roby 0.8.0 → 3.0.0

data/lib/roby/until_generator.rb

@@ -0,0 +1,30 @@
+module Roby
+    # This event generator combines a source and a limit in a temporal pattern.
+    # The generator acts as a pass-through for the source, until the limit is
+    # itself emitted. It means that:
+    #
+    # * before the limit is emitted, the generator will emit each time its
+    #  source emits 
+    # * since the point where the limit is emitted, the generator
+    #   does not emit anymore
+    #
+    # See also EventGenerator#until
+    class UntilGenerator < Roby::EventGenerator
+        # Creates a until generator for the given source and limit event
+        # generators
+        def initialize(source = nil, limit = nil)
+            super() do |context|
+                forwarded_generators = each_parent_object(EventStructure::Forwarding).to_a
+                forwarded_generators.each do |g|
+                    g.remove_forwarding self
+                end
+            end
+
+            if source && limit
+                source.forward_to(self)
+                limit.signals(self)
+            end
+        end
+    end
+end
+

data/lib/roby/version.rb

@@ -0,0 +1,5 @@
+module Roby
+    VERSION = "3.0.0"
+    ROBY_LIB_DIR  = File.expand_path( File.join(File.dirname(__FILE__), '..') )
+    ROBY_ROOT_DIR = File.expand_path( File.join(ROBY_LIB_DIR, '..') )
+end

data/lib/roby/yard.rb

@@ -0,0 +1,169 @@
+require 'facets/string/camelcase'
+module Roby
+    module YARD
+        include ::YARD
+
+        class ModelRelationHandler < YARD::Handlers::Ruby::Base
+            handles method_call(:model_relation)
+            namespace_only
+
+            def register(object)
+                super
+                register_group(object, "Event Relations")
+            end
+
+            def process
+                name = statement.parameters[0].jump(:tstring_content, :ident).source
+
+                push_state(scope: :class) do
+                    object = YARD::CodeObjects::MethodObject.new(namespace, "#{name}_sets", scope)
+                    object.dynamic = true 
+                    register(object)
+                    object.docstring.replace(
+                        YARD::Docstring.new("The set of #{name}s defined at this level of the model hierarchy") +
+                        object.docstring)
+                    object.docstring.add_tag(
+                        *YARD::Docstring.parser.create_tag("return", "[Hash<Symbol,Set<Symbol>>]"))
+
+                    object = YARD::CodeObjects::MethodObject.new(namespace, "each_#{name}_set", scope)
+                    object.dynamic = true 
+                    register(object)
+                    object.docstring.add_tag(
+                        *YARD::Docstring.parser.create_tag("yieldparam", "[Symbol] source_name"),
+                        *YARD::Docstring.parser.create_tag("yieldparam", "[Set<Symbol>] target_names"))
+
+                    object = YARD::CodeObjects::MethodObject.new(namespace, "#{name}s", scope)
+                    object.dynamic = true 
+                    register(object)
+                    object.parameters << ["model", nil]
+                    object.docstring.add_tag(
+                        *YARD::Docstring.parser.create_tag("param", "[Symbol] event_name"),
+                        *YARD::Docstring.parser.create_tag("return", "[Set<Symbol>] target #{name}s"))
+
+                    object = YARD::CodeObjects::MethodObject.new(namespace, "each_#{name}", scope)
+                    object.dynamic = true 
+                    register(object)
+                    object.parameters << ["model", nil]
+                    object.docstring.add_tag(
+                        *YARD::Docstring.parser.create_tag("param", "[Symbol] event_name"),
+                        *YARD::Docstring.parser.create_tag("yieldparam", "[Symbol] target_name"))
+
+                    object = YARD::CodeObjects::MethodObject.new(namespace, "all_#{name}s", scope)
+                    object.dynamic = true 
+                    register(object)
+                    object.parameters << ["model", nil]
+                    object.docstring.replace(
+                        YARD::Docstring.new("The set of #{name}s that will be applied on all instances of this model") +
+                        object.docstring)
+                    object.docstring.add_tag(
+                        *YARD::Docstring.parser.create_tag("return", "[Hash<Symbol,Set<Symbol>>]"))
+                end
+            end
+        end
+
+        class RelationHandler < YARD::Handlers::Ruby::AttributeHandler
+            handles method_call(:relation)
+            namespace_only
+
+            def process
+                name = statement.parameters[0].jump(:tstring_content, :ident).source
+
+
+                graph_class = YARD::CodeObjects::ClassObject.new(namespace, "#{name}")
+                register(graph_class)
+                instance_module = YARD::CodeObjects::ModuleObject.new(graph_class, "Extension")
+                register(instance_module)
+                class_module = YARD::CodeObjects::ModuleObject.new(graph_class, "ClassExtension")
+                register(class_module)
+
+            end
+        end
+
+        class TaskServiceHandler < YARD::Handlers::Ruby::Base
+            handles method_call(:task_service)
+            namespace_only
+
+            def process
+                name = statement.parameters[0].jump(:tstring_content, :ident).source
+
+                service_module = YARD::CodeObjects::ModuleObject.new(namespace, name)
+                register(service_module)
+                parse_block(statement.last.last, namespace: service_module)
+                service_module.dynamic = true
+            end
+        end
+
+        class ArgumentHandler < YARD::Handlers::Ruby::Base
+            handles method_call(:argument)
+            namespace_only
+
+            def process
+                name = statement.parameters[0].jump(:tstring_content, :ident).source
+
+                default = nil
+                if statement.parameters[1]
+                    statement.parameters[1].jump(:assoc).to_a.each_slice(2) do |key, value|
+                        if key.source == 'default:'
+                            default = value.source
+                        end
+                    end
+                end
+
+                writer = YARD::CodeObjects::MethodObject.new(namespace, "#{name}=")
+                register(writer)
+                register_group(writer, "Task Arguments")
+
+                reader = YARD::CodeObjects::MethodObject.new(namespace, name)
+                register(reader)
+                register_group(reader, "Task Arguments")
+                reader.docstring = "Default: #{default}" if default && reader.docstring.blank?(false)
+            end
+        end
+
+        class EventHandler < YARD::Handlers::Ruby::Base
+            handles method_call(:event)
+            namespace_only
+
+            def process
+                name = statement.parameters[0].jump(:tstring_content, :ident).source
+
+                controlable = false
+                if statement.parameters[1]
+                    statement.parameters[1].jump(:assoc).to_a.each_slice(2) do |key, value|
+                        if key.source == 'controlable:' || key.source == "command:"
+                            controlable = true
+                        end
+                    end
+                end
+
+                accessor = YARD::CodeObjects::MethodObject.new(namespace, "#{name}_event")
+                register(accessor)
+                register_group(accessor, "Task Events")
+                accessor.docstring.add_tag(
+                    *YARD::Docstring.parser.create_tag("return", "[EventGenerator]"))
+
+                happened = YARD::CodeObjects::MethodObject.new(namespace, "#{name}?")
+                register(happened)
+                register_group(happened, "Task Events")
+                happened.docstring.add_tag(
+                    *YARD::Docstring.parser.create_tag("return", "[Boolean]"))
+
+                if controlable
+                    command = YARD::CodeObjects::MethodObject.new(namespace, "#{name}!")
+                    register(command)
+                    register_group(command, "Task Events")
+                    command.parameters << ['context', 'nil']
+                end
+
+                push_state(scope: :class) do
+                    event_class = YARD::CodeObjects::ClassObject.new(namespace, "#{name.camelcase(true)}")
+                    register(event_class)
+                    event_class.docstring.replace(
+                        YARD::Docstring.new("Event class used to represent the events emitted by #{namespace}##{name}_event\n\n") +
+                        event_class.docstring)
+                end
+            end
+        end
+    end
+end
+

data/lib/yard-roby.rb

@@ -0,0 +1 @@
+require 'roby/yard'

data/manifest.xml

@@ -1,6 +1,7 @@
 <package>
   <description brief="advanced supervision framework">
   </description>
+  <maintainer>Sylvain Joyeux/sylvain.joyeux@m4x.org</maintainer>
   <author>Sylvain Joyeux/sylvain.joyeux@m4x.org</author>
   <copyright>
       LAAS-CNRS/openrobots@laas.fr
@@ -9,12 +10,37 @@
   </copyright>
   <license>CeCILL-B (BSD-like)</license>
 
-  <depend package="utilmm" />
   <depend package="utilrb" />
-  <rosdep name="flexmock" />
-  <rosdep name="activesupport" />
-  <rosdep name="qtruby" />
-  <rosdep name="boost" />
-  <rosdep name="graphviz" />
+  <depend package="facets" />
+  <depend package="state_machine" />
+  <depend package="tools/metaruby" />
+  <depend package="websocket-gem" />
+  <depend package="binding_of_caller" />
+  <depend package="rb-readline" />
+  <depend package="concurrent-ruby" />
+  <depend package="ruby-backports" />
+  <depend package="pastel" />
+  <depend package="hooks" />
+  <depend package="rgl" />
+  <depend package="thor" />
+  <depend package="autorespawn" optional="1" />
+
+  <depend package="qtruby" optional='1' />
+  <depend package="graphviz" optional='1' />
+
+  <depend_optional package="rest-client" />
+  <depend_optional package="grape" />
+  <depend_optional package="thin" />
+
+  <depend_optional package="autorespawn" />
+
+  <depend_optional package="minitest" />
+  <depend_optional package="flexmock" />
+  <depend_optional package="fakefs" />
+  <depend_optional package="timecop" />
+  <depend_optional package="stackprof" />
+  <depend_optional package="rbtrace" />
+
+  <test_depend package="aruba" />
 </package>
 

data/roby.gemspec

@@ -0,0 +1,59 @@
+# coding: utf-8
+lib = File.expand_path('../lib', __FILE__)
+$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
+require 'roby/version'
+
+Gem::Specification.new do |s|
+  s.name = "roby"
+  s.version = Roby::VERSION
+  s.authors = ["Sylvain Joyeux"]
+  s.email = "sylvain.joyeux@m4x.org"
+  s.summary = "A plan-based control framework for autonomous systems"
+  s.description = <<-EOD
+The Roby plan manager is currently developped from within the Robot Construction
+Kit (http://rock-robotics.org). Have a look there. Additionally, the [Roby User
+Guide](http://rock-robotics.org/api/tools/roby) is a good place to start with
+Roby.
+  EOD
+  s.homepage = "http://rock-robotics.org"
+  s.licenses = ["BSD"]
+
+  s.bindir = 'bin'
+  s.require_paths = ["lib"]
+  s.executables << "roby"
+  s.extra_rdoc_files = ["README.md"]
+  s.files         = `git ls-files -z`.split("\x0").reject { |f| f.match(%r{^(test|spec|features)/}) }
+
+  s.add_runtime_dependency "utilrb", ">= 3.0.0"
+  s.add_runtime_dependency "facets", ">= 2.4.0"
+  s.add_runtime_dependency "state_machine", "= 1.0.3"
+  s.add_runtime_dependency "metaruby", '>= 1.0.0.a'
+  s.add_runtime_dependency "websocket", '~> 1.2'
+  s.add_runtime_dependency "binding_of_caller", '~> 0.8.0'
+  s.add_runtime_dependency "rb-readline", '~> 0.5.3'
+  s.add_runtime_dependency "concurrent-ruby", '~> 1.0'
+  s.add_runtime_dependency "backports", '~> 3.0'
+  s.add_runtime_dependency "pastel", '~> 0.7.2'
+  s.add_runtime_dependency "hooks", '~> 0.4.0', '>= 0.4.1'
+  s.add_runtime_dependency "rgl", '~> 0.5.1'
+  s.add_runtime_dependency "thor", '~> 0.20.0'
+
+  s.add_runtime_dependency "rest-client", '~> 2.0'
+  s.add_runtime_dependency "grape", '~> 1.0'
+  s.add_runtime_dependency "thin", '~> 1.7'
+
+  s.add_runtime_dependency "autorespawn"
+  s.add_runtime_dependency "yard"
+
+  s.add_runtime_dependency "minitest"
+  s.add_runtime_dependency "flexmock"
+  s.add_runtime_dependency "fakefs"
+  s.add_runtime_dependency "timecop"
+  s.add_runtime_dependency "simplecov"
+
+  s.add_development_dependency "aruba"
+  s.add_development_dependency "cucumber"
+
+  # NOTE: stackprof and rbtrace are linux- and MRI-specific
+  # Only in Gemfile !
+end

metadata

@@ -1,387 +1,482 @@
---- !ruby/object:Gem::Specification 
+--- !ruby/object:Gem::Specification
 name: roby
-version: !ruby/object:Gem::Version 
-  version: 0.8.0
+version: !ruby/object:Gem::Version
+  version: 3.0.0
 platform: ruby
-authors: 
+authors:
 - Sylvain Joyeux
 autorequire: 
 bindir: bin
 cert_chain: []
-
-date: 2010-01-25 00:00:00 +01:00
-default_executable: 
-dependencies: 
-- !ruby/object:Gem::Dependency 
+date: 2018-03-28 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: utilrb
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: 3.0.0
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: 3.0.0
+- !ruby/object:Gem::Dependency
   name: facets
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: 2.4.0
   type: :runtime
-  version_requirement: 
-  version_requirements: !ruby/object:Gem::Requirement 
-    requirements: 
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
     - - ">="
-      - !ruby/object:Gem::Version 
-        version: "2.0"
-    version: 
-- !ruby/object:Gem::Dependency 
-  name: utilrb
+      - !ruby/object:Gem::Version
+        version: 2.4.0
+- !ruby/object:Gem::Dependency
+  name: state_machine
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - '='
+      - !ruby/object:Gem::Version
+        version: 1.0.3
   type: :runtime
-  version_requirement: 
-  version_requirements: !ruby/object:Gem::Requirement 
-    requirements: 
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - '='
+      - !ruby/object:Gem::Version
+        version: 1.0.3
+- !ruby/object:Gem::Dependency
+  name: metaruby
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
     - - ">="
-      - !ruby/object:Gem::Version 
-        version: 1.3.1
-    version: 
-- !ruby/object:Gem::Dependency 
-  name: rubyforge
-  type: :development
-  version_requirement: 
-  version_requirements: !ruby/object:Gem::Requirement 
-    requirements: 
+      - !ruby/object:Gem::Version
+        version: 1.0.0.a
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
     - - ">="
-      - !ruby/object:Gem::Version 
-        version: 2.0.3
-    version: 
-- !ruby/object:Gem::Dependency 
-  name: gemcutter
-  type: :development
-  version_requirement: 
-  version_requirements: !ruby/object:Gem::Requirement 
-    requirements: 
+      - !ruby/object:Gem::Version
+        version: 1.0.0.a
+- !ruby/object:Gem::Dependency
+  name: websocket
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.2'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.2'
+- !ruby/object:Gem::Dependency
+  name: binding_of_caller
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: 0.8.0
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: 0.8.0
+- !ruby/object:Gem::Dependency
+  name: rb-readline
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: 0.5.3
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: 0.5.3
+- !ruby/object:Gem::Dependency
+  name: concurrent-ruby
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.0'
+- !ruby/object:Gem::Dependency
+  name: backports
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '3.0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '3.0'
+- !ruby/object:Gem::Dependency
+  name: pastel
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: 0.7.2
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: 0.7.2
+- !ruby/object:Gem::Dependency
+  name: hooks
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: 0.4.0
     - - ">="
-      - !ruby/object:Gem::Version 
-        version: 0.3.0
-    version: 
-- !ruby/object:Gem::Dependency 
-  name: rdoc
-  type: :development
-  version_requirement: 
-  version_requirements: !ruby/object:Gem::Requirement 
-    requirements: 
+      - !ruby/object:Gem::Version
+        version: 0.4.1
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: 0.4.0
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: 0.4.1
+- !ruby/object:Gem::Dependency
+  name: rgl
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: 0.5.1
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: 0.5.1
+- !ruby/object:Gem::Dependency
+  name: thor
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: 0.20.0
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: 0.20.0
+- !ruby/object:Gem::Dependency
+  name: rest-client
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '2.0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '2.0'
+- !ruby/object:Gem::Dependency
+  name: grape
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.0'
+- !ruby/object:Gem::Dependency
+  name: thin
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.7'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.7'
+- !ruby/object:Gem::Dependency
+  name: autorespawn
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
     - - ">="
-      - !ruby/object:Gem::Version 
-        version: "2.4"
-    version: 
-- !ruby/object:Gem::Dependency 
-  name: webgen
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: yard
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: minitest
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: flexmock
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: fakefs
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: timecop
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: simplecov
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: aruba
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
   type: :development
-  version_requirement: 
-  version_requirements: !ruby/object:Gem::Requirement 
-    requirements: 
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
     - - ">="
-      - !ruby/object:Gem::Version 
-        version: "0.5"
-    version: 
-- !ruby/object:Gem::Dependency 
-  name: hoe
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: cucumber
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
   type: :development
-  version_requirement: 
-  version_requirements: !ruby/object:Gem::Requirement 
-    requirements: 
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
     - - ">="
-      - !ruby/object:Gem::Version 
-        version: 2.5.0
-    version: 
-description: A plan-based control framework for autonomous systems
-email: 
-- sylvain.joyeux@m4x.org
-executables: 
+      - !ruby/object:Gem::Version
+        version: '0'
+description: |
+  The Roby plan manager is currently developped from within the Robot Construction
+  Kit (http://rock-robotics.org). Have a look there. Additionally, the [Roby User
+  Guide](http://rock-robotics.org/api/tools/roby) is a good place to start with
+  Roby.
+email: sylvain.joyeux@m4x.org
+executables:
 - roby
-- roby-log
-- roby-shell
-extensions: 
-- ext/droby/extconf.rb
-- ext/graph/extconf.rb
-extra_rdoc_files: 
-- History.txt
-- License-fr.txt
-- License.txt
-- Manifest.txt
-- README.txt
-- TODO.txt
-- app/README.txt
-- app/config/ROBOT.rb
-- app/config/init.rb
-- app/controllers/ROBOT.rb
-- app/planners/ROBOT/main.rb
-- app/planners/main.rb
-- benchmark/alloc_misc.rb
-- benchmark/discovery_latency.rb
-- benchmark/garbage_collection.rb
-- benchmark/genom.rb
-- benchmark/transactions.rb
-- doc/guide/ext/init.rb
-- doc/guide/ext/previous_next.rb
-- doc/guide/ext/rdoc_links.rb
-- doc/guide/index.rdoc
-- doc/guide/overview.rdoc
-- doc/guide/plan_modifications.rdoc
-- doc/guide/src/basics_shell_header.txt
-- doc/tutorials/01-GettingStarted.rdoc
-- doc/tutorials/02-GoForward.rdoc
-- doc/tutorials/03-PlannedPath.rdoc
-- doc/tutorials/04-EventPropagation.rdoc
-- doc/tutorials/05-ErrorHandling.rdoc
-- doc/tutorials/06-Overview.rdoc
-- ext/droby/dump.cc
-- ext/droby/extconf.rb
-- ext/graph/algorithm.cc
-- ext/graph/extconf.rb
-- ext/graph/graph.cc
-- ext/graph/graph.hh
-- ext/graph/iterator_sequence.hh
-- ext/graph/undirected_dfs.hh
-- ext/graph/undirected_graph.hh
-- lib/roby.rb
-- lib/roby/app.rb
-- lib/roby/app/plugins/rake.rb
-- lib/roby/app/rake.rb
-- lib/roby/app/run.rb
-- lib/roby/app/scripts/distributed.rb
-- lib/roby/app/scripts/generate/bookmarks.rb
-- lib/roby/app/scripts/replay.rb
-- lib/roby/app/scripts/results.rb
-- lib/roby/app/scripts/run.rb
-- lib/roby/app/scripts/server.rb
-- lib/roby/app/scripts/shell.rb
-- lib/roby/app/scripts/test.rb
-- lib/roby/basic_object.rb
-- lib/roby/config.rb
-- lib/roby/decision_control.rb
-- lib/roby/distributed.rb
-- lib/roby/distributed/base.rb
-- lib/roby/distributed/communication.rb
-- lib/roby/distributed/connection_space.rb
-- lib/roby/distributed/distributed_object.rb
-- lib/roby/distributed/drb.rb
-- lib/roby/distributed/notifications.rb
-- lib/roby/distributed/peer.rb
-- lib/roby/distributed/protocol.rb
-- lib/roby/distributed/proxy.rb
-- lib/roby/distributed/subscription.rb
-- lib/roby/distributed/transaction.rb
-- lib/roby/event.rb
-- lib/roby/exceptions.rb
-- lib/roby/execution_engine.rb
-- lib/roby/external_process_task.rb
-- lib/roby/graph.rb
-- lib/roby/interface.rb
-- lib/roby/log.rb
-- lib/roby/log/chronicle.rb
-- lib/roby/log/console.rb
-- lib/roby/log/data_stream.rb
-- lib/roby/log/dot.rb
-- lib/roby/log/event_stream.rb
-- lib/roby/log/file.rb
-- lib/roby/log/gui/basic_display_ui.rb
-- lib/roby/log/gui/chronicle.rb
-- lib/roby/log/gui/chronicle_view.rb
-- lib/roby/log/gui/chronicle_view_ui.rb
-- lib/roby/log/gui/data_displays.rb
-- lib/roby/log/gui/data_displays_ui.rb
-- lib/roby/log/gui/notifications.rb
-- lib/roby/log/gui/relations.rb
-- lib/roby/log/gui/relations_ui.rb
-- lib/roby/log/gui/relations_view.rb
-- lib/roby/log/gui/relations_view_ui.rb
-- lib/roby/log/gui/replay.rb
-- lib/roby/log/gui/replay_controls.rb
-- lib/roby/log/gui/replay_controls_ui.rb
-- lib/roby/log/gui/runtime.rb
-- lib/roby/log/hooks.rb
-- lib/roby/log/logger.rb
-- lib/roby/log/notifications.rb
-- lib/roby/log/plan_rebuilder.rb
-- lib/roby/log/relations.rb
-- lib/roby/log/server.rb
-- lib/roby/log/sqlite.rb
-- lib/roby/log/timings.rb
-- lib/roby/plan-object.rb
-- lib/roby/plan.rb
-- lib/roby/planning.rb
-- lib/roby/planning/loops.rb
-- lib/roby/planning/model.rb
-- lib/roby/planning/task.rb
-- lib/roby/query.rb
-- lib/roby/relations.rb
-- lib/roby/relations/conflicts.rb
-- lib/roby/relations/dependency.rb
-- lib/roby/relations/ensured.rb
-- lib/roby/relations/error_handling.rb
-- lib/roby/relations/events.rb
-- lib/roby/relations/executed_by.rb
-- lib/roby/relations/influence.rb
-- lib/roby/relations/planned_by.rb
-- lib/roby/robot.rb
-- lib/roby/schedulers/basic.rb
-- lib/roby/standalone.rb
-- lib/roby/standard_errors.rb
-- lib/roby/state.rb
-- lib/roby/state/events.rb
-- lib/roby/state/information.rb
-- lib/roby/state/pos.rb
-- lib/roby/state/shapes.rb
-- lib/roby/state/state.rb
-- lib/roby/support.rb
-- lib/roby/task-operations.rb
-- lib/roby/task.rb
-- lib/roby/task_index.rb
-- lib/roby/test/common.rb
-- lib/roby/test/distributed.rb
-- lib/roby/test/tasks/empty_task.rb
-- lib/roby/test/tasks/goto.rb
-- lib/roby/test/tasks/simple_task.rb
-- lib/roby/test/testcase.rb
-- lib/roby/test/tools.rb
-- lib/roby/thread_task.rb
-- lib/roby/transactions.rb
-- lib/roby/transactions/proxy.rb
-- plugins/fault_injection/History.txt
-- plugins/fault_injection/README.txt
-- plugins/fault_injection/TODO.txt
-- plugins/fault_injection/app.rb
-- plugins/fault_injection/fault_injection.rb
-- plugins/fault_injection/test/test_fault_injection.rb
-- plugins/subsystems/README.txt
-- plugins/subsystems/app.rb
-- plugins/subsystems/test/app/config/init.rb
-- plugins/subsystems/test/app/planners/main.rb
-- plugins/subsystems/test/app/tasks/services.rb
-- plugins/subsystems/test/test_subsystems.rb
-- test/distributed/test_communication.rb
-- test/distributed/test_connection.rb
-- test/distributed/test_execution.rb
-- test/distributed/test_mixed_plan.rb
-- test/distributed/test_plan_notifications.rb
-- test/distributed/test_protocol.rb
-- test/distributed/test_query.rb
-- test/distributed/test_remote_plan.rb
-- test/distributed/test_transaction.rb
-- test/mockups/tasks.rb
-- test/planning/test_loops.rb
-- test/planning/test_model.rb
-- test/planning/test_task.rb
-- test/relations/test_conflicts.rb
-- test/relations/test_dependency.rb
-- test/relations/test_ensured.rb
-- test/relations/test_executed_by.rb
-- test/relations/test_planned_by.rb
-- test/suite_core.rb
-- test/suite_distributed.rb
-- test/suite_planning.rb
-- test/suite_relations.rb
-- test/tasks/test_external_process.rb
-- test/tasks/test_thread_task.rb
-- test/test_bgl.rb
-- test/test_event.rb
-- test/test_exceptions.rb
-- test/test_execution_engine.rb
-- test/test_gui.rb
-- test/test_interface.rb
-- test/test_log.rb
-- test/test_log_server.rb
-- test/test_plan.rb
-- test/test_query.rb
-- test/test_relations.rb
-- test/test_state.rb
-- test/test_support.rb
-- test/test_task.rb
-- test/test_testcase.rb
-- test/test_transactions.rb
-- test/test_transactions_proxy.rb
-files: 
+extensions: []
+extra_rdoc_files:
+- README.md
+files:
+- ".deep-cover.rb"
+- ".gitattributes"
+- ".gitignore"
+- ".simplecov"
+- ".travis.yml"
+- ".yardopts"
+- Gemfile
 - History.txt
 - License-fr.txt
 - License.txt
-- Manifest.txt
-- NOTES
-- README.txt
+- README.md
 - Rakefile
-- TODO.txt
-- app/README.txt
-- app/Rakefile
-- app/config/ROBOT.rb
-- app/config/app.yml
-- app/config/init.rb
-- app/config/roby.yml
-- app/controllers/.gitattributes
-- app/controllers/ROBOT.rb
-- app/data/.gitattributes
-- app/planners/ROBOT/main.rb
-- app/planners/main.rb
-- app/scripts/distributed
-- app/scripts/generate/bookmarks
-- app/scripts/replay
-- app/scripts/results
-- app/scripts/run
-- app/scripts/server
-- app/scripts/shell
-- app/scripts/test
-- app/tasks/.gitattributes
-- app/tasks/ROBOT/.gitattributes
-- benchmark/alloc_misc.rb
-- benchmark/discovery_latency.rb
-- benchmark/garbage_collection.rb
-- benchmark/genom.rb
+- benchmark/attic/alloc_misc.rb
+- benchmark/attic/discovery_latency.rb
+- benchmark/attic/garbage_collection.rb
+- benchmark/attic/genom.rb
+- benchmark/attic/transactions.rb
+- benchmark/plan_basic_operations.rb
+- benchmark/relations/graph.rb
+- benchmark/ruby/identity.rb
+- benchmark/ruby/set_intersect_vs_hash_merge.rb
+- benchmark/ruby/yield_vs_block.rb
+- benchmark/run
+- benchmark/synthetic_plan_modifications_with_transactions.rb
 - benchmark/transactions.rb
 - bin/roby
+- bin/roby-display
 - bin/roby-log
-- bin/roby-shell
 - doc/guide/.gitignore
+- doc/guide/attic/abstraction/achieve_with.page
+- doc/guide/attic/abstraction/forwarding.page
+- doc/guide/attic/abstraction/hierarchy.page
+- doc/guide/attic/abstraction/index.page
+- doc/guide/attic/abstraction/task_models.page
+- doc/guide/attic/cycle/api_overview.rdoc
+- doc/guide/attic/cycle/cycle-overview.png
+- doc/guide/attic/cycle/cycle-overview.svg
+- doc/guide/attic/cycle/error_handling.page
+- doc/guide/attic/cycle/error_instantaneous_repair.png
+- doc/guide/attic/cycle/error_instantaneous_repair.svg
+- doc/guide/attic/cycle/error_sources.page
+- doc/guide/attic/cycle/garbage_collection.page
+- doc/guide/attic/cycle/index.page
+- doc/guide/attic/cycle/propagation.page
+- doc/guide/attic/cycle/propagation_diamond.png
+- doc/guide/attic/cycle/propagation_diamond.svg
+- doc/guide/attic/plans/building_plans.page
+- doc/guide/attic/plans/code.page
+- doc/guide/attic/plans/events.page
+- doc/guide/attic/plans/index.page
+- doc/guide/attic/plans/plan_modifications.rdoc
+- doc/guide/attic/plans/plan_objects.page
+- doc/guide/attic/plans/querying_plans.page
+- doc/guide/attic/plans/tasks.page
 - doc/guide/config.yaml
+- doc/guide/ext/extended_menu.rb
 - doc/guide/ext/init.rb
 - doc/guide/ext/previous_next.rb
 - doc/guide/ext/rdoc_links.rb
 - doc/guide/index.rdoc
-- doc/guide/overview.rdoc
-- doc/guide/plan_modifications.rdoc
-- doc/guide/src/abstraction/achieve_with.page
-- doc/guide/src/abstraction/forwarding.page
-- doc/guide/src/abstraction/hierarchy.page
-- doc/guide/src/abstraction/index.page
-- doc/guide/src/abstraction/task_models.page
+- doc/guide/src/advanced_concepts/history.page
+- doc/guide/src/advanced_concepts/index.page
+- doc/guide/src/advanced_concepts/recognizing_patterns.page
+- doc/guide/src/advanced_concepts/scheduling.page
+- doc/guide/src/advanced_concepts/transactions.page
+- doc/guide/src/advanced_concepts/unreachability.page
+- doc/guide/src/base.template
 - doc/guide/src/basics.template
-- doc/guide/src/basics/app.page
-- doc/guide/src/basics/code_examples.page
-- doc/guide/src/basics/dry.page
-- doc/guide/src/basics/errors.page
-- doc/guide/src/basics/events.page
-- doc/guide/src/basics/hierarchy.page
-- doc/guide/src/basics/index.page
-- doc/guide/src/basics/log_replay/goForward_1.png
-- doc/guide/src/basics/log_replay/goForward_2.png
-- doc/guide/src/basics/log_replay/goForward_3.png
-- doc/guide/src/basics/log_replay/goForward_4.png
-- doc/guide/src/basics/log_replay/goForward_5.png
-- doc/guide/src/basics/log_replay/hierarchy_error_1.png
-- doc/guide/src/basics/log_replay/hierarchy_error_2.png
-- doc/guide/src/basics/log_replay/hierarchy_error_3.png
-- doc/guide/src/basics/log_replay/plan_repair_1.png
-- doc/guide/src/basics/log_replay/plan_repair_2.png
-- doc/guide/src/basics/log_replay/plan_repair_3.png
-- doc/guide/src/basics/log_replay/plan_repair_4.png
-- doc/guide/src/basics/log_replay/roby_log_main_window.png
-- doc/guide/src/basics/log_replay/roby_log_relation_window.png
-- doc/guide/src/basics/log_replay/roby_replay_event_representation.png
-- doc/guide/src/basics/plan_objects.page
-- doc/guide/src/basics/relations_display.page
-- doc/guide/src/basics/roby_cycle_overview.png
-- doc/guide/src/basics/shell.page
-- doc/guide/src/basics/summary.page
-- doc/guide/src/basics/tasks.page
 - doc/guide/src/basics_shell_header.txt
-- doc/guide/src/cycle/cycle-overview.png
-- doc/guide/src/cycle/cycle-overview.svg
-- doc/guide/src/cycle/error_handling.page
-- doc/guide/src/cycle/error_instantaneous_repair.png
-- doc/guide/src/cycle/error_instantaneous_repair.svg
-- doc/guide/src/cycle/garbage_collection.page
-- doc/guide/src/cycle/index.page
-- doc/guide/src/cycle/propagation.page
-- doc/guide/src/cycle/propagation_diamond.png
-- doc/guide/src/cycle/propagation_diamond.svg
-- doc/guide/src/default.css
+- doc/guide/src/building/action_coordination.page
+- doc/guide/src/building/actions.page
+- doc/guide/src/building/file_layout.page
+- doc/guide/src/building/index.page
+- doc/guide/src/building/patterns.page
+- doc/guide/src/building/patterns_forwarding.png
+- doc/guide/src/building/patterns_forwarding.svg
+- doc/guide/src/building/runtime.page
+- doc/guide/src/building/task_models.page
+- doc/guide/src/building/tasks.page
+- doc/guide/src/concepts/error_handling.page
+- doc/guide/src/concepts/exception_propagation.png
+- doc/guide/src/concepts/exception_propagation.svg
+- doc/guide/src/concepts/execution.page
+- doc/guide/src/concepts/execution.png
+- doc/guide/src/concepts/execution.svg
+- doc/guide/src/concepts/execution_cycle.png
+- doc/guide/src/concepts/garbage_collection.page
+- doc/guide/src/concepts/index.page
+- doc/guide/src/concepts/plans.page
+- doc/guide/src/concepts/policy.page
+- doc/guide/src/concepts/reactor.page
+- doc/guide/src/concepts/simple_plan_example.png
+- doc/guide/src/concepts/simple_plan_example.svg
 - doc/guide/src/default.template
+- doc/guide/src/event_relations/forward.page
+- doc/guide/src/event_relations/index.page
+- doc/guide/src/event_relations/scheduling_constraints.page
+- doc/guide/src/event_relations/signal.page
+- doc/guide/src/event_relations/temporal_constraints.page
 - doc/guide/src/htmldoc.metainfo
 - doc/guide/src/htmldoc.virtual
 - doc/guide/src/images/bodybg.png
@@ -390,15 +485,51 @@ files:
 - doc/guide/src/images/gradient1.png
 - doc/guide/src/images/gradient2.png
 - doc/guide/src/index.page
-- doc/guide/src/introduction/index.page
-- doc/guide/src/introduction/install.page
-- doc/guide/src/introduction/publications.page
-- doc/guide/src/introduction/videos.page
-- doc/guide/src/plugins/fault_tolerance.page
+- doc/guide/src/installation/index.page
+- doc/guide/src/installation/publications.page
+- doc/guide/src/installation/videos.page
+- doc/guide/src/interacting/index.page
+- doc/guide/src/interacting/run.page
+- doc/guide/src/interacting/shell.page
+- doc/guide/src/plugins/creating_plugins.page
 - doc/guide/src/plugins/index.page
-- doc/guide/src/plugins/subsystems.page
-- doc/guide/src/relations/dependency.page
-- doc/guide/src/relations/index.page
+- doc/guide/src/plugins/standard_plugins/fault_tolerance.page
+- doc/guide/src/plugins/standard_plugins/index.page
+- doc/guide/src/plugins/standard_plugins/subsystems.page
+- doc/guide/src/style_screen.css
+- doc/guide/src/task_relations/dependency.page
+- doc/guide/src/task_relations/executed_by.page
+- doc/guide/src/task_relations/index.page
+- doc/guide/src/task_relations/new_relations.page
+- doc/guide/src/task_relations/planned_by.page
+- doc/guide/src/tutorial/app.page
+- doc/guide/src/tutorial/code_examples.page
+- doc/guide/src/tutorial/dry.page
+- doc/guide/src/tutorial/errors.page
+- doc/guide/src/tutorial/events.page
+- doc/guide/src/tutorial/hierarchy.page
+- doc/guide/src/tutorial/index.page
+- doc/guide/src/tutorial/log_replay/goForward_1.png
+- doc/guide/src/tutorial/log_replay/goForward_2.png
+- doc/guide/src/tutorial/log_replay/goForward_3.png
+- doc/guide/src/tutorial/log_replay/goForward_4.png
+- doc/guide/src/tutorial/log_replay/goForward_5.png
+- doc/guide/src/tutorial/log_replay/hierarchy_error_1.png
+- doc/guide/src/tutorial/log_replay/hierarchy_error_2.png
+- doc/guide/src/tutorial/log_replay/hierarchy_error_3.png
+- doc/guide/src/tutorial/log_replay/moveto_code_error.png
+- doc/guide/src/tutorial/log_replay/plan_repair_1.png
+- doc/guide/src/tutorial/log_replay/plan_repair_2.png
+- doc/guide/src/tutorial/log_replay/plan_repair_3.png
+- doc/guide/src/tutorial/log_replay/plan_repair_4.png
+- doc/guide/src/tutorial/log_replay/roby_log_main_window.png
+- doc/guide/src/tutorial/log_replay/roby_log_relation_window.png
+- doc/guide/src/tutorial/log_replay/roby_replay_event_representation.png
+- doc/guide/src/tutorial/relations_display.page
+- doc/guide/src/tutorial/roby_cycle_overview.png
+- doc/guide/src/tutorial/shell.page
+- doc/guide/src/tutorial/summary.page
+- doc/guide/src/tutorial/tasks.page
 - doc/images/event_generalization.png
 - doc/images/exception_propagation_1.png
 - doc/images/exception_propagation_2.png
@@ -424,272 +555,342 @@ files:
 - doc/tutorials/04-EventPropagation.rdoc
 - doc/tutorials/05-ErrorHandling.rdoc
 - doc/tutorials/06-Overview.rdoc
-- ext/droby/dump.cc
-- ext/droby/extconf.rb
-- ext/graph/algorithm.cc
-- ext/graph/extconf.rb
-- ext/graph/graph.cc
-- ext/graph/graph.hh
-- ext/graph/iterator_sequence.hh
-- ext/graph/undirected_dfs.hh
-- ext/graph/undirected_graph.hh
 - lib/roby.rb
+- lib/roby/actions.rb
+- lib/roby/actions/action.rb
+- lib/roby/actions/interface.rb
+- lib/roby/actions/library.rb
+- lib/roby/actions/models/action.rb
+- lib/roby/actions/models/coordination_action.rb
+- lib/roby/actions/models/interface.rb
+- lib/roby/actions/models/interface_base.rb
+- lib/roby/actions/models/library.rb
+- lib/roby/actions/models/method_action.rb
+- lib/roby/actions/task.rb
+- lib/roby/and_generator.rb
 - lib/roby/app.rb
+- lib/roby/app/autotest_console_reporter.rb
+- lib/roby/app/base.rb
+- lib/roby/app/cucumber.rb
+- lib/roby/app/cucumber/controller.rb
+- lib/roby/app/cucumber/helpers.rb
+- lib/roby/app/cucumber/world.rb
+- lib/roby/app/debug.rb
+- lib/roby/app/gen.rb
 - lib/roby/app/plugins/rake.rb
 - lib/roby/app/rake.rb
+- lib/roby/app/robot_config.rb
+- lib/roby/app/robot_names.rb
 - lib/roby/app/run.rb
+- lib/roby/app/scripts.rb
+- lib/roby/app/scripts/autotest.rb
+- lib/roby/app/scripts/display.rb
 - lib/roby/app/scripts/distributed.rb
-- lib/roby/app/scripts/generate/bookmarks.rb
-- lib/roby/app/scripts/replay.rb
+- lib/roby/app/scripts/restart.rb
 - lib/roby/app/scripts/results.rb
 - lib/roby/app/scripts/run.rb
-- lib/roby/app/scripts/server.rb
 - lib/roby/app/scripts/shell.rb
 - lib/roby/app/scripts/test.rb
-- lib/roby/basic_object.rb
-- lib/roby/config.rb
+- lib/roby/app/test_reporter.rb
+- lib/roby/app/test_server.rb
+- lib/roby/app/vagrant.rb
+- lib/roby/backports.rb
+- lib/roby/cli/display.rb
+- lib/roby/cli/exceptions.rb
+- lib/roby/cli/gen/actions/class.rb
+- lib/roby/cli/gen/actions/test.rb
+- lib/roby/cli/gen/app/.yardopts
+- lib/roby/cli/gen/app/README.md
+- lib/roby/cli/gen/app/Rakefile
+- lib/roby/cli/gen/app/config/app.yml
+- lib/roby/cli/gen/app/models/.gitattributes
+- lib/roby/cli/gen/app/scripts/controllers/.gitattributes
+- lib/roby/cli/gen/app/test/.gitignore
+- lib/roby/cli/gen/class/class.rb
+- lib/roby/cli/gen/class/test.rb
+- lib/roby/cli/gen/helpers.rb
+- lib/roby/cli/gen/module/module.rb
+- lib/roby/cli/gen/module/test.rb
+- lib/roby/cli/gen/roby_app/config/init.rb
+- lib/roby/cli/gen/roby_app/config/robots/robot.rb
+- lib/roby/cli/gen/task/class.rb
+- lib/roby/cli/gen/task/test.rb
+- lib/roby/cli/gen_main.rb
+- lib/roby/cli/log.rb
+- lib/roby/cli/log/flamegraph.html
+- lib/roby/cli/log/flamegraph_renderer.rb
+- lib/roby/cli/main.rb
+- lib/roby/coordination.rb
+- lib/roby/coordination/action_script.rb
+- lib/roby/coordination/action_state_machine.rb
+- lib/roby/coordination/actions.rb
+- lib/roby/coordination/base.rb
+- lib/roby/coordination/calculus.rb
+- lib/roby/coordination/child.rb
+- lib/roby/coordination/event.rb
+- lib/roby/coordination/fault_handler.rb
+- lib/roby/coordination/fault_handling_task.rb
+- lib/roby/coordination/fault_response_table.rb
+- lib/roby/coordination/models/action_script.rb
+- lib/roby/coordination/models/action_state_machine.rb
+- lib/roby/coordination/models/actions.rb
+- lib/roby/coordination/models/arguments.rb
+- lib/roby/coordination/models/base.rb
+- lib/roby/coordination/models/capture.rb
+- lib/roby/coordination/models/child.rb
+- lib/roby/coordination/models/event.rb
+- lib/roby/coordination/models/exceptions.rb
+- lib/roby/coordination/models/fault_handler.rb
+- lib/roby/coordination/models/fault_response_table.rb
+- lib/roby/coordination/models/root.rb
+- lib/roby/coordination/models/script.rb
+- lib/roby/coordination/models/task.rb
+- lib/roby/coordination/models/task_from_action.rb
+- lib/roby/coordination/models/task_from_as_plan.rb
+- lib/roby/coordination/models/task_from_instanciation_object.rb
+- lib/roby/coordination/models/task_from_variable.rb
+- lib/roby/coordination/models/task_with_dependencies.rb
+- lib/roby/coordination/models/variable.rb
+- lib/roby/coordination/script.rb
+- lib/roby/coordination/script_instruction.rb
+- lib/roby/coordination/task.rb
+- lib/roby/coordination/task_base.rb
+- lib/roby/coordination/task_script.rb
+- lib/roby/coordination/task_state_machine.rb
 - lib/roby/decision_control.rb
-- lib/roby/distributed.rb
-- lib/roby/distributed/base.rb
-- lib/roby/distributed/communication.rb
-- lib/roby/distributed/connection_space.rb
-- lib/roby/distributed/distributed_object.rb
-- lib/roby/distributed/drb.rb
-- lib/roby/distributed/notifications.rb
-- lib/roby/distributed/peer.rb
-- lib/roby/distributed/protocol.rb
-- lib/roby/distributed/proxy.rb
-- lib/roby/distributed/subscription.rb
-- lib/roby/distributed/transaction.rb
+- lib/roby/distributed_object.rb
+- lib/roby/droby.rb
+- lib/roby/droby/droby_id.rb
+- lib/roby/droby/enable.rb
+- lib/roby/droby/event_logger.rb
+- lib/roby/droby/event_logging.rb
+- lib/roby/droby/exceptions.rb
+- lib/roby/droby/identifiable.rb
+- lib/roby/droby/logfile.rb
+- lib/roby/droby/logfile/client.rb
+- lib/roby/droby/logfile/file_format.md
+- lib/roby/droby/logfile/index.rb
+- lib/roby/droby/logfile/reader.rb
+- lib/roby/droby/logfile/server.rb
+- lib/roby/droby/logfile/writer.rb
+- lib/roby/droby/marshal.rb
+- lib/roby/droby/marshallable.rb
+- lib/roby/droby/null_event_logger.rb
+- lib/roby/droby/object_manager.rb
+- lib/roby/droby/peer_id.rb
+- lib/roby/droby/plan_rebuilder.rb
+- lib/roby/droby/rebuilt_plan.rb
+- lib/roby/droby/remote_droby_id.rb
+- lib/roby/droby/timepoints.rb
+- lib/roby/droby/timepoints_ctf.metadata.erb
+- lib/roby/droby/timepoints_ctf.rb
+- lib/roby/droby/v5.rb
+- lib/roby/droby/v5/builtin.rb
+- lib/roby/droby/v5/droby_class.rb
+- lib/roby/droby/v5/droby_constant.rb
+- lib/roby/droby/v5/droby_dump.rb
+- lib/roby/droby/v5/droby_id.rb
+- lib/roby/droby/v5/droby_model.rb
+- lib/roby/droby/v5/peer_id.rb
+- lib/roby/droby/v5/remote_droby_id.rb
 - lib/roby/event.rb
+- lib/roby/event_constraints.rb
+- lib/roby/event_generator.rb
+- lib/roby/event_structure/causal_link.rb
+- lib/roby/event_structure/forwarding.rb
+- lib/roby/event_structure/precedence.rb
+- lib/roby/event_structure/signal.rb
+- lib/roby/event_structure/temporal_constraints.rb
 - lib/roby/exceptions.rb
+- lib/roby/executable_plan.rb
 - lib/roby/execution_engine.rb
-- lib/roby/external_process_task.rb
-- lib/roby/graph.rb
+- lib/roby/filter_generator.rb
+- lib/roby/gui/chronicle_view.rb
+- lib/roby/gui/chronicle_widget.rb
+- lib/roby/gui/dot_id.rb
+- lib/roby/gui/exception_view.rb
+- lib/roby/gui/log_display.rb
+- lib/roby/gui/model_views.rb
+- lib/roby/gui/model_views/action_interface.rb
+- lib/roby/gui/model_views/task.rb
+- lib/roby/gui/model_views/task.rhtml
+- lib/roby/gui/object_info_view.rb
+- lib/roby/gui/plan_dot_layout.rb
+- lib/roby/gui/plan_rebuilder_widget.rb
+- lib/roby/gui/qt4_toMSecsSinceEpoch.rb
+- lib/roby/gui/relations_view.rb
+- lib/roby/gui/relations_view/relations.ui
+- lib/roby/gui/relations_view/relations_canvas.rb
+- lib/roby/gui/relations_view/relations_config.rb
+- lib/roby/gui/relations_view/relations_view.ui
+- lib/roby/gui/scheduler_view.css
+- lib/roby/gui/scheduler_view.rb
+- lib/roby/gui/scheduler_view.rhtml
+- lib/roby/gui/stepping.rb
+- lib/roby/gui/stepping.ui
+- lib/roby/gui/styles.rb
+- lib/roby/gui/task_display_configuration.rb
+- lib/roby/gui/task_state_at.rb
+- lib/roby/hooks.rb
 - lib/roby/interface.rb
-- lib/roby/log.rb
-- lib/roby/log/chronicle.rb
-- lib/roby/log/console.rb
-- lib/roby/log/data_stream.rb
-- lib/roby/log/dot.rb
-- lib/roby/log/event_stream.rb
-- lib/roby/log/file.rb
-- lib/roby/log/gui/basic_display.ui
-- lib/roby/log/gui/basic_display_ui.rb
-- lib/roby/log/gui/chronicle.rb
-- lib/roby/log/gui/chronicle_view.rb
-- lib/roby/log/gui/chronicle_view.ui
-- lib/roby/log/gui/chronicle_view_ui.rb
-- lib/roby/log/gui/data_displays.rb
-- lib/roby/log/gui/data_displays.ui
-- lib/roby/log/gui/data_displays_ui.rb
-- lib/roby/log/gui/notifications.rb
-- lib/roby/log/gui/relations.rb
-- lib/roby/log/gui/relations.ui
-- lib/roby/log/gui/relations_ui.rb
-- lib/roby/log/gui/relations_view.rb
-- lib/roby/log/gui/relations_view.ui
-- lib/roby/log/gui/relations_view_ui.rb
-- lib/roby/log/gui/replay.rb
-- lib/roby/log/gui/replay_controls.rb
-- lib/roby/log/gui/replay_controls.ui
-- lib/roby/log/gui/replay_controls_ui.rb
-- lib/roby/log/gui/runtime.rb
-- lib/roby/log/hooks.rb
-- lib/roby/log/logger.rb
-- lib/roby/log/notifications.rb
-- lib/roby/log/plan_rebuilder.rb
-- lib/roby/log/relations.rb
-- lib/roby/log/server.rb
-- lib/roby/log/sqlite.rb
-- lib/roby/log/timings.rb
-- lib/roby/plan-object.rb
+- lib/roby/interface/async.rb
+- lib/roby/interface/async/action_monitor.rb
+- lib/roby/interface/async/interface.rb
+- lib/roby/interface/async/job_monitor.rb
+- lib/roby/interface/async/log.rb
+- lib/roby/interface/async/new_job_listener.rb
+- lib/roby/interface/async/ui_connector.rb
+- lib/roby/interface/client.rb
+- lib/roby/interface/command.rb
+- lib/roby/interface/command_argument.rb
+- lib/roby/interface/command_library.rb
+- lib/roby/interface/droby_channel.rb
+- lib/roby/interface/exceptions.rb
+- lib/roby/interface/interface.rb
+- lib/roby/interface/job.rb
+- lib/roby/interface/rest.rb
+- lib/roby/interface/rest/api.rb
+- lib/roby/interface/rest/helpers.rb
+- lib/roby/interface/rest/server.rb
+- lib/roby/interface/server.rb
+- lib/roby/interface/shell_client.rb
+- lib/roby/interface/shell_subcommand.rb
+- lib/roby/interface/subcommand_client.rb
+- lib/roby/interface/tcp.rb
+- lib/roby/models/arguments.rb
+- lib/roby/models/plan_object.rb
+- lib/roby/models/task.rb
+- lib/roby/models/task_event.rb
+- lib/roby/models/task_service.rb
+- lib/roby/or_generator.rb
 - lib/roby/plan.rb
-- lib/roby/planning.rb
-- lib/roby/planning/loops.rb
-- lib/roby/planning/model.rb
-- lib/roby/planning/task.rb
-- lib/roby/query.rb
+- lib/roby/plan_object.rb
+- lib/roby/plan_service.rb
+- lib/roby/promise.rb
+- lib/roby/queries.rb
+- lib/roby/queries/and_matcher.rb
+- lib/roby/queries/any.rb
+- lib/roby/queries/code_error_matcher.rb
+- lib/roby/queries/event_generator_matcher.rb
+- lib/roby/queries/execution_exception_matcher.rb
+- lib/roby/queries/index.rb
+- lib/roby/queries/localized_error_matcher.rb
+- lib/roby/queries/matcher_base.rb
+- lib/roby/queries/none.rb
+- lib/roby/queries/not_matcher.rb
+- lib/roby/queries/op_matcher.rb
+- lib/roby/queries/or_matcher.rb
+- lib/roby/queries/plan_object_matcher.rb
+- lib/roby/queries/query.rb
+- lib/roby/queries/task_event_generator_matcher.rb
+- lib/roby/queries/task_matcher.rb
 - lib/roby/relations.rb
-- lib/roby/relations/conflicts.rb
-- lib/roby/relations/dependency.rb
-- lib/roby/relations/ensured.rb
-- lib/roby/relations/error_handling.rb
-- lib/roby/relations/events.rb
-- lib/roby/relations/executed_by.rb
-- lib/roby/relations/influence.rb
-- lib/roby/relations/planned_by.rb
+- lib/roby/relations/bidirectional_directed_adjacency_graph.rb
+- lib/roby/relations/directed_relation_support.rb
+- lib/roby/relations/event_relation_graph.rb
+- lib/roby/relations/fork_merge_visitor.rb
+- lib/roby/relations/graph.rb
+- lib/roby/relations/models/directed_relation_support.rb
+- lib/roby/relations/models/graph.rb
+- lib/roby/relations/models/task_relation_graph.rb
+- lib/roby/relations/space.rb
+- lib/roby/relations/task_relation_graph.rb
 - lib/roby/robot.rb
 - lib/roby/schedulers/basic.rb
+- lib/roby/schedulers/null.rb
+- lib/roby/schedulers/reporting.rb
+- lib/roby/schedulers/state.rb
+- lib/roby/schedulers/temporal.rb
+- lib/roby/singletons.rb
 - lib/roby/standalone.rb
 - lib/roby/standard_errors.rb
 - lib/roby/state.rb
+- lib/roby/state/conf_model.rb
 - lib/roby/state/events.rb
-- lib/roby/state/information.rb
+- lib/roby/state/goal_model.rb
+- lib/roby/state/open_struct.rb
+- lib/roby/state/open_struct_model.rb
 - lib/roby/state/pos.rb
 - lib/roby/state/shapes.rb
-- lib/roby/state/state.rb
+- lib/roby/state/state_model.rb
+- lib/roby/state/task.rb
 - lib/roby/support.rb
-- lib/roby/task-operations.rb
 - lib/roby/task.rb
-- lib/roby/task_index.rb
+- lib/roby/task_arguments.rb
+- lib/roby/task_event.rb
+- lib/roby/task_event_generator.rb
+- lib/roby/task_service.rb
+- lib/roby/task_structure/conflicts.rb
+- lib/roby/task_structure/dependency.rb
+- lib/roby/task_structure/error_handling.rb
+- lib/roby/task_structure/executed_by.rb
+- lib/roby/task_structure/planned_by.rb
+- lib/roby/tasks/aggregator.rb
+- lib/roby/tasks/external_process.rb
+- lib/roby/tasks/group.rb
+- lib/roby/tasks/null.rb
+- lib/roby/tasks/parallel.rb
+- lib/roby/tasks/sequence.rb
+- lib/roby/tasks/simple.rb
+- lib/roby/tasks/thread.rb
+- lib/roby/tasks/timeout.rb
+- lib/roby/tasks/virtual.rb
+- lib/roby/template_plan.rb
+- lib/roby/test/aruba_minitest.rb
+- lib/roby/test/assertion.rb
+- lib/roby/test/assertions.rb
 - lib/roby/test/common.rb
-- lib/roby/test/distributed.rb
+- lib/roby/test/dsl.rb
+- lib/roby/test/error.rb
+- lib/roby/test/event_reporter.rb
+- lib/roby/test/execution_expectations.rb
+- lib/roby/test/expect_execution.rb
+- lib/roby/test/minitest_helpers.rb
+- lib/roby/test/roby_app_helpers.rb
+- lib/roby/test/run_planners.rb
+- lib/roby/test/self.rb
+- lib/roby/test/spec.rb
 - lib/roby/test/tasks/empty_task.rb
 - lib/roby/test/tasks/goto.rb
-- lib/roby/test/tasks/simple_task.rb
+- lib/roby/test/teardown_plans.rb
 - lib/roby/test/testcase.rb
 - lib/roby/test/tools.rb
-- lib/roby/thread_task.rb
-- lib/roby/transactions.rb
-- lib/roby/transactions/proxy.rb
+- lib/roby/test/validate_state_machine.rb
+- lib/roby/transaction.rb
+- lib/roby/transaction/event_generator_proxy.rb
+- lib/roby/transaction/plan_object_proxy.rb
+- lib/roby/transaction/plan_service_proxy.rb
+- lib/roby/transaction/proxying.rb
+- lib/roby/transaction/task_event_generator_proxy.rb
+- lib/roby/transaction/task_proxy.rb
+- lib/roby/until_generator.rb
+- lib/roby/version.rb
+- lib/roby/yard.rb
+- lib/yard-roby.rb
 - manifest.xml
-- plugins/fault_injection/History.txt
-- plugins/fault_injection/README.txt
-- plugins/fault_injection/Rakefile
-- plugins/fault_injection/TODO.txt
-- plugins/fault_injection/app.rb
-- plugins/fault_injection/fault_injection.rb
-- plugins/fault_injection/test/test_fault_injection.rb
-- plugins/subsystems/README.txt
-- plugins/subsystems/Rakefile
-- plugins/subsystems/app.rb
-- plugins/subsystems/test/app/README
-- plugins/subsystems/test/app/Rakefile
-- plugins/subsystems/test/app/config/app.yml
-- plugins/subsystems/test/app/config/init.rb
-- plugins/subsystems/test/app/config/roby.yml
-- plugins/subsystems/test/app/planners/main.rb
-- plugins/subsystems/test/app/scripts/distributed
-- plugins/subsystems/test/app/scripts/replay
-- plugins/subsystems/test/app/scripts/results
-- plugins/subsystems/test/app/scripts/run
-- plugins/subsystems/test/app/scripts/server
-- plugins/subsystems/test/app/scripts/shell
-- plugins/subsystems/test/app/scripts/test
-- plugins/subsystems/test/app/tasks/services.rb
-- plugins/subsystems/test/test_subsystems.rb
-- test/distributed/test_communication.rb
-- test/distributed/test_connection.rb
-- test/distributed/test_execution.rb
-- test/distributed/test_mixed_plan.rb
-- test/distributed/test_plan_notifications.rb
-- test/distributed/test_protocol.rb
-- test/distributed/test_query.rb
-- test/distributed/test_remote_plan.rb
-- test/distributed/test_transaction.rb
-- test/mockups/external_process
-- test/mockups/tasks.rb
-- test/planning/test_loops.rb
-- test/planning/test_model.rb
-- test/planning/test_task.rb
-- test/relations/test_conflicts.rb
-- test/relations/test_dependency.rb
-- test/relations/test_ensured.rb
-- test/relations/test_executed_by.rb
-- test/relations/test_planned_by.rb
-- test/suite_core.rb
-- test/suite_distributed.rb
-- test/suite_planning.rb
-- test/suite_relations.rb
-- test/tasks/test_external_process.rb
-- test/tasks/test_thread_task.rb
-- test/test_bgl.rb
-- test/test_event.rb
-- test/test_exceptions.rb
-- test/test_execution_engine.rb
-- test/test_gui.rb
-- test/test_interface.rb
-- test/test_log.rb
-- test/test_log_server.rb
-- test/test_plan.rb
-- test/test_query.rb
-- test/test_relations.rb
-- test/test_state.rb
-- test/test_support.rb
-- test/test_task.rb
-- test/test_testcase.rb
-- test/test_transactions.rb
-- test/test_transactions_proxy.rb
-has_rdoc: true
-homepage: |
-  http://sites.google.com/sites/rubyinmotion
-
-licenses: []
-
-post_install_message: |-
-  <b>Note for Gem users</b> While using the normal RDoc generator, the
-  documentation generation process of Roby is a bit modified. In particular, the
-  plugin documentation is separated from the core documentation, and a clearer
-  template is used instead of the standard one. RubyGems does not support any
-  kind of customization in that area, so I would _strongly_ suggest that you use
-  the documentation provided at http://roby.rubyforge.org instead of the
-  RubyGem-generated one.
-rdoc_options: 
-- --main
-- README.txt
-- --main
-- README.txt
-- --accessor
-- attribute
-- --accessor
-- attr_predicate
-require_paths: 
+- roby.gemspec
+homepage: http://rock-robotics.org
+licenses:
+- BSD
+metadata: {}
+post_install_message: 
+rdoc_options: []
+require_paths:
 - lib
-- ext
-required_ruby_version: !ruby/object:Gem::Requirement 
-  requirements: 
+required_ruby_version: !ruby/object:Gem::Requirement
+  requirements:
   - - ">="
-    - !ruby/object:Gem::Version 
-      version: "0"
-  version: 
-required_rubygems_version: !ruby/object:Gem::Requirement 
-  requirements: 
+    - !ruby/object:Gem::Version
+      version: '0'
+required_rubygems_version: !ruby/object:Gem::Requirement
+  requirements:
   - - ">="
-    - !ruby/object:Gem::Version 
-      version: "0"
-  version: 
+    - !ruby/object:Gem::Version
+      version: '0'
 requirements: []
-
-rubyforge_project: roby
-rubygems_version: 1.3.5
+rubyforge_project: 
+rubygems_version: 2.5.1
 signing_key: 
-specification_version: 3
+specification_version: 4
 summary: A plan-based control framework for autonomous systems
-test_files: 
-- test/test_transactions_proxy.rb
-- test/test_gui.rb
-- test/tasks/test_thread_task.rb
-- test/tasks/test_external_process.rb
-- test/test_bgl.rb
-- test/test_event.rb
-- test/test_testcase.rb
-- test/test_execution_engine.rb
-- test/planning/test_model.rb
-- test/planning/test_loops.rb
-- test/planning/test_task.rb
-- test/test_query.rb
-- test/test_log_server.rb
-- test/distributed/test_plan_notifications.rb
-- test/distributed/test_execution.rb
-- test/distributed/test_protocol.rb
-- test/distributed/test_mixed_plan.rb
-- test/distributed/test_connection.rb
-- test/distributed/test_remote_plan.rb
-- test/distributed/test_query.rb
-- test/distributed/test_transaction.rb
-- test/distributed/test_communication.rb
-- test/relations/test_conflicts.rb
-- test/relations/test_dependency.rb
-- test/relations/test_ensured.rb
-- test/relations/test_planned_by.rb
-- test/relations/test_executed_by.rb
-- test/test_log.rb
-- test/test_interface.rb
-- test/test_exceptions.rb
-- test/test_state.rb
-- test/test_plan.rb
-- test/test_transactions.rb
-- test/test_support.rb
-- test/test_relations.rb
-- test/test_task.rb
+test_files: []