roby 0.8.0 → 3.0.0

data/doc/guide/src/concepts/error_handling.page

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+---
+title: Error Handling
+sort_info: 50
+---
+
+Error representation and handling is a very important aspect of Roby. It is
+tightly integrated and -- by default -- is meant to let __nothing pass__.
+Obviously, the "handling" part being there, and pretty powerful to allow errors
+to pass unnoticed ... by the external observer (a.k.a., safely).
+
+This page will outline the general principles of error handling in Roby. 
+
+Errors in Roby
+--------------
+There is mostly three sources of errors in Roby:
+
+ 1. constraint violations in the plan. Each relation allows to define
+    constraints on what is acceptable and what is not. These constraints are
+    checked at the end of each execution cycles, and corresponding errors are
+    generated.
+ 2. code errors (i.e. Ruby exceptions) raised by the code blocks that are
+    part of the Roby application (event commands, event handlers, ...)
+ 3. code errors (i.e. Ruby exceptions) raised by the framework itself
+
+The last case is a pretty hard one. The error is registered as a framework
+error and, as we will see, not much can be done. In effect, the Roby application
+will shutdown, trying to stop as much things as possible in the process.
+
+In the first two cases, Roby will create a __localized error__. I.e., an error
+is created and registered, and assigned to a _Roby plan object_. This plan
+object is considered to be the source of the error. Which object is associated
+with the error will be described in the documentation for each error that gets
+generated. These types of errors will not cause the Roby application to stop, as
+they are an integral part of the framework's error handling mechanisms.
+There are actuall two: events and exceptions.
+
+What is an error is a relative concept
+--------------------------------------
+The concept of expressing constraints through relations means that what can be
+an error for a given relation is not for another. For instance, the dependency
+relation can specify in one case that the failure event is an error, while in
+another case it might be an expected outcome of the task (it sounds weird, but
+it is possible as long as the emission of the failure event does not change
+the overall system's ability to reach its goal).
+
+Ruby exceptions in tasks
+------------------------
+Whenever an exception is raised from within a "user" code block that is
+associated with a task (i.e. an event command, event handler, ...), this
+exception is isolated from the rest of the framework by Roby. It then causes the
+emission of an internal_error event on the task. This emission causes the task
+to be stopped if the error was not within the task's own stopping mechanism. If
+the error **was** within the task's own stopping mechanism, then it is
+quarantined...
+
+Quarantined tasks are tasks that failed to be stopped. Roby puts then
+"on the side" and removes all relations from them. These tasks are a bit of a
+stingy thing, as they are still running and could therefore cause problems.
+However, it is up to the system designer to decide how to handle them, as there
+are no generic ways to handle the problem.
+
+Localized errors
+----------
+Exceptions are generated either by code errors in free events, or by constraint
+violations from the relations (since core errors in tasks are expressed through
+the task's event mechanism).
+
+As stated before, localized errors are all assigned a source. This source can be
+an event or a task. They are handled by looking for __exception handlers__
+across the task hierarchy. This propagation involves the
+[dependency](../task_relations/dependency.html) and
+[planned_by](../task_relations/planned_by.html) relations. The lookup goes up in the
+dependency relation and looks for each task it finds for (1) a handler in the
+task itself or (2) a handler in the planning task of that task (i.e. in the
+child in the planned_by relation).
+
+The diagram below, for instance, shows in which order the exception handlers
+are looked for when the dependency relation between the task in red and its
+parent generates a dependency constraint violation. The black arrows between
+tasks are dependencies, the green arrow planned_by relations.
+
+![Lookup order for exception handler](exception_propagation.png)
+
+Handling constraint errors "on the spot"
+----------------------------------------
+Since constraint violations are checked at the end of the execution cycle, no
+error is going to be generated if a constraint is violated but **in the same
+cycle** the plan is changed to repair that fault. This is actually a very
+important error handling mechanism is Roby: modifying the plan "on the spot" to
+avoid errors. For instance, this is why restarting a process that crashed with
+a segmentation fault works, since the "old" faulty plan (where the process
+crashed) is, in the same cycle, replaced by a "new" repaired plan.
+
+Conclusion
+----------
+Well, that's almost all ...
+
+There is one thing left to talk about: default policies, and how to override
+them. That's the subject of the [next page](policy.html)
+

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