roby 0.7 → 0.7.1

data/.gitignore

@@ -2,7 +2,7 @@ Makefile
 ext/*/*.o
 ext/*/*.so
 ext/*/mkmf.log
-lib/roby/*.so
+lib/roby_*.so
 *_ui.rb
 
 doc/rdoc

data/History.txt

@@ -1,3 +1,12 @@
+=== 0.7.1
+
+* Fixed extension handling in 'rake setup'. It should work again.
+* Fixed a lack of proper synchronization in operations without an execution
+  thread. This led to pile of strange errors in Roby's own test suite, but
+  should not have impacted normal operations (where a separate execution thread
+  exists)
+* Fixed a potential race condition in PlanningTask
+
 === 0.7
 
 * First public release. This release is still not compatible with Ruby 1.9, as

data/README.txt

@@ -161,3 +161,6 @@ one[http://github.com/doudou/roby].
 Once the source is installed, run
   rake setup
 
+Define first the BOOST_DIR environment variable to Boost's installation path if
+that path is non-standard.
+

data/Rakefile

@@ -54,7 +54,7 @@ def build_extension(name, soname = name)
 	    raise "cannot set up #{name} extension"
 	end
     end
-    FileUtils.ln_sf "../../ext/#{name}/#{soname}.so", "lib/roby/#{soname}.so"
+    FileUtils.ln_sf "../ext/#{name}/#{soname}.so", "lib/#{soname}.so"
 end
 def clean_extension(name, soname = name)
     puts "Cleaning ext/#{name}"
@@ -91,8 +91,8 @@ end
 
 desc 'generate and build all the necessary files'
 task :setup => :uic do
-    build_extension 'droby'
-    build_extension 'graph', 'bgl'
+    build_extension 'droby', 'roby_marshalling'
+    build_extension 'graph', 'roby_bgl'
 end
 
 desc 'remove all generated files'

data/lib/roby/config.rb

@@ -1,5 +1,5 @@
 module Roby
-    VERSION = '0.7'
+    VERSION = '0.7.1'
     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/control.rb

@@ -115,7 +115,7 @@ module Roby
 	# it has finished. The return value is the value returned by the block
 	def execute
 	    if Roby.inside_control?
-		return yield
+		return Roby::Control.synchronize { yield }
 	    end
 
 	    cv = condition_variable

data/lib/roby/distributed/transaction.rb

@@ -196,7 +196,7 @@ module Roby
 		    proxy_objects.each_key { |o| all_objects << o }
 		    Distributed.update(self) do
 			Distributed.update_all(all_objects) do
-			    super()
+			    super() { yield if block_given? }
 			end
 		    end
 		end

data/lib/roby/event.rb

@@ -204,17 +204,18 @@ module Roby
 	    if Propagation.gathering?
 		Propagation.add_event_propagation(false, Propagation.sources, self, (context unless context.empty?), nil)
 	    else
-		errors = Propagation.propagate_events do |initial_set|
-		    Propagation.add_event_propagation(false, nil, self, (context unless context.empty?), nil)
-		end
-		if errors.size == 1
-		    e = errors.first.exception
-		    raise e, e.message, e.backtrace
-		elsif !errors.empty?
-		    for e in errors
-			STDERR.puts e.exception.full_message
+		Roby::Control.synchronize do
+		    errors = Propagation.propagate_events do |initial_set|
+			Propagation.add_event_propagation(false, nil, self, (context unless context.empty?), nil)
+		    end
+		    if errors.size == 1
+			e = errors.first.exception
+			raise e, e.message, e.backtrace
+		    elsif !errors.empty?
+			for e in errors
+			    STDERR.puts e.exception.full_message
+			end
 		    end
-		    raise "multiple exceptions"
 		end
 	    end
 	end
@@ -461,17 +462,18 @@ module Roby
 	    if Propagation.gathering?
 		Propagation.add_event_propagation(true, Propagation.sources, self, (context unless context.empty?), nil)
 	    else
-		errors = Propagation.propagate_events do |initial_set|
-		    Propagation.add_event_propagation(true, Propagation.sources, self, (context unless context.empty?), nil)
-		end
-		if errors.size == 1
-		    e = errors.first.exception
-		    raise e, e.message, e.backtrace
-		elsif !errors.empty?
-		    for e in errors
-			STDERR.puts e.full_message
+		Roby::Control.synchronize do
+		    errors = Propagation.propagate_events do |initial_set|
+			Propagation.add_event_propagation(true, Propagation.sources, self, (context unless context.empty?), nil)
+		    end
+		    if errors.size == 1
+			e = errors.first.exception
+			raise e, e.message, e.backtrace
+		    elsif !errors.empty?
+			for e in errors
+			    STDERR.puts e.full_message
+			end
 		    end
-		    raise "multiple exceptions"
 		end
 	    end
 	end

data/lib/roby/planning/task.rb

@@ -47,14 +47,16 @@ module Roby
 	end
 
 	def planned_task
-	    task = planned_tasks.find { true }
-	    if !task && pending?
+	    if success? || result
+		result
+	    elsif task = planned_tasks.find { true }
+		task
+	    elsif pending?
 		task = planned_model.new
 		task.planned_by self
 		task.executable = false
+		task
 	    end
-
-	    task
 	end
 
 	# The thread that is running the planner
@@ -103,9 +105,9 @@ module Roby
 	    # If the transaction is distributed, and is not proposed to all
 	    # owners, do it
 	    transaction.propose
-	    transaction.commit_transaction
-
-	    @result = result_task
+	    transaction.commit_transaction do
+		@result = result_task
+	    end
 	end
 
 	# Polls for the planning thread end

data/lib/roby/transactions.rb

@@ -405,6 +405,8 @@ module Roby
 		committed_transaction
 		plan.remove_transaction(self)
 		@plan = nil
+
+		yield if block_given?
 	    end
 	end
 	def committed_transaction; super if defined? super end

data/test/planning/test_loops.rb

@@ -162,46 +162,54 @@ class TC_PlanningLoop < Test::Unit::TestCase
     # end. The system tries to always have some prepared subplans ready to be
     # executed.
     def test_periodic
-        main_task, loop_planner = prepare_plan :period => 0.5, :lookahead => 2
+        main_task, loop_planner = prepare_plan :period => 1, :lookahead => 2
 	loop_planner.start!
 
-        assert_equal(2, loop_planner.patterns.size)
-        first_planner  = loop_planner.patterns[-1].first
-        second_planner = loop_planner.patterns[-2].first
-        assert(first_planner.running?)
-        assert(!second_planner.running?)
+	FlexMock.use(Time) do |time_proxy|
+	    current_time = Time.now + 5
+	    time_proxy.should_receive(:now).and_return { current_time }
 
-        # Call #loop_start! already, to make the loop start the first running
-        # task as soon as it is ready.
-	loop_planner.loop_start!
+	    assert_equal(2, loop_planner.patterns.size)
+	    first_planner  = loop_planner.patterns[-1].first
+	    second_planner = loop_planner.patterns[-2].first
+	    assert(first_planner.running?)
+	    assert(!second_planner.running?)
 
-        # Usual pattern: wait for the result of the first two planners, check
-        # that the first task actually runs
-        first_task  = planning_task_result(first_planner)
-        second_task = planning_task_result(second_planner)
-        third_planner = loop_planner.patterns[-3].first
-        assert(third_planner.running?)
-	assert(first_task.running?)
-	assert(second_task.pending?)
+	    # Call #loop_start! already, to make the loop start the first running
+	    # task as soon as it is ready.
+	    loop_planner.loop_start!
 
-        # Make the first task finish and make sure the system does not start it right away
-	first_task.success!
-	assert(first_task.success?)
-        assert(second_task.pending?)
-	process_events
-	assert(second_task.pending?)
-	sleep(0.6)
-	process_events
-	assert(second_task.running?, loop_planner.arguments)
-
-        # Use the third task to check that the timeout can be overriden by
-        # calling loop_start! on the PlanningLoop task
-        third_task = planning_task_result(third_planner)
+	    # Usual pattern: wait for the result of the first two planners, check
+	    # that the first task actually runs
+	    first_task  = planning_task_result(first_planner)
+	    second_task = planning_task_result(second_planner)
+	    third_planner = loop_planner.patterns[-3].first
+	    assert(third_planner.running?)
+	    assert(first_task.running?)
+	    assert(second_task.pending?)
+
+	    # Make the first task finish and make sure the system does not start it right away
+	    first_task.success!
+	    assert(first_task.success?)
+	    assert(second_task.pending?)
+
+	    current_time += 0.2
+	    process_events
+	    assert(second_task.pending?)
 
-	assert(second_task.running? && !third_task.running?)
-	second_task.success!
-	loop_planner.loop_start!
-	assert(!second_task.running? && third_task.running?)
+	    current_time += 0.8
+	    process_events
+	    assert(second_task.running?, loop_planner.arguments)
+
+	    # Use the third task to check that the timeout can be overriden by
+	    # calling loop_start! on the PlanningLoop task
+	    third_task = planning_task_result(third_planner)
+
+	    assert(second_task.running? && !third_task.running?)
+	    second_task.success!
+	    loop_planner.loop_start!
+	    assert(!second_task.running? && third_task.running?)
+	end
     end
 
     # Test periodic loop tasks with zero lookahead

data/test/suite_core.rb

@@ -9,11 +9,11 @@ require 'test_state'
 require 'test_propagation'
 require 'test_exceptions'
 
-
 require 'test_plan'
 require 'test_query'
 require 'test_transactions'
 require 'test_transactions_proxy'
+require 'test_thread_task'
 
 require 'suite_planning'
 require 'suite_relations'

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification 
 name: roby
 version: !ruby/object:Gem::Version 
-  version: "0.7"
+  version: 0.7.1
 platform: ruby
 authors: 
 - Sylvain Joyeux
@@ -9,7 +9,7 @@ autorequire:
 bindir: bin
 cert_chain: []
 
-date: 2008-05-28 00:00:00 +02:00
+date: 2008-05-29 00:00:00 +02:00
 default_executable: 
 dependencies: 
 - !ruby/object:Gem::Dependency 
@@ -528,43 +528,43 @@ required_rubygems_version: !ruby/object:Gem::Requirement
 requirements: []
 
 rubyforge_project: roby
-rubygems_version: 1.0.1
+rubygems_version: 1.1.1
 signing_key: 
 specification_version: 2
 summary: A plan-based control framework for autonomous systems
 test_files: 
-- test/test_transactions.rb
-- test/test_task.rb
-- test/test_log_server.rb
-- test/planning/test_model.rb
-- test/planning/test_task.rb
+- test/relations/test_hierarchy.rb
+- test/relations/test_planned_by.rb
+- test/relations/test_executed_by.rb
+- test/relations/test_conflicts.rb
+- test/relations/test_ensured.rb
+- test/test_exceptions.rb
+- test/test_query.rb
 - test/planning/test_loops.rb
+- test/planning/test_task.rb
+- test/planning/test_model.rb
+- test/test_transactions.rb
 - test/test_support.rb
-- test/test_control.rb
-- test/test_exceptions.rb
+- test/test_relations.rb
+- test/test_interface.rb
+- test/test_log_server.rb
+- test/test_event.rb
+- test/test_bgl.rb
 - test/test_plan.rb
-- test/test_log.rb
-- test/distributed/test_execution.rb
-- test/distributed/test_connection.rb
+- test/test_thread_task.rb
+- test/distributed/test_query.rb
 - test/distributed/test_communication.rb
+- test/distributed/test_transaction.rb
 - test/distributed/test_remote_plan.rb
-- test/distributed/test_mixed_plan.rb
 - test/distributed/test_plan_notifications.rb
-- test/distributed/test_transaction.rb
-- test/distributed/test_query.rb
+- test/distributed/test_mixed_plan.rb
+- test/distributed/test_connection.rb
+- test/distributed/test_execution.rb
 - test/distributed/test_protocol.rb
+- test/test_task.rb
+- test/test_control.rb
 - test/test_transactions_proxy.rb
-- test/test_relations.rb
 - test/test_testcase.rb
-- test/test_query.rb
-- test/test_interface.rb
-- test/relations/test_planned_by.rb
-- test/relations/test_executed_by.rb
-- test/relations/test_hierarchy.rb
-- test/relations/test_conflicts.rb
-- test/relations/test_ensured.rb
-- test/test_bgl.rb
-- test/test_thread_task.rb
-- test/test_event.rb
-- test/test_state.rb
 - test/test_propagation.rb
+- test/test_state.rb
+- test/test_log.rb