lib/roby/queries/any.rb +27 -0
  354. data/lib/roby/queries/code_error_matcher.rb +58 -0
  355. data/lib/roby/queries/event_generator_matcher.rb +9 -0
  356. data/lib/roby/queries/execution_exception_matcher.rb +165 -0
  357. data/lib/roby/queries/index.rb +165 -0
  358. data/lib/roby/queries/localized_error_matcher.rb +149 -0
  359. data/lib/roby/queries/matcher_base.rb +107 -0
  360. data/lib/roby/queries/none.rb +27 -0
  361. data/lib/roby/queries/not_matcher.rb +30 -0
  362. data/lib/roby/queries/op_matcher.rb +8 -0
  363. data/lib/roby/queries/or_matcher.rb +30 -0
  364. data/lib/roby/queries/plan_object_matcher.rb +363 -0
  365. data/lib/roby/queries/query.rb +188 -0
  366. data/lib/roby/queries/task_event_generator_matcher.rb +86 -0
  367. data/lib/roby/queries/task_matcher.rb +344 -0
  368. data/lib/roby/relations.rb +42 -678
  369. data/lib/roby/relations/bidirectional_directed_adjacency_graph.rb +492 -0
  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
  373. data/lib/roby/relations/graph.rb +533 -0
  374. data/lib/roby/relations/models/directed_relation_support.rb +11 -0
  375. data/lib/roby/relations/models/graph.rb +75 -0
  376. data/lib/roby/relations/models/task_relation_graph.rb +18 -0
  377. data/lib/roby/relations/space.rb +380 -0
  378. data/lib/roby/relations/task_relation_graph.rb +20 -0
  379. data/lib/roby/robot.rb +85 -38
  380. data/lib/roby/schedulers/basic.rb +155 -25
  381. data/lib/roby/schedulers/null.rb +20 -0
  382. data/lib/roby/schedulers/reporting.rb +31 -0
  383. data/lib/roby/schedulers/state.rb +129 -0
  384. data/lib/roby/schedulers/temporal.rb +91 -0
  385. data/lib/roby/singletons.rb +87 -0
  386. data/lib/roby/standalone.rb +4 -2
  387. data/lib/roby/standard_errors.rb +405 -82
  388. data/lib/roby/state.rb +6 -3
  389. data/lib/roby/state/conf_model.rb +5 -0
  390. data/lib/roby/state/events.rb +181 -95
  391. data/lib/roby/state/goal_model.rb +77 -0
  392. data/lib/roby/state/open_struct.rb +591 -0
  393. data/lib/roby/state/open_struct_model.rb +68 -0
  394. data/lib/roby/state/pos.rb +45 -45
  395. data/lib/roby/state/shapes.rb +11 -11
  396. data/lib/roby/state/state_model.rb +303 -0
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  401. data/lib/roby/task_event.rb +127 -0
  402. data/lib/roby/task_event_generator.rb +337 -0
  403. data/lib/roby/task_service.rb +6 -0
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  406. data/lib/roby/task_structure/error_handling.rb +118 -0
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  414. data/lib/roby/tasks/sequence.rb +88 -0
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  416. data/lib/roby/{thread_task.rb → tasks/thread.rb} +50 -24
  417. data/lib/roby/tasks/timeout.rb +17 -0
  418. data/lib/roby/tasks/virtual.rb +55 -0
  419. data/lib/roby/template_plan.rb +7 -0
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  423. data/lib/roby/test/common.rb +368 -591
  424. data/lib/roby/test/dsl.rb +149 -0
  425. data/lib/roby/test/error.rb +18 -0
  426. data/lib/roby/test/event_reporter.rb +83 -0
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  428. data/lib/roby/test/expect_execution.rb +151 -0
  429. data/lib/roby/test/minitest_helpers.rb +166 -0
  430. data/lib/roby/test/roby_app_helpers.rb +200 -0
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  434. data/lib/roby/test/tasks/empty_task.rb +4 -4
  435. data/lib/roby/test/tasks/goto.rb +28 -27
  436. data/lib/roby/test/teardown_plans.rb +100 -0
  437. data/lib/roby/test/testcase.rb +239 -307
  438. data/lib/roby/test/tools.rb +159 -155
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  440. data/lib/roby/transaction.rb +1125 -0
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  442. data/lib/roby/transaction/plan_object_proxy.rb +99 -0
  443. data/lib/roby/transaction/plan_service_proxy.rb +43 -0
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  445. data/lib/roby/transaction/task_event_generator_proxy.rb +19 -0
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  448. data/lib/roby/version.rb +5 -0
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  450. data/lib/yard-roby.rb +1 -0
  451. data/manifest.xml +32 -6
  452. data/roby.gemspec +59 -0
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  454. data/Manifest.txt +0 -321
  455. data/NOTES +0 -4
  456. data/README.txt +0 -166
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  459. data/app/Rakefile +0 -8
  460. data/app/config/ROBOT.rb +0 -5
  461. data/app/config/init.rb +0 -33
  462. data/app/config/roby.yml +0 -3
  463. data/app/controllers/ROBOT.rb +0 -2
  464. data/app/planners/ROBOT/main.rb +0 -6
  465. data/app/planners/main.rb +0 -5
  466. data/app/scripts/distributed +0 -3
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  471. data/app/scripts/server +0 -3
  472. data/app/scripts/shell +0 -3
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  475. data/app/tasks/ROBOT/.gitattributes +0 -0
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  512. data/lib/roby/distributed/notifications.rb +0 -531
  513. data/lib/roby/distributed/peer.rb +0 -555
  514. data/lib/roby/distributed/protocol.rb +0 -529
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  644. data/test/test_transactions_proxy.rb +0 -216
@@ -0,0 +1,149 @@
1
+ module Roby
2
+ module Queries
3
+ # Object that allows to specify generalized matches on a
4
+ # Roby::LocalizedError object
5
+ class LocalizedErrorMatcher < MatcherBase
6
+ # @return [Class] the exception class that should be matched. It
7
+ # must be a subclass of LocalizedError, and is LocalizedError by
8
+ # default
9
+ attr_reader :model
10
+ # @return [#===] the object that will be used to match the error
11
+ # origin
12
+ attr_reader :failure_point_matcher
13
+ # @return [#===,nil] match object to validate the exception's
14
+ # ExeptionBase#original_exceptions
15
+ attr_reader :original_exception_model
16
+
17
+ def initialize
18
+ super
19
+ @model = LocalizedError
20
+ @failure_point_matcher = Queries.any
21
+ @original_exception_model = nil
22
+ end
23
+
24
+ # Specifies which subclass of LocalizedError this matcher should
25
+ # look for
26
+ # @return self
27
+ def with_model(model)
28
+ @model = model
29
+ self
30
+ end
31
+
32
+ # Specifies that the exception object should have an
33
+ # original_exception registered of the given model
34
+ #
35
+ # Set to nil to allow for no original exception at all
36
+ def with_original_exception(model)
37
+ if model.respond_to?(:exception_matcher)
38
+ @original_exception_model = model.exception_matcher
39
+ else
40
+ @original_exception_model = model
41
+ end
42
+ self
43
+ end
44
+
45
+ # Specifies a match on the error origin
46
+ #
47
+ # The resulting match is extended, i.e. a task matcher will match
48
+ # the origin's task event if the origin itself is an event.
49
+ #
50
+ # @return self
51
+ def with_origin(plan_object_matcher)
52
+ @failure_point_matcher = plan_object_matcher.match
53
+ if failure_point_matcher.respond_to?(:generalized?) && !plan_object_matcher.respond_to?(:generalized?)
54
+ failure_point_matcher.generalized
55
+ end
56
+ self
57
+ end
58
+
59
+ # @return [Boolean] true if the given execution exception object
60
+ # matches self, false otherwise
61
+ def ===(exception)
62
+ if !(model === exception)
63
+ return false
64
+ end
65
+
66
+ if original_exception_model
67
+ original_exception = exception.original_exceptions.
68
+ find { |e| original_exception_model === e }
69
+ if !original_exception
70
+ return false
71
+ end
72
+ end
73
+
74
+ if !exception.failed_task
75
+ if !(failure_point_matcher === exception.failed_generator)
76
+ return false
77
+ end
78
+ elsif failure_point_matcher.respond_to?(:task_matcher)
79
+ if exception.failed_generator
80
+ return false if !(failure_point_matcher === exception.failed_generator)
81
+ else return false
82
+ end
83
+ else
84
+ return false if !(failure_point_matcher === exception.failed_task)
85
+ end
86
+
87
+ original_exception || true
88
+ end
89
+
90
+ def describe_failed_match(exception)
91
+ if !(model === exception)
92
+ return "exception model #{exception} does not match #{model}"
93
+ end
94
+
95
+ if original_exception_model
96
+ original_exception = exception.original_exceptions.
97
+ find { |e| original_exception_model === e }
98
+ if !original_exception
99
+ if exception.original_exceptions.empty?
100
+ return "expected one of the original exceptions to match #{original_exception_model}, but none are registered"
101
+ else
102
+ return "expected one of the original exceptions to match #{original_exception_model}, but got #{exception.original_exceptions.map(&:to_s).join(", ")}"
103
+ end
104
+ end
105
+ end
106
+
107
+ if !exception.failed_task
108
+ if !(failure_point_matcher === exception.failed_generator)
109
+ return "failure point #{exception.failed_generator} does not match #{failure_point_matcher}"
110
+ end
111
+ elsif failure_point_matcher.respond_to?(:task_matcher)
112
+ if exception.failed_generator
113
+ if !(failure_point_matcher === exception.failed_generator)
114
+ return "failure point #{exception.failed_generator} does not match #{failure_point_matcher}"
115
+ end
116
+ else
117
+ return "exception reports no failure generator but was expected to"
118
+ end
119
+ elsif !(failure_point_matcher === exception.failed_task)
120
+ return "failure point #{exception.failed_task} does not match #{failure_point_matcher}"
121
+ end
122
+ nil
123
+ end
124
+
125
+ def to_s
126
+ description = "#{model}.with_origin(#{failure_point_matcher})"
127
+ if original_exception_model
128
+ description.concat(".with_original_exception(#{original_exception_model})")
129
+ end
130
+ description
131
+ end
132
+
133
+ def matches_task?(task)
134
+ if failure_point_matcher.respond_to?(:task_matcher)
135
+ failure_point_matcher.task_matcher == task
136
+ else failure_point_matcher === task
137
+ end
138
+ end
139
+
140
+ match_predicate :fatal?
141
+
142
+ def to_execution_exception_matcher
143
+ Roby::Queries::ExecutionExceptionMatcher.new.with_exception(self)
144
+ end
145
+ end
146
+ end
147
+ end
148
+
149
+
@@ -0,0 +1,107 @@
1
+ module Roby
2
+ module Queries
3
+ class MatcherBase
4
+ # Returns true if calling #filter with a task set and a relevant
5
+ # index will return the exact query result or not
6
+ def indexed_query?; false end
7
+
8
+ # Enumerates all tasks of +plan+ which match this TaskMatcher object
9
+ #
10
+ # It is O(N). You should prefer use Query which uses the plan's task
11
+ # indexes, thus leading to O(1) in simple cases.
12
+ def each(plan)
13
+ return enum_for(__method__, plan) if !block_given?
14
+ plan.each_task do |t|
15
+ yield(t) if self === t
16
+ end
17
+ self
18
+ end
19
+
20
+ # Negates this predicate
21
+ #
22
+ # The returned task matcher will yield tasks that are *not* matched by
23
+ # +self+
24
+ def negate; NotMatcher.new(self) end
25
+ # AND-combination of two predicates
26
+ #
27
+ # The returned task matcher will yield tasks that are matched by both
28
+ # predicates.
29
+ def &(other); AndMatcher.new(self, other) end
30
+ # OR-combination of two predicates
31
+ #
32
+ # The returned task matcher will yield tasks that match either one
33
+ # predicate or the other.
34
+ def |(other); OrMatcher.new(self, other) end
35
+
36
+ # Set of predicates that should be true for the object
37
+ # @return [Array<Symbol>]
38
+ attr_reader :predicates
39
+
40
+ # Set of predicats that should be false for the object
41
+ #
42
+ # The predicates are predicate method names (e.g. 'executable' for #executable?)
43
+ #
44
+ # @return [Array<Symbol>]
45
+ attr_reader :neg_predicates
46
+
47
+ class << self
48
+ def declare_class_methods(*names) # :nodoc:
49
+ names.each do |name|
50
+ raise "no instance method #{name} on #{self}" unless method_defined?(name)
51
+ singleton_class.send(:define_method, name) do |*args|
52
+ self.new.send(name, *args)
53
+ end
54
+ end
55
+ end
56
+
57
+ def match_predicate(name)
58
+ method_name = name.to_s.gsub(/\?$/, '')
59
+ class_eval <<-EOD, __FILE__, __LINE__+1
60
+ def #{method_name}
61
+ if neg_predicates.include?(:#{name})
62
+ raise ArgumentError, "trying to match (#{name} & !#{name})"
63
+ end
64
+ predicates << :#{name}
65
+ self
66
+ end
67
+ def not_#{method_name}
68
+ if predicates.include?(:#{name})
69
+ raise ArgumentError, "trying to match (#{name} & !#{name})"
70
+ end
71
+ neg_predicates << :#{name}
72
+ self
73
+ end
74
+ EOD
75
+ declare_class_methods(method_name, "not_#{method_name}")
76
+ end
77
+
78
+ # For each name in +names+, define a #name and a #not_name method.
79
+ # If the first is called, the matcher will match only tasks whose
80
+ # #name? method returns true. If the second is called, the
81
+ # opposite will be done.
82
+ def match_predicates(*names)
83
+ names.each do |name|
84
+ match_predicate(name)
85
+ end
86
+ end
87
+ end
88
+
89
+ # The {#match} method is used to convert any object to the
90
+ # corresponding Query object. For instance, Models::TaskEvent#match
91
+ # returns the corresponding TaskEventGeneratorMatcher.
92
+ #
93
+ # For matchers, it returns self
94
+ def match
95
+ self
96
+ end
97
+
98
+ # Describe a failed match in a human-readable way
99
+ #
100
+ # It is meant to help debugging in tests
101
+ #
102
+ # @return [nil,String]
103
+ def describe_failed_match(exception)
104
+ end
105
+ end
106
+ end
107
+ end
@@ -0,0 +1,27 @@
1
+ module Roby
2
+ module Queries
3
+ # Implementation of a singleton object that matches no other object
4
+ module None
5
+ # @return [Boolean] match operator, always returns false
6
+ def self.===(other)
7
+ false
8
+ end
9
+
10
+ class DRoby
11
+ def proxy(peer)
12
+ Queries.none
13
+ end
14
+ end
15
+ def self.droby_dump(peer)
16
+ DRoby.new
17
+ end
18
+ end
19
+
20
+ # @return [None] an object that matches nothing
21
+ def self.none
22
+ None
23
+ end
24
+ end
25
+ end
26
+
27
+
@@ -0,0 +1,30 @@
1
+ module Roby
2
+ module Queries
3
+
4
+ # Negate a given task-matching predicate
5
+ #
6
+ # This matcher will match if the underlying predicate does not match.
7
+ class NotMatcher < MatcherBase
8
+ # Create a new TaskMatcher which matches if and only if +op+ does not
9
+ def initialize(op)
10
+ @op = op
11
+ end
12
+
13
+ # Filters as much as non-matching tasks as possible out of +task_set+,
14
+ # based on the information in +task_index+
15
+ def filter(initial_set, task_index)
16
+ # WARNING: the value returned by filter is a SUPERSET of the
17
+ # possible values for the query. Therefore, the result of
18
+ # NegateTaskMatcher#filter is NOT
19
+ #
20
+ # initial_set - @op.filter(...)
21
+ initial_set
22
+ end
23
+
24
+ # True if the task matches at least one of the underlying predicates
25
+ def ===(task)
26
+ !(@op === task)
27
+ end
28
+ end
29
+ end
30
+ end
@@ -0,0 +1,8 @@
1
+ module Roby
2
+ module Queries
3
+ # Base class for matchers that are built as operations over other
4
+ # matchers (e.g. 'or', 'not')
5
+ class OpMatcher
6
+ end
7
+ end
8
+ end
@@ -0,0 +1,30 @@
1
+ module Roby
2
+ module Queries
3
+
4
+ # Combines multiple task matching predicates through a OR boolean operator.
5
+ # I.e. it will match if any of the underlying predicates match.
6
+ class OrMatcher < MatcherBase
7
+ # Create a new OrMatcher object combining the given predicates.
8
+ def initialize(*ops)
9
+ @ops = ops
10
+ end
11
+
12
+ # Overload of TaskMatcher#filter
13
+ def filter(task_set, task_index)
14
+ result = Set.new
15
+ for child in @ops
16
+ result.merge child.filter(task_set, task_index)
17
+ end
18
+ result
19
+ end
20
+
21
+ # Add a new predicate to the combination
22
+ def <<(op); @ops << op end
23
+
24
+ def ===(task)
25
+ @ops.any? { |op| op === task }
26
+ end
27
+ end
28
+
29
+ end
30
+ end
@@ -0,0 +1,363 @@
1
+ module Roby
2
+ module Queries
3
+ # Predicate that matches characteristics on a plan object
4
+ class PlanObjectMatcher < MatcherBase
5
+ # @api private
6
+ #
7
+ # The actual instance that should match
8
+ #
9
+ # @return [nil,Object]
10
+ attr_reader :instance
11
+
12
+ # @api private
13
+ #
14
+ # A set of models that should be provided by the object
15
+ #
16
+ # @return [Array<Class>]
17
+ attr_reader :model
18
+
19
+ # @api private
20
+ #
21
+ # Set of owners that the object should have
22
+ #
23
+ # @return [Array<DRobyID>]
24
+ attr_reader :owners
25
+
26
+ # @api private
27
+ #
28
+ # Set of predicates that should be true on the object, and for which
29
+ # the index maintains a set of objects for which it is true
30
+ #
31
+ # @return [Array<Symbol>]
32
+ attr_reader :indexed_predicates
33
+
34
+ # @api private
35
+ #
36
+ # Set of predicates that should be false on the object, and for which
37
+ # the index maintains a set of objects for which it is true
38
+ #
39
+ # @return [Array<Symbol>]
40
+ attr_reader :indexed_neg_predicates
41
+
42
+ # @api private
43
+ #
44
+ # Per-relation list of in-edges that the matched object is expected to have
45
+ #
46
+ # @return [Hash]
47
+ attr_reader :parents
48
+
49
+ # @api private
50
+ #
51
+ # Per relation list of out-edges that the matched object is expected to have
52
+ #
53
+ # @return [Hash]
54
+ attr_reader :children
55
+
56
+ # Initializes an empty TaskMatcher object
57
+ def initialize(instance = nil)
58
+ @instance = instance
59
+ @indexed_query = !@instance
60
+ @model = Array.new
61
+ @predicates = Array.new
62
+ @neg_predicates = Array.new
63
+ @indexed_predicates = Array.new
64
+ @indexed_neg_predicates = Array.new
65
+ @owners = Array.new
66
+ @parents = Hash.new
67
+ @children = Hash.new
68
+ end
69
+
70
+ # Match an instance explicitely
71
+ def with_instance(instance)
72
+ @instance = instance
73
+ @indexed_query = false
74
+ self
75
+ end
76
+
77
+ # Filters on ownership
78
+ #
79
+ # Matches if the object is owned by the listed peers.
80
+ #
81
+ # Use #self_owned to match if it is owned by the local plan manager.
82
+ def owned_by(*ids)
83
+ @owners |= ids
84
+ self
85
+ end
86
+
87
+ # Filters locally-owned tasks
88
+ #
89
+ # Matches if the object is owned by the local plan manager.
90
+ def self_owned
91
+ predicates << :self_owned?
92
+ self
93
+ end
94
+
95
+ # Filters out locally-owned tasks
96
+ #
97
+ # Matches if the object is owned by the local plan manager.
98
+ def not_self_owned
99
+ neg_predicates << :self_owned?
100
+ self
101
+ end
102
+
103
+ # Filters on the task model
104
+ #
105
+ # Will match if the task is an instance of +model+ or one of its
106
+ # subclasses.
107
+ def with_model(model)
108
+ @model = Array(model)
109
+ self
110
+ end
111
+
112
+ class << self
113
+ # @api private
114
+ def match_predicate(name, positive_index = nil, negative_index = nil)
115
+ method_name = name.to_s.gsub(/\?$/, '')
116
+ if Index::PREDICATES.include?(name)
117
+ indexed_predicate = true
118
+ positive_index ||= [["#{name}"], []]
119
+ negative_index ||= [[], ["#{name}"]]
120
+ end
121
+ positive_index ||= [[], []]
122
+ negative_index ||= [[], []]
123
+ class_eval <<-EOD, __FILE__, __LINE__+1
124
+ def #{method_name}
125
+ if neg_predicates.include?(:#{name})
126
+ raise ArgumentError, "trying to match (#{name} & !#{name})"
127
+ end
128
+ #{"@indexed_query = false" if !indexed_predicate}
129
+ predicates << :#{name}
130
+ #{if !positive_index[0].empty? then ["indexed_predicates", *positive_index[0]].join(" << :") end}
131
+ #{if !positive_index[1].empty? then ["indexed_neg_predicates", *positive_index[1]].join(" << :") end}
132
+ self
133
+ end
134
+ def not_#{method_name}
135
+ if predicates.include?(:#{name})
136
+ raise ArgumentError, "trying to match (#{name} & !#{name})"
137
+ end
138
+ #{"@indexed_query = false" if !indexed_predicate}
139
+ neg_predicates << :#{name}
140
+ #{if !negative_index[0].empty? then ["indexed_predicates", *negative_index[0]].join(" << :") end}
141
+ #{if !negative_index[1].empty? then ["indexed_neg_predicates", *negative_index[1]].join(" << :") end}
142
+ self
143
+ end
144
+ EOD
145
+ declare_class_methods(method_name, "not_#{method_name}")
146
+ end
147
+ end
148
+
149
+ ##
150
+ # :method: executable
151
+ #
152
+ # Matches if the object is executable
153
+ #
154
+ # See also #not_executable, PlanObject#executable?
155
+
156
+ ##
157
+ # :method: not_executable
158
+ #
159
+ # Matches if the object is not executable
160
+ #
161
+ # See also #executable, PlanObject#executable?
162
+
163
+ match_predicates :executable?
164
+
165
+ declare_class_methods :with_model, :owned_by, :self_owned
166
+
167
+ # Helper method for #with_child and #with_parent
168
+ def handle_parent_child_arguments(other_query, relation, relation_options) # :nodoc:
169
+ return relation, [other_query.match, relation_options]
170
+ end
171
+
172
+ # Filters based on the object's children
173
+ #
174
+ # Matches if this object has at least one child which matches +query+.
175
+ #
176
+ # If +relation+ is given, then only the children in this relation are
177
+ # considered. Moreover, relation options can be used to restrict the
178
+ # search even more.
179
+ #
180
+ # Examples:
181
+ #
182
+ # parent.depends_on(child)
183
+ # TaskMatcher.new.
184
+ # with_child(TaskMatcher.new.pending) === parent # => true
185
+ # TaskMatcher.new.
186
+ # with_child(TaskMatcher.new.pending, Roby::TaskStructure::Dependency) === parent # => true
187
+ # TaskMatcher.new.
188
+ # with_child(TaskMatcher.new.pending, Roby::TaskStructure::PlannedBy) === parent # => false
189
+ #
190
+ # TaskMatcher.new.
191
+ # with_child(TaskMatcher.new.pending,
192
+ # Roby::TaskStructure::Dependency,
193
+ # roles: ["trajectory_following"]) === parent # => false
194
+ # parent.depends_on child, role: "trajectory_following"
195
+ # TaskMatcher.new.
196
+ # with_child(TaskMatcher.new.pending,
197
+ # Roby::TaskStructure::Dependency,
198
+ # roles: ["trajectory_following"]) === parent # => true
199
+ #
200
+ def with_child(other_query, relation = nil, relation_options = nil)
201
+ relation, spec = handle_parent_child_arguments(other_query, relation, relation_options)
202
+ (@children[relation] ||= Array.new) << spec
203
+ @indexed_query = false
204
+ self
205
+ end
206
+
207
+ # Filters based on the object's parents
208
+ #
209
+ # Matches if this object has at least one parent which matches +query+.
210
+ #
211
+ # If +relation+ is given, then only the parents in this relation are
212
+ # considered. Moreover, relation options can be used to restrict the
213
+ # search even more.
214
+ #
215
+ # See examples for #with_child
216
+ def with_parent(other_query, relation = nil, relation_options = nil)
217
+ relation, spec = handle_parent_child_arguments(other_query, relation, relation_options)
218
+ (@parents[relation] ||= Array.new) << spec
219
+ @indexed_query = false
220
+ self
221
+ end
222
+
223
+ # Helper method for handling parent/child matches in #===
224
+ def handle_parent_child_match(object, match_spec) # :nodoc:
225
+ relation, matchers = *match_spec
226
+ return false if !relation && object.relations.empty?
227
+ for match_spec in matchers
228
+ m, relation_options = *match_spec
229
+ if relation
230
+ if !yield(relation, m, relation_options)
231
+ return false
232
+ end
233
+ else
234
+ result = object.relations.any? do |rel|
235
+ yield(rel, m, relation_options)
236
+ end
237
+ return false if !result
238
+ end
239
+ end
240
+ true
241
+ end
242
+
243
+ # Returns true if filtering with this TaskMatcher using #=== is
244
+ # equivalent to calling #filter() using a Index. This is used to
245
+ # avoid an explicit O(N) filtering step after filter() has been called
246
+ def indexed_query?
247
+ @indexed_query
248
+ end
249
+
250
+ def to_s
251
+ description =
252
+ if instance
253
+ instance.to_s
254
+ elsif model.size == 1
255
+ model.first.to_s
256
+ else
257
+ "(#{model.map(&:to_s).join(",")})"
258
+ end
259
+ ([description] + predicates.map(&:to_s) + neg_predicates.map { |p| "not_#{p}" }).join(".")
260
+ end
261
+
262
+
263
+ # Tests whether the given object matches this predicate
264
+ #
265
+ # @param [PlanObject] object the object to match
266
+ # @return [Boolean]
267
+ def ===(object)
268
+ if instance
269
+ return false if object != instance
270
+ end
271
+
272
+ if !model.empty?
273
+ return unless object.fullfills?(model)
274
+ end
275
+
276
+ for parent_spec in @parents
277
+ result = handle_parent_child_match(object, parent_spec) do |relation, m, relation_options|
278
+ object.each_parent_object(relation).
279
+ any? { |parent| m === parent && (!relation_options || relation_options === parent[object, relation]) }
280
+ end
281
+ return false if !result
282
+ end
283
+
284
+ for child_spec in @children
285
+ result = handle_parent_child_match(object, child_spec) do |relation, m, relation_options|
286
+ object.each_child_object(relation).
287
+ any? { |child| m === child && (!relation_options || relation_options === object[child, relation]) }
288
+ end
289
+ return false if !result
290
+ end
291
+
292
+ for pred in predicates
293
+ return false if !object.send(pred)
294
+ end
295
+ for pred in neg_predicates
296
+ return false if object.send(pred)
297
+ end
298
+
299
+ return false if !owners.empty? && !(object.owners - owners).empty?
300
+ true
301
+ end
302
+
303
+ # @api private
304
+ #
305
+ # Resolve the indexed sets needed to filter an initial set in {#filter}
306
+ #
307
+ # @return [(Set,Set)] the positive (intersection) and
308
+ # negative (difference) sets
309
+ def indexed_sets(index)
310
+ positive_sets = []
311
+ for m in @model
312
+ positive_sets << index.by_model[m]
313
+ end
314
+
315
+ for o in @owners
316
+ if candidates = index.by_owner[o]
317
+ positive_sets << candidates
318
+ else
319
+ return [Set.new, Set.new]
320
+ end
321
+ end
322
+
323
+ for pred in @indexed_predicates
324
+ positive_sets << index.by_predicate[pred]
325
+ end
326
+
327
+ negative_sets = @indexed_neg_predicates.
328
+ map { |pred| index.by_predicate[pred] }
329
+
330
+ return positive_sets, negative_sets
331
+ end
332
+
333
+ # Filters the tasks in +initial_set+ by using the information in
334
+ # +index+, and returns the result. The resulting set must
335
+ # include all tasks in +initial_set+ which match with #===, but can
336
+ # include tasks which do not match #===
337
+ #
338
+ # @param [Set] initial_set
339
+ # @param [Index] index
340
+ # @return [Set]
341
+ def filter(initial_set, index, initial_is_complete: false)
342
+ positive_sets, negative_sets = indexed_sets(index)
343
+ positive_sets << initial_set if !initial_is_complete || positive_sets.empty?
344
+
345
+ negative = negative_sets.shift || Set.new
346
+ if negative_sets.size > 1
347
+ negative = negative.dup
348
+ negative_sets.each { |set| negative.merge(set) }
349
+ end
350
+
351
+ positive_sets = positive_sets.sort_by(&:size)
352
+
353
+ result = Set.new
354
+ result.compare_by_identity
355
+ positive_sets.shift.each do |obj|
356
+ result.add(obj) if !negative.include?(obj) && positive_sets.all? { |set| set.include?(obj) }
357
+ end
358
+ return result
359
+ end
360
+ end
361
+ end
362
+ end
363
+