roby 0.7.3 → 0.8.0

data/History.txt

@@ -1,8 +1,10 @@
-=== 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
+=== 0.8.0
+* major refactoring of the core code, to make it easier to reuse parts of the
+  framework
+* some major usability improvements in the shell. In particular, planning
+  methods can now be properly documented.
+* a lot of small changes
+* tested during the Sauc-E competition in 2009 ... and working well !
 
 === 0.7.2
 

data/Manifest.txt

@@ -1,4 +1,3 @@
-.gitignore
 History.txt
 License-fr.txt
 License.txt
@@ -28,9 +27,86 @@ 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/transactions.rb
 bin/roby
 bin/roby-log
 bin/roby-shell
+doc/guide/.gitignore
+doc/guide/config.yaml
+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/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/default.template
+doc/guide/src/htmldoc.metainfo
+doc/guide/src/htmldoc.virtual
+doc/guide/src/images/bodybg.png
+doc/guide/src/images/contbg.png
+doc/guide/src/images/footerbg.png
+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/plugins/index.page
+doc/guide/src/plugins/subsystems.page
+doc/guide/src/relations/dependency.page
+doc/guide/src/relations/index.page
 doc/images/event_generalization.png
 doc/images/exception_propagation_1.png
 doc/images/exception_propagation_2.png
@@ -49,18 +125,13 @@ doc/images/roby_replay_first_state.png
 doc/images/roby_replay_relations.png
 doc/images/roby_replay_startup.png
 doc/images/task_event_generalization.png
-doc/papers.rdoc
-doc/styles/allison.css
-doc/styles/allison.js
-doc/styles/allison.rb
-doc/styles/jamis.rb
+doc/misc/update_github
 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
-doc/videos.rdoc
 ext/droby/dump.cc
 ext/droby/extconf.rb
 ext/graph/algorithm.cc
@@ -72,6 +143,7 @@ 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
@@ -84,7 +156,6 @@ lib/roby/app/scripts/shell.rb
 lib/roby/app/scripts/test.rb
 lib/roby/basic_object.rb
 lib/roby/config.rb
-lib/roby/control.rb
 lib/roby/decision_control.rb
 lib/roby/distributed.rb
 lib/roby/distributed/base.rb
@@ -100,7 +171,8 @@ lib/roby/distributed/subscription.rb
 lib/roby/distributed/transaction.rb
 lib/roby/event.rb
 lib/roby/exceptions.rb
-lib/roby/executives/simple.rb
+lib/roby/execution_engine.rb
+lib/roby/external_process_task.rb
 lib/roby/graph.rb
 lib/roby/interface.rb
 lib/roby/log.rb
@@ -145,18 +217,19 @@ lib/roby/planning.rb
 lib/roby/planning/loops.rb
 lib/roby/planning/model.rb
 lib/roby/planning/task.rb
-lib/roby/propagation.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/hierarchy.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
@@ -167,6 +240,7 @@ 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
@@ -177,7 +251,7 @@ lib/roby/test/tools.rb
 lib/roby/thread_task.rb
 lib/roby/transactions.rb
 lib/roby/transactions/proxy.rb
-lib/roby/transactions/updates.rb
+manifest.xml
 plugins/fault_injection/History.txt
 plugins/fault_injection/README.txt
 plugins/fault_injection/Rakefile
@@ -212,35 +286,36 @@ 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_hierarchy.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_control.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_propagation.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_thread_task.rb
 test/test_transactions.rb
 test/test_transactions_proxy.rb

data/README.txt

@@ -1,8 +1,8 @@
 = Roby: a plan manager for robot control in Ruby
 
-  http://roby.rubyforge.org
-  http://www.rubyforge.org/projects/roby
-  http://github.com/doudou/roby (dev. repository)
+http://sites.google.com/sites/rubyinmotion
+http://doudou.github.com/roby
+http://github.com/doudou/roby
 
 <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
@@ -33,6 +33,16 @@ Roby is:
 * (G)UI tools for interacting/controlling the living system.
 * all of that in a multi-robot context.
 
+
+Roby is the result of my PhD. As such, my PhD thesis can be considered as a
+design document for the system. If you want an overview of the principles, you
+can also refer to the two publications I did. See {this
+page}[link:files/doc/papers_rdoc.html] for the list of publication and the
+associated PDF files.
+
+{This overview}[link:files/doc/overview_rdoc.html] also provides a more in-depth
+overview of the implementation itself.
+
 == Acknowledgments
 
 This work has been supported by the DGA (http://www.defense.gouv.fr/dga) which
@@ -40,15 +50,6 @@ financed my PhD and the LAAS/CNRS (http://www.laas.fr), where I did it. It is
 now supported by the DFKI (http://www.dfki.de) where I currently work and use
 this plan manager.
 
-== Related publications
-
-Roby is the result of my PhD. As such, my PhD thesis can be considered as a
-design document for the system. If you want an overview of the principles, you
-can also refer to the two publications I did.
-
-See {this page}[link:files/doc/papers_rdoc.html] for the list of publication
-and the associated PDF files.
-
 == Videos
 
 The videos that are available show some capabilities of the system. Frankly you
@@ -58,10 +59,15 @@ when it is meaningful.
 
 See {here}[link:files/doc/videos_rdoc.html] for the available videos.
 
-== Tutorials
+== Documentation
+
+The documentation is split into four parts:
+* the API documentation (see left pane on this window)
+* the {User's Guide}[link:files/doc/using/index_rdoc.html]
+* the {Developer's Guide}[link:files/doc/extending/index_rdoc.html]
 
-A set of tutorials describe Roby's main features and let you experiment with
-them:
+Finally, a set of tutorials describe Roby's main features and let you experiment
+with them:
 1. the GettingStarted[link:files/doc/tutorials/01-GettingStarted_rdoc.html] tutorial makes
    you start a brand new Roby application and explains its structure.
 2. the GoForward[link:files/doc/tutorials/02-GoForward_rdoc.html] tutorial shows how to create
@@ -153,14 +159,8 @@ dependencies (boost with boost/graph), you can simply install it with
 
 == Installing from source
 
-First, install all the required dependencies. Then, get the sources either
-from a release tarball or the RubyForge git
-repository[http://rubyforge.org/projects/roby], or from the development
-one[http://github.com/doudou/roby].
-
-Once the source is installed, run
-  rake setup
+You can also install from scratch with {this guide}[link:files/doc/install_rdoc.html]
 
-Define first the BOOST_DIR environment variable to Boost's installation path if
-that path is non-standard.
+You may have to first define the BOOST_DIR environment variable to Boost's
+installation path if that path is non-standard.
 

data/Rakefile

@@ -1,28 +1,32 @@
 $LOAD_PATH.unshift File.expand_path('lib', File.dirname(__FILE__))
 require 'enumerator'
+require 'hoe'
 require 'roby/config'
 
 begin
     require 'hoe'
     namespace 'dist' do
-        hoe = Hoe.new('roby', Roby::VERSION) do |p|
-            p.developer 'Sylvain Joyeux', 'sylvain.joyeux@m4x.org'
-
-            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', 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'] <<
-                ['rake', '>= 0.8.3']
-            p.extra_dev_deps << 'flexmock'
-            if p.respond_to? :need_rdoc=
-                p.need_rdoc = false
-            end
+        hoe = Hoe.spec 'roby' do
+            self.developer 'Sylvain Joyeux', 'sylvain.joyeux@m4x.org'
+
+            self.summary = 'A plan-based control framework for autonomous systems'
+            self.url         = paragraphs_of('README.txt', 1).join("\n\n")
+            self.description = paragraphs_of('README.txt', 3..5).join("\n\n")
+            self.description +=
+"\n\nSee doudou.github.com/roby for more informations, including links to
+tutorials and demonstration videos"
+            self.changes     = paragraphs_of('History.txt', 0..1).join("\n\n")
+            self.post_install_message = paragraphs_of('README.txt', 2).join("\n\n")
+
+            self.extra_deps <<
+                ['facets', '>= 2.0'] <<
+                ['utilrb', '>= 1.3.1']
+
+            self.extra_dev_deps <<
+                ['rdoc', '>= 2.4'] <<
+                ['webgen', '>= 0.5']
+
+            self.need_rdoc = false
         end
 	hoe.spec.extensions << 
 	    'ext/droby/extconf.rb' <<
@@ -35,19 +39,22 @@ informations, including links to tutorials and demonstration videos"
             
         hoe.spec.rdoc_options << 
             '--main' << 'README.txt' <<
-            "--inline-source" << 
             "--accessor" << "attribute" << 
             "--accessor" << "attr_predicate"
 
-	if !hoe.respond_to? :need_rdoc=
-	    # This sucks, I know, but Hoe's handling of documentation is not
-	    # enough for me
-	    tasks = Rake.application.instance_variable_get :@tasks
-	    tasks.delete_if { |n, _| n =~ /dist:(re|clobber_|)docs/ }
-	end
+        task 'dist:package' => 'uic'
+        Rake.clear_tasks(/doc/)
+
+        desc 'update the pages that are displayed on doudou.github.com/roby'
+        task "publish_docs" => "doc:all" do
+            if !system( File.join("doc", "misc", "update_github") )
+                raise "cannot update the gh-pages branch"
+            end
+        end
     end
-rescue
+rescue Exception => e
     puts "cannot setup Hoe, distribution is disabled"
+    puts "error is: #{e.message}"
 end
 
 def build_extension(name, soname = name)
@@ -68,7 +75,7 @@ def clean_extension(name, soname = name)
     end
 end
 
-task :cruise => [:setup, :recore_docs, :test]
+task :cruise => [:setup, 'doc:recore', :test]
 
 #########
 # Test-related targets
@@ -106,6 +113,10 @@ task :clean => 'dist:clean' do
 end
 
 UIFILES = %w{relations.ui relations_view.ui data_displays.ui replay_controls.ui basic_display.ui chronicle_view.ui}
+UIFILES.each do |file|
+    file "lib/roby/log/gui/#{file}" => 'uic'
+end
+
 desc 'generate all Qt UI files using rbuic4'
 task :uic do
     rbuic = 'rbuic4'
@@ -126,45 +137,62 @@ end
 #
 # This redefines Hoe's targets for documentation, as the documentation
 # generation is not flexible enough for us
-namespace 'doc' do
-    require 'roby/app/rake'
-    Rake::RDocTask.new("core") do |rdoc|
-      rdoc.options << "--inline-source" << "--accessor" << "attribute" << "--accessor" << "attr_predicate"
-      rdoc.rdoc_dir = 'doc/rdoc/core'
-      rdoc.title    = "Roby Core"
-      rdoc.template = Roby::Rake.rdoc_template
-      rdoc.options << '--main' << 'README.txt'
-      rdoc.rdoc_files.include('README.txt', 'TODO.txt', 'History.txt')
-      rdoc.rdoc_files.include('lib/**/*.rb', 'ext/**/*.cc')
-      rdoc.rdoc_files.include('doc/videos.rdoc', 'doc/papers.rdoc')
-      rdoc.rdoc_files.include('doc/tutorials/**/*')
-      rdoc.rdoc_files.exclude('lib/roby/test/**/*', 'lib/roby/app/**/*', 'lib/roby/log/gui/*')
-    end
 
-    Rake::RDocTask.new("tutorials") do |rdoc|
-      rdoc.options << "--inline-source" << "--accessor" << "attribute" << "--accessor" << "attr_predicate"
-      rdoc.rdoc_dir = 'doc/rdoc/tutorials'
-      rdoc.title    = "Roby Tutorials"
-      rdoc.template = Roby::Rake.rdoc_template
-      rdoc.options << '--main' << 'README.txt'
-      rdoc.rdoc_files.include('README.txt', 'TODO.txt', 'History.txt')
-      rdoc.rdoc_files.include('doc/videos.rdoc', 'doc/papers.rdoc')
-      rdoc.rdoc_files.include('doc/tutorials/**/*')
-    end
+# This is for the user's guide
+begin
+    require 'webgen/webgentask'
+    require 'rdoc/task'
+    do_doc = true
+rescue LoadError => e
+    STDERR.puts "webgen and/or the rdoc Gem are not available, documentation generation disabled"
+    STDERR.puts "  Ruby reported the following load error: #{e.message}"
+end
 
-    def plugins_documentation_generation(target_prefix)
-        task "plugins_#{target_prefix}docs" do
-            Roby::Rake.invoke_plugin_target("#{target_prefix}docs")
+if do_doc
+    namespace 'doc' do
+        require 'roby/app/rake'
+        RDoc::Task.new("api") do |rdoc|
+          rdoc.rdoc_dir = 'doc/html/api'
+          rdoc.title    = "Roby Core"
+          rdoc.options << '--show-hash'
+          rdoc.rdoc_files.include('lib/**/*.rb', 'ext/**/*.cc')
+          rdoc.rdoc_files.exclude('lib/roby/test/**/*', 'lib/roby/app/**/*', 'lib/roby/log/gui/*')
+        end
+
+        Webgen::WebgenTask.new('guide') do |website|
+            website.clobber_outdir = true
+            website.directory = File.join(Dir.pwd, 'doc', 'guide')
+            website.config_block = lambda do |config|
+                config['output'] = ['Webgen::Output::FileSystem', File.join(Dir.pwd, 'doc', 'html')]
+            end
+        end
+
+        def plugins_documentation_generation(target_prefix)
+            task "plugins_#{target_prefix}docs" do
+                Roby::Rake.invoke_plugin_target("#{target_prefix}docs")
+            end
+        end
+        desc 'generate the documentation for all installed plugins'
+        plugins_documentation_generation ''
+        desc 'remove the documentation for all installed plugins'
+        plugins_documentation_generation 'clobber_'
+        desc 'regenerate the documentation for all installed plugins'
+        plugins_documentation_generation 're'
+
+        desc 'generate all documentation'
+        task 'all' => ['doc:guide', 'doc:api', 'doc:plugins_docs']
+        desc 'removes all documentation'
+        task 'clobber' do
+            FileUtils.rm_rf File.join('doc', 'html')
+        end
+
+        desc 'regenerate all documentation'
+        task 'redocs' do
+            FileUtils.rm_rf File.join('doc', 'html')
+            if !system('rake', 'doc:all')
+                raise "failed to regenerate documentation"
+            end
         end
     end
-    desc 'generate the documentation for all installed plugins'
-    plugins_documentation_generation ''
-    desc 'remove the documentation for all installed plugins'
-    plugins_documentation_generation 'clobber_'
-    desc 'regenerate the documentation for all installed plugins'
-    plugins_documentation_generation 're'
 end
-
-task 'docs' => ['doc:core', 'doc:plugins_docs']
-task 'clobber_docs' => ['doc:clobber_core', 'doc:plugins_clobber_docs']
-task 'redocs' => ['doc:recore', 'doc:replugins_docs']
+task 'clobber_docs' => 'doc:clobber'