roby 0.7.2 → 0.7.3

data/History.txt

@@ -1,3 +1,9 @@
+=== 0.7.3
+
+* fix needed update to run on latest activesupport
+This is probably the last release of 0.7. The 'next' branch will become 0.8 as
+soon as it is tested enough
+
 === 0.7.2
 
 * fixed a memory leak regarding the event propagation histories. Until now,

data/Manifest.txt

@@ -229,6 +229,7 @@ test/test_bgl.rb
 test/test_control.rb
 test/test_event.rb
 test/test_exceptions.rb
+test/test_gui.rb
 test/test_interface.rb
 test/test_log.rb
 test/test_log_server.rb

data/Rakefile

@@ -1,6 +1,5 @@
 $LOAD_PATH.unshift File.expand_path('lib', File.dirname(__FILE__))
 require 'enumerator'
-require 'hoe'
 require 'roby/config'
 
 begin
@@ -11,11 +10,16 @@ begin
 
             p.summary = 'A plan-based control framework for autonomous systems'
             p.url         = p.paragraphs_of('README.txt', 1).join("\n\n")
-            p.description = p.paragraphs_of('README.txt', 2..18).join("\n\n")
+            p.description = p.paragraphs_of('README.txt', 3..5).join("\n\n")
+            p.description +=
+"\n\nSee the README.txt file at http://roby.rubyforge.org for more
+informations, including links to tutorials and demonstration videos"
             p.changes     = p.paragraphs_of('History.txt', 0..1).join("\n\n")
             p.post_install_message = p.paragraphs_of('README.txt', 2).join("\n\n")
 
-            p.extra_deps << ['facets', '>= 2.0'] << 'activesupport' << ['utilrb', '>= 1.3.1']
+            p.extra_deps << ['facets', '>= 2.0'] << 'activesupport' << ['utilrb', '>= 1.3.1'] <<
+                ['rake', '>= 0.8.3']
+            p.extra_dev_deps << 'flexmock'
             if p.respond_to? :need_rdoc=
                 p.need_rdoc = false
             end
@@ -42,8 +46,8 @@ begin
 	    tasks.delete_if { |n, _| n =~ /dist:(re|clobber_|)docs/ }
 	end
     end
-rescue LoadError
-    puts "cannot load the Hoe gem, distribution is disabled"
+rescue
+    puts "cannot setup Hoe, distribution is disabled"
 end
 
 def build_extension(name, soname = name)
@@ -104,9 +108,14 @@ end
 UIFILES = %w{relations.ui relations_view.ui data_displays.ui replay_controls.ui basic_display.ui chronicle_view.ui}
 desc 'generate all Qt UI files using rbuic4'
 task :uic do
+    rbuic = 'rbuic4'
+    if File.exists?('/usr/lib/kde4/bin/rbuic4')
+        rbuic = '/usr/lib/kde4/bin/rbuic4'
+    end
+
     UIFILES.each do |file|
 	file = 'lib/roby/log/gui/' + file
-	if !system('rbuic4', '-o', file.gsub(/\.ui$/, '_ui.rb'), file)
+	if !system(rbuic, '-o', file.gsub(/\.ui$/, '_ui.rb'), file)
 	    STDERR.puts "Failed to generate #{file}"
 	end
     end

data/lib/roby/app/scripts/run.rb

@@ -6,6 +6,7 @@ app.robot robot_name, (ARGV.shift || robot_name)
 app.setup
 begin
     app.run do
+        Robot.info "loaded Roby #{Roby::VERSION}"
 	# Load the controller
 	include Roby
 	Roby.execute do

data/lib/roby/app/scripts/shell.rb

@@ -4,6 +4,8 @@ require 'roby/distributed'
 require 'roby/distributed/protocol'
 require 'optparse'
 
+require 'pp'
+
 remote_url = nil
 opt = OptionParser.new do |opt|
     opt.on('--host URL', String, "sets the host to connect to") do |url|
@@ -33,7 +35,18 @@ end
 DRb.start_service
 
 require 'irb'
-IRB.setup(nil)
+IRB.setup(remote_url)
+IRB.conf[:INSPECT_MODE] = false
+IRB.conf[:IRB_NAME]     = remote_url
+IRB.conf[:PROMPT_MODE]  = :ROBY
+IRB.conf[:AUTO_INDENT] = true
+IRB.conf[:PROMPT][:ROBY] = {
+    :PROMPT_I => "%N > ",
+    :PROMPT_N => "%N > ",
+    :PROMPT_S => "%N %l ",
+    :PROMPT_C => "%N * ",
+    :RETURN => "=> %s\n"
+}
 
 control = Roby::RemoteInterface.new(DRbObject.new_with_uri("druby://#{remote_url}"))
 

data/lib/roby/config.rb

@@ -8,7 +8,7 @@ try it on 1.9, checkout the 1.9 branch of the development repository on github
 end
 
 module Roby
-    VERSION = '0.7.2'
+    VERSION = '0.7.3'
     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/event.rb

@@ -171,6 +171,7 @@ module Roby
 	    end
 	    super() if defined? super
 	    @executable = true
+
 	end
 
 	def default_command(context)
@@ -183,12 +184,39 @@ module Roby
 	# True if this event is controlable
 	def controlable?; !!@command end
 
+	# Checks that the event can be called. Raises various exception
+	# when it is not the case.
+	def check_call_validity
+	    if !self_owned?
+		raise OwnershipError, "not owner"
+	    elsif !controlable?
+		raise EventNotControlable.new(self), "#call called on a non-controlable event"
+	    elsif !executable?
+		raise EventNotExecutable.new(self), "#call called on #{self} which is non-executable event"
+	    elsif !Roby.inside_control?
+		raise ThreadMismatch, "#call called while not in control thread"
+	    end
+	end
+
+	# Checks that the event can be emitted. Raises various exception
+	# when it is not the case.
+	def check_emission_validity
+	    if !executable?
+		raise EventNotExecutable.new(self), "#emit called on #{self} which is not executable"
+	    elsif !self_owned?
+		raise OwnershipError, "cannot emit an event we don't own. #{self} is owned by #{owners}"
+	    elsif !Roby.inside_control?
+		raise ThreadMismatch, "#emit called while not in control thread"
+	    end
+	end
+
 	# Returns true if the command has been called and false otherwise
 	# The command won't be called if #postpone() is called within the
 	# #calling hook
 	#
 	# This is used by propagation code, and should never be called directly
 	def call_without_propagation(context) # :nodoc:
+            check_call_validity
 	    if !controlable?
 		raise EventNotControlable.new(self), "#call called on a non-controlable event"
 	    end
@@ -222,15 +250,7 @@ module Roby
 	# non-controlable and respond to the :call message. Controlability must
 	# be checked using #controlable?
 	def call(*context)
-	    if !self_owned?
-		raise OwnershipError, "not owner"
-	    elsif !controlable?
-		raise EventNotControlable.new(self), "#call called on a non-controlable event"
-	    elsif !executable?
-		raise EventNotExecutable.new(self), "#call called on #{self} which is non-executable event"
-	    elsif !Roby.inside_control?
-		raise ThreadMismatch, "#call called while not in control thread"
-	    end
+            check_call_validity
 
 	    context.compact!
 	    if Propagation.gathering?
@@ -426,7 +446,7 @@ module Roby
 		begin
 		    h.call(event)
 		rescue Exception => e
-		    Propagation.add_error( EventHandlerError.new(e, event) )
+                    Propagation.add_error( EventHandlerError.new(e, event) )
 		end
 	    end
 	end
@@ -460,6 +480,7 @@ module Roby
 	#
 	# This is used by event propagation. Do not call directly: use #call instead
 	def emit_without_propagation(context) # :nodoc:
+            check_emission_validity
 	    if !executable?
 		raise EventNotExecutable.new(self), "#emit called on #{self} which is not executable"
 	    end
@@ -482,13 +503,7 @@ module Roby
 
 	# Emit the event with +context+ as the event context
 	def emit(*context)
-	    if !executable?
-		raise EventNotExecutable.new(self), "#emit called on #{self} which is not executable"
-	    elsif !self_owned?
-		raise OwnershipError, "cannot emit an event we don't own. #{self} is owned by #{owners}"
-	    elsif !Roby.inside_control?
-		raise ThreadMismatch, "#emit called while not in control thread"
-	    end
+            check_emission_validity
 
 	    context.compact!
 	    if Propagation.gathering?

data/lib/roby/log/file.rb

@@ -43,8 +43,17 @@ module Roby::Log
 	    super(@event_io)
 
 	    @index_data = Array.new
-	    update_index
-	    rewind
+            begin
+                rewind
+            rescue ArgumentError, EOFError
+                rebuild_index
+                rewind
+            end
+
+            if !valid_index?
+                rebuild_index
+                rewind
+            end
 	end
 
 	# Reads as much index data as possible
@@ -65,6 +74,28 @@ module Roby::Log
 	    return if index_data.empty?
 	end
 
+        def valid_index?
+            100.times do |i|
+                break if i * 10 >= index_data.size
+                index = index_data[i * 10]
+
+                event_io.seek(index[:pos])
+                cycle = begin
+                    Marshal.load(event_io)
+                rescue EOFError
+                    return false
+                rescue ArgumentError
+                    return false
+                end
+
+                if cycle[-4] != :cycle_end ||
+                    cycle[-1].first != index
+                    return false
+                end
+            end
+            true
+        end
+
 	def rewind
 	    @event_io.rewind
 	    Marshal.load(@event_io)

data/lib/roby/log/gui/relations.rb

@@ -18,7 +18,7 @@ module Ui
 	CATEGORIES = ['Task structure']
 
 	def event_root_index; createIndex(TASK_ROOT_INDEX, 0, -1) end
-	def task_root_index; createIndex(EVENT_ROOT_INDEX, 0, -1) end
+	def task_root_index;  createIndex(EVENT_ROOT_INDEX, 0, -1) end
 
 	attr_reader :relations
 	attr_reader :display
@@ -31,10 +31,30 @@ module Ui
 	    @relations = []
 
 	    relations[TASK_ROOT_INDEX]  = Roby::TaskStructure.enum_for(:each_relation).to_a
+
+            RelationConfigModel.detect_qtruby_behaviour(createIndex(0, 0, 0))
 	end
 
+        QTRUBY_INDEX_USING_POINTERS  = 1
+        QTRUBY_INDEX_USING_OBJECTIDS = 2
+        def self.detect_qtruby_behaviour(idx)
+            if idx.internalPointer == 0
+                @@qtruby_behaviour = QTRUBY_INDEX_USING_POINTERS
+            elsif idx.internalId == 1
+                @@qtruby_behaviour = QTRUBY_INDEX_USING_OBJECTIDS
+            end
+        end
+
+        def self.category_from_index(idx)
+            if @@qtruby_behaviour == QTRUBY_INDEX_USING_POINTERS
+                idx.internalPointer
+            else
+                idx.internalId >> 1
+            end
+        end
+
 	def index(row, column, parent)
-	    if parent.valid? && parent.internalPointer == -1
+	    if parent.valid? && RelationConfigModel.category_from_index(parent) == -1
 		createIndex(row, column, parent.row)
 	    elsif row < relations.size
 		createIndex(row, column, -1)
@@ -42,13 +62,14 @@ module Ui
 		Qt::ModelIndex.new
 	    end
 	end
+
 	def parent(index)
-	    category = index.internalPointer
+	    category = RelationConfigModel.category_from_index(index)
 	    if !index.valid? || category == -1 then Qt::ModelIndex.new
 	    else createIndex(category, 0, -1) end
 	end
 	def columnCount(parent); 2 end
-	def hasChildren(parent); !parent.valid? || parent.internalPointer == -1 end
+	def hasChildren(parent); !parent.valid? || RelationConfigModel.category_from_index(parent) == -1 end
 	def rowCount(parent)
 	    if !parent.valid? then relations.size
 	    else relations[parent.row].size end
@@ -62,7 +83,7 @@ module Ui
 	def data(index, role)
 	    return Qt::Variant.new unless index.valid?
 
-	    category = index.internalPointer
+	    category = RelationConfigModel.category_from_index(index)
 	    value = if category == -1
 			if index.column == COL_NAME && role == Qt::DisplayRole
 			    CATEGORIES[index.row]
@@ -86,7 +107,7 @@ module Ui
 	    end
 	end
 	def setData(index, value, role)
-	    category = index.internalPointer
+	    category = RelationConfigModel.category_from_index(index)
 	    relation = relations[category][index.row]
 	    if role == Qt::CheckStateRole
 		case value.to_i
@@ -104,7 +125,7 @@ module Ui
 	    emit dataChanged(index, index)
 	end
 	def flags(index)
-	    if !index.valid? || index.internalPointer == -1 then Qt::ItemIsEnabled 
+	    if !index.valid? || RelationConfigModel.category_from_index(index) == -1 then Qt::ItemIsEnabled 
 	    else 
 		flags = Qt::ItemIsSelectable | Qt::ItemIsTristate | Qt::ItemIsEnabled | Qt::ItemIsUserCheckable
 		if index.column == 1
@@ -124,7 +145,7 @@ module Ui
 	    nil
 	end
 	def paint(painter, option, index)
-	    if index.column == 1 && index.internalPointer >= 0
+	    if index.column == 1 && RelationConfigModel.category_from_index(index) >= 0
 		color = index.model.data(index, Qt::DisplayRole).to_string
 		rect = option.rect
 		rect.adjust(1, 1, -1, -1)

data/lib/roby/log/gui/replay.rb

@@ -2,6 +2,7 @@ require 'Qt4'
 require 'roby/app'
 require 'optparse'
 
+require 'roby/log/event_stream'
 require 'roby/log/gui/replay_controls'
 require 'roby/log/gui/data_displays'
 
@@ -135,9 +136,14 @@ class Replay < Qt::MainWindow
 	    @first_sample = @time = min
 	    @last_sample  = max
 
-	    ui_controls.progress.minimum = min.to_i
-	    ui_controls.progress.maximum = max.to_i
-	    ui_controls.update_bookmarks_menu
+            if min
+                ui_controls.progress.minimum = min.to_i
+                ui_controls.progress.maximum = max.to_i
+                ui_controls.update_bookmarks_menu
+            else
+                ui_controls.progress.minimum = 0
+                ui_controls.progress.maximum = 1
+            end
 	else
 	    play_until time, integrate
 	end
@@ -146,8 +152,13 @@ class Replay < Qt::MainWindow
     end
 
     def update_time_display
-	ui_controls.time_lcd.display(((self.time - first_sample) * 1000.0).round / 1000.0)
-	ui_controls.progress.value = self.time.to_i
+        if first_sample
+            ui_controls.time_lcd.display(((self.time - first_sample) * 1000.0).round / 1000.0)
+            ui_controls.progress.value = self.time.to_i
+        else
+            ui_controls.time_lcd.display(0)
+            ui_controls.progress.value = 0
+        end
     end
 
     attr_reader :time

data/lib/roby/log/gui/replay_controls.rb

@@ -182,9 +182,12 @@ class Ui::ReplayControls
 			retry
 		    end
 
-	unless replay.first_sample
+	if !replay.first_sample
 	    replay.seek(nil)
 	end
+        if !replay.first_sample # no samples at all !
+            return
+        end
 
 	user_time = if !op
 			replay.first_sample + (user_time - Time.at(0))

data/lib/roby/support.rb

@@ -1,4 +1,4 @@
-require 'active_support/core_ext/string/inflections'
+require 'active_support/inflector'
 class String # :nodoc: all
     include ActiveSupport::CoreExtensions::String::Inflections
 end

data/lib/roby/task.rb

@@ -248,6 +248,41 @@ module Roby
 		super(obj)
 	    end
 	end
+
+	# Checks that the event can be called. Raises various exception
+	# when it is not the case.
+	def check_call_validity
+  	    super
+    	rescue EventNotExecutable => e
+	    refine_exception(e)
+	end
+
+	# Checks that the event can be emitted. Raises various exception
+	# when it is not the case.
+	def check_emission_validity
+  	    super
+    	rescue EventNotExecutable => e
+	    refine_exception(e)
+    	end
+
+
+	def refine_exception (e)
+	    if task.partially_instanciated?
+		raise EventNotExecutable.new(self), "#{name}! called on #{task} which is partially instanciated\n" + 
+			"The following arguments were not set: \n" +
+			task.list_unset_arguments.map {|n| "\t#{n}"}.join("\n")+"\n"
+# 						
+	    elsif !plan
+		raise EventNotExecutable.new(self), "#{name}! called on #{task} but the task is in no plan"
+	    elsif !plan.executable?
+		raise EventNotExecutable.new(self), "#{name}! called on #{task} but the plan is not executable"
+	    elsif task.abstract?
+		raise EventNotExecutable.new(self), "#{name}! called on #{task} but the task is abstract"
+	    else
+		raise EventNotExecutable.new(self), "#{name}! called on #{task} which is not executable: #{e.message}"
+	    end
+	end
+
     end
 
     class TaskArguments < Hash
@@ -473,10 +508,23 @@ module Roby
 	    @model = self.class
 
             yield(self) if block_given?
-
 	    initialize_events
 	end
 
+
+        # Lists all arguments, that are set to be needed via the :argument 
+        # syntax but are not set.
+        # This is needed for debugging purposes.
+        def list_unset_arguments
+            ret = Array.new
+            model.arguments.each { |name| 
+                  if !arguments.has_key?(name) then 
+                     ret << name
+                  end }
+            ret
+        end
+            
+
         # Helper methods which creates all the necessary TaskEventGenerator
         # objects and stores them in the #bound_events map
 	def initialize_events # :nodoc:
@@ -672,7 +720,7 @@ module Roby
 	def executable?; !abstract? && !partially_instanciated? && super end
 	# Returns true if this task's stop event is controlable
 	def interruptible?; event(:stop).controlable? end
-	# Set the executable flag. executable cannot be set to +false+ is the 
+	# Set the executable flag. executable cannot be set to +false+ if the 
 	# task is running, and cannot be set to true on a finished task.
 	def executable=(flag)
 	    return if flag == @executable
@@ -1119,22 +1167,8 @@ module Roby
 
 		# define an instance method which calls the event command
 		define_method("#{ev_s}!") do |*context| 
-		    begin
 			generator = event(ev)
 			generator.call(*context) 
-		    rescue EventNotExecutable => e
-			if partially_instanciated?
-			    raise EventNotExecutable.new(generator), "#{ev_s}! called on #{generator.task} which is partially instanciated"
-			elsif !plan
-			    raise EventNotExecutable.new(generator), "#{ev_s}! called on #{generator.task} but the task is in no plan"
-			elsif !plan.executable?
-			    raise EventNotExecutable.new(generator), "#{ev_s}! called on #{generator.task} but the plan is not executable"
-			elsif abstract?
-			    raise EventNotExecutable.new(generator), "#{ev_s}! called on #{generator.task} but the task is abstract"
-			else
-			    raise EventNotExecutable.new(generator), "#{ev_s}! called on #{generator.task} which is not executable: #{e.message}"
-			end
-		    end
 		end
             end
 
@@ -1611,6 +1645,7 @@ module Roby
     unless defined? TaskStructure
 	TaskStructure   = RelationSpace(Task)
     end
+
 end
 
 require 'roby/task-operations'

data/test/suite_core.rb

@@ -22,3 +22,5 @@ require 'test_control'
 require 'test_interface'
 require 'test_log'
 
+require 'test_gui'
+

data/test/test_gui.rb

@@ -0,0 +1,20 @@
+$LOAD_PATH.unshift File.expand_path('..', File.dirname(__FILE__))
+require 'roby/test/common'
+require 'roby/test/tasks/simple_task'
+require 'roby/test/tasks/empty_task'
+
+require 'roby/log/gui/relations'
+
+class TC_Task < Test::Unit::TestCase 
+    include Roby::Test
+
+    def test_index_handling
+        model = Ui::RelationConfigModel.new(nil)
+        [-1, 0, 222].each do |id|
+            idx = model.createIndex(0, 0, id)
+            assert_equal(id, Ui::RelationConfigModel.category_from_index(idx))
+        end
+    end
+end
+
+

data/test/test_task.rb

@@ -560,6 +560,17 @@ class TC_Task < Test::Unit::TestCase
 	assert_equal(task.event(:failed).last, task.terminal_event)
     end
 
+    def assert_exception_message(klass, msg)
+        yield
+        flunk 'no exception raised'
+    rescue klass => e
+        unless msg === e.message
+            flunk "exception message '#{e.message}' does not match the expected pattern"
+        end
+    rescue Exception => e
+        flunk "expected an exception of class #{klass} but got #{e.full_message}"
+    end
+
     def test_executable
 	model = Class.new(SimpleTask) do 
 	    event(:inter, :command => true)
@@ -570,6 +581,8 @@ class TC_Task < Test::Unit::TestCase
 	assert_raises(EventNotExecutable) { task.start! }
 	assert_raises(EventNotExecutable) { task.event(:start).call }
 
+
+
 	plan.discover(task)
 	assert(task.executable?)
 	assert_nothing_raised { task.event(:start).call(nil) }
@@ -593,6 +606,83 @@ class TC_Task < Test::Unit::TestCase
 	task.executable = nil
 	assert(task.executable?)
     end
+	
+    class ParameterizedTask < Roby::Task
+        arguments :arg
+    end
+    
+    class AbstractTask < Roby::Task
+        abstract
+    end
+
+    class NotExecutablePlan < Roby::Plan
+        def executable?
+            false
+	end
+    end
+    
+    def exception_propagator(task, relation)
+	first_task  = SimpleTask.new
+	second_task = task
+	first_task.send(relation, :start, second_task, :start)
+	first_task.start!
+    end
+    
+    def check_direct_start(substring, check_signaling)
+        error = yield
+	assert_exception_message(EventNotExecutable, substring) { error.start! }
+        error = yield
+	assert_exception_message(EventNotExecutable, substring) {error.event(:start).call(nil)}
+        error = yield
+	assert_exception_message(EventNotExecutable, substring) {error.event(:start).emit(nil)}
+	
+	if check_signaling then
+	    error = yield
+	    assert_exception_message(EventNotExecutable, substring) do
+	       exception_propagator(error, :on)
+	    end
+	    error = yield
+	    assert_exception_message(EventNotExecutable, substring) do
+	       exception_propagator(error, :forward)
+	    end
+	end
+    end
+        
+    def test_exception_refinement
+	# test for partially instanciation
+	check_direct_start(/partially instanciated/,true) do
+	   plan.discover(task = ParameterizedTask.new)
+	   task
+	end
+
+        #test for a task that is in no plan
+        check_direct_start(/no plan/,false) do
+            SimpleTask.new
+	end
+        
+        #test for an abstract task
+        check_direct_start(/abstract/,true) do
+            plan.discover(task = AbstractTask.new)
+            task
+	end
+	
+	#test for a not executable plan
+	erroneous_plan = NotExecutablePlan.new	
+	check_direct_start(/plan is not executable/,false) do
+	   erroneous_plan.discover(task = SimpleTask.new)
+	   task
+	end
+        erroneous_plan.garbage_collect	
+        
+        #test for a not executable task
+        check_direct_start(/is not executable/,true) do
+            plan.discover(task = SimpleTask.new)
+            task.executable = false
+            task
+	end
+    end
+	
+    
 
     def test_task_success_failure
 	FlexMock.use do |mock|

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification 
 name: roby
 version: !ruby/object:Gem::Version 
-  version: 0.7.2
+  version: 0.7.3
 platform: ruby
 authors: 
 - Sylvain Joyeux
@@ -9,11 +9,12 @@ autorequire:
 bindir: bin
 cert_chain: []
 
-date: 2008-06-14 00:00:00 +02:00
+date: 2009-03-01 00:00:00 +01:00
 default_executable: 
 dependencies: 
 - !ruby/object:Gem::Dependency 
   name: facets
+  type: :runtime
   version_requirement: 
   version_requirements: !ruby/object:Gem::Requirement 
     requirements: 
@@ -23,6 +24,7 @@ dependencies:
     version: 
 - !ruby/object:Gem::Dependency 
   name: activesupport
+  type: :runtime
   version_requirement: 
   version_requirements: !ruby/object:Gem::Requirement 
     requirements: 
@@ -32,6 +34,7 @@ dependencies:
     version: 
 - !ruby/object:Gem::Dependency 
   name: utilrb
+  type: :runtime
   version_requirement: 
   version_requirements: !ruby/object:Gem::Requirement 
     requirements: 
@@ -39,14 +42,35 @@ dependencies:
       - !ruby/object:Gem::Version 
         version: 1.3.1
     version: 
+- !ruby/object:Gem::Dependency 
+  name: rake
+  type: :runtime
+  version_requirement: 
+  version_requirements: !ruby/object:Gem::Requirement 
+    requirements: 
+    - - ">="
+      - !ruby/object:Gem::Version 
+        version: 0.8.3
+    version: 
+- !ruby/object:Gem::Dependency 
+  name: flexmock
+  type: :development
+  version_requirement: 
+  version_requirements: !ruby/object:Gem::Requirement 
+    requirements: 
+    - - ">="
+      - !ruby/object:Gem::Version 
+        version: "0"
+    version: 
 - !ruby/object:Gem::Dependency 
   name: hoe
+  type: :development
   version_requirement: 
   version_requirements: !ruby/object:Gem::Requirement 
     requirements: 
     - - ">="
       - !ruby/object:Gem::Version 
-        version: 1.5.3
+        version: 1.9.0
     version: 
 description: A plan-based control framework for autonomous systems
 email: 
@@ -230,6 +254,7 @@ extra_rdoc_files:
 - test/test_control.rb
 - test/test_event.rb
 - test/test_exceptions.rb
+- test/test_gui.rb
 - test/test_interface.rb
 - test/test_log.rb
 - test/test_log_server.rb
@@ -476,6 +501,7 @@ files:
 - test/test_control.rb
 - test/test_event.rb
 - test/test_exceptions.rb
+- test/test_gui.rb
 - test/test_interface.rb
 - test/test_log.rb
 - test/test_log_server.rb
@@ -528,43 +554,44 @@ required_rubygems_version: !ruby/object:Gem::Requirement
 requirements: []
 
 rubyforge_project: roby
-rubygems_version: 1.1.1
+rubygems_version: 1.2.0
 signing_key: 
 specification_version: 2
 summary: A plan-based control framework for autonomous systems
 test_files: 
-- test/relations/test_hierarchy.rb
-- test/relations/test_planned_by.rb
-- test/relations/test_executed_by.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/planning/test_loops.rb
+- test/planning/test_model.rb
+- test/planning/test_task.rb
 - test/relations/test_conflicts.rb
 - test/relations/test_ensured.rb
+- test/relations/test_executed_by.rb
+- test/relations/test_hierarchy.rb
+- test/relations/test_planned_by.rb
+- test/test_bgl.rb
+- test/test_control.rb
+- test/test_event.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_relations.rb
+- test/test_gui.rb
 - test/test_interface.rb
+- test/test_log.rb
 - test/test_log_server.rb
-- test/test_event.rb
-- test/test_bgl.rb
 - test/test_plan.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_plan_notifications.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_testcase.rb
 - test/test_propagation.rb
+- test/test_query.rb
+- test/test_relations.rb
 - test/test_state.rb
-- test/test_log.rb
+- test/test_support.rb
+- test/test_task.rb
+- test/test_testcase.rb
+- test/test_thread_task.rb
+- test/test_transactions.rb
+- test/test_transactions_proxy.rb