Class: Roby::Application

Inherits:
Object show all
Extended by:
Logger::Forward, Logger::Hierarchy
Defined in:
lib/roby/app.rb

Overview

There is one and only one Application object, which holds mainly the system-wide configuration and takes care of file loading and system-wide setup (#setup). A Roby application can be started in multiple modes. The first and most important mode is the runtime mode (scripts/run). Other modes are the testing mode (#testing? returns true, entered through scripts/test) and the shell mode (#shell? returns true, entered through scripts/shell). Usually, user code does not have to take the modes into account, but it is sometime useful.

Finally, in both testing and runtime mode, the code can be started in simulation or live setups (see #simulation?). Specific plugins can for instance start and set up a simulation system in simulation mode, and as well set up some simulation-specific configuration for the functional layer of the architecture.

Configuration files

In all modes, a specific set of configuration files are loaded. The files that are actually loaded are defined by the robot name and type, as specified to #robot. The loaded files are, in order, the following:

config/app.yml

the application configuration as a YAML file. See the comments in that file for more details.

config/init.rb

Ruby code for the common configuration of all robots

config/ROBOT_NAME.rb or config/ROBOT_TYPE.rb

Ruby code for the configuration of either all robots of the same type, or a specific robot. It is one or the other. If a given robot needs to inherit the configuration of its type, explicitely require the ROBOT_TYPE.rb file in config/ROBOT_NAME.rb.

Runtime mode (scripts/run)

Then, in runtime mode the robot controller controller/ROBOT_NAME.rb or controller/ROBOT_TYPE.rb is loaded. The same rules than for the configuration file config/ROBOT_NAME.rb apply.

Testing mode (scripts/test)

This mode is used to run test suites in the test directory. See Roby::Test::TestCase for a description of Roby-specific tests.

Plugin Integration

Plugins are integrated by providing methods that get called during setup and teardown of the application. It is therefore important to understand the order in which methods get called, and where the plugins can ‘plug-in’ this process.

On setup, the following methods are called:

  • load base configuration files. app.yml and init.rb

  • load_base_config hook

  • set up directories (log dir, …) and loggers

  • set up singletons

  • base_setup hook

  • setup hook. The difference is that the setup hook is called only if #setup is called. base_setup is always called.

  • load models in models/tasks

  • require_models hook

  • load models in models/planners and models/actions

  • require_planners hook

  • load additional model files

  • finalize_model_loading hook

  • load config file config/ROBOT.rb

  • require_config hook

  • setup main planner

  • setup testing if in testing mode

  • setup shell interface

Defined Under Namespace

Classes: ActionResolutionError, InvalidLoggerName, InvalidRobyAppDirEnv, LogDirNotInitialized, NoCurrentLog, NoSuchRobot, NotInCurrentApp, PluginsDisabled

Constant Summary collapse

DEFAULT_OPTIONS = 
{
    'log' => Hash['events' => true, 'server' => true, 'levels' => Hash.new, 'filter_backtraces' => true],
    'discovery' => Hash.new,
    'engine' => Hash.new
}

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize ⇒ Application

Returns a new instance of Application.



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# File 'lib/roby/app.rb', line 660

def initialize
    @plan = ExecutablePlan.new
    @argv_set = Array.new

    @auto_load_all = false
    @default_auto_load = true
    @auto_load_models = nil
    @app_name = nil
    @module_name = nil
    @app_dir = nil
    @backward_compatible_naming = true
    @development_mode = true
    @search_path = nil
    @plugins = Array.new
    @plugins_enabled = true
    @available_plugins = Array.new
    @options = DEFAULT_OPTIONS.dup

    @public_logs = false
    @log_create_current = true
    @created_log_dirs = []
    @created_log_base_dirs = []
    @additional_model_files = []
    @restarting = false

    @shell_interface = nil
    @shell_interface_host = nil
    @shell_interface_port = Interface::DEFAULT_PORT
    @shell_abort_on_exception = true

    @rest_interface = nil
    @rest_interface_host = nil
    @rest_interface_port = Interface::DEFAULT_REST_PORT

    @automatic_testing = true
    @registered_exceptions = []
    @app_extra_metadata = Hash.new

    @filter_out_patterns = [Roby::RX_IN_FRAMEWORK,
                            Roby::RX_IN_METARUBY,
                            Roby::RX_IN_UTILRB,
                            Roby::RX_REQUIRE]
    self.abort_on_application_exception = true

    @planners    = []
    @notification_listeners = Array.new
    @ui_event_listeners = Array.new

    @init_handlers         = Array.new
    @setup_handlers        = Array.new
    @require_handlers      = Array.new
    @clear_models_handlers = Array.new
    @cleanup_handlers      = Array.new
    @controllers           = Array.new
    @action_handlers       = Array.new
end

Instance Attribute Details

#action_handlers ⇒ Array<#call> (readonly)

Returns list of blocks that should be executed once the application is started.

Returns:

  • (Array<#call>) —

    list of blocks that should be executed once the application is started



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# File 'lib/roby/app.rb', line 493

def action_handlers
  @action_handlers
end

#additional_model_files ⇒ Array<String> (readonly)

Returns list of paths to files not in models/ that contain some models. This is mainly used by the command-line tools so that the user can load separate “model-based scripts” files.

Returns:

  • (Array<String>) —

    list of paths to files not in models/ that contain some models. This is mainly used by the command-line tools so that the user can load separate “model-based scripts” files.



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# File 'lib/roby/app.rb', line 465

def additional_model_files
  @additional_model_files
end

#app_dir ⇒ String?

Returns the application base directory

Returns:

  • (String, nil) 


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# File 'lib/roby/app.rb', line 276

def app_dir
    if defined?(APP_DIR)
        APP_DIR
    elsif @app_dir
        @app_dir
    end
end

#app_extra_metadata ⇒ Object (readonly)

Additional metadata saved in log_dir/info.yml by the app

Do not modify directly, use #add_app_metadata instead



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# File 'lib/roby/app.rb', line 515

def app_extra_metadata
  @app_extra_metadata
end

#app_name ⇒ Object

Returns the name of the application



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# File 'lib/roby/app.rb', line 237

def app_name
    if @app_name
        @app_name
    elsif app_dir
        @app_name = File.basename(app_dir).gsub(/[^\w]/, '_')
    else 'default'
    end
end

#argv_set ⇒ Object (readonly)

The –set options passed on the command line



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# File 'lib/roby/app.rb', line 137

def argv_set
  @argv_set
end

#auto_load_models=(flag) ⇒ Boolean (writeonly)

Controls whether Roby should load the available the model files automatically in #require_models

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 2370

def auto_load_models=(value)
  @auto_load_models = value
end

#available_plugins ⇒ Object (readonly)

A [name, dir, file, module] array of available plugins, where ‘name’ is the plugin name, ‘dir’ the directory in which it is installed, ‘file’ the file which should be required to load the plugin and ‘module’ the Application-compatible module for configuration of the plug-in



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# File 'lib/roby/app.rb', line 424

def available_plugins
  @available_plugins
end

#cleanup_handlers ⇒ Array<#call> (readonly)

Returns list of objects called when the app cleans up (it is the opposite of setup).

Returns:

  • (Array<#call>) —

    list of objects called when the app cleans up (it is the opposite of setup)



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# File 'lib/roby/app.rb', line 485

def cleanup_handlers
  @cleanup_handlers
end

#clear_models_handlers ⇒ Array<#call> (readonly)

Returns list of objects called when the app is doing #clear_models.

Returns:

  • (Array<#call>) —

    list of objects called when the app is doing #clear_models



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# File 'lib/roby/app.rb', line 481

def clear_models_handlers
  @clear_models_handlers
end

#controllers ⇒ Array<#call> (readonly)

Returns list of blocks that should be executed once the application is started.

Returns:

  • (Array<#call>) —

    list of blocks that should be executed once the application is started



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# File 'lib/roby/app.rb', line 489

def controllers
  @controllers
end

#created_log_base_dirs ⇒ Array<String> (readonly)

The list of directories created by this app in the paths to #created_log_dirs

They are deleted on cleanup if #public_logs? is false. Unlike with #created_log_dirs, they are not deleted if they are not empty.

Returns:

  • (Array<String>) 


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# File 'lib/roby/app.rb', line 510

def created_log_base_dirs
  @created_log_base_dirs
end

#created_log_dirs ⇒ Array<String> (readonly)

The list of log directories created by this app

They are deleted on cleanup if #public_logs? is false. Unlike with #created_log_base_dirs, they are deleted even if they are not empty.

Returns:

  • (Array<String>) 


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# File 'lib/roby/app.rb', line 501

def created_log_dirs
  @created_log_dirs
end

#filter_out_patterns ⇒ Object (readonly)

Array of regular expressions used to filter out backtraces



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# File 'lib/roby/app.rb', line 576

def filter_out_patterns
  @filter_out_patterns
end

#init_handlers ⇒ Array<#call> (readonly)

Returns list of objects called when the app gets initialized (i.e. just after init.rb is loaded).

Returns:

  • (Array<#call>) —

    list of objects called when the app gets initialized (i.e. just after init.rb is loaded)



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# File 'lib/roby/app.rb', line 469

def init_handlers
  @init_handlers
end

#log_server_pid ⇒ Integer? (readonly)

The PID of the server that gives access to the log file

Its port is allocated automatically, and must be discovered through the Roby interface

Returns:

  • (Integer, nil) 


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# File 'lib/roby/app.rb', line 294

def log_server_pid
  @log_server_pid
end

#log_server_port ⇒ Integer? (readonly)

The port on which the log server is started

It is by default started on an ephemeral port, that needs to be discovered by clients through the Roby interface’s Interface#log_server_port

Returns:

  • (Integer, nil) 


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# File 'lib/roby/app.rb', line 303

def log_server_port
  @log_server_port
end

#module_name ⇒ Object

Returns the name of this app’s toplevel module



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# File 'lib/roby/app.rb', line 256

def module_name
    @module_name || app_name.camelcase(:upper)
end

#notification_listeners ⇒ #call (readonly)

Returns the blocks that listen to notifications. They are added with #on_notification and removed with #remove_notification_listener.

Returns:



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# File 'lib/roby/app.rb', line 2717

def notification_listeners
  @notification_listeners
end

#options ⇒ Object (readonly)

Applicatio configuration information is stored in a YAML file config/app.yml. The options are saved in a hash.

This attribute contains the raw hash as read from the file. It is overlaid



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# File 'lib/roby/app.rb', line 118

def options
  @options
end

#plan ⇒ ExecutablePlan (readonly)

The main plan on which this application acts

Returns:



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# File 'lib/roby/app.rb', line 101

def plan
  @plan
end

#planners ⇒ Array (readonly)

A set of planners declared in this application

Returns:

  • (Array) 


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# File 'lib/roby/app.rb', line 111

def planners
  @planners
end

#plugins ⇒ Object (readonly)

An [name, module] array of the loaded plugins



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# File 'lib/roby/app.rb', line 426

def plugins
  @plugins
end

#registered_exceptions ⇒ Array<(Exception,String)> (readonly)

A set of exceptions that have been encountered by the application The associated string, if given, is a hint about in which context this exception got raised

Returns:

See Also:



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# File 'lib/roby/app.rb', line 126

def registered_exceptions
  @registered_exceptions
end

#require_handlers ⇒ Array<#call> (readonly)

Returns list of objects called when the app gets to require its models (i.e. after #require_models).

Returns:

  • (Array<#call>) —

    list of objects called when the app gets to require its models (i.e. after #require_models)



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# File 'lib/roby/app.rb', line 477

def require_handlers
  @require_handlers
end

#rest_interface_host ⇒ String

The host to which the REST interface server should bind

Returns:

  • (String) 


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# File 'lib/roby/app.rb', line 637

def rest_interface_host
  @rest_interface_host
end

#rest_interface_port ⇒ Integer

The port on which the REST interface server should be

Returns:

  • (Integer) 


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# File 'lib/roby/app.rb', line 641

def rest_interface_port
  @rest_interface_port
end

#search_path ⇒ Array<String>

The list of paths in which the application should be looking for files

Returns:

  • (Array<String>) 


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# File 'lib/roby/app.rb', line 393

def search_path
    if !@search_path
        if app_dir
            [app_dir]
        else []
        end
    else
        @search_path
    end
end

#setup_handlers ⇒ Array<#call> (readonly)

Returns list of objects called when the app gets initialized (i.e. in #setup after #base_setup).

Returns:

  • (Array<#call>) —

    list of objects called when the app gets initialized (i.e. in #setup after #base_setup)



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# File 'lib/roby/app.rb', line 473

def setup_handlers
  @setup_handlers
end

#shell_interface ⇒ Interface (readonly)

The Interface bound to this app

Returns:



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# File 'lib/roby/app.rb', line 306

def shell_interface
  @shell_interface
end

#shell_interface_host ⇒ String

The host to which the shell interface server should bind

Returns:

  • (String) 


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# File 'lib/roby/app.rb', line 646

def shell_interface_host
  @shell_interface_host
end

#shell_interface_port ⇒ Integer

The port on which the shell interface server should be

Returns:

  • (Integer) 


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# File 'lib/roby/app.rb', line 650

def shell_interface_port
  @shell_interface_port
end

#ui_event_listeners ⇒ #call (readonly)

Returns the blocks that listen to ui events. They are added with #on_ui_event and removed with #remove_ui_event.

Returns:

  • (#call) —

    the blocks that listen to ui events. They are added with #on_ui_event and removed with #remove_ui_event



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# File 'lib/roby/app.rb', line 2674

def ui_event_listeners
  @ui_event_listeners
end

Class Method Details

.attr_config(config_key) ⇒ Object

Allows to attribute configuration keys to override configuration parameters stored in config/app.yml

For instance,

attr_config 'log'

creates a log_overrides attribute, which contains a hash. Any value stored in this hash will override those stored in the config file. The final value can be accessed by accessing the generated #config_key method:

E.g.,

in config/app.yml:

log:
    dir: test

in config/init.rb:

Roby.app.log_overrides['dir'] = 'bla'

Then, Roby.app.log will return { ‘dir’ => ‘bla }

This override mechanism is not meant to be used directly by the user, but as a tool for the rest of the framework



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# File 'lib/roby/app.rb', line 166

def self.attr_config(config_key)
    config_key = config_key.to_s

    # Ignore if already done
    return if method_defined?("#{config_key}_overrides")

    attribute("#{config_key}_overrides") { Hash.new }
    define_method(config_key) do
        plain     = self.options[config_key] || Hash.new
        overrides = instance_variable_get "@#{config_key}_overrides"
        if overrides
            plain.recursive_merge(overrides)
        else
            plain
        end
    end
end

.common_optparse_setup(parser) ⇒ Object

Defines common configuration options valid for all Roby-oriented scripts



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# File 'lib/roby/app.rb', line 519

def self.common_optparse_setup(parser)
    Roby.app.load_config_yaml
    parser.on("--set=KEY=VALUE", String, "set a value on the Conf object") do |value|
        Roby.app.argv_set << value
        key, value = value.split('=')
        path = key.split('.')
        base_conf = path[0..-2].inject(Conf) { |c, name| c.send(name) }
        base_conf.send("#{path[-1]}=", YAML.load(value))
    end
    parser.on("--log=SPEC", String, "configuration specification for text loggers. SPEC is of the form path/to/a/module:LEVEL[:FILE][,path/to/another]") do |log_spec|
        log_spec.split(',').each do |spec|
            mod, level, file = spec.split(':')
            Roby.app.log_setup(mod, level, file)
        end
    end
    parser.on('-r NAME', '--robot=NAME[,TYPE]', String, 'the robot name and type') do |name|
        robot_name, robot_type = name.split(',')
        Roby.app.setup_robot_names_from_config_dir
        Roby.app.robot(robot_name, robot_type)
    end
    parser.on('--debug', 'run in debug mode') do
        Roby.app.public_logs = true
        Roby.app.filter_backtraces = false
        require 'roby/app/debug'
    end
    parser.on_tail('-h', '--help', 'this help message') do
        STDERR.puts parser
        exit
    end
end

.find_data(*name) ⇒ Object

Raises:

  • (Errno::ENOENT) 


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# File 'lib/roby/app.rb', line 2393

def self.find_data(*name)
    name = File.join(*name)
    Roby::Conf.datadirs.each do |dir|
    path = File.join(dir, name)
    return path if File.exists?(path)
    end
    raise Errno::ENOENT, "no file #{name} found in #{Roby::Conf.datadirs.join(":")}"
end

.guess_app_dir ⇒ String?

Guess the app directory based on the current directory

Returns:

  • (String, nil) —

    the base of the app, or nil if the current directory is not within an app



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# File 'lib/roby/app.rb', line 324

def self.guess_app_dir
    if test_dir = ENV['ROBY_APP_DIR']
        if !Application.is_app_dir?(test_dir)
            raise InvalidRobyAppDirEnv, "the ROBY_APP_DIR envvar is set to #{test_dir}, but this is not a valid Roby application path"
        end
        return test_dir
    end

    path = Pathname.new(Dir.pwd).find_matching_parent do |test_dir|
        Application.is_app_dir?(test_dir.to_s)
    end
    if path
        path.to_s
    end
end

.host_options(parser, options) ⇒ Object

Sets up provided option parser to add the –host and –vagrant option

When added, a :host entry will be added to the provided options hash



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# File 'lib/roby/app.rb', line 553

def self.host_options(parser, options)
    options[:host] ||= Roby.app.shell_interface_host || 'localhost'
    options[:port] ||= Roby.app.shell_interface_port || Interface::DEFAULT_PORT

    parser.on('--host URL', String, "sets the host to connect to as hostname[:PORT]") do |url|
        if url =~ /(.*):(\d+)$/
            options[:host] = $1
            options[:port] = Integer($2)
        else
            options[:host] = url
        end
    end
    parser.on('--vagrant NAME[:PORT]', String, "connect to a vagrant VM") do |vagrant_name|
        require 'roby/app/vagrant'
        if vagrant_name =~ /(.*):(\d+)$/
            vagrant_name, port = $1, Integer($2)
        end
        options[:host] = Roby::App::Vagrant.resolve_ip(vagrant_name)
        options[:port] = port
    end
end

.is_app_dir?(test_dir) ⇒ Boolean

Tests if the given directory looks like the root of a Roby app

Parameters:

  • test_dir (String) —

    the path to test

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 311

def self.is_app_dir?(test_dir)
    File.file?(File.join(test_dir, 'config', 'app.yml')) ||
        File.directory?(File.join(test_dir, 'models')) ||
        File.directory?(File.join(test_dir, 'scripts', 'controllers')) ||
        File.directory?(File.join(test_dir, 'config', 'robots'))
end

.overridable_configuration(config_set, config_key, options = Hash.new) ⇒ Object

Defines accessors for a configuration parameter stored in #options

This method allows to define a getter and a setter for a parameter stored in #options that should be user-overridable. It builds upon #attr_config.

For instance:

overridable_configuration 'log', 'filter_backtraces'

will create a #filter_backtraces getter and a #filter_backtraces= setter which allow to respectively access the log/filter_backtraces configuration value, and override it from its value in config/app.yml

The :predicate option allows to make the setter look like a predicate:

overridable_configuration 'log', 'filter_backtraces', predicate: true

will define #filter_backtraces? instead of #filter_backtraces



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# File 'lib/roby/app.rb', line 203

def self.overridable_configuration(config_set, config_key, options = Hash.new)
    options = Kernel.validate_options options, predicate: false, attr_name: config_key
    attr_config(config_set)
    define_method("#{options[:attr_name]}#{"?" if options[:predicate]}") do
        send(config_set)[config_key]
    end
    define_method("#{options[:attr_name]}=") do |new_value|
        send("#{config_set}_overrides")[config_key] = new_value
    end
end

.read_current_dir(current_path) ⇒ Object

This method is part of a private API. You should avoid using this method if possible, as it may be removed or be changed in the future.

Read and validate the ‘current’ dir by means of the ‘current’ symlink that Roby maintains in its log base directory

Parameters:

  • current_path (String) —

    the path to the ‘current’ symlink



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# File 'lib/roby/app.rb', line 1386

def self.read_current_dir(current_path)
    if !File.symlink?(current_path)
        raise ArgumentError, "#{current_path} does not exist or is not a symbolic link"
    end
    resolved_path = File.readlink(current_path)
    if !File.exist?(resolved_path)
        raise ArgumentError, "#{current_path} points to #{resolved_path}, which does not exist"
    elsif !File.directory?(resolved_path)
        raise ArgumentError, "#{current_path} points to #{resolved_path}, which is not a directory"
    end
    resolved_path
end

.register_plugin(name, mod, &init) ⇒ Object 



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# File 'lib/roby/app.rb', line 2402

def self.register_plugin(name, mod, &init)
    caller(1)[0] =~ /^([^:]+):\d/
    dir  = File.expand_path(File.dirname($1))
    Roby.app.available_plugins.delete_if { |n| n == name }
    Roby.app.available_plugins << [name, dir, mod, init]
end

.unique_dirname(base_dir, path_spec, date_tag = nil) ⇒ Object

Returns a unique directory name as a subdirectory of base_dir, based on path_spec. The generated name is of the form

<base_dir>/a/b/c/YYYYMMDD-HHMM-basename

if path_spec = "a/b/c/basename". A .<number> suffix is appended if the path already exists.



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# File 'lib/roby/app.rb', line 1409

def self.unique_dirname(base_dir, path_spec, date_tag = nil)
    if path_spec =~ /\/$/
        basename = ""
        dirname = path_spec
    else
        basename = File.basename(path_spec)
        dirname  = File.dirname(path_spec)
    end

    date_tag ||= Time.now.strftime('%Y%m%d-%H%M')
    if basename && !basename.empty?
        basename = date_tag + "-" + basename
    else
        basename = date_tag
    end

    # Check if +basename+ already exists, and if it is the case add a
    # .x suffix to it
    full_path = File.expand_path(File.join(dirname, basename), base_dir)
    base_dir  = File.dirname(full_path)

    final_path, i = full_path, 0
    while File.exists?(final_path)
        i += 1
        final_path = full_path + ".#{i}"
    end

    final_path
end

Instance Method Details

#abort_on_application_exception=(flag) ⇒ Object

Controls whether the Roby app should quit if an application (i.e. non-plan) exception is received

The default is true



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# File 'lib/roby/app.rb', line 447

attr_predicate :abort_on_application_exception, true

#abort_on_application_exception? ⇒ Object

Controls whether the Roby app should quit if an application (i.e. non-plan) exception is received

The default is true



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# File 'lib/roby/app.rb', line 447

attr_predicate :abort_on_application_exception, true

#abort_on_exception=(flag) ⇒ Object

Controls whether the application should quit if an unhandled plan exception is received

The default is false



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# File 'lib/roby/app.rb', line 438

attr_predicate :abort_on_exception, true

#abort_on_exception? ⇒ Object

Controls whether the application should quit if an unhandled plan exception is received

The default is false



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# File 'lib/roby/app.rb', line 438

attr_predicate :abort_on_exception, true

#action_from_model(model) ⇒ Actions::Models::Action

Find an action on the planning interface that can generate the given task model

Returns:

Raises:



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# File 'lib/roby/app.rb', line 2587

def action_from_model(model)
    candidates = []
    planners.each do |planner_model|
        planner_model.find_all_actions_by_type(model).each do |action|
            candidates << [planner_model, action]
        end
    end
    candidates = candidates.uniq
        
    if candidates.empty?
        raise ActionResolutionError, "cannot find an action to produce #{model}"
    elsif candidates.size > 1
        raise ActionResolutionError, "more than one actions available produce #{model}: #{candidates.map { |pl, m| "#{pl}.#{m.name}" }.sort.join(", ")}"
    else
        candidates.first
    end
end

#action_from_name(name) ⇒ Actions::Models::Action

Finds the action matching the given name

Unlike #find_action_from_name, it raises if no matching action has been found

Returns:

Raises:

  • (ActionResolutionError) —

    if either none or more than one action interface provide an action with this name



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# File 'lib/roby/app.rb', line 2634

def action_from_name(name)
    action = find_action_from_name(name)
    if !action
        available_actions = planners.map do |planner_model|
            planner_model.each_action.map(&:name)
        end.flatten
        if available_actions.empty?
            raise ActionResolutionError, "cannot find an action named #{name}, there are no actions defined"
        else
            raise ActionResolutionError, "cannot find an action named #{name}, available actions are: #{available_actions.sort.join(", ")}"
        end
    end
    action
end

#actions(&block) ⇒ Object

Declares that the following block should be used to setup the main action interface



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# File 'lib/roby/app.rb', line 978

def actions(&block)
    action_handlers << block
end

#add_app_metadata(metadata) ⇒ Object

Add some metadata to #app_metadata, and save it to the log dir’s info.yml if it is already created



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# File 'lib/roby/app.rb', line 1281

def add_app_metadata(metadata)
    app_extra_metadata.merge!(metadata)
    if created_log_dir?
        log_save_metadata
    end
end

#add_plugin(name, mod) ⇒ Object 



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# File 'lib/roby/app.rb', line 1133

def add_plugin(name, mod)
    plugins << [name, mod]
    extend mod
    # If +load+ has already been called, call it on the module
    if mod.respond_to?(:load) && options
        mod.load(self, options)
    end

    # Refresh the relation sets in #plan to include relations
    # possibly added by the plugin
    plan.refresh_relations

    mod
end

#app_file?(path) ⇒ Boolean

Returns true if the given path points to a file in the Roby app

Parameters:

  • path (String)

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 2436

def app_file?(path)
    !!find_base_path_for(path)
end

#app_metadata ⇒ Object

Metadata used to describe the app

It is saved in the app’s log directory under info.yml

See Also:



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# File 'lib/roby/app.rb', line 1293

def app_metadata
    Hash['time' => time_tag, 'cmdline' => "#{$0} #{ARGV.join(" ")}",
         'robot_name' => robot_name, 'robot_type' => robot_type,
         'app_name' => app_name, 'app_dir' => app_dir].merge(app_extra_metadata)
end

#app_module ⇒ Object

Returns this app’s toplevel module



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# File 'lib/roby/app.rb', line 261

def app_module
    constant("::#{module_name}")
end

#app_path ⇒ Object 



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# File 'lib/roby/app.rb', line 284

def app_path
    @app_path ||= Pathname.new(app_dir)
end

#apply_config(config) ⇒ Object

This method is part of a private API. You should avoid using this method if possible, as it may be removed or be changed in the future.

Sets relevant configuration values from a configuration hash



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# File 'lib/roby/app.rb', line 1750

def apply_config(config)
    if host_port = config['interface']
        apply_config_interface(host_port)
    elsif host_port = config.fetch('droby', Hash.new)['host']
        Roby.warn_deprecated 'the droby.host configuration parameter in config/app.yml is deprecated, use "interface" at the toplevel instead'
        apply_config_interface(host_port)
    end
end

#apply_config_interface(host_port) ⇒ Object

This method is part of a private API. You should avoid using this method if possible, as it may be removed or be changed in the future.

Parses and applies the ‘interface’ value from a configuration hash

It is a helper for #apply_config



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# File 'lib/roby/app.rb', line 1764

def apply_config_interface(host_port)
    if host_port !~ /:\d+$/
        host_port += ":#{Interface::DEFAULT_PORT}"
    end

    match = /(.*):(\d+)$/.match(host_port)
    host = match[1]
    @shell_interface_host =
        if !host.empty?
            host
        end
    @shell_interface_port = Integer(match[2])
end

#auto_load_all=(flag) ⇒ Boolean

Controls whether Roby’s auto-load feature should load all models in #search_path or only the ones in #app_dir. It influences the return value of #auto_load_search_path

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 2361

attr_predicate :auto_load_all?, true

#auto_load_all? ⇒ Boolean

Controls whether Roby’s auto-load feature should load all models in #search_path or only the ones in #app_dir. It influences the return value of #auto_load_search_path

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 2361

attr_predicate :auto_load_all?, true

#auto_load_models? ⇒ Boolean

Controls whether Roby should load the available the model files automatically in #require_models

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 2370

attr_writer :auto_load_models

#auto_load_search_path ⇒ Array<String>

Returns the search path for the auto-load feature. It depends on the value of #auto_load_all?.

Returns:

  • (Array<String>) —

    the search path for the auto-load feature. It depends on the value of #auto_load_all?



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# File 'lib/roby/app.rb', line 2382

def auto_load_search_path
    if auto_load_all? then search_path
    elsif app_dir then [app_dir]
    else []
    end
end

#auto_require_models ⇒ Object 



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# File 'lib/roby/app.rb', line 1609

def auto_require_models
    # Require all common task models and the task models specific to
    # this robot
    if auto_load_models?
        load_all_model_files_in('tasks')
        
        if backward_compatible_naming?
            search_path = self.auto_load_search_path
            all_files = find_files_in_dirs('tasks', 'ROBOT', path: search_path, all: true, order: :specific_last, pattern: /\.rb$/)
            all_files.each do |p|
                require(p)
            end
        end
        call_plugins(:auto_require_models, self)
    end
end

#auto_require_planners ⇒ Object 



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# File 'lib/roby/app.rb', line 1705

def auto_require_planners
    search_path = self.auto_load_search_path

    prefixes = ['actions']
    if backward_compatible_naming?
        prefixes << 'planners'
    end
    prefixes.each do |prefix|
        load_all_model_files_in(prefix)
    end

    if backward_compatible_naming?
        main_files = find_files('planners', 'ROBOT', 'main.rb', all: true, order: :specific_first)
        main_files.each do |path|
            require path
        end
        planner_files = find_files_in_dirs('planners', 'ROBOT', all: true, order: :specific_first, pattern: /\.rb$/)
        planner_files.each do |path|
            require path
        end
    end
    call_plugins(:require_planners, self)
end

#autodiscover_tests_in?(path) ⇒ Boolean

Hook for the plugins to filter out some paths that should not be auto-loaded by #each_test_file_in_app. It does not affect #each_test_file_for_loaded_models.

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 2789

def autodiscover_tests_in?(path)
    suffix = File.basename(path)
    if robots.has_robot?(suffix) && ![robot_name, robot_type].include?(suffix)
        false
    elsif defined? super
        super
    else
        true
    end
end

#automatic_testing=(flag) ⇒ Object

True if user interaction is disabled during tests



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# File 'lib/roby/app.rb', line 453

attr_predicate :automatic_testing?, true

#automatic_testing? ⇒ Object

True if user interaction is disabled during tests



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# File 'lib/roby/app.rb', line 453

attr_predicate :automatic_testing?, true

#backward_compatible_naming=(flag) ⇒ Object

If set to true, the app will enable backward-compatible behaviour related to naming schemes, file placements and so on

The default is true



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# File 'lib/roby/app.rb', line 234

attr_predicate :backward_compatible_naming?, true

#backward_compatible_naming? ⇒ Object

If set to true, the app will enable backward-compatible behaviour related to naming schemes, file placements and so on

The default is true



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# File 'lib/roby/app.rb', line 234

attr_predicate :backward_compatible_naming?, true

#base_cleanup ⇒ Object

The inverse of #base_setup



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# File 'lib/roby/app.rb', line 791

def base_cleanup
    if !public_logs?
        created_log_dirs.delete_if do |dir|
            FileUtils.rm_rf dir
            true
        end
        created_log_base_dirs.sort_by(&:length).reverse_each do |dir|
            # .rmdir will ignore nonempty / nonexistent directories
            FileUtils.rmdir(dir)
            created_log_base_dirs.delete(dir)
        end
    end
end

#base_setup ⇒ Object 



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# File 'lib/roby/app.rb', line 777

def base_setup
    STDOUT.sync = true

    load_base_config
    if !@log_dir
        find_and_create_log_dir
    end
    setup_loggers(redirections: true)

    # Set up the loaded plugins
    call_plugins(:base_setup, self)
end

#call_plugins(method, *args, deprecated: nil) ⇒ Object

Call method on each loaded extension module which define it, with arguments args



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# File 'lib/roby/app.rb', line 1069

def call_plugins(method, *args, deprecated: nil)
    each_responding_plugin(method) do |config_extension|
        if deprecated
            Roby.warn "#{config_extension} uses the deprecated .#{method} hook during setup and teardown, #{deprecated}"
        end
        config_extension.send(method, *args)
    end
end

#cleanup ⇒ Object

The inverse of #setup. It gets called at the end of #run



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# File 'lib/roby/app.rb', line 846

def cleanup
    # Run the cleanup handlers first, we want the plugins to still be
    # active
    cleanup_handlers.each(&:call)

    call_plugins(:cleanup, self)
    # Deprecated version of #cleanup
    call_plugins(:reset, self, deprecated: "define 'cleanup' instead")

    planners.clear
    plan.execution_engine.gather_propagation do
        plan.clear
    end
    clear_models
    clear_config

    stop_shell_interface
    base_cleanup
end

#clear_config ⇒ Object 



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# File 'lib/roby/app.rb', line 2462

def clear_config
    Conf.clear
    call_plugins(:clear_config, self)
    # Deprecated name for clear_config
    call_plugins(:reload_config, self)
end

#clear_exceptions ⇒ Object 



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# File 'lib/roby/app.rb', line 1506

def clear_exceptions
    registered_exceptions.clear
end

#clear_model?(m) ⇒ Boolean

Whether this model should be cleared in #clear_models

The default implementation returns true for the models that are not registered as constants (more precisely, for which MetaRuby’s #permanent_model? returns false) and for the models defined in this app.

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 2529

def clear_model?(m)
    !m.permanent_model? ||
        (!testing? && model_defined_in_app?(m))
end

#clear_models ⇒ Object

Clear all models for which #clear_model? returns true



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# File 'lib/roby/app.rb', line 2535

def clear_models
    root_models.each do |root_model|
        submodels = root_model.each_submodel.to_a.dup
        submodels.each do |m|
            if clear_model?(m)
                m.permanent_model = false
                m.clear_model
            end
        end
    end
    DRoby::V5::DRobyConstant.clear_cache
    clear_models_handlers.each { |b| b.call }
    call_plugins(:clear_models, self)
end

#controller(&block) ⇒ Object

Declares that the following block should be used as the robot controller



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# File 'lib/roby/app.rb', line 972

def controller(&block)
    controllers << block
end

#created_log_dir? ⇒ Boolean

Test whether this app already created its log directory

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 1300

def created_log_dir?
    @log_dir && File.directory?(@log_dir)
end

#define_actions_module ⇒ Object 



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# File 'lib/roby/app.rb', line 1679

def define_actions_module
    if !app_module.const_defined_here?(:Actions)
        app_module.const_set(:Actions, Module.new)
    end
end

#define_main_planner_if_needed ⇒ Object 



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# File 'lib/roby/app.rb', line 1685

def define_main_planner_if_needed
    if !app_module::Actions.const_defined_here?(:Main)
        app_module::Actions.const_set(:Main, Class.new(Roby::Actions::Interface))
    end
    if backward_compatible_naming?
        if !Object.const_defined_here?(:Main)
            Object.const_set(:Main, app_module::Actions::Main)
        end
    end
end

#defined_plugin?(name) ⇒ Boolean

True if name is a plugin known to us

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 1044

def defined_plugin?(name)
    available_plugins.any? { |plugname, *_| plugname == name }
end

#definition_file_for(model) ⇒ Object

Returns the downmost app file that was involved in the given model’s definition



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# File 'lib/roby/app.rb', line 1644

def definition_file_for(model)
    return if !model.respond_to?(:definition_location) || !model.definition_location 
    model.definition_location.each do |location|
        file = location.absolute_path
        next if !(base_path = find_base_path_for(file))
        relative = Pathname.new(file).relative_path_from(base_path)
        split = relative.each_filename.to_a
        next if split[0] != 'models'
        return file
    end
    nil
end

#development_mode? ⇒ Object

Whether the app should run in development mode

Some expensive tests are disabled when not in development mode. This is the default



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# File 'lib/roby/app.rb', line 134

attr_predicate :development_mode?, true

#discover_test_files(all: true, only_self: false) ⇒ Array<String>

Discover which tests should be run, and require them

Parameters:

  • all (Boolean) (defaults to: true) —

    if set, list all files in #app_dir/test. Otherwise, list only the tests that are related to the loaded models.

  • only_self (Boolean) (defaults to: false) —

    if set, list only test files from within #app_dir. Otherwise, consider test files from all over #search_path

Returns:

  • (Array<String>) 


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# File 'lib/roby/app.rb', line 2766

def discover_test_files(all: true, only_self: false)
    if all
        test_files = each_test_file_in_app.inject(Hash.new) do |h, k|
            h[k] = Array.new
            h
        end
        if !only_self
            test_files.merge!(Hash[each_test_file_for_loaded_models.to_a])
        end
    else
        test_files = Hash[each_test_file_for_loaded_models.to_a]
        if only_self
            test_files = test_files.find_all { |f, _| self_file?(f) }
        end
    end
    test_files
end

#each_model(root_model = nil) {|| ... } ⇒ Object

Enumerate all models registered in this app

It basically enumerate all submodels of all models in #root_models

Parameters:

  • root_model (nil, #each_submodel) (defaults to: nil) —

    if non-nil, limit the enumeration to the submodels of this root

Yield Parameters:

  • (#each_submodel) 


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# File 'lib/roby/app.rb', line 2509

def each_model(root_model = nil)
    return enum_for(__method__, root_model) if !block_given?

    if !root_model
        self.root_models.each { |m| each_model(m, &Proc.new) }
        return
    end

    yield(root_model)
    root_model.each_submodel do |m|
        yield(m)
    end
end

#each_notification_listener {|the| ... } ⇒ Object

Enumerates the listeners currently registered through #on_notification

Yield Parameters:

  • the (#call) —

    job listener object



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# File 'lib/roby/app.rb', line 2723

def each_notification_listener(&block)
    notification_listeners.each(&block)
end

#each_plugin(on_available = false) ⇒ Object

Enumerates all available plugins, yielding only the plugin module (i.e. the plugin object itself)



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# File 'lib/roby/app.rb', line 1050

def each_plugin(on_available = false)
    plugins = self.plugins
    if on_available
        plugins = available_plugins.map { |name, _, mod, _| [name, mod] }
    end
    plugins.each do |_, mod|
        yield(mod)
    end
end

#each_responding_plugin(method, on_available = false) ⇒ Object

Yields each plugin object that respond to method



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# File 'lib/roby/app.rb', line 1061

def each_responding_plugin(method, on_available = false)
    each_plugin do |mod|
        yield(mod) if mod.respond_to?(method)
    end
end

#each_test_file_for_loaded_models {|path, models| ... } ⇒ Object

Enumerate the test files that should be run to test the current app configuration

Yield Parameters:

  • path (String) —

    the file’s path

  • models (Array<Class<Roby::Task>>) —

    the models that are meant to be tested by ‘path’. It can be empty for tests that involve lib/



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# File 'lib/roby/app.rb', line 2828

def each_test_file_for_loaded_models(&block)
    models_per_file = Hash.new { |h, k| h[k] = Set.new }
    each_model do |m|
        next if m.respond_to?(:has_ancestor?) && m.has_ancestor?(Roby::Event)
        next if m.respond_to?(:private_specialization?) && m.private_specialization?
        next if !m.name

        test_files_for(m).each do |test_path|
            models_per_file[test_path] << m
        end
    end

    find_files('test', 'actions', 'ROBOT', 'test_main.rb', order: :specific_first, all: true).each do |path|
        models_per_file[path] = Set[main_action_interface]
    end

    find_dirs('test', 'lib', order: :specific_first, all: true).each do |path|
        Pathname.new(path).find do |p|
            if p.basename.to_s =~ /^test_.*.rb$/ || p.basename.to_s =~ /_test\.rb$/
                models_per_file[p.to_s] = Set.new
            end
        end
    end

    models_per_file.each(&block)
end

#each_test_file_in_app ⇒ Object

Enumerate all the test files in this app and for this robot configuration



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# File 'lib/roby/app.rb', line 2802

def each_test_file_in_app
    return enum_for(__method__) if !block_given?

    dir = File.join(app_dir, 'test')
    return if !File.directory?(dir)

    Find.find(dir) do |path|
        # Skip the robot-specific bits that don't apply on the
        # selected robot
        if File.directory?(path)
            Find.prune if !autodiscover_tests_in?(path)
        end

        if File.file?(path) && path =~ /test_.*\.rb$/
            yield(path)
        end
    end
end

#each_ui_event_listener {|the| ... } ⇒ Object

Enumerates the listeners currently registered through #on_ui_event

Yield Parameters:

  • the (#call) —

    job listener object



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# File 'lib/roby/app.rb', line 2680

def each_ui_event_listener(&block)
    ui_event_listeners.each(&block)
end

#execution_engine ⇒ ExecutionEngine?

The engine associated with #plan

Returns:



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# File 'lib/roby/app.rb', line 106

def execution_engine; plan.execution_engine if plan end

#find_action_from_name(name) ⇒ (ActionInterface,Actions::Models::Action)?

Find an action with the given name on the action interfaces registered on #planners

Returns:

Raises:



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# File 'lib/roby/app.rb', line 2611

def find_action_from_name(name)
    candidates = []
    planners.each do |planner_model|
        if m = planner_model.find_action_by_name(name)
            candidates << [planner_model, m]
        end
    end
    candidates = candidates.uniq

    if candidates.size > 1
        raise ActionResolutionError, "more than one action interface provide the #{name} action: #{candidates.map { |pl, m| "#{pl}" }.sort.join(", ")}"
    else candidates.first
    end
end

#find_and_create_log_dir(time_tag = self.time_tag) ⇒ String

Create a log directory for the given time tag, and make it this app’s log directory

The time tag given to this method also becomes the app’s time tag

Parameters:

  • time_tag (String) (defaults to: self.time_tag)

Returns:

  • (String) —

    the path to the log directory



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# File 'lib/roby/app.rb', line 1207

def find_and_create_log_dir(time_tag = self.time_tag)
    base_dir  = log_base_dir
    @time_tag = time_tag

    while true
        log_dir  = Roby::Application.unique_dirname(base_dir, '', time_tag)
        new_dirs = Array.new

        dir = log_dir
        while !File.directory?(dir)
            new_dirs << dir
            dir = File.dirname(dir)
        end

        # Create all paths necessary, but check for possible concurrency
        # issues with other Roby-based tools creating a log dir with the
        # same name
        failed = new_dirs.reverse.any? do |dir|
            begin FileUtils.mkdir(dir)
                false
            rescue Errno::EEXIST
                true
            end
        end

        if !failed
            new_dirs.delete(log_dir)
            created_log_dirs << log_dir
            created_log_base_dirs.concat(new_dirs)
            @log_dir = log_dir
            log_save_metadata
            return log_dir
        end
    end
end

#find_base_path_for(path) ⇒ nil, String

Returns the path in search_path that contains the given file or path

Parameters:

  • path (String)

Returns:

  • (nil, String) 


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# File 'lib/roby/app.rb', line 2413

def find_base_path_for(path)
    if @find_base_path_rx_paths != search_path
        @find_base_path_rx = search_path.map { |app_dir| [Pathname.new(app_dir), app_dir, %r{(^|/)#{app_dir}(/|$)}] }.
            sort_by { |_, app_dir, _| app_dir.size }.
            reverse
        @find_base_path_rx_paths = search_path.dup
    end

    longest_prefix_path, _ = @find_base_path_rx.find do |app_path, app_dir, rx|
        (path =~ rx) ||
            ((path[0] != ?/) && File.file?(File.join(app_dir, path)))
    end
    longest_prefix_path
end

#find_data(*name) ⇒ Object 



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# File 'lib/roby/app.rb', line 2389

def find_data(*name)
    Application.find_data(*name)
end

#find_dir(*args) ⇒ Object

Returns the first match from #find_dirs, or nil if nothing matches



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# File 'lib/roby/app.rb', line 2293

def find_dir(*args)
    if !args.last.kind_of?(Hash)
        args.push(Hash.new)
    end
    args.last.delete('all')
    args.last.merge!(all: true)
    find_dirs(*args).first
end

#find_files_in_dirs(*path, options) ⇒ Array<String>

Enumerates the subdirectories of paths in #search_path matching the given path. The subdirectories are resolved using File.join(*path) If one of the elements of the path is the string ‘ROBOT’, it gets replaced by the robot name and type.

Given a search dir of [app2, app1]

app1/models/tasks/goto.rb
app1/models/tasks/v3/goto.rb
app2/models/tasks/asguard/goto.rb

Examples:

find_dirs('tasks', 'ROBOT', all: true, order: :specific_first)
# returns [app1/models/tasks/v3,
#          app2/models/tasks/asguard,
#          app1/models/tasks/]

find_dirs('tasks', 'ROBOT', all: false, order: :specific_first)
# returns [app1/models/tasks/v3/goto.rb]

Parameters:

  • options (Hash) —

    a customizable set of options

Returns:

  • (Array<String>) 


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# File 'lib/roby/app.rb', line 2075

def find_dirs(*dir_path)
    Application.debug { "find_dirs(#{dir_path.map(&:inspect).join(", ")})" }
    if dir_path.last.kind_of?(Hash)
        options = dir_path.pop
    end
    options = Kernel.validate_options(options || Hash.new, :all, :order, :path)

    if dir_path.empty?
        raise ArgumentError, "no path given"
    end

    search_path = options[:path] || self.search_path
    if !options.has_key?(:all)
        raise ArgumentError, "no :all argument given"
    elsif !options.has_key?(:order)
        raise ArgumentError, "no :order argument given"
    elsif ![:specific_first, :specific_last].include?(options[:order])
        raise ArgumentError, "expected either :specific_first or :specific_last for the :order argument, but got #{options[:order]}"
    end

    relative_paths = []

    base_dir_path = dir_path.dup
    base_dir_path.delete_if { |p| p =~ /ROBOT/ }
    relative_paths = [base_dir_path]
    if dir_path.any? { |p| p =~ /ROBOT/ } && robot_name && robot_type
        replacements = [robot_type]
        if robot_type != robot_name
            replacements << robot_name
        end
        replacements.each do |replacement|
            robot_dir_path = dir_path.map do |s|
                s.gsub('ROBOT', replacement)
            end
            relative_paths << robot_dir_path
        end
    end

    root_paths = search_path.dup
    if options[:order] == :specific_first
        relative_paths = relative_paths.reverse
    else
        root_paths = root_paths.reverse
    end

    result = []
    Application.debug { "  relative paths: #{relative_paths.inspect}" }
    relative_paths.each do |rel_path|
        root_paths.each do |root|
            abs_path = File.expand_path(File.join(*rel_path), root)
            Application.debug { "  absolute path: #{abs_path}" }
            if File.directory?(abs_path)
                Application.debug { "    selected" }
                result << abs_path 
            end
        end
    end

    if result.empty?
        return result
    elsif !options[:all]
        return [result.first]
    else
        return result
    end
end

#find_file(*args) ⇒ Object

Returns the first match from #find_files, or nil if nothing matches



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# File 'lib/roby/app.rb', line 2283

def find_file(*args)
    if !args.last.kind_of?(Hash)
        args.push(Hash.new)
    end
    args.last.delete('all')
    args.last.merge!(all: true)
    find_files(*args).first
end

#find_files(*path, options) ⇒ Array<String>

Enumerates files based on their relative paths in #search_path. The paths are resolved using File.join(*path) If one of the elements of the path is the string ‘ROBOT’, it gets replaced by the robot name and type.

Given a search dir of [app2, app1], a robot name of v3 and a robot type of asguard,

app1/config/v3.rb
app2/config/asguard.rb

Examples:

find_files('config', 'ROBOT.rb', all: true, order: :specific_first)
# returns [app1/config/v3.rb,
#          app2/config/asguard.rb]

find_dirs('tasks', 'ROBOT', all: false, order: :specific_first)
# returns [app1/config/v3.rb]

Parameters:

  • options (Hash) —

    a customizable set of options

Returns:

  • (Array<String>) 


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# File 'lib/roby/app.rb', line 2232

def find_files(*file_path)
    if file_path.last.kind_of?(Hash)
        options = file_path.pop
    end
    options = Kernel.validate_options(options || Hash.new, :all, :order, :path)

    if file_path.empty?
        raise ArgumentError, "no path given"
    end

    # Remove the filename from the complete path
    filename = file_path.pop
    filename = filename.split('/')
    file_path.concat(filename[0..-2])
    filename = filename[-1]

    if filename =~ /ROBOT/ && robot_name
        args = file_path + [options.merge(pattern: filename.gsub('ROBOT', robot_name))]
        robot_name_matches = find_files_in_dirs(*args)

        robot_type_matches = []
        if robot_name != robot_type
            args = file_path + [options.merge(pattern: filename.gsub('ROBOT', robot_type))]
            robot_type_matches = find_files_in_dirs(*args)
        end

        if options[:order] == :specific_first
            result = robot_name_matches + robot_type_matches
        else
            result = robot_type_matches + robot_name_matches
        end
    else
        args = file_path.dup
        args << options.merge(pattern: filename)
        result = find_files_in_dirs(*args)
    end

    orig_path = Pathname.new(File.join(*file_path))
    orig_path += filename
    if orig_path.absolute? && File.file?(orig_path.to_s)
        if options[:order] == :specific_first
            result.unshift orig_path.to_s
        else
            result.push orig_path.to_s
        end
    end

    return result
end

#find_files_in_dirs(*path, options) ⇒ Array<String>

Enumerates the files that are present in subdirectories of paths in #search_path. The subdirectories are resolved using File.join(*path) If one of the elements of the path is the string ‘ROBOT’, it gets replaced by the robot name and type.

Given a search dir of [app2, app1]

app1/models/tasks/goto.rb
app1/models/tasks/v3/goto.rb
app2/models/tasks/asguard/goto.rb

Examples:

find_files_in_dirs('tasks', 'ROBOT', all: true, order: :specific_first)
# returns [app1/models/tasks/v3/goto.rb,
#          app2/models/tasks/asguard/goto.rb,
#          app1/models/tasks/goto.rb]

find_files_in_dirs('tasks', 'ROBOT', all: false, order: :specific_first)
# returns [app1/models/tasks/v3/goto.rb,

Parameters:

  • options (Hash) —

    a customizable set of options

Returns:

  • (Array<String>) 


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# File 'lib/roby/app.rb', line 2172

def find_files_in_dirs(*dir_path)
    Application.debug { "find_files_in_dirs(#{dir_path.map(&:inspect).join(", ")})" }
    if dir_path.last.kind_of?(Hash)
        options = dir_path.pop
    end
    options = Kernel.validate_options(options || Hash.new, :all, :order, :path, pattern: Regexp.new(""))

    dir_search = dir_path.dup
    dir_search << { all: true, order: options[:order], path: options[:path] }
    search_path = find_dirs(*dir_search)

    result = []
    search_path.each do |dirname|
        Application.debug { "  dir: #{dirname}" }
        Dir.new(dirname).each do |file_name|
            file_path = File.join(dirname, file_name)
            Application.debug { "    file: #{file_path}" }
            if File.file?(file_path) && options[:pattern] === file_name
                Application.debug "      added"
                result << file_path
            end
        end
        break if !options[:all]
    end
    return result
end

#framework_file?(path) ⇒ Boolean

Tests whether a path is within a framework library

Parameters:

  • path (String)

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 2443

def framework_file?(path)
    if path =~ /roby\/.*\.rb$/
        true
    else
        Roby.app.plugins.any? do |name, _|
            _, dir, _, _ = Roby.app.plugin_definition(name)
            path =~ %r{(^|/)#{dir}(/|$)}
        end
    end
end

#guess_app_dir ⇒ String

Guess the app directory based on the current directory, and sets #app_dir. It will not do anything if the current directory is not in a Roby app. Moreover, it does nothing if #app_dir is already set

Returns:

  • (String) —

    the selected app directory



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# File 'lib/roby/app.rb', line 350

def guess_app_dir
    return if @app_dir
    if app_dir = self.class.guess_app_dir
        @app_dir = app_dir
    end
end

#has_app? ⇒ Boolean

Whether there is a supporting app directory

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 341

def has_app?
    !!@app_dir
end

#ignore_all_load_errors=(flag) ⇒ Object

If set to true, files that generate errors while loading will be ignored. This is used for model browsing GUIs to be usable even if there are errors

It is false by default



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# File 'lib/roby/app.rb', line 225

attr_predicate :ignore_all_load_errors?, true

#ignore_all_load_errors? ⇒ Object

If set to true, files that generate errors while loading will be ignored. This is used for model browsing GUIs to be usable even if there are errors

It is false by default



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# File 'lib/roby/app.rb', line 225

attr_predicate :ignore_all_load_errors?, true

#isolate_load_errors(message, logger = Application, level = :warn) ⇒ Object 



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# File 'lib/roby/app.rb', line 1510

def isolate_load_errors(message, logger = Application, level = :warn)
    yield
rescue Interrupt
    raise
rescue ::Exception => e
    register_exception(e, message)
    if ignore_all_load_errors?
        Robot.warn message
        Roby.log_exception_with_backtrace(e, logger, level)
    else raise
    end
end

#join ⇒ Object 



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# File 'lib/roby/app.rb', line 1935

def join
    @thread.join

rescue Exception => e
    if @thread.alive? && execution_engine.running?
        if execution_engine.forced_exit?
            raise
        else
            execution_engine.quit
            retry
        end
    else
        raise
    end
end

#load_all_model_files_in(prefix_name, ignored_exceptions: Array.new) ⇒ Object 



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# File 'lib/roby/app.rb', line 1574

def load_all_model_files_in(prefix_name, ignored_exceptions: Array.new)
    search_path = auto_load_search_path
    dirs = find_dirs(
        "models", prefix_name,
        path: search_path,
        all: true,
        order: :specific_last)

    dirs.each do |dir|
        all_files = Set.new
        Find.find(dir) do |path|
            # Skip the robot-specific bits that don't apply on the
            # selected robot
            if File.directory?(path)
                suffix = File.basename(File.dirname(path))
                if robots.has_robot?(suffix) && ![robot_name, robot_type].include?(suffix)
                    Find.prune
                end
            end

            if File.file?(path) && path =~ /\.rb$/
                all_files << path
            end
        end

        all_files.each do |path|
            begin
                require(path)
            rescue *ignored_exceptions => e
                ::Robot.warn "ignored file #{path}: #{e.message}"
            end
        end
    end
end

#load_base_config ⇒ Object

Loads the base configuration

This method loads the two most basic configuration files:

* config/app.yml
* config/init.rb

It also calls the plugin’s ‘load’ method



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# File 'lib/roby/app.rb', line 725

def load_base_config
    load_config_yaml
    setup_loggers(ignore_missing: true, redirections: false)

    setup_robot_names_from_config_dir

    # Get the application-wide configuration
    if plugins_enabled?
        register_plugins
    end

    update_load_path

    if initfile = find_file('config', 'init.rb', order: :specific_first)
        Application.info "loading init file #{initfile}"
        require initfile
    end

    update_load_path

    # Deprecated hook
    call_plugins(:load, self, deprecated: "define 'load_base_config' instead")
    call_plugins(:load_base_config, self)

    update_load_path

    if defined? Roby::Conf
        Roby::Conf.datadirs = find_dirs('data', 'ROBOT', all: true, order: :specific_first)
    end

    if has_app?
        require_robot_file
    end

    init_handlers.each(&:call)
    update_load_path

    # Define the app module if there is none, and define a root logger
    # on it
    app_module =
        begin self.app_module
        rescue NameError
            Object.const_set(module_name, Module.new)
        end
    if !app_module.respond_to?(:logger)
        module_name = self.module_name
        app_module.class_eval do
            extend ::Logger::Root(module_name, Logger::INFO)
        end
    end
end

#load_config_yaml ⇒ Object 



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# File 'lib/roby/app.rb', line 1729

def load_config_yaml
    file = find_file('config', 'app.yml', order: :specific_first)
    return if !file

    Application.info "loading config file #{file}"
    options = YAML.load(File.open(file)) || Hash.new

    if robot_name && (robot_config = options.delete('robots'))
        options = options.recursive_merge(robot_config[robot_name] || Hash.new)
    end
    options = options.map_value do |k, val|
        val || Hash.new
    end
    options = @options.recursive_merge(options)
    apply_config(options)
    @options = options
end

#load_default_models ⇒ Object

Helper to the robot config files to load the root files in models/ (e.g. models/tasks.rb)



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# File 'lib/roby/app.rb', line 1633

def load_default_models
    ['tasks.rb', 'actions.rb'].each do |root_type|
        if path = find_file('models', root_type, path: [app_dir], order: :specific_first)
            require path
        end
    end
    call_plugins(:load_default_models, self)
end

#load_plugin_file(appfile) ⇒ Object

Load the given Roby plugin file. It is usually called app.rb, and should call register_plugin with the relevant information

Note that the file should not do anything yet. The actions required to have a functional plugin should be taken only in the block given to register_plugin or in the relevant plugin methods.



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# File 'lib/roby/app.rb', line 1023

def load_plugin_file(appfile)
    begin
        require appfile
    rescue
        Roby.warn "cannot load plugin #{appfile}: #{$!.full_message}\n"
    end
    Roby.info "loaded plugin #{appfile}"
end

#load_plugins_from_prefix(dir) ⇒ Object

Looks into subdirectories of dir for files called app.rb and registers them as Roby plugins



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# File 'lib/roby/app.rb', line 1002

def load_plugins_from_prefix(dir)
    dir = File.expand_path(dir)
    $LOAD_PATH.unshift dir

    Dir.new(dir).each do |subdir|
        subdir = File.join(dir, subdir)
        next unless File.directory?(subdir)
        appfile = File.join(subdir, "app.rb")
        next unless File.file?(appfile)
        load_plugin_file(appfile)
    end
ensure
    $LOAD_PATH.shift
end

#loaded_plugin?(name) ⇒ Boolean

Returns true if name is a loaded plugin

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 1033

def loaded_plugin?(name)
    plugins.any? { |plugname, _| plugname == name }
end

#log ⇒ Object

:method: log_server=

Sets whether the log server should be started



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# File 'lib/roby/app.rb', line 607

overridable_configuration 'log', 'filter_backtraces', predicate: true

#log_base_dir ⇒ Object

The base directory in which logs should be saved

Logs are saved in log_base_dir/$time_tag by default, and a log_base_dir/current symlink gets updated to reflect the most current log directory.

The path is controlled by the log/dir configuration variable. If the provided value, it is interpreted relative to the application directory. It defaults to “data”.



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# File 'lib/roby/app.rb', line 1181

def log_base_dir
    maybe_relative_dir =
        if @log_base_dir ||= log['dir']
            @log_base_dir
        elsif global_base_dir = ENV['ROBY_BASE_LOG_DIR']
            File.join(global_base_dir, app_name)
        else
            'logs'
        end
    File.expand_path(maybe_relative_dir, app_dir || Dir.pwd)
end

#log_base_dir=(dir) ⇒ Object

Sets the directory under which logs should be created

This cannot be called after log_dir has been set



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# File 'lib/roby/app.rb', line 1196

def log_base_dir=(dir)
    @log_base_dir = dir
end

#log_create_current=(flag) ⇒ Object

If set to true, this Roby application will create a ‘current’ entry in #log_base_dir that points to the latest log directory. Otherwise, it will not. It is false when ‘roby run’ is started with an explicit log directory (the –log-dir option)

This symlink will never be created if #public_logs? is false, regardless of this setting.



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# File 'lib/roby/app.rb', line 2338

attr_predicate :log_create_current?, true

#log_create_current? ⇒ Object

If set to true, this Roby application will create a ‘current’ entry in #log_base_dir that points to the latest log directory. Otherwise, it will not. It is false when ‘roby run’ is started with an explicit log directory (the –log-dir option)

This symlink will never be created if #public_logs? is false, regardless of this setting.



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# File 'lib/roby/app.rb', line 2338

attr_predicate :log_create_current?, true

#log_current_dir ⇒ Object

The path to the current log directory

If #log_dir is set, it is used. Otherwise, the current log directory is inferred by the directory pointed to the ‘current’ symlink



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# File 'lib/roby/app.rb', line 1352

def log_current_dir
    if @log_dir
        @log_dir
    else
        current_path = File.join(log_base_dir, "current")
        self.class.read_current_dir(current_path)
    end
end

#log_current_file ⇒ Object

The path to the current log file



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# File 'lib/roby/app.rb', line 1364

def log_current_file
    log_current_dir = self.log_current_dir
    metadata = log_read_metadata
    if metadata.empty?
        raise NoCurrentLog, "#{log_current_dir} is not a valid Roby log dir, it does not have an info.yml metadata file"
    elsif !(robot_name = metadata.map { |h| h['robot_name'] }.compact.last)
        raise NoCurrentLog, "#{log_current_dir}'s metadata does not specify the robot name"
    end

    full_path = File.join(log_current_dir, "#{robot_name}-events.log")
    if !File.file?(full_path)
        raise NoCurrentLog, "inferred log file #{full_path} for #{log_current_dir}, but that file does not exist"
    end
    full_path
end

#log_dir ⇒ Object

The directory in which logs are to be saved Defaults to app_dir/data/$time_tag



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# File 'lib/roby/app.rb', line 1245

def log_dir
    if !@log_dir
        raise LogDirNotInitialized, "the log directory has not been initialized yet"
    end
    @log_dir
end

#log_dir=(dir) ⇒ Object

Explicitely set the log directory

It is usually automatically created under #log_base_dir during #base_setup



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# File 'lib/roby/app.rb', line 1266

def log_dir=(dir)
    if !File.directory?(dir)
        raise ArgumentError, "log directory #{dir} does not exist"
    end
    @log_dir = dir
end

#log_read_metadata ⇒ Object

Read the time tag from the current log directory



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# File 'lib/roby/app.rb', line 1330

def log_read_metadata
    dir = begin
              log_current_dir
          rescue ArgumentError
          end

    if dir && File.exists?(File.join(dir, 'info.yml'))
        YAML.load(File.read(File.join(dir, 'info.yml')))
    else
        Array.new
    end
end

#log_read_time_tag ⇒ Object 



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# File 'lib/roby/app.rb', line 1343

def log_read_time_tag
    metadata = log_read_metadata.last
    metadata && metadata['time_tag']
end

#log_save_metadata(append: true) ⇒ Object

Save #app_metadata in the log directory

Parameters:

  • append (Boolean) (defaults to: true) —

    if true (the default), the value returned by #app_metadata is appended to the existing data. Otherwise, it replaces the last entry in the file



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# File 'lib/roby/app.rb', line 1309

def log_save_metadata(append: true)
    path = File.join(log_dir, 'info.yml')

    info = Array.new
    current =
        if File.file?(path)
            YAML.load(File.read(path)) || Array.new
        else Array.new
        end

    if append || current.empty?
        current << app_metadata
    else
        current[-1] = app_metadata
    end
    File.open(path, 'w') do |io|
        YAML.dump(current, io)
    end
end

#log_setup(mod_path, level, file = nil) ⇒ Object

Configures a text logger in the system. It has to be called before #setup to have an effect.

It overrides configuration from the app.yml file

For instance,

log_setup 'roby/execution_engine', 'DEBUG'

will be equivalent to having the following entry in config/app.yml:

log:
    levels:
        roby/execution_engine: DEBUG



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# File 'lib/roby/app.rb', line 592

def log_setup(mod_path, level, file = nil)
    levels = (log_overrides['levels'] ||= Hash.new)
    levels[mod_path] = [level, file].compact.join(":")
end

#main_action_interface ⇒ Object

Returns this app’s main action interface

This is usually set up in the robot configuration file by calling Robot.actions



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# File 'lib/roby/app.rb', line 269

def main_action_interface
    app_module::Actions::Main
end

#make_path_relative(path) ⇒ Object

Transforms path into a path relative to an entry in search_path (usually the application root directory)



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# File 'lib/roby/app.rb', line 1492

def make_path_relative(path)
    if !File.exists?(path)
        path
    elsif root_path = find_base_path_for(path)
        return Pathname.new(path).relative_path_from(root_path).to_s
    else
        path
    end
end

#model_defined_in_app?(model) ⇒ Boolean

Tests whether a model class has been defined in this app’s code

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 2480

def model_defined_in_app?(model)
    model.definition_location.each do |location|
        return if location.label == 'require'
        return true if app_file?(location.absolute_path)
    end
    false
end

#modelling_only ⇒ Object 



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# File 'lib/roby/app.rb', line 2351

def modelling_only; self.modelling_only = true end

#needs_to_be_in_current_app(allowed_outside: true) ⇒ Object

Call to check whether the current directory is within #app_dir. If not, raises

This is called by tools for which being in another app than the currently selected would be really too confusing



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# File 'lib/roby/app.rb', line 375

def needs_to_be_in_current_app(allowed_outside: true)
    guessed_dir = self.class.guess_app_dir
    if guessed_dir && (@app_dir != guessed_dir)
        raise NotInCurrentApp, "#{@app_dir} is currently selected, but the current directory is within #{guessed_dir}"
    elsif !guessed_dir && !allowed_outside
        raise NotInCurrentApp, "not currently within an app dir"
    end
end

#notify(source, level, message) ⇒ Object

Sends a message to all notification listeners



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# File 'lib/roby/app.rb', line 2728

def notify(source, level, message)
    each_notification_listener do |block|
        block.call(source, level, message)
    end
end

#on_cleanup(&block) ⇒ Object

Declares that the following block should be called when #clear_models is called



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# File 'lib/roby/app.rb', line 993

def on_cleanup(&block)
    if !block
        raise ArgumentError, "missing expected block argument"
    end
    cleanup_handlers << block
end

#on_clear_models(&block) ⇒ Object

Declares that the following block should be called when #clear_models is called



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# File 'lib/roby/app.rb', line 984

def on_clear_models(&block)
    if !block
        raise ArgumentError, "missing expected block argument"
    end
    clear_models_handlers << block
end

#on_config(&block) ⇒ Object

Deprecated.

use #on_setup instead



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# File 'lib/roby/app.rb', line 966

def on_config(&block)
    on_setup(&block)
end

#on_init(&block) ⇒ Object

Declares a block that should be executed when the Roby app gets initialized (i.e. just after init.rb gets loaded)



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# File 'lib/roby/app.rb', line 940

def on_init(&block)
    if !block
        raise ArgumentError, "missing expected block argument"
    end
    init_handlers << block
end

#on_notification {|source, level, message| ... } ⇒ Object

Registers a block to be called when a message needs to be dispatched from #notify

Yield Parameters:

  • source (String) —

    the source of the message

  • level (String) —

    the log level

  • message (String) —

    the message itself

Returns:



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# File 'lib/roby/app.rb', line 2742

def on_notification(&block)
    if !block
        raise ArgumentError, "missing expected block argument"
    end
    notification_listeners << block
    block
end

#on_require(&block) ⇒ Object

Declares a block that should be executed when the Roby app loads models (i.e. in #require_models)



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# File 'lib/roby/app.rb', line 958

def on_require(&block)
    if !block
        raise ArgumentError, "missing expected block argument"
    end
    require_handlers << block
end

#on_setup(&block) ⇒ Object

Declares a block that should be executed when the Roby app is begin setup



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# File 'lib/roby/app.rb', line 949

def on_setup(&block)
    if !block
        raise ArgumentError, "missing expected block argument"
    end
    setup_handlers << block
end

#on_ui_event {|name, args| ... } ⇒ Object

Registers a block to be called when a message needs to be dispatched from #ui_event

Yield Parameters:

  • name (String) —

    the event name

  • args —

    the UI event listener arguments

Returns:



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# File 'lib/roby/app.rb', line 2698

def on_ui_event(&block)
    if !block
        raise ArgumentError, "missing expected block argument"
    end
    ui_event_listeners << block
    block
end

#plugin_definition(name) ⇒ Object

Returns the [name, dir, file, module] array definition of the plugin name, or nil if name is not a known plugin



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# File 'lib/roby/app.rb', line 1039

def plugin_definition(name)
    available_plugins.find { |plugname, *_| plugname == name }
end

#plugins_enabled=(flag) ⇒ Object

True if plugins should be discovered, registered and loaded (true by default)



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# File 'lib/roby/app.rb', line 460

attr_predicate :plugins_enabled?, true

#plugins_enabled? ⇒ Object

True if plugins should be discovered, registered and loaded (true by default)



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# File 'lib/roby/app.rb', line 460

attr_predicate :plugins_enabled?, true

#prepare ⇒ Object

Prepares the environment to actually run



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# File 'lib/roby/app.rb', line 882

def prepare
    if public_shell_interface?
        setup_shell_interface
    end
    if public_rest_interface?
        setup_rest_interface
    end

    if public_logs? && log_create_current?
        FileUtils.rm_f File.join(log_base_dir, "current")
        FileUtils.ln_s log_dir, File.join(log_base_dir, 'current')
    end

    if log['events'] && public_logs?
        logfile_path = prepare_event_log

        # Start a log server if needed, and poll the log directory for new
        # data sources
        if log_server_options = (log.has_key?('server') ? log['server'] : Hash.new)
            if !log_server_options.kind_of?(Hash)
                log_server_options = Hash.new
            end
            plan.event_logger.sync = true
            start_log_server(logfile_path, log_server_options)
            Roby.info "log server started"
        else
            plan.event_logger.sync = false
            Roby.warn "log server disabled"
        end
    end

    call_plugins(:prepare, self)
end

#prepare_action(name, mission: false, **arguments) ⇒ Object

Generate the plan pattern that will call the required action on the planning interface, with the given arguments.

This returns immediately, and the action is not yet deployed at that point.

Returns:

  • task, planning_task



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# File 'lib/roby/app.rb', line 2656

def prepare_action(name, mission: false, **arguments)
    if name.kind_of?(Class)
        planner_model, m = action_from_model(name)
    else
        planner_model, m = action_from_name(name)
    end

    if mission
        plan.add_mission_task(task = m.plan_pattern(arguments))
    else
        plan.add(task = m.plan_pattern(arguments))
    end
    return task, task.planning_task
end

#prepare_event_log ⇒ Object

This method is part of a private API. You should avoid using this method if possible, as it may be removed or be changed in the future. 



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# File 'lib/roby/app.rb', line 867

def prepare_event_log
    require 'roby/droby/event_logger'
    require 'roby/droby/logfile/writer'

    logfile_path = File.join(log_dir, "#{robot_name}-events.log")
    event_io = File.open(logfile_path, 'w')
    logfile = DRoby::Logfile::Writer.new(event_io, plugins: plugins.map { |n, _| n })
    plan.event_logger = DRoby::EventLogger.new(logfile)
    plan.execution_engine.event_logger = plan.event_logger

    Robot.info "logs are in #{log_dir}"
    logfile_path
end

#public_logs=(flag) ⇒ Object

If set to true, this Roby application will make its logs public, i.e. will save the logs in logs/ and update the logs/current symbolic link accordingly. Otherwise, the logs are saved in a folder in logs/ that is deleted on teardown, and current is not updated

Only the run modes have public logs by default



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# File 'lib/roby/app.rb', line 2326

attr_predicate :public_logs?, true

#public_logs? ⇒ Object

If set to true, this Roby application will make its logs public, i.e. will save the logs in logs/ and update the logs/current symbolic link accordingly. Otherwise, the logs are saved in a folder in logs/ that is deleted on teardown, and current is not updated

Only the run modes have public logs by default



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# File 'lib/roby/app.rb', line 2326

attr_predicate :public_logs?, true

#public_rest_interface=(flag) ⇒ Object

If set to true, this Roby application will publish a Interface::REST::API object



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# File 'lib/roby/app.rb', line 632

attr_predicate :public_rest_interface?, true

#public_rest_interface? ⇒ Object

If set to true, this Roby application will publish a Interface::REST::API object



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# File 'lib/roby/app.rb', line 632

attr_predicate :public_rest_interface?, true

#public_shell_interface=(flag) ⇒ Object

If set to true, this Roby application will publish a Interface::Interface object as a TCP server.



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# File 'lib/roby/app.rb', line 2315

attr_predicate :public_shell_interface?, true

#public_shell_interface? ⇒ Object

If set to true, this Roby application will publish a Interface::Interface object as a TCP server.



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# File 'lib/roby/app.rb', line 2315

attr_predicate :public_shell_interface?, true

#register_exception(e, reason = nil) ⇒ Object 



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# File 'lib/roby/app.rb', line 1502

def register_exception(e, reason = nil)
    registered_exceptions << [e, reason]
end

#register_plugins(force: false) ⇒ Object 



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# File 'lib/roby/app.rb', line 1078

def register_plugins(force: false)
    if !plugins_enabled? && !force
        raise PluginsDisabled, "cannot call #register_plugins while the plugins are disabled"
    end

    # Load the plugins 'main' files
    if plugin_path = ENV['ROBY_PLUGIN_PATH']
        plugin_path.split(':').each do |plugin|
            if File.directory?(plugin)
                load_plugins_from_prefix plugin
            elsif File.file?(plugin)
                load_plugin_file plugin
            end
        end
    end
end

#register_server(name, port) ⇒ Object

Register a server port that can be discovered later



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# File 'lib/roby/app.rb', line 1487

def register_server(name, port)
end

#reload_actions ⇒ Object

Reload action models defined in models/actions/



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# File 'lib/roby/app.rb', line 2561

def reload_actions
    unload_features("actions", ".*\.rb$")
    unload_features("models", "actions", ".*\.rb$")
    planners.each do |planner_model|
        planner_model.clear_model
    end
    require_planners
end

#reload_config ⇒ Object

Reload files in config/



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# File 'lib/roby/app.rb', line 2470

def reload_config
    clear_config
    unload_features("config", ".*\.rb$")
    if has_app?
        require_robot_file
    end
    call_plugins(:require_config, self)
end

#reload_models ⇒ Object

Reload model files in models/



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# File 'lib/roby/app.rb', line 2551

def reload_models
    clear_models
    unload_features("models", ".*\.rb$")
    additional_model_files.each do |path|
        unload_features(path)
    end
    require_models
end

#reload_planners ⇒ Object 



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# File 'lib/roby/app.rb', line 2570

def reload_planners
    unload_features("planners", ".*\.rb$")
    unload_features("models", "planners", ".*\.rb$")
    planners.each do |planner_model|
        planner_model.clear_model
    end
    require_planners
end

#remove_notification_listener(listener) ⇒ Object

Removes a notification listener added with #on_notification

Parameters:



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# File 'lib/roby/app.rb', line 2754

def remove_notification_listener(listener)
    notification_listeners.delete(listener)
end

#remove_ui_event_listener(listener) ⇒ Object

Removes a notification listener added with #on_ui_event

Parameters:



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# File 'lib/roby/app.rb', line 2710

def remove_ui_event_listener(listener)
    ui_event_listeners.delete(listener)
end

#require(absolute_path) ⇒ Object 



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# File 'lib/roby/app.rb', line 1523

def require(absolute_path)
    # Make the file relative to the search path
    file = make_path_relative(absolute_path)
    Roby::Application.info "loading #{file} (#{absolute_path})"
    isolate_load_errors("ignored file #{file}") do
        if file != absolute_path
            Kernel.require(file)
        else
            Kernel.require absolute_path
        end
    end
end

#require_app_dir(needs_current: false, allowed_outside: true) ⇒ Object

Call to require this roby application to be in a Roby application

It tries to guess the app directory. If none is found, it raises.



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# File 'lib/roby/app.rb', line 360

def require_app_dir(needs_current: false, allowed_outside: true)
    guess_app_dir
    if !@app_dir
        raise ArgumentError, "your current directory does not seem to be a Roby application directory; did you forget to run 'roby init'?"
    end
    if needs_current
        needs_to_be_in_current_app(allowed_outside: allowed_outside)
    end
end

#require_models ⇒ Object

Loads the models, based on the given robot name and robot type



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# File 'lib/roby/app.rb', line 1537

def require_models
    # Set up the loaded plugins
    call_plugins(:require_config, self, deprecated: "define 'require_models' instead")
    call_plugins(:require_models, self)

    require_handlers.each do |handler|
        isolate_load_errors("while calling #{handler}") do
            handler.call
        end
    end

    define_actions_module
    if auto_load_models?
        auto_require_planners
    end
    define_main_planner_if_needed

    action_handlers.each do |act|
        isolate_load_errors("error in #{act}") do
            app_module::Actions::Main.class_eval(&act)
        end
    end

    additional_model_files.each do |path|
        require File.expand_path(path)
    end

    if auto_load_models?
        auto_require_models
    end

    # Set up the loaded plugins
    call_plugins(:finalize_model_loading, self)

    plan.refresh_relations
end

#require_planners ⇒ Object

Loads the planner models

This method is called at the end of #require_models, before the plugins’ require_models hook is called



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# File 'lib/roby/app.rb', line 1700

def require_planners
    Roby.warn_deprecated "Application#require_planners is deprecated and has been renamed into #auto_require_planners"
    auto_require_planners
end

#require_robot_file ⇒ Object 



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# File 'lib/roby/app.rb', line 1810

def require_robot_file
    p = find_file('config', 'robots', "#{robot_name}.rb", order: :specific_first) ||
        find_file('config', 'robots', "#{robot_type}.rb", order: :specific_first)

    if p
        @default_auto_load = false
        require p
        if !robot_type
            robot(robot_name, robot_name)
        end
    elsif !find_dir('config', 'robots', order: :specific_first) || (robot_name == robots.default_robot_name) || !robots.strict?
        Roby.warn "#{robot_name}:#{robot_type} is selected as the robot, but there is"
        if robot_name == robot_type
            Roby.warn "no file named config/robots/#{robot_name}.rb"
        else
            Roby.warn "neither config/robots/#{robot_name}.rb nor config/robots/#{robot_type}.rb"
        end
        Roby.warn "run roby gen robot #{robot_name} in your app to create one"
        Roby.warn "initialization will go on, but this behaviour is deprecated and will be removed in the future"
    else
        raise NoSuchRobot, "cannot find config file for robot #{robot_name} of type #{robot_type} in config/robots/"
    end
end

#reset_log_dir ⇒ Object

Reset the current log dir so that #setup picks a new one



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# File 'lib/roby/app.rb', line 1253

def reset_log_dir
    @log_dir = nil
end

#reset_plan(plan = ExecutablePlan.new) ⇒ Object

Reset the plan to a new Plan object



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# File 'lib/roby/app.rb', line 1258

def reset_plan(plan = ExecutablePlan.new)
    @plan = plan
end

#restart(*cmdline) ⇒ Object

Quits this app and replaces with a new one after a proper cleanup

Parameters:

  • cmdline (String) —

    the command line to exec after quitting. If not given, will restart using the same command line as the one that started this process



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# File 'lib/roby/app.rb', line 1966

def restart(*cmdline)
    @restarting = true
    @restart_cmdline =
        if cmdline.empty?
            if defined? ORIGINAL_ARGV
                [$0, *ORIGINAL_ARGV]
            else
                [$0, *ARGV]
            end
        else cmdline
        end
    plan.execution_engine.quit
end

#restarting? ⇒ Boolean

Whether #run should exec a new process on quit or not

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 1957

def restarting?
    !!@restarting
end

#robot(name, type = nil) ⇒ Object

Sets up the name and type of the robot. This can be called only once in a given Roby controller.



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# File 'lib/roby/app.rb', line 1168

def robot(name, type = nil)
    @robot_name, @robot_type = robots.resolve(name, type)
end

#robot_name ⇒ String?

The robot name

Returns:

  • (String, nil) 


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# File 'lib/roby/app.rb', line 1151

def robot_name
    if @robot_name then @robot_name
    else robots.default_robot_name
    end
end

#robot_name?(name) ⇒ Boolean

Test if the given name is a valid robot name

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 1627

def robot_name?(name)
    !robots.strict? || robots.has_robot?(name)
end

#robot_type ⇒ String?

The robot type

Returns:

  • (String, nil) 


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# File 'lib/roby/app.rb', line 1160

def robot_type
    if @robot_type then @robot_type
    else robots.default_robot_type
    end
end

#robots ⇒ App::RobotNames

The robot names configuration

Returns:



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# File 'lib/roby/app.rb', line 929

def robots
    if !@robots
        robots = App::RobotNames.new(options['robots'] || Hash.new)
        robots.strict = !!options['robots']
        @robots = robots
    end
    @robots
end

#root_models ⇒ Array<#each_submodel>

The list of model classes that allow to discover all models in this app

Returns:

  • (Array<#each_submodel>) 


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# File 'lib/roby/app.rb', line 2492

def root_models
    models = [Task, TaskService, TaskEvent, Actions::Interface, Actions::Library,
     Coordination::ActionScript, Coordination::ActionStateMachine, Coordination::TaskScript]

    each_responding_plugin(:root_models) do |config_extension|
        models.concat(config_extension.root_models)
    end
    models
end

#run(thread_priority: 0, &block) ⇒ Object 



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# File 'lib/roby/app.rb', line 1912

def run(thread_priority: 0, &block)
    prepare

    engine_config = self.engine
    engine = self.plan.execution_engine
    plugins = self.plugins.map { |_, mod| mod if (mod.respond_to?(:start) || mod.respond_to?(:run)) }.compact
    engine.once do
        run_plugins(plugins, &block)
    end
    @thread = Thread.new do
        Thread.current.priority = thread_priority
        engine.run cycle: engine_config['cycle'] || 0.1
    end
    join

ensure
    shutdown
    @thread = nil
    if restarting?
        Kernel.exec *@restart_cmdline
    end
end

#run_plugins(mods, &block) ⇒ Object

Helper for Application#run to call the plugin’s run or start methods while guaranteeing the system’s cleanup

This method recursively calls each plugin’s #run method (if defined) in block forms. This guarantees that the plugins can use a begin/rescue/end mechanism to do their cleanup

If no run-related cleanup is required, the plugin can define a #start(app) method instead.

Note that the cleanup we talk about here is related to running. Cleanup required after #setup must be done in #cleanup



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# File 'lib/roby/app.rb', line 1992

def run_plugins(mods, &block)
    if mods.empty?
        yield if block_given?
    else
        mod = mods.shift
        if mod.respond_to?(:start)
            mod.start(self)
            run_plugins(mods, &block)
        else
            mod.run(self) do
                run_plugins(mods, &block)
            end
        end
    end
end

#running? ⇒ Boolean

Whether we’re inside #run

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 1952

def running?
    !!@thread
end

#self_file?(path) ⇒ Boolean

Returns true if the given path points to a file under #app_dir

Returns:

  • (Boolean) 


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# File 'lib/roby/app.rb', line 2429

def self_file?(path)
    find_base_path_for(path) == app_path
end

#setup ⇒ Object

Does basic setup of the Roby environment. It loads configuration files and sets up singleton objects.

After a call to #setup, the Roby services that do not require an execution loop to run should be available

Plugins that define a setup(app) method will see their method called at this point

The #cleanup method is the reverse of #setup



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# File 'lib/roby/app.rb', line 815

def setup
    base_setup
    # Set up the loaded plugins
    call_plugins(:setup, self)
    # And run the setup handlers
    setup_handlers.each(&:call)

    require_models

    # Main is always included in the planner list
    self.planners << app_module::Actions::Main
   
    # Attach the global fault tables to the plan
    self.planners.each do |planner|
        if planner.respond_to?(:each_fault_response_table)
            planner.each_fault_response_table do |table, arguments|
                plan.use_fault_response_table table, arguments
            end
        end
    end

rescue Exception
    begin cleanup
    rescue Exception => e
        Roby.warn "failed to cleanup after #setup raised"
        Roby.log_exception_with_backtrace(e, Roby, :warn)
    end
    raise
end

#setup_for_minimal_tooling ⇒ Object 



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# File 'lib/roby/app.rb', line 2302

def setup_for_minimal_tooling
    self.public_logs = false
    self.auto_load_models = false
    self.single = true
    self.modelling_only = true
    setup
end

#setup_loggers(ignore_missing: false, redirections: true) ⇒ Object

Sets up all the default loggers. It creates the logger for the Robot module (accessible through Robot.logger), and sets up log levels as specified in the config/app.yml file.



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# File 'lib/roby/app.rb', line 1444

def setup_loggers(ignore_missing: false, redirections: true)
    Robot.logger.progname = robot_name || 'Robot'
    return if !log['levels']

    # Set up log levels
    log['levels'].each do |name, value|
        const_name = name.modulize
        mod =
            begin Kernel.constant(const_name)
            rescue NameError => e
                if ignore_missing
                    next
                elsif name != const_name
                    raise InvalidLoggerName, "cannot resolve logger #{name} (resolved as #{const_name}): #{e.message}"
                else
                    raise InvalidLoggerName, "cannot resolve logger #{name}: #{e.message}"
                end
            end

        if value =~ /^(\w+):(.+)$/
            value, file = $1, $2
            file = file.gsub('ROBOT', robot_name) if robot_name
        end
        level = Logger.const_get(value)

        io = if redirections && file
                 path = File.expand_path(file, log_dir)
                 Robot.info "redirected logger for #{mod} to #{path} (level #{level})"
                 io = File.open(path, 'w')
                 io.sync = true
                 log_files[path] ||= io
             else 
                 STDOUT
             end
        new_logger = Logger.new(io)
        new_logger.level     = level
        new_logger.formatter = mod.logger.formatter
        new_logger.progname = [name, robot_name].compact.join(" ")
        mod.logger = new_logger
    end
end

#setup_rest_interface ⇒ Object

Publishes a REST API

The REST API will long-term replace the shell interface. It is however currently too limited for this purpose. Whether one should use one or the other is up to the application, but prefer the REST API if it suits your needs



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# File 'lib/roby/app.rb', line 1877

def setup_rest_interface
    require 'roby/interface/rest'

    if @rest_interface
        raise RuntimeError, "there is already a REST interface started, call #stop_rest_interface first"
    end
    composite_api = Class.new(Grape::API)
    composite_api.mount Interface::REST::API
    call_plugins(:setup_rest_interface, self, composite_api)

    @rest_interface = Interface::REST::Server.new(
        self, host: rest_interface_host, port: rest_interface_port,
        api: composite_api)
    @rest_interface.start

    if rest_interface_port != Interface::DEFAULT_REST_PORT
        Robot.info "REST interface started on port #{@rest_interface.port(timeout: nil)}"
    else
        Robot.debug "REST interface started on port #{rest_interface_port}"
    end
    @rest_interface
end

#setup_robot_names_from_config_dir ⇒ Object 



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# File 'lib/roby/app.rb', line 1797

def setup_robot_names_from_config_dir
    robot_config_files = find_files_in_dirs 'config', 'robots', 
        all: true,
        order: :specific_first,
        pattern: lambda { |p| File.extname(p) == ".rb" }

    robots.strict = !robot_config_files.empty?
    robot_config_files.each do |path|
        robot_name = File.basename(path, ".rb")
        robots.robots[robot_name] ||= robot_name
    end
end

#setup_shell_interface ⇒ Object

Publishes a shell interface

This method publishes a Roby::Interface object using Interface::TCPServer. It is published on Interface::DEFAULT_PORT by default. This default can be overriden by setting #shell_interface_port either in config/init.rb, or in a Robot.setup block in the robot configuration file.

The shell interface is started in #setup and stopped in #cleanup

See Also:



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# File 'lib/roby/app.rb', line 1845

def setup_shell_interface
    require 'roby/interface'

    if @shell_interface
        raise RuntimeError, "there is already a shell interface started, call #stop_shell_interface first"
    end
    @shell_interface = Interface::TCPServer.new(
        self, host: shell_interface_host, port: shell_interface_port)
    shell_interface.abort_on_exception = shell_abort_on_exception?
    if shell_interface_port != Interface::DEFAULT_PORT
        Robot.info "shell interface started on port #{shell_interface_port}"
    else
        Robot.debug "shell interface started on port #{shell_interface_port}"
    end
end

#shell ⇒ Object 



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# File 'lib/roby/app.rb', line 2346

def shell; self.shell = true end

#shutdown ⇒ Object

The inverse of #prepare. It gets called either at the end of #run or at the end of #setup if there is an error during loading



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# File 'lib/roby/app.rb', line 919

def shutdown
    call_plugins(:shutdown, self)
    stop_log_server
    stop_shell_interface
    stop_rest_interface(join: true)
end

#simulation ⇒ Object 



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# File 'lib/roby/app.rb', line 2341

def simulation; self.simulation = true end

#single ⇒ Object 



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# File 'lib/roby/app.rb', line 2348

def single;  @single = true end

#start_log_server(logfile, options = Hash.new) ⇒ Object 



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# File 'lib/roby/app.rb', line 2010

def start_log_server(logfile, options = Hash.new)
    require 'roby/droby/logfile/server'

    # Allocate a TCP server to get an ephemeral port, and pass it to
    # roby-display
    sampling_period = DRoby::Logfile::Server::DEFAULT_SAMPLING_PERIOD
    sampling_period = Float(options['sampling_period'] || sampling_period)

    tcp_server = TCPServer.new(Integer(options['port'] || 0))
    server_flags = ["--fd=#{tcp_server.fileno}", "--sampling=#{sampling_period}", logfile]
    redirect_flags = Hash[tcp_server => tcp_server]
    if options['debug']
        server_flags << "--debug"
    elsif options['silent']
        redirect_flags[:out] = redirect_flags[:err] = :close
    end

    @log_server_port = tcp_server.local_address.ip_port
    @log_server_pid = Kernel.spawn(
        Gem.ruby, File.join(Roby::BIN_DIR, "roby-display"),
        'server', *server_flags, redirect_flags)
ensure
    tcp_server.close if tcp_server
end

#stop ⇒ Object 



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# File 'lib/roby/app.rb', line 2008

def stop; call_plugins(:stop, self) end

#stop_log_server ⇒ Object 



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# File 'lib/roby/app.rb', line 2035

def stop_log_server
    if @log_server_pid
        Process.kill('INT', @log_server_pid)
        @log_server_pid = nil
    end
end

#stop_rest_interface(join: false) ⇒ Object

Stops a running REST interface



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# File 'lib/roby/app.rb', line 1901

def stop_rest_interface(join: false)
    if @rest_interface
        # In case we're shutting down while starting up,
        # we must synchronize with the start to ensure that
        # EventMachine will be properly stopped
        @rest_interface.wait_start
        @rest_interface.stop
        @rest_interface.join if join
    end
end

#stop_shell_interface ⇒ Object

Stops a running shell interface

This is a no-op if no shell interface is currently running



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# File 'lib/roby/app.rb', line 1864

def stop_shell_interface
    if @shell_interface
        @shell_interface.close
        @shell_interface = nil
    end
end

#test_files_for(model) ⇒ Object

Given a model class, returns the full path of an existing test file that is meant to verify this model



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# File 'lib/roby/app.rb', line 1659

def test_files_for(model)
    return [] if !model.respond_to?(:definition_location) || !model.definition_location 

    test_files = Array.new
    model.definition_location.each do |location|
        file = location.absolute_path
        next if !(base_path = find_base_path_for(file))
        relative = Pathname.new(file).relative_path_from(base_path)
        split = relative.each_filename.to_a
        next if split[0] != 'models'
        split[0] = 'test'
        split[-1] = "test_#{split[-1]}"
        canonical_testpath = [base_path, *split].join(File::SEPARATOR)
        if File.exist?(canonical_testpath)
            test_files << canonical_testpath
        end
    end
    test_files
end

#testing ⇒ Object 



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# File 'lib/roby/app.rb', line 2344

def testing; self.testing = true end

#time_tag ⇒ Object

The time tag. It is a time formatted as YYYYMMDD-HHMM used to mark log directories



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# File 'lib/roby/app.rb', line 1275

def time_tag
    @time_tag ||= Time.now.strftime('%Y%m%d-%H%M')
end

#ui_event(name, *args) ⇒ Object

Sends a message to all UI event listeners



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# File 'lib/roby/app.rb', line 2685

def ui_event(name, *args)
    each_ui_event_listener do |block|
        block.call(name, *args)
    end
end

#unload_features(*pattern) ⇒ Object

Ensure tha require’d files that match the given pattern can be re-required



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# File 'lib/roby/app.rb', line 2456

def unload_features(*pattern)
    patterns = search_path.map { |p| Regexp.new(File.join(p, *pattern)) }
    patterns << Regexp.new("^#{File.join(*pattern)}")
    $LOADED_FEATURES.delete_if { |path| patterns.any? { |p| p =~ path } }
end

#update_load_path ⇒ Object 



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# File 'lib/roby/app.rb', line 1778

def update_load_path
    search_path.reverse.each do |app_dir|
        $LOAD_PATH.delete(app_dir)
        $LOAD_PATH.unshift(app_dir)
        libdir = File.join(app_dir, 'lib')
        if File.directory?(libdir)
            $LOAD_PATH.delete(libdir)
            $LOAD_PATH.unshift(libdir)
        end
    end

    find_dirs('lib', 'ROBOT', all: true, order: :specific_last).
        each do |libdir|
            if !$LOAD_PATH.include?(libdir)
                $LOAD_PATH.unshift libdir
            end
        end
end

#using(*names, force: false) ⇒ Object

Loads the plugins whose name are listed in names



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# File 'lib/roby/app.rb', line 1096

def using(*names, force: false)
    if !plugins_enabled? && !force
        raise PluginsDisabled, "plugins are disabled, cannot load #{names.join(", ")}"
    end

    register_plugins(force: true)
    names.map do |name|
        name = name.to_s
        unless plugin = plugin_definition(name)
            raise ArgumentError, "#{name} is not a known plugin (available plugins: #{available_plugins.map { |n, *_| n }.join(", ")})"
        end
        name, dir, mod, init = *plugin
        if already_loaded = plugins.find { |n, m| n == name && m == mod }
            next(already_loaded[1])
        end

        if dir
            filter_out_patterns.push(/#{Regexp.quote(dir)}/)
        end

        if init
            begin
                $LOAD_PATH.unshift dir
                init.call
                mod.reset(self) if mod.respond_to?(:reset)
            rescue Exception => e
                Roby.fatal "cannot load plugin #{name}: #{e.full_message}"
                exit(1)
            ensure
                $LOAD_PATH.shift
            end
        end

        add_plugin(name, mod)
    end
end