Class: Roby::Transaction

Inherits:
Plan show all
Defined in:
lib/roby/transaction.rb,
lib/roby/transaction/proxying.rb,
lib/roby/transaction/task_proxy.rb,
lib/roby/transaction/plan_object_proxy.rb,
lib/roby/transaction/plan_service_proxy.rb,
lib/roby/transaction/event_generator_proxy.rb,
lib/roby/transaction/task_event_generator_proxy.rb

Overview

In transactions, we do not manipulate plan objects like Task and EventGenerator directly, but through proxies which make sure that nothing forbidden is done

The Proxy module define base functionalities for these proxy objects

Defined Under Namespace

Modules: EventGeneratorProxy, PlanObjectProxy, PlanServiceProxy, Proxying, TaskEventGeneratorProxy, TaskProxy Classes: ReachabilityPlanVisitor, ReachabilityTransactionVisitor, ReachabilityVisitor

Constant Summary

Constants included from GUI::RelationsCanvasPlan

GUI::RelationsCanvasPlan::PLAN_STROKE_WIDTH

Instance Attribute Summary collapse

Attributes inherited from Plan

#active_fault_response_tables, #event_logger, #event_relation_graphs, #free_events, #graph_observer, #local_owner, #mission_tasks, #permanent_events, #permanent_tasks, #plan_services, #structure_checks, #task_events, #task_index, #task_relation_graphs, #tasks, #transactions, #triggers

Attributes included from GUI::RelationsCanvasPlan

#depth, #max_depth

Attributes included from GUI::GraphvizPlan

#depth, #layout_level

Attributes inherited from DistributedObject

#local_owner_id, #owners

Instance Method Summary collapse

Methods inherited from Plan

#add_mission, #add_permanent, #add_plan_service, #add_trigger, #added_transaction, #apply_replacement_operations, #apply_triggers_matches, #call_structure_check_handler, can_gc?, check_failed_missions, #check_structure, #clear!, #compute_subplan_replacement, #compute_useful_free_events, #compute_useful_tasks, #copy_relation_graphs_to, #copy_to, #create_relations, #dedupe, #deep_copy, #deep_copy_to, #default_useful_task_graphs, #dup, #each_event_relation_graph, #each_object_in_transaction_stack, #each_relation_graph, #each_task, #each_task_relation_graph, #empty?, #event_relation_graph_for, #finalize_event, #finalize_task, #finalized_event, #finalized_task, #find_all_plan_services, #find_local_tasks, #find_plan_difference, #find_plan_service, #find_tasks, #find_triggers_matches, #force_replace, #force_replace_task, #format_exception_set, #handle_force_replace, #handle_replace, #has_free_event?, #has_task?, #has_task_event?, #in_transaction, #in_useful_subplan?, #include?, #inspect, instanciate_relation_graphs, #local_tasks, #locally_useful_roots, #locally_useful_tasks, #merge, #merge!, #merge_base, #merge_relation_graphs, #merge_transaction, #merge_transaction!, #merged_plan, #merging_plan, #mission?, #mission_task?, #move_plan_service, #normalize_add_arguments, #notify_event_status_change, #notify_task_status_change, #num_events, #num_free_events, #num_tasks, #owns?, #permanent?, #permanent_event?, #permanent_task?, #quarantined_tasks, #real_plan, #recreate, #refresh_relations, #register_event, #register_task, #remote_tasks, #remove_fault_response_table, #remove_free_event!, #remove_object, #remove_plan_service, #remove_task!, #remove_transaction, #remove_trigger, #replace, #replace_relation_graphs, #replace_subplan, #replace_task, #replaced, #replan, #root_in_query?, #same_plan?, #sibling_on?, #size, #static_garbage_collect, #task_relation_graph_for, #template?, #transaction_stack, #unmark_mission, #unmark_permanent, #unneeded_events, #unneeded_tasks, #use_fault_response_table, #useful_events, #useful_task?, #useful_tasks, #validate_graphs, #verify_plan_object_finalization_sanity

Methods included from DRoby::V5::PlanDumper

#droby_dump

Methods included from DRoby::Identifiable

#droby_id, #initialize_copy

Methods included from GUI::RelationsCanvasPlan

#display, #display_create, #display_name, #display_parent

Methods included from GUI::GraphvizPlan

#all_events, #apply_layout, #compute_depth, #each_displayed_relation, #each_edge, #each_layout_relation, #layout_relations, #relations_to_dot, #to_dot

Methods included from DRoby::EventLogging

#log, #log_flush_cycle, #log_queue_size, #log_timepoint, #log_timepoint_group, #log_timepoint_group_end, #log_timepoint_group_start

Methods inherited from DistributedObject

#add_owner, #clear_owners, #initialize_copy, #owned_by?, #remove_owner

Constructor Details

#initialize(plan, options = {}) ⇒ Transaction

Creates a new transaction which applies on plan



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

def initialize(plan, options = {})
    if !plan
        raise ArgumentError, "cannot create a transaction with no plan"
    end

    @options = options
    @frozen = false
    @disable_proxying = false
    @invalid = false

    super()

    @plan   = plan

    @proxy_tasks      = Hash.new
    @proxy_events     = Hash.new
    @unmarked_mission_tasks    = Set.new
    @unmarked_permanent_tasks  = Set.new
    @unmarked_permanent_events = Set.new

    plan.transactions << self
    plan.added_transaction(self)
end

Instance Attribute Details

#options ⇒ Object (readonly)

The option hash given at initialization



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# File 'lib/roby/transaction.rb', line 386

def options
  @options
end

#plan ⇒ Object (readonly)

The plan this transaction applies on



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# File 'lib/roby/transaction.rb', line 380

def plan
  @plan
end

#proxy_events ⇒ Object (readonly)

The proxy objects built for events this transaction



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# File 'lib/roby/transaction.rb', line 384

def proxy_events
  @proxy_events
end

#proxy_tasks ⇒ Object (readonly)

The proxy objects built for tasks in this transaction



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# File 'lib/roby/transaction.rb', line 382

def proxy_tasks
  @proxy_tasks
end

#unmarked_mission_tasks ⇒ Object (readonly)

The list of missions of the underlying plan that have been unmarked in the transaction



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# File 'lib/roby/transaction.rb', line 372

def unmarked_mission_tasks
  @unmarked_mission_tasks
end

#unmarked_permanent_events ⇒ Object (readonly)

The list of permanent events of the underlying plan that have been unmarked in the transaction



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# File 'lib/roby/transaction.rb', line 378

def unmarked_permanent_events
  @unmarked_permanent_events
end

#unmarked_permanent_tasks ⇒ Object (readonly)

The list of permanent tasks of the underlying plan that have been unmarked in the transaction



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

def unmarked_permanent_tasks
  @unmarked_permanent_tasks
end

Instance Method Details

#[](object, create: true) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 185

def [](object, create: true)
    wrap(object, create: create)
end

#add(objects) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 450

def add(objects)
    raise "transaction #{self} has been either committed or discarded. No modification allowed" if frozen?
    super(objects)
    self
end

#add_mission_task(t) ⇒ Object 



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

def add_mission_task(t)
    raise "transaction #{self} has been either committed or discarded. No modification allowed" if frozen?
    if t.transaction_proxy?
        unmarked_mission_tasks.delete(t.__getobj__)
    end
    super(t)
end

#add_permanent_event(e) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 442

def add_permanent_event(e)
    raise "transaction #{self} has been either committed or discarded. No modification allowed" if frozen?
    if e.transaction_proxy?
        unmarked_permanent_events.delete(e.__getobj__)
    end
    super(e)
end

#add_permanent_task(t) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 434

def add_permanent_task(t)
    raise "transaction #{self} has been either committed or discarded. No modification allowed" if frozen?
    if t.transaction_proxy?
        unmarked_permanent_tasks.delete(t.__getobj__)
    end
    super(t)
end

#adding_plan_relation(parent, child, relations, info) ⇒ void

This method returns an undefined value.

Hook called when a relation is added between plan objects that are present in the transaction

If the new relation is not present in the transaction as well, it invalidates the transaction and calls DecisionControl#adding_plan_relation(self, parent, child, relations, info) for further action

Parameters:

  • parent (PlanObject) —

    the parent object represented by its proxy in self

  • child (PlanObject) —

    the child object represented by its proxy in self

  • relations (Array<Relations::Graph>) —

    the graphs in which a relation has been added

  • info (Object) —

    the added information for the new edges (relation specific)



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# File 'lib/roby/transaction.rb', line 926

def adding_plan_relation(parent, child, relations, info)
    missing_relations = relations.find_all do |rel|
        !parent.child_object?(child, rel)
    end
    unless missing_relations.empty?
        invalidate("plan added a relation #{parent} -> #{child} in #{relations} with info #{info}")
        control.adding_plan_relation(self, parent, child, relations, info)
    end
end

#apply_graph_modifications(work_graphs, added, removed, updated) ⇒ 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.

Apply the graph modifications returned by #compute_graph_modifications_for



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

def apply_graph_modifications(work_graphs, added, removed, updated)
    added.each do |graph, parent, child, info|
        work_graphs[graph].add_edge(parent, child, info)
    end
    removed.each do |graph, parent, child|
        work_graphs[graph].remove_edge(parent, child)
    end
    updated.each do |graph, parent, child, info|
        work_graphs[graph].set_edge_info(parent, child, info)
    end
end

#apply_modifications_to_plan ⇒ Object

Apply the modifications represented by self to the underlying plan snippet in your redefinition if you do so.



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

def apply_modifications_to_plan
    new_mission_tasks    = Set.new
    new_permanent_tasks  = Set.new
    new_permanent_events = Set.new

    added_relations   = Array.new
    removed_relations = Array.new
    updated_relations = Array.new

    # We're doing a lot of modifications of this plan .. store some of
    # the sets we need for later, one part to keep them unchanged, one
    # part to make sure we don't do modify-while-iterate
    proxy_tasks     = self.proxy_tasks.dup
    proxy_events    = self.proxy_events.dup
    plan_services   = self.plan_services.dup
    unmarked_mission_tasks    = self.unmarked_mission_tasks.dup
    unmarked_permanent_tasks  = self.unmarked_permanent_tasks.dup
    unmarked_permanent_events = self.unmarked_permanent_events.dup
    # We're taking care of the proxies first, so that we can merge the
    # transaction using Plan#merge!. However, this means that
    # #may_unwrap does not work after the first few steps. We therefore
    # have to store the object-to-proxy mapping
    real_objects  = Hash.new

    # We make a copy of all relation graphs, and update them with the
    # transaction data. The underlying plan graphs are not modified
    #
    # We do not #dup them because we don't want to dup the edge info.
    # Instead, we instanciate anew and merge. The add_vertex calls are
    # needed to make sure that the graph dups the in/out sets instead
    # of just copying them
    task_work_graphs, event_work_graphs =
        plan.class.instanciate_relation_graphs
    work_graphs, transaction_graphs = Hash.new, Hash.new
    plan.each_task_relation_graph do |g|
        work_g = work_graphs[g] = task_work_graphs[g.class]
        g.each_vertex { |v| work_g.add_vertex(v) }
        work_g.merge(g)
        transaction_graphs[g] = task_relation_graph_for(g.class)
    end
    plan.each_event_relation_graph do |g|
        work_g = work_graphs[g] = event_work_graphs[g.class]
        g.each_vertex { |v| work_g.add_vertex(v) }
        work_g.merge(g)
        transaction_graphs[g] = event_relation_graph_for(g.class)
    end

    # First apply all changes related to the proxies to the underlying
    # plan. This adds some new tasks to the plan graph, but does not add
    # them to the plan itself
    #
    # Note that we need to do that in two passes. The first one keeps
    # the transaction unchanged, the second one removes the proxies from
    # the transaction. This is needed so that #commit_transaction sees
    # the graph unchanged
    proxy_objects = proxy_tasks.merge(proxy_events)

    proxy_objects.each do |object, proxy|
        real_objects[proxy] = object
        compute_graph_modifications_for(
            proxy, added_relations, removed_relations, updated_relations)
        proxy.commit_transaction
    end
    proxy_tasks.dup.each do |object, proxy|
        if proxy.self_owned?
            if mission_task?(proxy)
                new_mission_tasks << object
            elsif permanent_task?(proxy)
                new_permanent_tasks << object
            end
        end
        remove_task(proxy)
    end
    proxy_events.dup.each do |object, proxy|
        if proxy.root_object?
            if permanent_event?(proxy)
                new_permanent_events << object
            end
            remove_free_event(proxy)
        end
    end

    work_graphs.each do |plan_g, work_g|
        work_g.merge(transaction_graphs[plan_g])
    end
    apply_graph_modifications(work_graphs, added_relations, removed_relations, updated_relations)

    begin
        validate_graphs(work_graphs.values)
    rescue Exception => e
        raise e, "cannot apply #{self}: #{e.message}", e.backtrace
    end

    #### UNTIL THIS POINT we have not modified the underlying plan AT ALL
    # We DID update the transaction, though

    # Apply #commit_transaction on the remaining tasks
    tasks.each(&:commit_transaction)
    free_events.each(&:commit_transaction)

    # What is left in the transaction is the network of new tasks. Just
    # merge it
    plan.merge_transaction!(self, work_graphs,
                           added_relations, removed_relations, updated_relations)

    # Update the plan services on the underlying plan. The only
    # thing we need to take care of is replacements and new
    # services. Other modifications will be applied automatically
    plan_services.each do |task, services|
        services.each do |srv|
            if srv.transaction_proxy?
                # Modified service. Might be moved to a new task
                original = srv.__getobj__
                # Do NOT use may_unwrap here ... See comments at the top
                # of the method
                task     = real_objects[task] || task
                srv.commit_transaction
                if original.task != task
                    plan.move_plan_service(original, task)
                end
            elsif task.transaction_proxy?
                # New service on an already existing task
                srv.task = task.__getobj__
                plan.add_plan_service(srv)
            else
                # New service on a new task
                plan.add_plan_service(srv)
            end
        end
    end

    new_mission_tasks.each { |t| plan.add_mission_task(t) }
    new_permanent_tasks.each { |t| plan.add_permanent_task(t) }
    new_permanent_events.each { |e| plan.add_permanent_event(e) }

    active_fault_response_tables.each do |tbl|
        plan.use_fault_response_table tbl.model, tbl.arguments
    end

    unmarked_permanent_events.each { |t| plan.unmark_permanent_event(t) }
    unmarked_permanent_tasks.each { |t| plan.unmark_permanent_task(t) }
    unmarked_mission_tasks.each { |t| plan.unmark_mission_task(t) }

    proxy_objects.each do |object, proxy|
        forwarder_module = Transaction::Proxying.forwarder_module_for(object.model)
        proxy.extend forwarder_module
        proxy.__getobj__ = object
        proxy.__freeze__
    end
end

#apply_triggers_on_committed_transaction(triggered_matches) ⇒ 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.

Apply the triggers as returned by #compute_triggers_for_committed_transaction



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# File 'lib/roby/transaction.rb', line 638

def apply_triggers_on_committed_transaction(triggered_matches)
    triggered_matches.each do |task, trigger|
        trigger.call(task)
    end
end

#check_valid_transaction ⇒ void

This method returns an undefined value.

Tests if it is safe to commit this transaction

Raises:



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# File 'lib/roby/transaction.rb', line 537

def check_valid_transaction
    return if valid_transaction?

    unless transactions.empty?
        raise InvalidTransaction, "there is still transactions on top of this one"
    end
    message = invalidation_reasons.map do |reason, trace|
        "#{trace[0]}: #{reason}\n  #{trace[1..-1].join("\n  ")}"
    end.join("\n")
    raise InvalidTransaction, "invalid transaction: #{message}"
end

#clear ⇒ void

This method returns an undefined value.

Clears this transaction

A cleared transaction behaves as a new transaction on the same plan



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# File 'lib/roby/transaction.rb', line 871

def clear
    unmarked_mission_tasks.clear
    unmarked_permanent_tasks.clear
    unmarked_permanent_events.clear
    proxy_tasks.each_value { |proxy| proxy.clear_relations }
    proxy_tasks.clear
    proxy_events.each_value { |proxy| proxy.clear_relations }
    proxy_events.clear
    super
end

#commit_transaction ⇒ Object

Commit all modifications that have been registered in this transaction



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# File 'lib/roby/transaction.rb', line 799

def commit_transaction
    check_valid_transaction
    trigger_matches = compute_triggers_for_committed_transaction
    apply_modifications_to_plan
    apply_triggers_on_committed_transaction(trigger_matches)
    frozen!

    @committed = true
    committed_transaction
    plan.remove_transaction(self)
    @plan = nil

    yield if block_given?
end

#committed_transaction ⇒ void

This method returns an undefined value.

Hook called just after this transaction has been committed



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# File 'lib/roby/transaction.rb', line 817

def committed_transaction; end

#compute_graph_modifications_for(proxy, new_relations, removed_relations, updated_relations) ⇒ 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.

Compute the graph modifications that are involving the given proxy

It only computes the parent modifications involving objects that are not proxies themselves. It computes the child modifications for every child



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# File 'lib/roby/transaction.rb', line 572

def compute_graph_modifications_for(proxy, new_relations, removed_relations, updated_relations)
    real_object = proxy.__getobj__
    proxy.partition_new_old_relations(:each_parent_object, include_proxies: false) do |trsc_objects, rel, new, del, existing|
        trsc_graph = proxy.relation_graph_for(rel)
        plan_graph = proxy.__getobj__.relation_graph_for(rel)

        new.each do |task|
            edge_info = trsc_graph.edge_info(trsc_objects[task], proxy)
            new_relations << [plan_graph, task, real_object, edge_info]
        end
        del.each do |task|
            removed_relations << [plan_graph, task, real_object]
        end
        existing.each do |task|
            edge_info = trsc_graph.edge_info(trsc_objects[task], proxy)
            if plan_graph.edge_info(task, real_object) != edge_info
                updated_relations << [plan_graph, task, real_object, edge_info]
            end
        end
    end

    proxy.partition_new_old_relations(:each_child_object) do |trsc_objects, rel, new, del, existing|
        trsc_graph = proxy.relation_graph_for(rel)
        plan_graph = proxy.__getobj__.relation_graph_for(rel)

        new.each do |task|
            edge_info = trsc_graph.edge_info(proxy, trsc_objects[task])
            new_relations << [plan_graph, real_object, task, edge_info]
        end
        del.each do |task|
            removed_relations << [plan_graph, real_object, task]
        end
        existing.each do |task|
            edge_info = trsc_graph.edge_info(proxy, trsc_objects[task])
            if plan_graph.edge_info(real_object, task) != edge_info
                updated_relations << [plan_graph, real_object, task, edge_info]
            end
        end
    end
end

#compute_triggers_for_committed_transaction ⇒ 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.

This compute the triggers that shoul be applied if we commit this transaction



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# File 'lib/roby/transaction.rb', line 617

def compute_triggers_for_committed_transaction
    trigger_matches = Hash.new
    plan.triggers.each do |tr|
        tr.each(self) do |t|
            trigger_matches[t] = tr
        end
    end
    proxy_tasks.each do |obj, proxy|
        if tr = trigger_matches.delete(proxy)
            if !(tr === obj) # already triggered
                trigger_matches[obj] = tr
            end
        end
    end
    trigger_matches
end

#control ⇒ Object

The decision control object associated with this transaction. It is in general plan.control



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# File 'lib/roby/transaction.rb', line 390

def control; plan.control end

#copy_object_relations(object, proxy, proxy_map) ⇒ Object

This method copies on proxy all relations of object for which both ends of the relation are already in the transaction.



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# File 'lib/roby/transaction.rb', line 236

def copy_object_relations(object, proxy, proxy_map)
    # Create edges between the neighbours that are really in the transaction
    object.each_relation do |rel|
        plan_graph = object.relation_graph_for(rel)
        trsc_graph = proxy.relation_graph_for(rel)

        plan_graph.each_in_neighbour(object) do |parent|
            if parent_proxy = proxy_map[parent]
                trsc_graph.add_edge(parent_proxy, proxy, plan_graph.edge_info(parent, object))
            end
        end
        plan_graph.each_out_neighbour(object) do |child|
            if child_proxy = proxy_map[child]
                trsc_graph.add_edge(proxy, child_proxy, plan_graph.edge_info(object, child))
            end
        end
    end
end

#create_and_register_proxy_event(object) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 93

def create_and_register_proxy_event(object)
    raise "transaction #{self} has been either committed or discarded. No modification allowed" if frozen?
    proxy = object.dup
    setup_and_register_proxy_event(proxy, object)
    copy_object_relations(object, proxy, proxy_events)
    proxy
end

#create_and_register_proxy_plan_service(object) ⇒ Object 



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

def create_and_register_proxy_plan_service(object)
    raise "transaction #{self} has been either committed or discarded. No modification allowed" if frozen?
    # Ensure the underlying task is wrapped
    proxy = object.dup
    setup_and_register_proxy_plan_service(proxy, object)
    proxy
end

#create_and_register_proxy_task(object) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 85

def create_and_register_proxy_task(object)
    raise "transaction #{self} has been either committed or discarded. No modification allowed" if frozen?
    proxy = object.dup
    setup_and_register_proxy_task(proxy, object)
    copy_object_relations(object, proxy, proxy_tasks)
    proxy
end

#disable_proxying ⇒ Object 



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# File 'lib/roby/transaction.rb', line 820

def disable_proxying
    @disable_proxying = true
    if block_given?
        begin
            yield
        ensure
            @disable_proxying = false
        end
    end
end

#discard_modifications(object) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 1116

def discard_modifications(object)
    if object.respond_to?(:to_task)
        remove_task(object.to_task)
    else
        remove_event(object.to_task)
    end
end

#discard_transaction ⇒ void

This method returns an undefined value.

Discard all the modifications that have been registered in this transaction



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

def discard_transaction
    if !transactions.empty?
        raise InvalidTransaction, "there is still transactions on top of this one"
    end

    frozen!

    discarded_transaction
    plan.remove_transaction(self)
    @plan = nil
end

#discard_transaction! ⇒ void

This method returns an undefined value.

Discards this transaction and all the transactions it is part of



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# File 'lib/roby/transaction.rb', line 835

def discard_transaction!
    transactions.each do |trsc|
        trsc.discard_transaction!
    end
    discard_transaction
end

#discarded_transaction ⇒ void

This method returns an undefined value.

Hook called just after this transaction has been discarded



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# File 'lib/roby/transaction.rb', line 861

def discarded_transaction; end

#edit ⇒ Object 



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# File 'lib/roby/transaction.rb', line 191

def edit
    yield if block_given?
end

#enable_proxying ⇒ Object 



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# File 'lib/roby/transaction.rb', line 819

def enable_proxying; @disable_proxying = false end

#executable? ⇒ Boolean

If true, an engine could execute tasks included in this plan. This is alwxays false for transactions

Returns:

  • (Boolean) 


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# File 'lib/roby/transaction.rb', line 13

def executable?; false end

#execute(&block) ⇒ Object

Calls the given block in the execution thread of the engine of the underlying plan. If there is no engine attached to this plan, yields immediately.

See Plan#execute and ExecutionEngine#execute



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# File 'lib/roby/transaction.rb', line 422

def execute(&block)
    plan.execute(&block)
end

#extend_proxy_object(proxy, object, klass = object.class) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 36

def extend_proxy_object(proxy, object, klass = object.class)
    proxy.extend Roby::Transaction::Proxying.proxying_module_for(klass)
end

#finalized? ⇒ Boolean

True if this transaction has either been discarded or committed

Returns:

  • (Boolean)

See Also:

  • #committed?


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# File 'lib/roby/transaction.rb', line 29

def finalized?; !plan end

#finalized_plan_event(event) ⇒ void

This method returns an undefined value.

Hook called when an event included in self got finalized from #plan

It invalidates the transaction and calls DecisionControl#finalized_plan_event(self, event) for further actions

Parameters:

  • event (EventGenerator) —

    the finalized event represented by its proxy in self



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# File 'lib/roby/transaction.rb', line 904

def finalized_plan_event(event)
    proxied_event = event.__getobj__

    invalidate("event #{event} has been removed from the plan")
    discard_modifications(proxied_event)
    control.finalized_plan_event(self, event)
end

#finalized_plan_task(task) ⇒ void

This method returns an undefined value.

Hook called when a task included in self got finalized from #plan

It invalidates the transaction and calls DecisionControl#finalized_plan_task(self, event) for further actions

Parameters:

  • task (Task) —

    the finalized task represented by its proxy in self



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# File 'lib/roby/transaction.rb', line 889

def finalized_plan_task(task)
    proxied_task = task.__getobj__

    invalidate("task #{task} has been removed from the plan")
    discard_modifications(proxied_task)
    control.finalized_plan_task(self, task)
end

#find_local_object_for_event(object) ⇒ Object 



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

def find_local_object_for_event(object)
    find_local_object_for_plan_object(object, proxy_events)
end

#find_local_object_for_plan_object(object, proxy_map) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 109

def find_local_object_for_plan_object(object, proxy_map)
    if object.plan == self
        return object
    elsif proxy = proxy_map[object]
        return proxy
    elsif !object.plan
        raise ArgumentError, "#{object} has been removed from plan"
    elsif object.plan.template?
        add(object)
        return object
    end
end

#find_local_object_for_plan_service(object) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 130

def find_local_object_for_plan_service(object)
    if local_task = find_local_object_for_task(object.task)
        find_plan_service(local_task)
    end
end

#find_local_object_for_task(object) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 122

def find_local_object_for_task(object)
    find_local_object_for_plan_object(object, proxy_tasks)
end

#frozen! ⇒ Object 



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# File 'lib/roby/transaction.rb', line 863

def frozen!
    @frozen = true
end

#has_proxy_for_event?(object) ⇒ Boolean

Tests whether an event has a proxy in self

Unlike #wrap, the provided object must be a plan object from the transaction’s underlying plan

Parameters:

Returns:

  • (Boolean) 


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# File 'lib/roby/transaction.rb', line 274

def has_proxy_for_event?(object)
    if object.plan != self.plan
        raise ArgumentError, "#{object} is not in #{self}.plan (#{plan})"
    end
    proxy_events.has_key?(object)
end

#has_proxy_for_task?(object) ⇒ Boolean

Tests whether a plan object has a proxy in self

Unlike #wrap, the provided object must be a plan object from the transaction’s underlying plan

Parameters:

Returns:

  • (Boolean) 


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

def has_proxy_for_task?(object)
    if object.plan != self.plan
        raise ArgumentError, "#{object} is not in #{self}.plan (#{plan})"
    end
    proxy_tasks.has_key?(object)
end

#import_subplan_relations(graphs, mappings, proxy_map) ⇒ 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.

Copies relations when importing a new subplan from the main plan

Parameters:



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

def import_subplan_relations(graphs, mappings, proxy_map)
    graphs.each do |plan_g, self_g|
        plan_g.copy_subgraph_to(self_g, mappings)
        mappings.each do |plan_v, self_v|
            # The method assumes that the plan objects are new. We are
            # therefore done if there is the same number of relations in
            # both plan and transactions
            #
            # It is NOT true in the general case as one can add extra
            # relations in the transaction
            if plan_g.in_degree(plan_v) != self_g.in_degree(self_v)
                plan_g.each_in_neighbour(plan_v) do |plan_parent|
                    next if mappings.has_key?(plan_parent)
                    if self_parent = proxy_map[plan_parent]
                        self_g.add_edge(self_parent, self_v, plan_g.edge_info(plan_parent, plan_v))
                    end
                end
            end

            if plan_g.out_degree(plan_v) != self_g.out_degree(self_v)
                plan_g.each_out_neighbour(plan_v) do |plan_child|
                    next if mappings.has_key?(plan_child)
                    if self_child = proxy_map[plan_child]
                        self_g.add_edge(self_v, self_child, plan_g.edge_info(plan_v, plan_child))
                    end
                end
            end
        end
    end
end

#invalid=(flag) ⇒ Object

Marks this transaction as either invalid or valid. If it is marked as valid, it clears #invalidation_reasons.



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# File 'lib/roby/transaction.rb', line 504

def invalid=(flag)
    if !flag
        invalidation_reasons.clear
    end
    @invalid = flag
end

#invalid? ⇒ Boolean

True if #invalidate has been called, and #invalid= has not been called to clear the invalidation afterwards.

Returns:

  • (Boolean) 


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# File 'lib/roby/transaction.rb', line 513

def invalid?; @invalid end

#invalidate(reason = nil) ⇒ Object

Marks this transaction as valid



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# File 'lib/roby/transaction.rb', line 524

def invalidate(reason = nil)
    self.invalid = true
    invalidation_reasons << [reason, caller(1)] if reason
    Roby.debug do
        "invalidating #{self}: #{reason}"
    end
end

#invalidation_reasons ⇒ Array<String>

The set of invalidation reasons registered with #invalidate. It is cleared if the transaction is marked as valid again by calling #invalid=.

Returns:

  • (Array<String>) 


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# File 'lib/roby/transaction.rb', line 500

attribute(:invalidation_reasons) { Array.new }

#may_unwrap(object) ⇒ Object

If object is in this transaction, may_unwrap will return the underlying plan object. In all other cases, returns object.



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# File 'lib/roby/transaction.rb', line 357

def may_unwrap(object)
    if object.respond_to?(:plan) 
        if object.plan == self && object.respond_to?(:__getobj__)
            object.__getobj__
        elsif object.plan == self.plan
            object
        else
            object
        end
    else object
    end
end

#may_wrap(objects, create: true) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 343

def may_wrap(objects, create: true)
    if objects.respond_to?(:to_ary)
        objects.map { |obj| may_wrap(obj, create: create) }
    elsif objects.respond_to?(:each)
        raise ArgumentError, "don't know how to wrap containers of class #{objects.class}"
    elsif objects.kind_of?(PlanObject)
        wrap(objects, create: create)
    else
        objects
    end
end

#propose ⇒ Object 



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# File 'lib/roby/transaction.rb', line 190

def propose; end

#proxying? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/roby/transaction.rb', line 830

def proxying?; !@frozen && !@disable_proxying end

#query_each(result_set) ⇒ Object

Yields tasks in the result set of query. Unlike Query#result_set, all the tasks are included in the transaction

result_set is the value returned by #query_result_set.



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# File 'lib/roby/transaction.rb', line 983

def query_each(result_set) # :nodoc:
    plan_set, trsc_set = result_set
    plan_set.each { |task| yield(wrap_task(task)) }
    trsc_set.each { |task| yield(task) }
end

#query_result_set(matcher) ⇒ Object

Returns [plan_set, transaction_set], where the first is the set of plan tasks matching matcher and the second the set of transaction tasks matching it. The two sets are disjoint.

This will be stored by the Query object as the query result. Note that, at this point, the transaction has not been modified even though it applies on the global scope. New proxies will only be created when Query#each is called.



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

def query_result_set(matcher) # :nodoc:
    plan_set = Set.new
    if matcher.scope == :global
        plan_result_set = plan.query_result_set(matcher)
        plan.query_each(plan_result_set) do |task|
            plan_set << task if !has_proxy_for_task?(task)
        end
    end
    
    transaction_set = super
    [plan_set, transaction_set]
end

#query_roots(result_set, relation) ⇒ 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.

Given the result set of query, returns the subset of tasks which have no parent in query

This is never called directly, but is used by the Query API



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# File 'lib/roby/transaction.rb', line 1094

def query_roots(result_set, relation) # :nodoc:
    plan_set      , trsc_set      = *result_set
    plan_children , trsc_children = Set.new     , Set.new

    trsc_graph = task_relation_graph_for(relation).reverse
    plan_graph = plan.task_relation_graph_for(relation).reverse

    plan_result = plan_set.find_all do |task|
        !reachable_on_applied_transaction?(
            [], trsc_set, trsc_graph,
            [task], plan_set, plan_graph)
    end

    trsc_result = trsc_set.find_all do |task|
        !reachable_on_applied_transaction?(
            [task], trsc_set, trsc_graph,
            [], plan_set, plan_graph)
    end

    [plan_result.to_set, trsc_result.to_set]
end

#reachable_on_applied_transaction?(transaction_seeds, transaction_set, transaction_graph, plan_seeds, plan_set, plan_graph) ⇒ Boolean

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.

Tests whether a task in plan_set or proxy_set would be reachable from ‘task’ if the transaction was applied

Returns:

  • (Boolean) 


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# File 'lib/roby/transaction.rb', line 1052

def reachable_on_applied_transaction?(transaction_seeds, transaction_set, transaction_graph,
                                      plan_seeds, plan_set, plan_graph)
    transaction_visitor = ReachabilityTransactionVisitor.new(
        transaction_graph, self, plan_seeds, transaction_set)
    if task = transaction_seeds.first
        transaction_visitor.handle_start_vertex(task)
    end
    plan_visitor        = ReachabilityPlanVisitor.new(
        plan_graph, self, transaction_seeds, plan_set)
    if task = plan_seeds.first
        plan_visitor.handle_start_vertex(task)
    end

    catch(:reachable) do
        while !transaction_seeds.empty? || !plan_seeds.empty?
            transaction_seeds.each do |seed|
                seed = transaction_seeds.shift
                if !transaction_visitor.finished_vertex?(seed)
                    transaction_graph.depth_first_visit(seed, transaction_visitor) {}
                end
            end
            transaction_seeds.clear

            plan_seeds.each do |seed|
                seed = plan_seeds.shift
                if !plan_visitor.finished_vertex?(seed)
                    plan_graph.depth_first_visit(seed, plan_visitor) {}
                end
            end
            plan_seeds.clear
        end
        return false
    end
    true
end

#remove_free_event(event, timestamp = Time.now) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 335

def remove_free_event(event, timestamp = Time.now)
    unwrapped, proxy = remove_plan_object(event, proxy_events)
    if proxy
        unmarked_permanent_events.delete(unwrapped)
    end
    super(proxy || event, timestamp)
end

#remove_plan_object(object, proxy_map) ⇒ Object

Removes an object from this transaction

This does not remove the object from the underlying plan. Removing objects directly is (at best) dangerous, and should be handled by garbage collection.



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# File 'lib/roby/transaction.rb', line 310

def remove_plan_object(object, proxy_map)
    raise "transaction #{self} has been either committed or discarded. No modification allowed" if frozen?

    object = may_unwrap(object)
    proxy  = proxy_map.delete(object)
    actual_plan = (proxy || object).plan

    if actual_plan != self
        raise InternalError, "inconsistency: #{proxy || object} plan is #{actual_plan}, was expected to be #{self}"
    end
    return object, proxy
end

#remove_task(task, timestamp = Time.now) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 323

def remove_task(task, timestamp = Time.now)
    unwrapped, proxy = remove_plan_object(task, proxy_tasks)
    if proxy
        unmarked_mission_tasks.delete(unwrapped)
        unmarked_permanent_tasks.delete(unwrapped)
        proxy.each_plan_child do |task_event_proxy|
            remove_plan_object(task_event_proxy, proxy_events)
        end
    end
    super(proxy || task, timestamp)
end

#removing_plan_relation(parent, child, relations) ⇒ void

This method returns an undefined value.

Hook called when a relation is removed between plan objects that are present in the transaction

If the removed relation is still present in the transaction as well, it invalidates the transaction and calls DecisionControl#removing_plan_relation(self, parent, child, relations, info) for further action

Parameters:

  • parent (PlanObject) —

    the parent object represented by its proxy in self

  • child (PlanObject) —

    the child object represented by its proxy in self

  • relations (Array<Relations::Graph>) —

    the graphs in which a relation has been added



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# File 'lib/roby/transaction.rb', line 948

def removing_plan_relation(parent, child, relations)
    present_relations = relations.find_all do |rel|
        parent.child_object?(child, rel)
    end
    unless present_relations.empty?
        invalidate("plan removed a relation #{parent} -> #{child} in #{relations}")
        control.removing_plan_relation(self, parent, child, relations)
    end
end

#restore_relation(proxy, relation) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 281

def restore_relation(proxy, relation)
    object = proxy.__getobj__

    proxy_children = proxy.child_objects(relation)
    object.child_objects(relation).each do |object_child| 
        next unless proxy_child = wrap(object_child, create: false)
        if proxy_children.include?(proxy_child)
            relation.remove_edge(proxy, proxy_child)
        end
    end

    proxy_parents = proxy.parent_objects(relation)
    object.parent_objects(relation).each do |object_parent| 
        next unless proxy_parent = wrap(object_parent, create: false)
        if proxy_parents.include?(proxy_parent)
            relation.remove_edge(parent, proxy_parent)
        end
    end

    added_objects.delete(proxy)
    proxy.discovered_relations.delete(relation)
    proxy.do_discover(relation, false)
end

#root_plan? ⇒ Boolean

True if this plan is root in the plan hierarchy

Returns:

  • (Boolean) 


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# File 'lib/roby/transaction.rb', line 32

def root_plan?
    false
end

#setup_and_register_proxy_event(proxy, event) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 61

def setup_and_register_proxy_event(proxy, event)
    raise "transaction #{self} has been either committed or discarded. No modification allowed" if frozen?

    proxy_events[event] = proxy
    extend_proxy_object(proxy, event)
    proxy.plan = self
    proxy.setup_proxy(event, self)
    register_event(proxy)
    if plan.permanent_event?(event)
        add_permanent_event(proxy)
    end
    proxy
end

#setup_and_register_proxy_plan_service(proxy, plan_service) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 75

def setup_and_register_proxy_plan_service(proxy, plan_service)
    raise "transaction #{self} has been either committed or discarded. No modification allowed" if frozen?

    extend_proxy_object(proxy, plan_service)
    proxy.setup_proxy(plan_service, self)
    proxy.task = wrap_task(plan_service.to_task) 
    add_plan_service(proxy)
    proxy
end

#setup_and_register_proxy_task(proxy, task) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 40

def setup_and_register_proxy_task(proxy, task)
    raise "transaction #{self} has been either committed or discarded. No modification allowed" if frozen?

    proxy_tasks[task] = proxy
    extend_proxy_object(proxy, task)
    proxy.plan = self
    proxy.setup_proxy(task, self)
    register_task(proxy)
    if plan.mission_task?(task)
        add_mission_task(proxy)
    elsif plan.permanent_task?(task)
        add_permanent_task(proxy)
    end
    if services = plan.find_all_plan_services(task)
        services.each do |original_srv|
            create_and_register_proxy_plan_service(original_srv)
        end
    end
    proxy
end

#unmark_mission_task(t) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 482

def unmark_mission_task(t)
    raise "transaction #{self} has been either committed or discarded. No modification allowed" if frozen?
    t = t.as_plan
    if proxy = find_local_object_for_task(t)
        super(proxy)
    end

    t = may_unwrap(t)
    if t.plan == self.plan
        unmarked_mission_tasks.add(t)
    end
end

#unmark_permanent_event(t) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 456

def unmark_permanent_event(t)
    raise "transaction #{self} has been either committed or discarded. No modification allowed" if frozen?
    t = t.as_plan
    if proxy = find_local_object_for_event(t)
        super(proxy)
    end

    t = may_unwrap(t)
    if t.plan == self.plan
        unmarked_permanent_events.add(t)
    end
end

#unmark_permanent_task(t) ⇒ Object 



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

def unmark_permanent_task(t)
    raise "transaction #{self} has been either committed or discarded. No modification allowed" if frozen?
    t = t.as_plan
    if proxy = find_local_object_for_task(t)
        super(proxy)
    end

    t = may_unwrap(t)
    if t.plan == self.plan
        unmarked_permanent_tasks.add(t)
    end
end

#valid_transaction? ⇒ Boolean

Tests if it is safe to commit this transaction

Returns:

  • (Boolean) —

    it returns false if there are other transactions on top of it. They must be committed or discarded before this transaction can be committed or discarded. It also returns safe if if this transaction has been marked as invalid with #invalidate



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# File 'lib/roby/transaction.rb', line 521

def valid_transaction?; transactions.empty? && !invalid? end

#wrap(object, create: true) ⇒ Object

Get the transaction proxy for object



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# File 'lib/roby/transaction.rb', line 169

def wrap(object, create: true)
    if object.kind_of?(PlanService)
        wrap_plan_service(object, create: create)
    elsif object.respond_to?(:to_task)
        wrap_task(object, create: create)
    elsif object.respond_to?(:to_event)
        wrap_event(object, create: create)
    elsif object.respond_to?(:to_ary) 
        object.map { |o| wrap(o, create: create) }
    elsif object.respond_to?(:each)
        raise ArgumentError, "don't know how to wrap containers of class #{object.class}"
    else
        raise TypeError, "don't know how to wrap #{object || 'nil'} of type #{object.class.ancestors}"
    end
end

#wrap_event(event, create: true) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 152

def wrap_event(event, create: true)
    if local_event = find_local_object_for_event(event)
        local_event
    elsif create
        wrap_plan_object(event, proxy_events)
    end
end

#wrap_plan_object(object, proxy_map) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 136

def wrap_plan_object(object, proxy_map)
    if object.plan != self.plan
        raise ArgumentError, "#{object} is in #{object.plan}, this transaction #{self} applies on #{self.plan}"
    else
        return object.create_transaction_proxy(self)
    end
end

#wrap_plan_service(plan_service, create: true) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 160

def wrap_plan_service(plan_service, create: true)
    if local_plan_service = find_local_object_for_plan_service(plan_service)
        local_plan_service
    elsif create
        plan_service.create_transaction_proxy(self)
    end
end

#wrap_task(task, create: true) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 144

def wrap_task(task, create: true)
    if local_task = find_local_object_for_task(task)
        local_task
    elsif create
        wrap_plan_object(task, proxy_tasks)
    end
end