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
  397. data/lib/roby/state/task.rb +43 -0
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  400. data/lib/roby/task_arguments.rb +428 -0
  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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  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
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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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  432. data/lib/roby/test/self.rb +112 -0
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  435. data/lib/roby/test/tasks/goto.rb +28 -27
  436. data/lib/roby/test/teardown_plans.rb +100 -0
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  438. data/lib/roby/test/tools.rb +159 -155
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  440. data/lib/roby/transaction.rb +1125 -0
  441. data/lib/roby/transaction/event_generator_proxy.rb +63 -0
  442. data/lib/roby/transaction/plan_object_proxy.rb +99 -0
  443. data/lib/roby/transaction/plan_service_proxy.rb +43 -0
  444. data/lib/roby/transaction/proxying.rb +120 -0
  445. data/lib/roby/transaction/task_event_generator_proxy.rb +19 -0
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  447. data/lib/roby/until_generator.rb +30 -0
  448. data/lib/roby/version.rb +5 -0
  449. data/lib/roby/yard.rb +169 -0
  450. data/lib/yard-roby.rb +1 -0
  451. data/manifest.xml +32 -6
  452. data/roby.gemspec +59 -0
  453. metadata +788 -587
  454. data/Manifest.txt +0 -321
  455. data/NOTES +0 -4
  456. data/README.txt +0 -166
  457. data/TODO.txt +0 -146
  458. data/app/README.txt +0 -24
  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
  467. data/app/scripts/generate/bookmarks +0 -3
  468. data/app/scripts/replay +0 -3
  469. data/app/scripts/results +0 -3
  470. data/app/scripts/run +0 -3
  471. data/app/scripts/server +0 -3
  472. data/app/scripts/shell +0 -3
  473. data/app/scripts/test +0 -3
  474. data/app/tasks/.gitattributes +0 -0
  475. data/app/tasks/ROBOT/.gitattributes +0 -0
  476. data/bin/roby-shell +0 -25
  477. data/doc/guide/src/basics/app.page +0 -139
  478. data/doc/guide/src/basics/index.page +0 -11
  479. data/doc/guide/src/basics/log_replay/goForward_1.png +0 -0
  480. data/doc/guide/src/basics/log_replay/goForward_2.png +0 -0
  481. data/doc/guide/src/basics/log_replay/goForward_3.png +0 -0
  482. data/doc/guide/src/basics/log_replay/goForward_5.png +0 -0
  483. data/doc/guide/src/basics/log_replay/plan_repair_4.png +0 -0
  484. data/doc/guide/src/basics/log_replay/roby_log_main_window.png +0 -0
  485. data/doc/guide/src/basics/relations_display.page +0 -203
  486. data/doc/guide/src/basics/shell.page +0 -102
  487. data/doc/guide/src/default.css +0 -319
  488. data/doc/guide/src/introduction/index.page +0 -29
  489. data/doc/guide/src/introduction/publications.page +0 -14
  490. data/doc/guide/src/relations/dependency.page +0 -89
  491. data/doc/guide/src/relations/index.page +0 -12
  492. data/ext/droby/dump.cc +0 -175
  493. data/ext/droby/extconf.rb +0 -3
  494. data/ext/graph/algorithm.cc +0 -746
  495. data/ext/graph/extconf.rb +0 -7
  496. data/ext/graph/graph.cc +0 -575
  497. data/ext/graph/graph.hh +0 -183
  498. data/ext/graph/iterator_sequence.hh +0 -102
  499. data/ext/graph/undirected_dfs.hh +0 -226
  500. data/ext/graph/undirected_graph.hh +0 -421
  501. data/lib/roby/app/scripts/generate/bookmarks.rb +0 -162
  502. data/lib/roby/app/scripts/replay.rb +0 -31
  503. data/lib/roby/app/scripts/server.rb +0 -18
  504. data/lib/roby/basic_object.rb +0 -151
  505. data/lib/roby/config.rb +0 -14
  506. data/lib/roby/distributed.rb +0 -36
  507. data/lib/roby/distributed/base.rb +0 -448
  508. data/lib/roby/distributed/communication.rb +0 -875
  509. data/lib/roby/distributed/connection_space.rb +0 -616
  510. data/lib/roby/distributed/distributed_object.rb +0 -206
  511. data/lib/roby/distributed/drb.rb +0 -62
  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
  515. data/lib/roby/distributed/proxy.rb +0 -343
  516. data/lib/roby/distributed/subscription.rb +0 -311
  517. data/lib/roby/distributed/transaction.rb +0 -498
  518. data/lib/roby/external_process_task.rb +0 -225
  519. data/lib/roby/graph.rb +0 -160
  520. data/lib/roby/log.rb +0 -3
  521. data/lib/roby/log/chronicle.rb +0 -303
  522. data/lib/roby/log/console.rb +0 -74
  523. data/lib/roby/log/data_stream.rb +0 -275
  524. data/lib/roby/log/dot.rb +0 -279
  525. data/lib/roby/log/event_stream.rb +0 -161
  526. data/lib/roby/log/file.rb +0 -396
  527. data/lib/roby/log/gui/basic_display.ui +0 -83
  528. data/lib/roby/log/gui/basic_display_ui.rb +0 -89
  529. data/lib/roby/log/gui/chronicle.rb +0 -26
  530. data/lib/roby/log/gui/chronicle_view.rb +0 -40
  531. data/lib/roby/log/gui/chronicle_view.ui +0 -70
  532. data/lib/roby/log/gui/chronicle_view_ui.rb +0 -90
  533. data/lib/roby/log/gui/data_displays.rb +0 -171
  534. data/lib/roby/log/gui/data_displays.ui +0 -155
  535. data/lib/roby/log/gui/data_displays_ui.rb +0 -146
  536. data/lib/roby/log/gui/notifications.rb +0 -26
  537. data/lib/roby/log/gui/relations.rb +0 -269
  538. data/lib/roby/log/gui/relations.ui +0 -123
  539. data/lib/roby/log/gui/relations_ui.rb +0 -120
  540. data/lib/roby/log/gui/relations_view.rb +0 -185
  541. data/lib/roby/log/gui/relations_view.ui +0 -149
  542. data/lib/roby/log/gui/relations_view_ui.rb +0 -144
  543. data/lib/roby/log/gui/replay.rb +0 -366
  544. data/lib/roby/log/gui/replay_controls.rb +0 -206
  545. data/lib/roby/log/gui/replay_controls.ui +0 -282
  546. data/lib/roby/log/gui/replay_controls_ui.rb +0 -249
  547. data/lib/roby/log/gui/runtime.rb +0 -130
  548. data/lib/roby/log/hooks.rb +0 -186
  549. data/lib/roby/log/logger.rb +0 -203
  550. data/lib/roby/log/notifications.rb +0 -244
  551. data/lib/roby/log/plan_rebuilder.rb +0 -468
  552. data/lib/roby/log/relations.rb +0 -1084
  553. data/lib/roby/log/server.rb +0 -547
  554. data/lib/roby/log/sqlite.rb +0 -47
  555. data/lib/roby/log/timings.rb +0 -233
  556. data/lib/roby/plan-object.rb +0 -371
  557. data/lib/roby/planning.rb +0 -13
  558. data/lib/roby/planning/loops.rb +0 -309
  559. data/lib/roby/planning/model.rb +0 -1012
  560. data/lib/roby/planning/task.rb +0 -180
  561. data/lib/roby/query.rb +0 -655
  562. data/lib/roby/relations/conflicts.rb +0 -67
  563. data/lib/roby/relations/dependency.rb +0 -358
  564. data/lib/roby/relations/ensured.rb +0 -19
  565. data/lib/roby/relations/error_handling.rb +0 -22
  566. data/lib/roby/relations/events.rb +0 -7
  567. data/lib/roby/relations/executed_by.rb +0 -208
  568. data/lib/roby/relations/influence.rb +0 -10
  569. data/lib/roby/relations/planned_by.rb +0 -63
  570. data/lib/roby/state/information.rb +0 -55
  571. data/lib/roby/state/state.rb +0 -367
  572. data/lib/roby/task-operations.rb +0 -186
  573. data/lib/roby/task_index.rb +0 -80
  574. data/lib/roby/test/distributed.rb +0 -230
  575. data/lib/roby/test/tasks/simple_task.rb +0 -23
  576. data/lib/roby/transactions.rb +0 -507
  577. data/lib/roby/transactions/proxy.rb +0 -325
  578. data/plugins/fault_injection/History.txt +0 -4
  579. data/plugins/fault_injection/README.txt +0 -34
  580. data/plugins/fault_injection/Rakefile +0 -12
  581. data/plugins/fault_injection/TODO.txt +0 -0
  582. data/plugins/fault_injection/app.rb +0 -52
  583. data/plugins/fault_injection/fault_injection.rb +0 -89
  584. data/plugins/fault_injection/test/test_fault_injection.rb +0 -78
  585. data/plugins/subsystems/README.txt +0 -37
  586. data/plugins/subsystems/Rakefile +0 -13
  587. data/plugins/subsystems/app.rb +0 -182
  588. data/plugins/subsystems/test/app/README +0 -24
  589. data/plugins/subsystems/test/app/Rakefile +0 -8
  590. data/plugins/subsystems/test/app/config/app.yml +0 -71
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  592. data/plugins/subsystems/test/app/config/roby.yml +0 -3
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  600. data/plugins/subsystems/test/app/scripts/test +0 -3
  601. data/plugins/subsystems/test/app/tasks/services.rb +0 -15
  602. data/plugins/subsystems/test/test_subsystems.rb +0 -78
  603. data/test/distributed/test_communication.rb +0 -195
  604. data/test/distributed/test_connection.rb +0 -284
  605. data/test/distributed/test_execution.rb +0 -378
  606. data/test/distributed/test_mixed_plan.rb +0 -341
  607. data/test/distributed/test_plan_notifications.rb +0 -238
  608. data/test/distributed/test_protocol.rb +0 -525
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  610. data/test/distributed/test_remote_plan.rb +0 -491
  611. data/test/distributed/test_transaction.rb +0 -466
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  618. data/test/relations/test_dependency.rb +0 -324
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  630. data/test/test_exceptions.rb +0 -591
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  632. data/test/test_gui.rb +0 -20
  633. data/test/test_interface.rb +0 -43
  634. data/test/test_log.rb +0 -125
  635. data/test/test_log_server.rb +0 -133
  636. data/test/test_plan.rb +0 -418
  637. data/test/test_query.rb +0 -424
  638. data/test/test_relations.rb +0 -260
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  640. data/test/test_support.rb +0 -16
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  644. data/test/test_transactions_proxy.rb +0 -216
@@ -1,5 +1,8 @@
1
- require 'roby/state/state'
1
+ require 'roby/state/open_struct'
2
+ require 'roby/state/open_struct_model'
3
+ require 'roby/state/state_model'
4
+ require 'roby/state/goal_model'
2
5
  require 'roby/state/events'
3
- require 'roby/state/pos'
4
- require 'roby/state/shapes'
6
+ require 'roby/state/conf_model'
7
+ require 'roby/state/task'
5
8
 
@@ -0,0 +1,5 @@
1
+ module Roby
2
+ class ConfModel < OpenStruct
3
+ end
4
+ end
5
+
@@ -1,4 +1,3 @@
1
-
2
1
  module Roby
3
2
  class StateSpace
4
3
  # Create an event which will be emitted everytime some state parameters
@@ -9,7 +8,7 @@ class StateSpace
9
8
  # +yaw+:: heading in radians
10
9
  #
11
10
  # For instance:
12
- # Roby.state.on_delta :d => 10, :t => 20
11
+ # Roby.state.on_delta d: 10, t: 20
13
12
  #
14
13
  # will emit everytime the robot moves more than 10 meters AND more than
15
14
  # 20 seconds have elapsed.
@@ -18,35 +17,70 @@ class StateSpace
18
17
  # combined with the & operator. This can be changed by setting the :or
19
18
  # option to 'true'.
20
19
  #
21
- # Roby.state.on_delta :d => 10, :t => 20, :or => true
20
+ # Roby.state.on_delta d: 10, t: 20, or: true
22
21
  #
23
22
  # See DeltaEvent and its subclasses.
24
- def on_delta(spec)
25
- or_aggregate = spec.delete(:or)
26
-
27
- events = spec.map do |name, value|
28
- unless klass = DeltaEvent.event_types[name]
29
- raise "unknown delta type #{name}. Known types are #{DeltaEvent.event_types.keys}"
30
- end
31
-
32
- ev = klass.new
33
- ev.threshold = value
34
- ev
35
- end
36
-
37
- if events.size > 1
38
- result = if or_aggregate then OrGenerator.new
39
- else AndGenerator.new
40
- end
41
-
42
- result.on { result.reset }
43
- def result.or(spec); DeltaEvent.or(spec, self) end
44
- events.each { |ev| result << ev }
45
- result
46
- else
47
- events.first
48
- end
49
- end
23
+ def on_delta(spec)
24
+ or_aggregate = spec.delete(:or)
25
+
26
+ events = spec.map do |name, value|
27
+ unless klass = DeltaEvent.event_types[name]
28
+ raise "unknown delta type #{name}. Known types are #{DeltaEvent.event_types.keys}"
29
+ end
30
+
31
+ ev = klass.new
32
+ ev.threshold = value
33
+ ev
34
+ end
35
+
36
+ if events.size > 1
37
+ result = if or_aggregate then OrGenerator.new
38
+ else AndGenerator.new
39
+ end
40
+
41
+ result.on { |ev| result.reset }
42
+ def result.or(spec); DeltaEvent.or(spec, self) end
43
+ events.each { |ev| result << ev }
44
+ result
45
+ else
46
+ events.first
47
+ end
48
+ end
49
+
50
+ # Returns a state event that emits the first time the block returns true
51
+ #
52
+ # The block is given the value of the specified state value
53
+ # +state_name+. For instance, with
54
+ #
55
+ # event = State.position.trigger_when(:x) do |value|
56
+ # value > 23
57
+ # end
58
+ #
59
+ # +event+ will be emitted *once* if the X value of the position gets
60
+ # greater than 23. One can also specify a reset condition with
61
+ #
62
+ # State.position.reset_when(event, :x) do |value|
63
+ # value < 20
64
+ # end
65
+ #
66
+ def trigger_when(*state_path, &block)
67
+ if !block_given?
68
+ raise ArgumentError, "#trigger_when expects a block"
69
+ end
70
+
71
+ state_path.map!(&:to_s)
72
+ StateConditionEvent.new(self, state_path, block)
73
+ end
74
+
75
+ # Installs a condition at which the event should be reset
76
+ def reset_when(event, state_name = nil, &block)
77
+ reset_event = trigger_when(state_name, &block)
78
+ reset_event.add_causal_link event
79
+ reset_event.armed = !event.armed?
80
+ event.on { |ev| reset_event.reset }
81
+ reset_event.on { |ev| event.reset }
82
+ reset_event
83
+ end
50
84
 
51
85
  # Returns an event which emits when the given state is reached.
52
86
  # For now, the following state variables are available:
@@ -54,9 +88,9 @@ def result.or(spec); DeltaEvent.or(spec, self) end
54
88
  #
55
89
  # See TimePointEvent
56
90
  def at(options)
57
- options = validate_options options, :t => nil
91
+ options = validate_options options, t: nil
58
92
  if time = options[:t]
59
- TimePointEvent.new(time)
93
+ trigger_when { Time.now >= time }
60
94
  end
61
95
  end
62
96
  end
@@ -70,11 +104,32 @@ def self.poll_state_events(plan) # :nodoc:
70
104
  end
71
105
  end
72
106
  end
73
- Roby::ExecutionEngine.propagation_handlers << Roby.method(:poll_state_events)
107
+ Roby::ExecutionEngine.add_propagation_handler(description: 'poll_state_events', type: :propagation, &Roby.method(:poll_state_events))
74
108
 
75
109
  # A state event is an event which emits when some parameters over the state
76
110
  # are reached. See DeltaEvent and TimePointEvent.
77
111
  class StateEvent < EventGenerator
112
+ def initialize(*args, &block)
113
+ @disabled = nil
114
+ @armed = true
115
+ super
116
+ end
117
+
118
+ # If true, this event will be emitted the next time its condition is
119
+ # met, regardless of the fact that it has already been emitted or not
120
+ #
121
+ # Call #reset to set to true after an emission
122
+ attr_predicate :armed?, true
123
+
124
+ # After this call, the event will be emitted the next time its state
125
+ # condition is met, regardless of the fact that it has already been
126
+ # emitted or not
127
+ #
128
+ # See also #armed?
129
+ def reset
130
+ @armed = true
131
+ end
132
+
78
133
  # True if this event is currently active
79
134
  def enabled?; !@disabled end
80
135
  # True if this event is currently disabled
@@ -88,22 +143,55 @@ def enable(reset = true)
88
143
  # Call to disable this event. When the state events are disabled, they
89
144
  # will no more emit.
90
145
  def disable; @disabled = true end
146
+
147
+ # Emit only if the event is armed
148
+ def emit(*context) # :nodoc:
149
+ if armed?
150
+ begin
151
+ super
152
+ ensure
153
+ @armed = false
154
+ end
155
+ end
156
+ end
91
157
  end
92
158
 
93
- # This event emits itself when the specified time is reached
94
- class TimePointEvent < StateEvent
95
- # Time at which this event should emit himself
96
- attr_reader :time
159
+ # Implementation of StateSpace#trigger_when
160
+ class StateConditionEvent < StateEvent
161
+ attr_reader :state_space
162
+ attr_reader :variable_path
163
+ attr_reader :condition
97
164
 
98
- # Creates an event which will emit when +time+ is reached
99
- def initialize(time)
100
- @time = time
101
- super
165
+ def initialize(state_space = nil, variable_path = [], condition = nil)
166
+ @state_space, @variable_path, @condition =
167
+ state_space, variable_path, condition
168
+ super(false)
102
169
  end
103
170
 
104
- # Called at each cycle by Roby.poll_state_events
105
- def poll # :nodoc:
106
- if !happened? && Time.now >= time
171
+ def poll
172
+ return if !armed?
173
+
174
+ if !variable_path.empty?
175
+ value = variable_path.inject(state_space) do |value, element|
176
+ result =
177
+ if value.respond_to?("#{element}?")
178
+ if value.send("#{element}?")
179
+ value.send(element)
180
+ end
181
+ elsif value.respond_to?(element)
182
+ value.send(element)
183
+ end
184
+
185
+ if !result
186
+ break
187
+ end
188
+ result
189
+ end
190
+
191
+ if value && condition.call(value)
192
+ emit
193
+ end
194
+ elsif condition.call
107
195
  emit
108
196
  end
109
197
  end
@@ -121,9 +209,9 @@ def poll # :nodoc:
121
209
  # [<tt>#read</tt>]
122
210
  # must return the current value.
123
211
  class DeltaEvent < StateEvent
124
- @@event_types = Hash.new
212
+ @@event_types = Hash.new
125
213
  # The set of event types which
126
- def self.event_types; @@event_types end
214
+ def self.event_types; @@event_types end
127
215
  # Declare that the currently defined delta event has to be registered
128
216
  # as a +name+ option for StateSpace#on_delta. For instance, the TimeDeltaEvent
129
217
  # is registered by using
@@ -134,89 +222,87 @@ def self.event_types; @@event_types end
134
222
  #
135
223
  # which allows to use it with
136
224
  #
137
- # Roby.state.on_delta :t => 10
138
- def self.register_as(name)
139
- event_types[name] = self
140
- end
225
+ # Roby.state.on_delta t: 10
226
+ def self.register_as(name)
227
+ event_types[name] = self
228
+ end
141
229
 
142
230
  # The last value for the considered state, the last time this event has
143
231
  # been emitted
144
- attr_reader :last_value
232
+ attr_reader :last_value
145
233
  # A value expressing the delta in state for which the event should be
146
234
  # emitted.
147
- attr_accessor :threshold
235
+ attr_accessor :threshold
148
236
 
149
237
  # Reset +last_value+ to the current value of the state variable,
150
238
  # making the event emit at current_value + threshold
151
- def reset
152
- @last_value = read
153
- end
154
-
155
- def self.or(spec, base_event)
156
- new = State.on_delta(spec)
157
- result = OrGenerator.new
158
- result << base_event
159
- result << new
160
- result.on { result.reset }
161
- def result.or(spec); DeltaEvent.or(spec, self) end
162
- result
163
- end
164
-
165
- def or(spec)
166
- DeltaEvent.or(spec, self)
167
- end
239
+ def reset
240
+ @last_value = read
241
+ super
242
+ end
243
+
244
+ def self.or(spec, base_event)
245
+ new = State.on_delta(spec)
246
+ result = OrGenerator.new
247
+ result << base_event
248
+ result << new
249
+ result.on { |ev| result.reset }
250
+ def result.or(spec); DeltaEvent.or(spec, self) end
251
+ result
252
+ end
253
+
254
+ def or(spec)
255
+ DeltaEvent.or(spec, self)
256
+ end
168
257
 
169
258
  # Called at each cycle by Roby.poll_state_events
170
- def poll # :nodoc:
171
- if !has_sample?
172
- return
173
- elsif !last_value
174
- @last_value = read
175
- else
176
- if delta.abs >= threshold
177
- reset
178
- emit(last_value)
179
- end
180
- end
181
- end
259
+ def poll # :nodoc:
260
+ if !has_sample?
261
+ return
262
+ elsif !last_value
263
+ @last_value = read
264
+ else
265
+ if delta.abs >= threshold
266
+ reset
267
+ emit(last_value)
268
+ end
269
+ end
270
+ end
182
271
  end
183
272
 
184
273
  # An event which emits at a given period (delta in time)
185
274
  class TimeDeltaEvent < DeltaEvent
186
- register_as :t
275
+ register_as :t
187
276
  # Always true, as we can always measure time
188
- def has_sample?; true end
277
+ def has_sample?; true end
189
278
  # Returns how much time elapsed since the last emission
190
- def delta; Time.now - last_value end
279
+ def delta; Time.now - last_value end
191
280
  # Returns the current time
192
- def read; Time.now end
281
+ def read; Time.now end
193
282
  end
194
283
 
195
284
  # An event which emits everytime the robot heading moves more than a given
196
285
  # angle (in radians)
197
286
  class YawDeltaEvent < DeltaEvent
198
- register_as :yaw
287
+ register_as :yaw
199
288
  # True if State.pos is set
200
- def has_sample?; State.pos? end
289
+ def has_sample?; State.pos? end
201
290
  # Returns the variation in heading since the last emission (in radians)
202
- def delta; State.pos.yaw - last_value end
291
+ def delta; State.pos.yaw - last_value end
203
292
  # Returns the current heading position (in radians)
204
- def read; State.pos.yaw end
293
+ def read; State.pos.yaw end
205
294
  end
206
295
 
207
296
  # An event which emits everytime the robot moves more than a given
208
297
  # distance.
209
298
  class PosDeltaEvent < DeltaEvent
210
- register_as :d
299
+ register_as :d
211
300
  # True if State.pos is set
212
- def has_sample?; State.pos? end
301
+ def has_sample?; State.pos? end
213
302
  # Returns the distance this the position at the last emission
214
- def delta; State.pos.distance(last_value) end
303
+ def delta; State.pos.distance(last_value) end
215
304
  # Returns the current position
216
- def read; State.pos.dup end
305
+ def read; State.pos.dup end
217
306
  end
218
307
  end
219
308
 
220
-
221
-
222
-
@@ -0,0 +1,77 @@
1
+ class Proc
2
+ def to_goal_variable_model(field, name)
3
+ check_arity(self, 1)
4
+
5
+ result = Roby::GoalVariableModel.new(field, name)
6
+ result.reader = self
7
+ result
8
+ end
9
+ end
10
+
11
+ module Roby
12
+ # Representation of a state variable in the goal structure
13
+ class GoalVariableModel < OpenStructModel::Variable
14
+ # Accessor object. It must respond to #call(task) and return the state
15
+ # variable. Note that if the associated state model defines a type, the
16
+ # return value must be of this type
17
+ attr_accessor :reader
18
+
19
+ def to_goal_variable_model(field, name)
20
+ result = dup
21
+ result.field = field
22
+ result.name = name
23
+ result
24
+ end
25
+
26
+ def call(task)
27
+ reader.call(task)
28
+ end
29
+ end
30
+
31
+ # Representation of a level in the state model
32
+ class GoalModel < OpenStructModel
33
+ def initialize(state_model = nil, superclass = nil, attach_to = nil, attach_name = nil)
34
+ super(superclass, attach_to, attach_name)
35
+
36
+ @model = state_model
37
+ if @model
38
+ attach_model
39
+ end
40
+
41
+ global_filter do |name, value|
42
+ if value.respond_to?(:to_goal_variable_model)
43
+ value.to_goal_variable_model(self, name)
44
+ else
45
+ raise ArgumentError, "cannot set #{value} on #{name} in a goal model. Only allowed values are GoalVariableModel, and values that respond to #to_goal_variable_model"
46
+ end
47
+ end
48
+ end
49
+
50
+ def create_model
51
+ GoalModel.new
52
+ end
53
+
54
+ def create_subfield(name)
55
+ superklass = if superclass then superclass.get(name) end
56
+ supermodel = if model then model.get(name) end
57
+ self.class.new(supermodel, superklass, self, name)
58
+ end
59
+
60
+ # Once the task is completely instanciated, we should be able to
61
+ # determine its goal
62
+ def resolve_goals(obj, space)
63
+ each_member do |name, value|
64
+ if value.respond_to?(:resolve_goals)
65
+ value.resolve_goals(obj, space.get(name))
66
+ else
67
+ space.set(name, value.call(obj))
68
+ end
69
+ end
70
+ end
71
+ end
72
+
73
+ # Representation of the set of goals for a task, as targets in state
74
+ class GoalSpace < OpenStruct
75
+ end
76
+ end
77
+