roby 0.8.0 → 3.0.0
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- checksums.yaml +7 -0
- data/.deep-cover.rb +3 -0
- data/.gitattributes +1 -0
- data/.gitignore +24 -0
- data/.simplecov +10 -0
- data/.travis.yml +17 -0
- data/.yardopts +4 -0
- data/Gemfile +15 -0
- data/README.md +11 -0
- data/Rakefile +47 -177
- data/benchmark/{alloc_misc.rb → attic/alloc_misc.rb} +2 -2
- data/benchmark/{discovery_latency.rb → attic/discovery_latency.rb} +19 -19
- data/benchmark/{garbage_collection.rb → attic/garbage_collection.rb} +9 -9
- data/benchmark/{genom.rb → attic/genom.rb} +0 -0
- data/benchmark/attic/transactions.rb +62 -0
- data/benchmark/plan_basic_operations.rb +28 -0
- data/benchmark/relations/graph.rb +63 -0
- data/benchmark/ruby/identity.rb +18 -0
- data/benchmark/ruby/set_intersect_vs_hash_merge.rb +39 -0
- data/benchmark/ruby/yield_vs_block.rb +35 -0
- data/benchmark/run +5 -0
- data/benchmark/synthetic_plan_modifications_with_transactions.rb +79 -0
- data/benchmark/transactions.rb +99 -51
- data/bin/roby +38 -197
- data/bin/roby-display +14 -0
- data/bin/roby-log +3 -176
- data/doc/guide/{src → attic}/abstraction/achieve_with.page +1 -1
- data/doc/guide/{src → attic}/abstraction/forwarding.page +1 -1
- data/doc/guide/{src → attic}/abstraction/hierarchy.page +1 -1
- data/doc/guide/{src → attic}/abstraction/index.page +1 -1
- data/doc/guide/{src → attic}/abstraction/task_models.page +1 -1
- data/doc/guide/{overview.rdoc → attic/cycle/api_overview.rdoc} +6 -1
- data/doc/guide/{src → attic}/cycle/cycle-overview.png +0 -0
- data/doc/guide/{src → attic}/cycle/cycle-overview.svg +0 -0
- data/doc/guide/attic/cycle/error_handling.page +98 -0
- data/doc/guide/{src → attic}/cycle/error_instantaneous_repair.png +0 -0
- data/doc/guide/{src → attic}/cycle/error_instantaneous_repair.svg +0 -0
- data/doc/guide/{src/cycle/error_handling.page → attic/cycle/error_sources.page} +46 -89
- data/doc/guide/{src → attic}/cycle/garbage_collection.page +1 -1
- data/doc/guide/{src → attic}/cycle/index.page +1 -1
- data/doc/guide/{src → attic}/cycle/propagation.page +11 -1
- data/doc/guide/{src → attic}/cycle/propagation_diamond.png +0 -0
- data/doc/guide/{src → attic}/cycle/propagation_diamond.svg +0 -0
- data/doc/guide/attic/plans/building_plans.page +89 -0
- data/doc/guide/attic/plans/code.page +192 -0
- data/doc/guide/{src/basics → attic/plans}/events.page +3 -4
- data/doc/guide/attic/plans/index.page +7 -0
- data/doc/guide/{plan_modifications.rdoc → attic/plans/plan_modifications.rdoc} +5 -3
- data/doc/guide/{src/basics → attic/plans}/plan_objects.page +2 -1
- data/doc/guide/attic/plans/querying_plans.page +5 -0
- data/doc/guide/{src/basics → attic/plans}/tasks.page +20 -20
- data/doc/guide/config.yaml +7 -4
- data/doc/guide/ext/extended_menu.rb +29 -0
- data/doc/guide/ext/init.rb +6 -0
- data/doc/guide/ext/rdoc_links.rb +7 -6
- data/doc/guide/src/advanced_concepts/history.page +5 -0
- data/doc/guide/src/advanced_concepts/index.page +11 -0
- data/doc/guide/src/advanced_concepts/recognizing_patterns.page +83 -0
- data/doc/guide/src/advanced_concepts/scheduling.page +87 -0
- data/doc/guide/src/advanced_concepts/transactions.page +5 -0
- data/doc/guide/src/advanced_concepts/unreachability.page +42 -0
- data/doc/guide/src/base.template +96 -0
- data/doc/guide/src/basics_shell_header.txt +5 -7
- data/doc/guide/src/building/action_coordination.page +96 -0
- data/doc/guide/src/building/actions.page +124 -0
- data/doc/guide/src/building/file_layout.page +71 -0
- data/doc/guide/src/building/index.page +50 -0
- data/doc/guide/src/building/patterns.page +86 -0
- data/doc/guide/src/building/patterns_forwarding.png +0 -0
- data/doc/guide/src/building/patterns_forwarding.svg +277 -0
- data/doc/guide/src/building/runtime.page +95 -0
- data/doc/guide/src/building/task_models.page +94 -0
- data/doc/guide/src/building/tasks.page +284 -0
- data/doc/guide/src/concepts/error_handling.page +100 -0
- data/doc/guide/src/concepts/exception_propagation.png +0 -0
- data/doc/guide/src/concepts/exception_propagation.svg +445 -0
- data/doc/guide/src/concepts/execution.page +85 -0
- data/doc/guide/src/concepts/execution.png +0 -0
- data/doc/guide/src/concepts/execution.svg +573 -0
- data/doc/guide/src/concepts/execution_cycle.png +0 -0
- data/doc/guide/src/concepts/garbage_collection.page +57 -0
- data/doc/guide/src/concepts/index.page +27 -0
- data/doc/guide/src/concepts/plans.page +101 -0
- data/doc/guide/src/concepts/policy.page +31 -0
- data/doc/guide/src/concepts/reactor.page +61 -0
- data/doc/guide/src/concepts/simple_plan_example.png +0 -0
- data/doc/guide/src/concepts/simple_plan_example.svg +376 -0
- data/doc/guide/src/default.template +9 -74
- data/doc/guide/src/event_relations/forward.page +71 -0
- data/doc/guide/src/event_relations/index.page +12 -0
- data/doc/guide/src/event_relations/scheduling_constraints.page +43 -0
- data/doc/guide/src/event_relations/signal.page +55 -0
- data/doc/guide/src/event_relations/temporal_constraints.page +77 -0
- data/doc/guide/src/htmldoc.metainfo +21 -8
- data/doc/guide/src/index.page +8 -3
- data/doc/guide/src/{introduction/install.page → installation/index.page} +37 -25
- data/doc/guide/src/installation/publications.page +14 -0
- data/doc/guide/src/{introduction → installation}/videos.page +14 -7
- data/doc/guide/src/interacting/index.page +16 -0
- data/doc/guide/src/interacting/run.page +33 -0
- data/doc/guide/src/interacting/shell.page +95 -0
- data/doc/guide/src/plugins/creating_plugins.page +72 -0
- data/doc/guide/src/plugins/index.page +27 -5
- data/doc/guide/src/plugins/{fault_tolerance.page → standard_plugins/fault_tolerance.page} +2 -2
- data/doc/guide/src/plugins/standard_plugins/index.page +11 -0
- data/doc/guide/src/plugins/{subsystems.page → standard_plugins/subsystems.page} +2 -2
- data/doc/guide/src/style_screen.css +687 -0
- data/doc/guide/src/task_relations/dependency.page +107 -0
- data/doc/guide/src/task_relations/executed_by.page +77 -0
- data/doc/guide/src/task_relations/index.page +12 -0
- data/doc/guide/src/task_relations/new_relations.page +119 -0
- data/doc/guide/src/task_relations/planned_by.page +46 -0
- data/doc/guide/src/tutorial/app.page +117 -0
- data/doc/guide/src/{basics → tutorial}/code_examples.page +6 -5
- data/doc/guide/src/{basics → tutorial}/dry.page +15 -15
- data/doc/guide/src/{basics → tutorial}/errors.page +43 -68
- data/doc/guide/src/tutorial/events.page +195 -0
- data/doc/guide/src/{basics → tutorial}/hierarchy.page +53 -52
- data/doc/guide/src/tutorial/index.page +13 -0
- data/doc/guide/src/tutorial/log_replay/goForward_1.png +0 -0
- data/doc/guide/src/tutorial/log_replay/goForward_2.png +0 -0
- data/doc/guide/src/tutorial/log_replay/goForward_3.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/goForward_4.png +0 -0
- data/doc/guide/src/tutorial/log_replay/goForward_5.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/hierarchy_error_1.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/hierarchy_error_2.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/hierarchy_error_3.png +0 -0
- data/doc/guide/src/tutorial/log_replay/moveto_code_error.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/plan_repair_1.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/plan_repair_2.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/plan_repair_3.png +0 -0
- data/doc/guide/src/tutorial/log_replay/plan_repair_4.png +0 -0
- data/doc/guide/src/tutorial/log_replay/roby_log_main_window.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/roby_log_relation_window.png +0 -0
- data/doc/guide/src/{basics → tutorial}/log_replay/roby_replay_event_representation.png +0 -0
- data/doc/guide/src/tutorial/relations_display.page +153 -0
- data/doc/guide/src/{basics → tutorial}/roby_cycle_overview.png +0 -0
- data/doc/guide/src/tutorial/shell.page +121 -0
- data/doc/guide/src/{basics → tutorial}/summary.page +1 -1
- data/doc/guide/src/tutorial/tasks.page +374 -0
- data/lib/roby.rb +102 -47
- data/lib/roby/actions.rb +17 -0
- data/lib/roby/actions/action.rb +80 -0
- data/lib/roby/actions/interface.rb +45 -0
- data/lib/roby/actions/library.rb +23 -0
- data/lib/roby/actions/models/action.rb +224 -0
- data/lib/roby/actions/models/coordination_action.rb +58 -0
- data/lib/roby/actions/models/interface.rb +22 -0
- data/lib/roby/actions/models/interface_base.rb +294 -0
- data/lib/roby/actions/models/library.rb +12 -0
- data/lib/roby/actions/models/method_action.rb +90 -0
- data/lib/roby/actions/task.rb +114 -0
- data/lib/roby/and_generator.rb +125 -0
- data/lib/roby/app.rb +2795 -829
- data/lib/roby/app/autotest_console_reporter.rb +138 -0
- data/lib/roby/app/base.rb +21 -0
- data/lib/roby/app/cucumber.rb +2 -0
- data/lib/roby/app/cucumber/controller.rb +439 -0
- data/lib/roby/app/cucumber/helpers.rb +280 -0
- data/lib/roby/app/cucumber/world.rb +32 -0
- data/lib/roby/app/debug.rb +136 -0
- data/lib/roby/app/gen.rb +2 -0
- data/lib/roby/app/rake.rb +178 -38
- data/lib/roby/app/robot_config.rb +9 -0
- data/lib/roby/app/robot_names.rb +115 -0
- data/lib/roby/app/run.rb +3 -2
- data/lib/roby/app/scripts.rb +72 -0
- data/lib/roby/app/scripts/autotest.rb +173 -0
- data/lib/roby/app/scripts/display.rb +2 -0
- data/lib/roby/app/scripts/restart.rb +52 -0
- data/lib/roby/app/scripts/results.rb +17 -8
- data/lib/roby/app/scripts/run.rb +155 -24
- data/lib/roby/app/scripts/shell.rb +147 -62
- data/lib/roby/app/scripts/test.rb +107 -22
- data/lib/roby/app/test_reporter.rb +74 -0
- data/lib/roby/app/test_server.rb +159 -0
- data/lib/roby/app/vagrant.rb +47 -0
- data/lib/roby/backports.rb +16 -0
- data/lib/roby/cli/display.rb +190 -0
- data/lib/roby/cli/exceptions.rb +17 -0
- data/lib/roby/cli/gen/actions/class.rb +5 -0
- data/lib/roby/cli/gen/actions/test.rb +6 -0
- data/lib/roby/cli/gen/app/.yardopts +6 -0
- data/lib/roby/cli/gen/app/README.md +28 -0
- data/lib/roby/cli/gen/app/Rakefile +15 -0
- data/{app → lib/roby/cli/gen/app}/config/app.yml +29 -39
- data/lib/roby/cli/gen/app/models/.gitattributes +1 -0
- data/{app → lib/roby/cli/gen/app/scripts}/controllers/.gitattributes +0 -0
- data/{app/data/.gitattributes → lib/roby/cli/gen/app/test/.gitignore} +0 -0
- data/lib/roby/cli/gen/class/class.rb +6 -0
- data/lib/roby/cli/gen/class/test.rb +7 -0
- data/lib/roby/cli/gen/helpers.rb +203 -0
- data/lib/roby/cli/gen/module/module.rb +5 -0
- data/lib/roby/cli/gen/module/test.rb +6 -0
- data/lib/roby/cli/gen/roby_app/config/init.rb +17 -0
- data/lib/roby/cli/gen/roby_app/config/robots/robot.rb +40 -0
- data/lib/roby/cli/gen/task/class.rb +44 -0
- data/lib/roby/cli/gen/task/test.rb +6 -0
- data/lib/roby/cli/gen_main.rb +120 -0
- data/lib/roby/cli/log.rb +276 -0
- data/lib/roby/cli/log/flamegraph.html +499 -0
- data/lib/roby/cli/log/flamegraph_renderer.rb +88 -0
- data/lib/roby/cli/main.rb +153 -0
- data/lib/roby/coordination.rb +60 -0
- data/lib/roby/coordination/action_script.rb +25 -0
- data/lib/roby/coordination/action_state_machine.rb +125 -0
- data/lib/roby/coordination/actions.rb +106 -0
- data/lib/roby/coordination/base.rb +145 -0
- data/lib/roby/coordination/calculus.rb +40 -0
- data/lib/roby/coordination/child.rb +28 -0
- data/lib/roby/coordination/event.rb +29 -0
- data/lib/roby/coordination/fault_handler.rb +25 -0
- data/lib/roby/coordination/fault_handling_task.rb +13 -0
- data/lib/roby/coordination/fault_response_table.rb +110 -0
- data/lib/roby/coordination/models/action_script.rb +64 -0
- data/lib/roby/coordination/models/action_state_machine.rb +224 -0
- data/lib/roby/coordination/models/actions.rb +191 -0
- data/lib/roby/coordination/models/arguments.rb +55 -0
- data/lib/roby/coordination/models/base.rb +176 -0
- data/lib/roby/coordination/models/capture.rb +86 -0
- data/lib/roby/coordination/models/child.rb +35 -0
- data/lib/roby/coordination/models/event.rb +41 -0
- data/lib/roby/coordination/models/exceptions.rb +42 -0
- data/lib/roby/coordination/models/fault_handler.rb +219 -0
- data/lib/roby/coordination/models/fault_response_table.rb +77 -0
- data/lib/roby/coordination/models/root.rb +22 -0
- data/lib/roby/coordination/models/script.rb +283 -0
- data/lib/roby/coordination/models/task.rb +184 -0
- data/lib/roby/coordination/models/task_from_action.rb +50 -0
- data/lib/roby/coordination/models/task_from_as_plan.rb +33 -0
- data/lib/roby/coordination/models/task_from_instanciation_object.rb +31 -0
- data/lib/roby/coordination/models/task_from_variable.rb +27 -0
- data/lib/roby/coordination/models/task_with_dependencies.rb +48 -0
- data/lib/roby/coordination/models/variable.rb +32 -0
- data/lib/roby/coordination/script.rb +200 -0
- data/lib/roby/coordination/script_instruction.rb +12 -0
- data/lib/roby/coordination/task.rb +45 -0
- data/lib/roby/coordination/task_base.rb +69 -0
- data/lib/roby/coordination/task_script.rb +293 -0
- data/lib/roby/coordination/task_state_machine.rb +308 -0
- data/lib/roby/decision_control.rb +33 -21
- data/lib/roby/distributed_object.rb +76 -0
- data/lib/roby/droby.rb +17 -0
- data/lib/roby/droby/droby_id.rb +6 -0
- data/lib/roby/droby/enable.rb +153 -0
- data/lib/roby/droby/event_logger.rb +189 -0
- data/lib/roby/droby/event_logging.rb +57 -0
- data/lib/roby/droby/exceptions.rb +14 -0
- data/lib/roby/droby/identifiable.rb +22 -0
- data/lib/roby/droby/logfile.rb +141 -0
- data/lib/roby/droby/logfile/client.rb +176 -0
- data/lib/roby/droby/logfile/file_format.md +97 -0
- data/lib/roby/droby/logfile/index.rb +117 -0
- data/lib/roby/droby/logfile/reader.rb +139 -0
- data/lib/roby/droby/logfile/server.rb +199 -0
- data/lib/roby/droby/logfile/writer.rb +114 -0
- data/lib/roby/droby/marshal.rb +264 -0
- data/lib/roby/droby/marshallable.rb +12 -0
- data/lib/roby/droby/null_event_logger.rb +25 -0
- data/lib/roby/droby/object_manager.rb +205 -0
- data/lib/roby/droby/peer_id.rb +6 -0
- data/lib/roby/droby/plan_rebuilder.rb +373 -0
- data/lib/roby/droby/rebuilt_plan.rb +160 -0
- data/lib/roby/droby/remote_droby_id.rb +6 -0
- data/lib/roby/droby/timepoints.rb +205 -0
- data/lib/roby/droby/timepoints_ctf.metadata.erb +101 -0
- data/lib/roby/droby/timepoints_ctf.rb +125 -0
- data/lib/roby/droby/v5.rb +14 -0
- data/lib/roby/droby/v5/builtin.rb +120 -0
- data/lib/roby/droby/v5/droby_class.rb +45 -0
- data/lib/roby/droby/v5/droby_constant.rb +81 -0
- data/lib/roby/droby/v5/droby_dump.rb +1026 -0
- data/lib/roby/droby/v5/droby_id.rb +44 -0
- data/lib/roby/droby/v5/droby_model.rb +82 -0
- data/lib/roby/droby/v5/peer_id.rb +10 -0
- data/lib/roby/droby/v5/remote_droby_id.rb +42 -0
- data/lib/roby/event.rb +79 -957
- data/lib/roby/event_constraints.rb +835 -0
- data/lib/roby/event_generator.rb +1047 -0
- data/lib/roby/event_structure/causal_link.rb +6 -0
- data/lib/roby/event_structure/forwarding.rb +6 -0
- data/lib/roby/event_structure/precedence.rb +7 -0
- data/lib/roby/event_structure/signal.rb +8 -0
- data/lib/roby/event_structure/temporal_constraints.rb +640 -0
- data/lib/roby/exceptions.rb +446 -152
- data/lib/roby/executable_plan.rb +549 -0
- data/lib/roby/execution_engine.rb +1997 -950
- data/lib/roby/filter_generator.rb +26 -0
- data/lib/roby/gui/chronicle_view.rb +225 -0
- data/lib/roby/gui/chronicle_widget.rb +925 -0
- data/lib/roby/gui/dot_id.rb +11 -0
- data/lib/roby/gui/exception_view.rb +44 -0
- data/lib/roby/gui/log_display.rb +273 -0
- data/lib/roby/gui/model_views.rb +2 -0
- data/lib/roby/gui/model_views/action_interface.rb +53 -0
- data/lib/roby/gui/model_views/task.rb +47 -0
- data/lib/roby/gui/model_views/task.rhtml +41 -0
- data/lib/roby/gui/object_info_view.rb +89 -0
- data/lib/roby/gui/plan_dot_layout.rb +427 -0
- data/lib/roby/gui/plan_rebuilder_widget.rb +357 -0
- data/lib/roby/gui/qt4_toMSecsSinceEpoch.rb +8 -0
- data/lib/roby/gui/relations_view.rb +278 -0
- data/lib/roby/gui/relations_view/relations.ui +139 -0
- data/lib/roby/gui/relations_view/relations_canvas.rb +1088 -0
- data/lib/roby/gui/relations_view/relations_config.rb +292 -0
- data/lib/roby/gui/relations_view/relations_view.ui +53 -0
- data/lib/roby/gui/scheduler_view.css +24 -0
- data/lib/roby/gui/scheduler_view.rb +46 -0
- data/lib/roby/gui/scheduler_view.rhtml +53 -0
- data/lib/roby/gui/stepping.rb +93 -0
- data/lib/roby/gui/stepping.ui +181 -0
- data/lib/roby/gui/styles.rb +81 -0
- data/lib/roby/gui/task_display_configuration.rb +42 -0
- data/lib/roby/gui/task_state_at.rb +38 -0
- data/lib/roby/hooks.rb +26 -0
- data/lib/roby/interface.rb +136 -469
- data/lib/roby/interface/async.rb +20 -0
- data/lib/roby/interface/async/action_monitor.rb +188 -0
- data/lib/roby/interface/async/interface.rb +498 -0
- data/lib/roby/interface/async/job_monitor.rb +213 -0
- data/lib/roby/interface/async/log.rb +238 -0
- data/lib/roby/interface/async/new_job_listener.rb +79 -0
- data/lib/roby/interface/async/ui_connector.rb +183 -0
- data/lib/roby/interface/client.rb +553 -0
- data/lib/roby/interface/command.rb +24 -0
- data/lib/roby/interface/command_argument.rb +16 -0
- data/lib/roby/interface/command_library.rb +92 -0
- data/lib/roby/interface/droby_channel.rb +174 -0
- data/lib/roby/interface/exceptions.rb +22 -0
- data/lib/roby/interface/interface.rb +655 -0
- data/lib/roby/interface/job.rb +47 -0
- data/lib/roby/interface/rest.rb +10 -0
- data/lib/roby/interface/rest/api.rb +29 -0
- data/lib/roby/interface/rest/helpers.rb +24 -0
- data/lib/roby/interface/rest/server.rb +212 -0
- data/lib/roby/interface/server.rb +154 -0
- data/lib/roby/interface/shell_client.rb +468 -0
- data/lib/roby/interface/shell_subcommand.rb +24 -0
- data/lib/roby/interface/subcommand_client.rb +35 -0
- data/lib/roby/interface/tcp.rb +168 -0
- data/lib/roby/models/arguments.rb +112 -0
- data/lib/roby/models/plan_object.rb +83 -0
- data/lib/roby/models/task.rb +835 -0
- data/lib/roby/models/task_event.rb +62 -0
- data/lib/roby/models/task_service.rb +78 -0
- data/lib/roby/or_generator.rb +88 -0
- data/lib/roby/plan.rb +1751 -864
- data/lib/roby/plan_object.rb +611 -0
- data/lib/roby/plan_service.rb +200 -0
- data/lib/roby/promise.rb +332 -0
- data/lib/roby/queries.rb +23 -0
- data/lib/roby/queries/and_matcher.rb +32 -0
- data/lib/roby/queries/any.rb +27 -0
- data/lib/roby/queries/code_error_matcher.rb +58 -0
- data/lib/roby/queries/event_generator_matcher.rb +9 -0
- data/lib/roby/queries/execution_exception_matcher.rb +165 -0
- data/lib/roby/queries/index.rb +165 -0
- data/lib/roby/queries/localized_error_matcher.rb +149 -0
- data/lib/roby/queries/matcher_base.rb +107 -0
- data/lib/roby/queries/none.rb +27 -0
- data/lib/roby/queries/not_matcher.rb +30 -0
- data/lib/roby/queries/op_matcher.rb +8 -0
- data/lib/roby/queries/or_matcher.rb +30 -0
- data/lib/roby/queries/plan_object_matcher.rb +363 -0
- data/lib/roby/queries/query.rb +188 -0
- data/lib/roby/queries/task_event_generator_matcher.rb +86 -0
- data/lib/roby/queries/task_matcher.rb +344 -0
- data/lib/roby/relations.rb +42 -678
- data/lib/roby/relations/bidirectional_directed_adjacency_graph.rb +492 -0
- data/lib/roby/relations/directed_relation_support.rb +268 -0
- data/lib/roby/relations/event_relation_graph.rb +19 -0
- data/lib/roby/relations/fork_merge_visitor.rb +154 -0
- data/lib/roby/relations/graph.rb +533 -0
- data/lib/roby/relations/models/directed_relation_support.rb +11 -0
- data/lib/roby/relations/models/graph.rb +75 -0
- data/lib/roby/relations/models/task_relation_graph.rb +18 -0
- data/lib/roby/relations/space.rb +380 -0
- data/lib/roby/relations/task_relation_graph.rb +20 -0
- data/lib/roby/robot.rb +85 -38
- data/lib/roby/schedulers/basic.rb +155 -25
- data/lib/roby/schedulers/null.rb +20 -0
- data/lib/roby/schedulers/reporting.rb +31 -0
- data/lib/roby/schedulers/state.rb +129 -0
- data/lib/roby/schedulers/temporal.rb +91 -0
- data/lib/roby/singletons.rb +87 -0
- data/lib/roby/standalone.rb +4 -2
- data/lib/roby/standard_errors.rb +405 -82
- data/lib/roby/state.rb +6 -3
- data/lib/roby/state/conf_model.rb +5 -0
- data/lib/roby/state/events.rb +181 -95
- data/lib/roby/state/goal_model.rb +77 -0
- data/lib/roby/state/open_struct.rb +591 -0
- data/lib/roby/state/open_struct_model.rb +68 -0
- data/lib/roby/state/pos.rb +45 -45
- data/lib/roby/state/shapes.rb +11 -11
- data/lib/roby/state/state_model.rb +303 -0
- data/lib/roby/state/task.rb +43 -0
- data/lib/roby/support.rb +88 -148
- data/lib/roby/task.rb +1361 -1750
- data/lib/roby/task_arguments.rb +428 -0
- data/lib/roby/task_event.rb +127 -0
- data/lib/roby/task_event_generator.rb +337 -0
- data/lib/roby/task_service.rb +6 -0
- data/lib/roby/task_structure/conflicts.rb +104 -0
- data/lib/roby/task_structure/dependency.rb +932 -0
- data/lib/roby/task_structure/error_handling.rb +118 -0
- data/lib/roby/task_structure/executed_by.rb +234 -0
- data/lib/roby/task_structure/planned_by.rb +90 -0
- data/lib/roby/tasks/aggregator.rb +37 -0
- data/lib/roby/tasks/external_process.rb +275 -0
- data/lib/roby/tasks/group.rb +27 -0
- data/lib/roby/tasks/null.rb +19 -0
- data/lib/roby/tasks/parallel.rb +43 -0
- data/lib/roby/tasks/sequence.rb +88 -0
- data/lib/roby/tasks/simple.rb +21 -0
- data/lib/roby/{thread_task.rb → tasks/thread.rb} +50 -24
- data/lib/roby/tasks/timeout.rb +17 -0
- data/lib/roby/tasks/virtual.rb +55 -0
- data/lib/roby/template_plan.rb +7 -0
- data/lib/roby/test/aruba_minitest.rb +74 -0
- data/lib/roby/test/assertion.rb +16 -0
- data/lib/roby/test/assertions.rb +490 -0
- data/lib/roby/test/common.rb +368 -591
- data/lib/roby/test/dsl.rb +149 -0
- data/lib/roby/test/error.rb +18 -0
- data/lib/roby/test/event_reporter.rb +83 -0
- data/lib/roby/test/execution_expectations.rb +1134 -0
- data/lib/roby/test/expect_execution.rb +151 -0
- data/lib/roby/test/minitest_helpers.rb +166 -0
- data/lib/roby/test/roby_app_helpers.rb +200 -0
- data/lib/roby/test/run_planners.rb +155 -0
- data/lib/roby/test/self.rb +112 -0
- data/lib/roby/test/spec.rb +198 -0
- data/lib/roby/test/tasks/empty_task.rb +4 -4
- data/lib/roby/test/tasks/goto.rb +28 -27
- data/lib/roby/test/teardown_plans.rb +100 -0
- data/lib/roby/test/testcase.rb +239 -307
- data/lib/roby/test/tools.rb +159 -155
- data/lib/roby/test/validate_state_machine.rb +75 -0
- data/lib/roby/transaction.rb +1125 -0
- data/lib/roby/transaction/event_generator_proxy.rb +63 -0
- data/lib/roby/transaction/plan_object_proxy.rb +99 -0
- data/lib/roby/transaction/plan_service_proxy.rb +43 -0
- data/lib/roby/transaction/proxying.rb +120 -0
- data/lib/roby/transaction/task_event_generator_proxy.rb +19 -0
- data/lib/roby/transaction/task_proxy.rb +135 -0
- data/lib/roby/until_generator.rb +30 -0
- data/lib/roby/version.rb +5 -0
- data/lib/roby/yard.rb +169 -0
- data/lib/yard-roby.rb +1 -0
- data/manifest.xml +32 -6
- data/roby.gemspec +59 -0
- metadata +788 -587
- data/Manifest.txt +0 -321
- data/NOTES +0 -4
- data/README.txt +0 -166
- data/TODO.txt +0 -146
- data/app/README.txt +0 -24
- data/app/Rakefile +0 -8
- data/app/config/ROBOT.rb +0 -5
- data/app/config/init.rb +0 -33
- data/app/config/roby.yml +0 -3
- data/app/controllers/ROBOT.rb +0 -2
- data/app/planners/ROBOT/main.rb +0 -6
- data/app/planners/main.rb +0 -5
- data/app/scripts/distributed +0 -3
- data/app/scripts/generate/bookmarks +0 -3
- data/app/scripts/replay +0 -3
- data/app/scripts/results +0 -3
- data/app/scripts/run +0 -3
- data/app/scripts/server +0 -3
- data/app/scripts/shell +0 -3
- data/app/scripts/test +0 -3
- data/app/tasks/.gitattributes +0 -0
- data/app/tasks/ROBOT/.gitattributes +0 -0
- data/bin/roby-shell +0 -25
- data/doc/guide/src/basics/app.page +0 -139
- data/doc/guide/src/basics/index.page +0 -11
- data/doc/guide/src/basics/log_replay/goForward_1.png +0 -0
- data/doc/guide/src/basics/log_replay/goForward_2.png +0 -0
- data/doc/guide/src/basics/log_replay/goForward_3.png +0 -0
- data/doc/guide/src/basics/log_replay/goForward_5.png +0 -0
- data/doc/guide/src/basics/log_replay/plan_repair_4.png +0 -0
- data/doc/guide/src/basics/log_replay/roby_log_main_window.png +0 -0
- data/doc/guide/src/basics/relations_display.page +0 -203
- data/doc/guide/src/basics/shell.page +0 -102
- data/doc/guide/src/default.css +0 -319
- data/doc/guide/src/introduction/index.page +0 -29
- data/doc/guide/src/introduction/publications.page +0 -14
- data/doc/guide/src/relations/dependency.page +0 -89
- data/doc/guide/src/relations/index.page +0 -12
- data/ext/droby/dump.cc +0 -175
- data/ext/droby/extconf.rb +0 -3
- data/ext/graph/algorithm.cc +0 -746
- data/ext/graph/extconf.rb +0 -7
- data/ext/graph/graph.cc +0 -575
- data/ext/graph/graph.hh +0 -183
- data/ext/graph/iterator_sequence.hh +0 -102
- data/ext/graph/undirected_dfs.hh +0 -226
- data/ext/graph/undirected_graph.hh +0 -421
- data/lib/roby/app/scripts/generate/bookmarks.rb +0 -162
- data/lib/roby/app/scripts/replay.rb +0 -31
- data/lib/roby/app/scripts/server.rb +0 -18
- data/lib/roby/basic_object.rb +0 -151
- data/lib/roby/config.rb +0 -14
- data/lib/roby/distributed.rb +0 -36
- data/lib/roby/distributed/base.rb +0 -448
- data/lib/roby/distributed/communication.rb +0 -875
- data/lib/roby/distributed/connection_space.rb +0 -616
- data/lib/roby/distributed/distributed_object.rb +0 -206
- data/lib/roby/distributed/drb.rb +0 -62
- data/lib/roby/distributed/notifications.rb +0 -531
- data/lib/roby/distributed/peer.rb +0 -555
- data/lib/roby/distributed/protocol.rb +0 -529
- data/lib/roby/distributed/proxy.rb +0 -343
- data/lib/roby/distributed/subscription.rb +0 -311
- data/lib/roby/distributed/transaction.rb +0 -498
- data/lib/roby/external_process_task.rb +0 -225
- data/lib/roby/graph.rb +0 -160
- data/lib/roby/log.rb +0 -3
- data/lib/roby/log/chronicle.rb +0 -303
- data/lib/roby/log/console.rb +0 -74
- data/lib/roby/log/data_stream.rb +0 -275
- data/lib/roby/log/dot.rb +0 -279
- data/lib/roby/log/event_stream.rb +0 -161
- data/lib/roby/log/file.rb +0 -396
- data/lib/roby/log/gui/basic_display.ui +0 -83
- data/lib/roby/log/gui/basic_display_ui.rb +0 -89
- data/lib/roby/log/gui/chronicle.rb +0 -26
- data/lib/roby/log/gui/chronicle_view.rb +0 -40
- data/lib/roby/log/gui/chronicle_view.ui +0 -70
- data/lib/roby/log/gui/chronicle_view_ui.rb +0 -90
- data/lib/roby/log/gui/data_displays.rb +0 -171
- data/lib/roby/log/gui/data_displays.ui +0 -155
- data/lib/roby/log/gui/data_displays_ui.rb +0 -146
- data/lib/roby/log/gui/notifications.rb +0 -26
- data/lib/roby/log/gui/relations.rb +0 -269
- data/lib/roby/log/gui/relations.ui +0 -123
- data/lib/roby/log/gui/relations_ui.rb +0 -120
- data/lib/roby/log/gui/relations_view.rb +0 -185
- data/lib/roby/log/gui/relations_view.ui +0 -149
- data/lib/roby/log/gui/relations_view_ui.rb +0 -144
- data/lib/roby/log/gui/replay.rb +0 -366
- data/lib/roby/log/gui/replay_controls.rb +0 -206
- data/lib/roby/log/gui/replay_controls.ui +0 -282
- data/lib/roby/log/gui/replay_controls_ui.rb +0 -249
- data/lib/roby/log/gui/runtime.rb +0 -130
- data/lib/roby/log/hooks.rb +0 -186
- data/lib/roby/log/logger.rb +0 -203
- data/lib/roby/log/notifications.rb +0 -244
- data/lib/roby/log/plan_rebuilder.rb +0 -468
- data/lib/roby/log/relations.rb +0 -1084
- data/lib/roby/log/server.rb +0 -547
- data/lib/roby/log/sqlite.rb +0 -47
- data/lib/roby/log/timings.rb +0 -233
- data/lib/roby/plan-object.rb +0 -371
- data/lib/roby/planning.rb +0 -13
- data/lib/roby/planning/loops.rb +0 -309
- data/lib/roby/planning/model.rb +0 -1012
- data/lib/roby/planning/task.rb +0 -180
- data/lib/roby/query.rb +0 -655
- data/lib/roby/relations/conflicts.rb +0 -67
- data/lib/roby/relations/dependency.rb +0 -358
- data/lib/roby/relations/ensured.rb +0 -19
- data/lib/roby/relations/error_handling.rb +0 -22
- data/lib/roby/relations/events.rb +0 -7
- data/lib/roby/relations/executed_by.rb +0 -208
- data/lib/roby/relations/influence.rb +0 -10
- data/lib/roby/relations/planned_by.rb +0 -63
- data/lib/roby/state/information.rb +0 -55
- data/lib/roby/state/state.rb +0 -367
- data/lib/roby/task-operations.rb +0 -186
- data/lib/roby/task_index.rb +0 -80
- data/lib/roby/test/distributed.rb +0 -230
- data/lib/roby/test/tasks/simple_task.rb +0 -23
- data/lib/roby/transactions.rb +0 -507
- data/lib/roby/transactions/proxy.rb +0 -325
- data/plugins/fault_injection/History.txt +0 -4
- data/plugins/fault_injection/README.txt +0 -34
- data/plugins/fault_injection/Rakefile +0 -12
- data/plugins/fault_injection/TODO.txt +0 -0
- data/plugins/fault_injection/app.rb +0 -52
- data/plugins/fault_injection/fault_injection.rb +0 -89
- data/plugins/fault_injection/test/test_fault_injection.rb +0 -78
- data/plugins/subsystems/README.txt +0 -37
- data/plugins/subsystems/Rakefile +0 -13
- data/plugins/subsystems/app.rb +0 -182
- data/plugins/subsystems/test/app/README +0 -24
- data/plugins/subsystems/test/app/Rakefile +0 -8
- data/plugins/subsystems/test/app/config/app.yml +0 -71
- data/plugins/subsystems/test/app/config/init.rb +0 -12
- data/plugins/subsystems/test/app/config/roby.yml +0 -3
- data/plugins/subsystems/test/app/planners/main.rb +0 -20
- data/plugins/subsystems/test/app/scripts/distributed +0 -3
- data/plugins/subsystems/test/app/scripts/replay +0 -3
- data/plugins/subsystems/test/app/scripts/results +0 -3
- data/plugins/subsystems/test/app/scripts/run +0 -3
- data/plugins/subsystems/test/app/scripts/server +0 -3
- data/plugins/subsystems/test/app/scripts/shell +0 -3
- data/plugins/subsystems/test/app/scripts/test +0 -3
- data/plugins/subsystems/test/app/tasks/services.rb +0 -15
- data/plugins/subsystems/test/test_subsystems.rb +0 -78
- data/test/distributed/test_communication.rb +0 -195
- data/test/distributed/test_connection.rb +0 -284
- data/test/distributed/test_execution.rb +0 -378
- data/test/distributed/test_mixed_plan.rb +0 -341
- data/test/distributed/test_plan_notifications.rb +0 -238
- data/test/distributed/test_protocol.rb +0 -525
- data/test/distributed/test_query.rb +0 -106
- data/test/distributed/test_remote_plan.rb +0 -491
- data/test/distributed/test_transaction.rb +0 -466
- data/test/mockups/external_process +0 -28
- data/test/mockups/tasks.rb +0 -27
- data/test/planning/test_loops.rb +0 -432
- data/test/planning/test_model.rb +0 -427
- data/test/planning/test_task.rb +0 -126
- data/test/relations/test_conflicts.rb +0 -42
- data/test/relations/test_dependency.rb +0 -324
- data/test/relations/test_ensured.rb +0 -38
- data/test/relations/test_executed_by.rb +0 -224
- data/test/relations/test_planned_by.rb +0 -56
- data/test/suite_core.rb +0 -29
- data/test/suite_distributed.rb +0 -10
- data/test/suite_planning.rb +0 -4
- data/test/suite_relations.rb +0 -8
- data/test/tasks/test_external_process.rb +0 -126
- data/test/tasks/test_thread_task.rb +0 -70
- data/test/test_bgl.rb +0 -528
- data/test/test_event.rb +0 -969
- data/test/test_exceptions.rb +0 -591
- data/test/test_execution_engine.rb +0 -987
- data/test/test_gui.rb +0 -20
- data/test/test_interface.rb +0 -43
- data/test/test_log.rb +0 -125
- data/test/test_log_server.rb +0 -133
- data/test/test_plan.rb +0 -418
- data/test/test_query.rb +0 -424
- data/test/test_relations.rb +0 -260
- data/test/test_state.rb +0 -432
- data/test/test_support.rb +0 -16
- data/test/test_task.rb +0 -1181
- data/test/test_testcase.rb +0 -138
- data/test/test_transactions.rb +0 -610
- data/test/test_transactions_proxy.rb +0 -216
@@ -0,0 +1,188 @@
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module Roby
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module Queries
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# A query is a TaskMatcher that applies on a plan. It should, in general, be
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# preferred to TaskMatcher as it uses task indexes to be more efficient.
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#
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# Queries cache their result. I.e. once #each has been called to get the
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# query results, the query will always return the same results until #reset
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# has been called.
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class Query < TaskMatcher
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# The plan this query acts on
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attr_reader :plan
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# Create a query object on the given plan
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def initialize(plan = nil)
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@scope = :global
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@plan = plan
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super()
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@plan_predicates = Set.new
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@neg_plan_predicates = Set.new
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end
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def query
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self
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end
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# Search scope for queries on transactions. If equal to :local, the
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# query will apply only on the scope of the searched transaction,
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# otherwise it applies on a virtual plan that is the result of the
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# transaction stack being applied.
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#
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# The default is :global.
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#
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# See #local_scope and #global_scope
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attr_reader :scope
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# Changes the scope of this query. See #scope.
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def local_scope
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@scope = :local
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self
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end
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# Changes the scope of this query. See #scope.
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def global_scope
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@scope = :global
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self
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end
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# Changes the plan this query works on. This calls #reset (obviously)
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def plan=(new_plan)
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reset
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@plan = new_plan
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end
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# The set of tasks which match in plan. This is a cached value, so use
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# #reset to actually recompute this set.
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def result_set
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@result_set ||= plan.query_result_set(self)
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end
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def indexed_sets(index)
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positive_sets, negative_sets = super
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if plan_predicates.include?(:mission_task?)
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positive_sets << plan.mission_tasks
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elsif neg_plan_predicates.include?(:mission_task?)
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negative_sets << plan.mission_tasks
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end
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if plan_predicates.include?(:permanent_task?)
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positive_sets << plan.permanent_tasks
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elsif neg_plan_predicates.include?(:permanent_task?)
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negative_sets << plan.permanent_tasks
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end
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return positive_sets, negative_sets
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end
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# Reinitializes the cached query result.
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#
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# Queries cache their result, i.e. #each will always return the same
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# task set. #reset makes sure that the next call to #each will return
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# the same value.
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def reset
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@result_set = nil
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self
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end
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# The set of predicates of Plan which must return true for #=== to
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# return true
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attr_reader :plan_predicates
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# The set of predicates of Plan which must return false for #=== to
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# return true.
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attr_reader :neg_plan_predicates
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class << self
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# For each name in +names+, define the #name and #not_name methods
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# on Query objects. When one of these methods is called on a Query
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# object, plan.name?(task) must return true (resp. false) for the
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# task to match.
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def match_plan_predicates(names)
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names.each do |name, predicate_name|
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predicate_name ||= name
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class_eval <<-EOD, __FILE__, __LINE__+1
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def #{name}
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if neg_plan_predicates.include?(:#{predicate_name})
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raise ArgumentError, "trying to match (#{name} & !#{name})"
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end
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plan_predicates << :#{predicate_name}
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self
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end
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def not_#{name}
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if plan_predicates.include?(:#{predicate_name})
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raise ArgumentError, "trying to match (#{name} & !#{name})"
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end
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neg_plan_predicates << :#{predicate_name}
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self
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end
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EOD
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end
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end
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end
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##
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# :method: mission
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#
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# Filters missions
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#
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# Matches tasks in plan that are missions
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+
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##
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# :method: not_mission
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#
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# Filters out missions
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#
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# Matches tasks in plan that are not missions
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+
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##
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# :method: permanent
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#
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# Filters permanent tasks
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#
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# Matches tasks in plan that are declared as permanent tasks.
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+
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##
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# :method: not_permanent
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#
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# Filters out permanent tasks
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#
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# Matches tasks in plan that are not declared as permanent tasks
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+
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match_plan_predicates mission: :mission_task?
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match_plan_predicates permanent: :permanent_task?
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+
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# Filters tasks which have no parents in the query itself.
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#
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# Will filter out tasks which have parents in +relation+ that are
|
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# included in the query result.
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def roots(relation)
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@result_set = plan.query_roots(result_set, relation)
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self
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end
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+
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# True if +task+ matches the query. Call #result_set to have the set of
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# tasks which match in the given plan.
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def ===(task)
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for pred in plan_predicates
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return unless plan.send(pred, task)
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end
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for neg_pred in neg_plan_predicates
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return if plan.send(neg_pred, task)
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end
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+
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return unless super
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+
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true
|
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end
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+
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# Iterates on all the tasks in the given plan which match the query
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#
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# This set is cached, i.e. #each will yield the same task set until
|
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# #reset is called.
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def each(&block)
|
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return enum_for(__method__) if !block_given?
|
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plan.query_each(result_set, &block)
|
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end
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include Enumerable
|
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+
end
|
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+
end
|
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+
end
|
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+
|
@@ -0,0 +1,86 @@
|
|
1
|
+
module Roby
|
2
|
+
module Queries
|
3
|
+
# Object that allows to describe a task's event generator and match it
|
4
|
+
# in the plan
|
5
|
+
#
|
6
|
+
# It uses a task matcher to match the underlying task
|
7
|
+
class TaskEventGeneratorMatcher < PlanObjectMatcher
|
8
|
+
# @return [#===] the required event name
|
9
|
+
attr_reader :symbol
|
10
|
+
# @return [TaskMatcher] the task matcher that describes this event's
|
11
|
+
# task
|
12
|
+
attr_reader :task_matcher
|
13
|
+
# @return [Boolean] if true, self will match the specified generator
|
14
|
+
# as well as any other generator that is forwarded to it. If false
|
15
|
+
# (the default) only the specified generator will match
|
16
|
+
attr_predicate :generalized?
|
17
|
+
|
18
|
+
def initialize(task_matcher = Roby::Task.match, symbol = Queries.any)
|
19
|
+
if symbol.respond_to?(:to_sym) # Probably a symbol, convert to string
|
20
|
+
symbol = symbol.to_s
|
21
|
+
end
|
22
|
+
@symbol = symbol
|
23
|
+
@task_matcher = task_matcher
|
24
|
+
@generalized = false
|
25
|
+
super()
|
26
|
+
end
|
27
|
+
|
28
|
+
# Makes this matcher a generalized matcher
|
29
|
+
# @see #generalized?
|
30
|
+
# @return self
|
31
|
+
def generalized
|
32
|
+
@generalized = true
|
33
|
+
self
|
34
|
+
end
|
35
|
+
|
36
|
+
# Adds a matching object for the event's name
|
37
|
+
#
|
38
|
+
# @param [Regexp,Symbol,String,#===] symbol an object that will
|
39
|
+
# allow to match the event's name
|
40
|
+
# @return self
|
41
|
+
def with_name(symbol)
|
42
|
+
@symbol =
|
43
|
+
if symbol.respond_to?(:to_sym) then symbol.to_s
|
44
|
+
else symbol
|
45
|
+
end
|
46
|
+
self
|
47
|
+
end
|
48
|
+
|
49
|
+
# @raise [NotImplementedError] Cannot yet do plan queries on task
|
50
|
+
# event generators
|
51
|
+
def filter(initial_set, index)
|
52
|
+
raise NotImplementedError
|
53
|
+
end
|
54
|
+
|
55
|
+
alias plan_object_match :===
|
56
|
+
|
57
|
+
def to_s
|
58
|
+
"#{task_matcher}.#{symbol}"
|
59
|
+
end
|
60
|
+
|
61
|
+
# Tests whether the given task event generator matches self
|
62
|
+
#
|
63
|
+
# @param [TaskEventGenerator] object
|
64
|
+
# @return [Boolean]
|
65
|
+
def ===(object)
|
66
|
+
return if !object.kind_of?(TaskEventGenerator)
|
67
|
+
|
68
|
+
if match_not_generalized(object)
|
69
|
+
true
|
70
|
+
elsif generalized? && object.plan
|
71
|
+
forwarding_graph = object.relation_graph_for(EventStructure::Forwarding)
|
72
|
+
forwarding_graph.depth_first_visit(object) do |generator|
|
73
|
+
return true if match_not_generalized(generator)
|
74
|
+
end
|
75
|
+
false
|
76
|
+
end
|
77
|
+
end
|
78
|
+
|
79
|
+
def match_not_generalized(object)
|
80
|
+
(symbol === object.symbol.to_s) &&
|
81
|
+
plan_object_match(object) && (task_matcher === object.task)
|
82
|
+
end
|
83
|
+
end
|
84
|
+
end
|
85
|
+
end
|
86
|
+
|
@@ -0,0 +1,344 @@
|
|
1
|
+
module Roby
|
2
|
+
module Queries
|
3
|
+
|
4
|
+
# This class represents a predicate which can be used to filter tasks. To
|
5
|
+
# filter plan-related properties, use Query.
|
6
|
+
#
|
7
|
+
# A TaskMatcher object is a AND combination of various tests against tasks.
|
8
|
+
#
|
9
|
+
# For instance, if one does
|
10
|
+
#
|
11
|
+
# matcher = TaskMatcher.new.which_fullfills(Tasks::Simple).pending
|
12
|
+
#
|
13
|
+
# Then
|
14
|
+
#
|
15
|
+
# matcher === task
|
16
|
+
#
|
17
|
+
# will return true if +task+ is an instance of the Tasks::Simple model and
|
18
|
+
# is pending (not started yet), and false if one of these two
|
19
|
+
# characteristics is not true.
|
20
|
+
class TaskMatcher < PlanObjectMatcher
|
21
|
+
# Set of arguments that should be tested on the task
|
22
|
+
#
|
23
|
+
# @return [Hash]
|
24
|
+
attr_reader :arguments
|
25
|
+
|
26
|
+
# Initializes an empty TaskMatcher object
|
27
|
+
def initialize
|
28
|
+
super
|
29
|
+
@arguments = Hash.new
|
30
|
+
@interruptible = nil
|
31
|
+
end
|
32
|
+
|
33
|
+
def to_s
|
34
|
+
result = super
|
35
|
+
if !arguments.empty?
|
36
|
+
result << ".with_arguments(#{arguments.map { |k, v| ":#{k} => #{v}" }.join(", ")})"
|
37
|
+
end
|
38
|
+
result
|
39
|
+
end
|
40
|
+
|
41
|
+
# Filters on task model and arguments
|
42
|
+
#
|
43
|
+
# Will match if the task is an instance of +model+ or one of its
|
44
|
+
# subclasses, and if parts of its arguments are the ones provided. Set
|
45
|
+
# +arguments+ to nil if you don't want to filter on arguments.
|
46
|
+
def which_fullfills(model, arguments = nil)
|
47
|
+
with_model(model)
|
48
|
+
if arguments
|
49
|
+
with_model_arguments(arguments)
|
50
|
+
end
|
51
|
+
self
|
52
|
+
end
|
53
|
+
|
54
|
+
# Filters on the arguments that are declared in the model
|
55
|
+
#
|
56
|
+
# Will match if the task arguments for which there is a value in
|
57
|
+
# +arguments+ are set to that very value, only looking at arguments that
|
58
|
+
# are defined in the model set by #with_model.
|
59
|
+
#
|
60
|
+
# See also #with_arguments
|
61
|
+
#
|
62
|
+
# Example:
|
63
|
+
#
|
64
|
+
# class TaskModel < Roby::Task
|
65
|
+
# argument :a
|
66
|
+
# argument :b
|
67
|
+
# end
|
68
|
+
# task = TaskModel.new(a: 10, b: 20)
|
69
|
+
#
|
70
|
+
# # Matches on :a, :b is ignored altogether
|
71
|
+
# TaskMatcher.new.
|
72
|
+
# with_model(TaskModel).
|
73
|
+
# with_model_arguments(a: 10) === task # => true
|
74
|
+
# # Looks for both :a and :b
|
75
|
+
# TaskMatcher.new.
|
76
|
+
# with_model(TaskModel).
|
77
|
+
# with_model_arguments(a: 10, b: 30) === task # => false
|
78
|
+
# # Matches on :a, :c is ignored as it is not an argument of +TaskModel+
|
79
|
+
# TaskMatcher.new.
|
80
|
+
# with_model(TaskModel).
|
81
|
+
# with_model_arguments(a: 10, c: 30) === task # => true
|
82
|
+
#
|
83
|
+
# In general, one would use #which_fullfills, which sets both the model
|
84
|
+
# and the model arguments
|
85
|
+
def with_model_arguments(arguments)
|
86
|
+
valid_arguments = model.inject(Array.new) { |set, model| set | model.arguments.to_a }
|
87
|
+
with_arguments(arguments.slice(*valid_arguments))
|
88
|
+
self
|
89
|
+
end
|
90
|
+
|
91
|
+
# Filters on the arguments that are declared in the model
|
92
|
+
#
|
93
|
+
# Will match if the task arguments for which there is a value in
|
94
|
+
# +arguments+ are set to that very value. Unlike #with_model_arguments,
|
95
|
+
# all values set in +arguments+ are considered.
|
96
|
+
#
|
97
|
+
# See also #with_model_arguments
|
98
|
+
#
|
99
|
+
# Example:
|
100
|
+
#
|
101
|
+
# class TaskModel < Roby::Task
|
102
|
+
# argument :a
|
103
|
+
# argument :b
|
104
|
+
# end
|
105
|
+
# task = TaskModel.new(a: 10, b: 20)
|
106
|
+
#
|
107
|
+
# # Matches on :a, :b is ignored altogether
|
108
|
+
# TaskMatcher.new.
|
109
|
+
# with_arguments(a: 10) === task # => true
|
110
|
+
# # Looks for both :a and :b
|
111
|
+
# TaskMatcher.new.
|
112
|
+
# with_arguments(a: 10, b: 30) === task # => false
|
113
|
+
# # Looks for both :a and :c, even though :c is not declared in TaskModel
|
114
|
+
# TaskMatcher.new.
|
115
|
+
# with_arguments(a: 10, c: 30) === task # => false
|
116
|
+
def with_arguments(arguments)
|
117
|
+
@arguments ||= Hash.new
|
118
|
+
self.arguments.merge!(arguments) do |k, old, new|
|
119
|
+
if old != new
|
120
|
+
raise ArgumentError, "a constraint has already been set on the #{k} argument"
|
121
|
+
end
|
122
|
+
old
|
123
|
+
end
|
124
|
+
self
|
125
|
+
end
|
126
|
+
|
127
|
+
##
|
128
|
+
# :method: fully_instanciated
|
129
|
+
#
|
130
|
+
# Matches if the task is fully instanciated
|
131
|
+
#
|
132
|
+
# See also #partially_instanciated, Task#fully_instanciated?
|
133
|
+
|
134
|
+
##
|
135
|
+
# :method: partially_instanciated
|
136
|
+
#
|
137
|
+
# Matches if the task is partially instanciated
|
138
|
+
#
|
139
|
+
# See also #fully_instanciated, Task#partially_instanciated?
|
140
|
+
|
141
|
+
##
|
142
|
+
# :method: not_abstract
|
143
|
+
#
|
144
|
+
# Matches if the task is not abstract
|
145
|
+
#
|
146
|
+
# See also #abstract, Task#abstract?
|
147
|
+
|
148
|
+
##
|
149
|
+
# :method: abstract
|
150
|
+
#
|
151
|
+
# Matches if the task is abstract
|
152
|
+
#
|
153
|
+
# See also #not_abstract, Task#abstract?
|
154
|
+
|
155
|
+
##
|
156
|
+
# :method: not_abstract
|
157
|
+
#
|
158
|
+
# Matches if the task is not abstract
|
159
|
+
#
|
160
|
+
# See also #abstract, Task#abstract?
|
161
|
+
|
162
|
+
##
|
163
|
+
# :method: pending
|
164
|
+
#
|
165
|
+
# Matches if the task is pending
|
166
|
+
#
|
167
|
+
# See also #not_pending, Task#pending?
|
168
|
+
|
169
|
+
##
|
170
|
+
# :method: not_pending
|
171
|
+
#
|
172
|
+
# Matches if the task is not pending
|
173
|
+
#
|
174
|
+
# See also #pending, Task#pending?
|
175
|
+
|
176
|
+
##
|
177
|
+
# :method: running
|
178
|
+
#
|
179
|
+
# Matches if the task is running
|
180
|
+
#
|
181
|
+
# See also #not_running, Task#running?
|
182
|
+
|
183
|
+
##
|
184
|
+
# :method: not_running
|
185
|
+
#
|
186
|
+
# Matches if the task is not running
|
187
|
+
#
|
188
|
+
# See also #running, Task#running?
|
189
|
+
|
190
|
+
##
|
191
|
+
# :method: finished
|
192
|
+
#
|
193
|
+
# Matches if the task is finished
|
194
|
+
#
|
195
|
+
# See also #not_finished, Task#finished?
|
196
|
+
|
197
|
+
##
|
198
|
+
# :method: not_finished
|
199
|
+
#
|
200
|
+
# Matches if the task is not finished
|
201
|
+
#
|
202
|
+
# See also #finished, Task#finished?
|
203
|
+
|
204
|
+
##
|
205
|
+
# :method: success
|
206
|
+
#
|
207
|
+
# Matches if the task is success
|
208
|
+
#
|
209
|
+
# See also #not_success, Task#success?
|
210
|
+
|
211
|
+
##
|
212
|
+
# :method: not_success
|
213
|
+
#
|
214
|
+
# Matches if the task is not success
|
215
|
+
#
|
216
|
+
# See also #success, Task#success?
|
217
|
+
|
218
|
+
##
|
219
|
+
# :method: failed
|
220
|
+
#
|
221
|
+
# Matches if the task is failed
|
222
|
+
#
|
223
|
+
# See also #not_failed, Task#failed?
|
224
|
+
|
225
|
+
##
|
226
|
+
# :method: not_failed
|
227
|
+
#
|
228
|
+
# Matches if the task is not failed
|
229
|
+
#
|
230
|
+
# See also #failed, Task#failed?
|
231
|
+
|
232
|
+
##
|
233
|
+
# :method: interruptible
|
234
|
+
#
|
235
|
+
# Matches if the task is interruptible
|
236
|
+
#
|
237
|
+
# See also #not_interruptible, Task#interruptible?
|
238
|
+
|
239
|
+
##
|
240
|
+
# :method: not_interruptible
|
241
|
+
#
|
242
|
+
# Matches if the task is not interruptible
|
243
|
+
#
|
244
|
+
# See also #interruptible, Task#interruptible?
|
245
|
+
|
246
|
+
##
|
247
|
+
# :method: finishing
|
248
|
+
#
|
249
|
+
# Matches if the task is finishing
|
250
|
+
#
|
251
|
+
# See also #not_finishing, Task#finishing?
|
252
|
+
|
253
|
+
##
|
254
|
+
# :method: not_finishing
|
255
|
+
#
|
256
|
+
# Matches if the task is not finishing
|
257
|
+
#
|
258
|
+
# See also #finishing, Task#finishing?
|
259
|
+
|
260
|
+
match_predicates :abstract?, :partially_instanciated?, :fully_instanciated?,
|
261
|
+
:starting?, :pending?, :running?, :finished?, :success?, :failed?, :interruptible?
|
262
|
+
|
263
|
+
# Finishing tasks are also running task, use the index on 'running'
|
264
|
+
match_predicate :finishing?, [[:running?], []]
|
265
|
+
|
266
|
+
# Reusable tasks must be neither finishing nor finished
|
267
|
+
match_predicate :reusable?, [[], [:finished?]]
|
268
|
+
|
269
|
+
|
270
|
+
# Helper method for #with_child and #with_parent
|
271
|
+
def handle_parent_child_arguments(other_query, relation, relation_options) # :nodoc:
|
272
|
+
if !other_query.kind_of?(TaskMatcher) && !other_query.kind_of?(Task)
|
273
|
+
if relation.kind_of?(Hash)
|
274
|
+
arguments = relation
|
275
|
+
relation = (arguments.delete(:relation) || arguments.delete('relation'))
|
276
|
+
relation_options = (arguments.delete(:relation_options) || arguments.delete('relation_options'))
|
277
|
+
else
|
278
|
+
arguments = Hash.new
|
279
|
+
end
|
280
|
+
other_query = TaskMatcher.which_fullfills(other_query, arguments)
|
281
|
+
end
|
282
|
+
return relation, [other_query, relation_options]
|
283
|
+
end
|
284
|
+
# True if +task+ matches all the criteria defined on this object.
|
285
|
+
def ===(task)
|
286
|
+
return unless task.kind_of?(Roby::Task)
|
287
|
+
return unless task.arguments.slice(*arguments.keys) == arguments
|
288
|
+
return super
|
289
|
+
end
|
290
|
+
|
291
|
+
# Returns true if filtering with this TaskMatcher using #=== is
|
292
|
+
# equivalent to calling #filter() using a Index. This is used to
|
293
|
+
# avoid an explicit O(N) filtering step after filter() has been called
|
294
|
+
def indexed_query?
|
295
|
+
arguments.empty? && super
|
296
|
+
end
|
297
|
+
|
298
|
+
def find_event(event_name)
|
299
|
+
event_name = event_name.to_sym
|
300
|
+
models = if !@model.empty?
|
301
|
+
@model
|
302
|
+
else [Roby::Task]
|
303
|
+
end
|
304
|
+
models.each do |m|
|
305
|
+
if event_m = m.find_event(event_name)
|
306
|
+
return TaskEventGeneratorMatcher.new(self, event_name)
|
307
|
+
end
|
308
|
+
end
|
309
|
+
nil
|
310
|
+
end
|
311
|
+
|
312
|
+
def respond_to_missing?(m, include_private)
|
313
|
+
m =~ /_event$/ || super
|
314
|
+
end
|
315
|
+
|
316
|
+
def method_missing(m, *args)
|
317
|
+
if m =~ /_event$/
|
318
|
+
event_name = $`
|
319
|
+
model = find_event(event_name)
|
320
|
+
if !model
|
321
|
+
task_models =
|
322
|
+
if !@model.empty?
|
323
|
+
@model
|
324
|
+
else [Roby::Task]
|
325
|
+
end
|
326
|
+
raise NoMethodError.new(m), "no event '#{event_name}' in match model #{task_models.map(&:to_s).join(", ")}, use #which_fullfills to narrow the task model"
|
327
|
+
elsif !args.empty?
|
328
|
+
raise ArgumentError, "#{m} expected zero arguments, got #{args.size}"
|
329
|
+
else
|
330
|
+
return TaskEventGeneratorMatcher.new(self, event_name)
|
331
|
+
end
|
332
|
+
else
|
333
|
+
super
|
334
|
+
end
|
335
|
+
end
|
336
|
+
|
337
|
+
# Define singleton classes. For instance, calling TaskMatcher.which_fullfills is equivalent
|
338
|
+
# to TaskMatcher.new.which_fullfills
|
339
|
+
declare_class_methods :which_fullfills, :with_arguments
|
340
|
+
end
|
341
|
+
end
|
342
|
+
end
|
343
|
+
|
344
|
+
|