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: FrozenTransaction

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, #null_event_relation_graphs, #null_task_relation_graphs, #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_job_action, #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_task_marks, #copy_to, #create_null_relations, #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, #make_useless, #merge, #merge!, #merge_base, #merge_relation_graphs, #merge_transaction, #merge_transaction!, #merged_plan, #merging_plan, #mission?, #mission_task?, #mission_tasks, #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_events, #permanent_task?, #permanent_tasks, #real_plan, #recreate, #refresh_relations, #register_event, #register_task, #registered_plan_services_for, #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, #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

Raises:

  • (ArgumentError) 


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# File 'lib/roby/transaction.rb', line 430

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

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

    super()

    @plan = plan

    @proxy_tasks = {}
    @proxy_events = {}
    @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 421

def options
  @options
end

#plan ⇒ Object (readonly)

The plan this transaction applies on



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# File 'lib/roby/transaction.rb', line 415

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 419

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 417

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 407

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 413

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 410

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 200

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

#add(objects) ⇒ Object 



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

def add(objects)
    validate_transaction_not_frozen

    super(objects)
    self
end

#add_mission_task(t) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 461

def add_mission_task(t)
    validate_transaction_not_frozen

    unmarked_mission_tasks.delete(t.__getobj__) if t.transaction_proxy?
    super(t)
end

#add_permanent_event(e) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 475

def add_permanent_event(e)
    validate_transaction_not_frozen

    unmarked_permanent_events.delete(e.__getobj__) if e.transaction_proxy?
    super(e)
end

#add_permanent_task(t) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 468

def add_permanent_task(t)
    validate_transaction_not_frozen

    unmarked_permanent_tasks.delete(t.__getobj__) if t.transaction_proxy?
    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 974

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

    nil
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 586

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 684

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

    added_relations   = []
    removed_relations = []
    updated_relations = []

    # 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 = {}

    # 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 = {}
    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?
            new_permanent_events << object if permanent_event?(proxy)
            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 StandardError => 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
                plan.move_plan_service(original, task) if original.task != task
            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 { |ev| plan.add_permanent_event(ev) }

    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 676

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 569

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 917

def clear
    unmarked_mission_tasks.clear
    unmarked_permanent_tasks.clear
    unmarked_permanent_events.clear
    proxy_tasks.each_value(&:clear_relations)
    proxy_tasks.clear
    proxy_events.each_value(&: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 840

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 858

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 605

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 656

def compute_triggers_for_committed_transaction
    trigger_matches = {}
    plan.triggers.each do |tr|
        tr.each(self) do |t|
            trigger_matches[t] = tr
        end
    end
    proxy_tasks.each do |obj, proxy|
        # Add to matches if it matches and has not triggered yet
        if (tr = trigger_matches.delete(proxy)) && !(tr === obj)
            trigger_matches[obj] = tr
        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 425

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 259

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 100

def create_and_register_proxy_event(object)
    validate_transaction_not_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 109

def create_and_register_proxy_plan_service(object)
    validate_transaction_not_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 91

def create_and_register_proxy_task(object)
    validate_transaction_not_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 864

def disable_proxying
    @disable_proxying = true
    return unless block_given?

    begin
        yield
    ensure
        @disable_proxying = false
    end
end

#discard_modifications(object) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 1026

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 891

def discard_transaction
    unless transactions.empty?
        raise InvalidTransaction,
              "there are 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 882

def discard_transaction!
    transactions.dup.each(&:discard_transaction!)
    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 907

def discarded_transaction; end

#edit ⇒ Object 



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# File 'lib/roby/transaction.rb', line 206

def edit
    yield if block_given?
end

#enable_proxying ⇒ Object 



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# File 'lib/roby/transaction.rb', line 860

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 15

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 457

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 45

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 36

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 951

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 935

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 136

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 118

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

#find_local_object_for_plan_service(object) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 140

def find_local_object_for_plan_service(object)
    return unless (local_task = find_local_object_for_task(object.task))

    find_plan_service(local_task)
end

#find_local_object_for_task(object) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 132

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 909

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 304

def has_proxy_for_event?(object)
    if object.plan != plan
        raise ArgumentError,
              "#{object} is not in #{self}.plan (#{plan})"
    end
    proxy_events.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 290

def has_proxy_for_task?(object)
    if object.plan != plan
        raise ArgumentError,
              "#{object} is not in #{self}.plan (#{plan})"
    end
    proxy_tasks.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 218

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.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.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 534

def invalid=(flag)
    invalidation_reasons.clear unless flag
    @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 541

def invalid?
    @invalid
end

#invalidate(reason = nil) ⇒ Object

Marks this transaction as valid



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# File 'lib/roby/transaction.rb', line 556

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 530

attribute(:invalidation_reasons) { [] }

#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 391

def may_unwrap(object)
    if object.respond_to?(:plan)
        if object.plan == self && object.respond_to?(:__getobj__)
            object.__getobj__
        elsif object.plan == 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 376

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 204

def propose; end

#proxying? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/roby/transaction.rb', line 875

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

#query_result_set(matcher) ⇒ 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.

Internal delegation from the matchers to the plan object to determine the ‘right’ query algorithm



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# File 'lib/roby/transaction.rb', line 1022

def query_result_set(matcher)
    Queries::TransactionQueryResult.from_transaction(self, matcher)
end

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



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# File 'lib/roby/transaction.rb', line 370

def remove_free_event(event, timestamp = Time.now)
    unwrapped, proxy = remove_plan_object(event, proxy_events)
    unmarked_permanent_events.delete(unwrapped) if proxy
    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 343

def remove_plan_object(object, proxy_map)
    validate_transaction_not_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
    [object, proxy]
end

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



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# File 'lib/roby/transaction.rb', line 358

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 1003

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

    nil
end

#restore_relation(proxy, relation) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 312

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 41

def root_plan?
    false
end

#setup_and_register_proxy_event(proxy, event) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 69

def setup_and_register_proxy_event(proxy, event)
    validate_transaction_not_frozen

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

#setup_and_register_proxy_plan_service(proxy, plan_service) ⇒ Object 



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# File 'lib/roby/transaction.rb', line 81

def setup_and_register_proxy_plan_service(proxy, plan_service)
    validate_transaction_not_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 49

def setup_and_register_proxy_task(proxy, task)
    validate_transaction_not_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
    plan.find_all_plan_services(task).each do |original_srv|
        create_and_register_proxy_plan_service(original_srv)
    end

    proxy
end

#unmark_mission_task(t) ⇒ Object 



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

def unmark_mission_task(t)
    validate_transaction_not_frozen

    t = t.as_plan
    if (proxy = find_local_object_for_task(t))
        super(proxy)
    end

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

#unmark_permanent_event(t) ⇒ Object 



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

def unmark_permanent_event(t)
    validate_transaction_not_frozen

    t = t.as_plan
    if (proxy = find_local_object_for_event(t))
        super(proxy)
    end

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

#unmark_permanent_task(t) ⇒ Object 



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

def unmark_permanent_task(t)
    validate_transaction_not_frozen

    t = t.as_plan
    if (proxy = find_local_object_for_task(t))
        super(proxy)
    end

    t = may_unwrap(t)
    unmarked_permanent_tasks.add(t) if t.plan == plan
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 551

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

#validate_transaction_not_frozen ⇒ 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.

Method called before any mutating operation to verify that the transaction can actually be modified - i.e. that it has not been commited or discarded yet

Raises:

  • FrozenTransaction



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# File 'lib/roby/transaction.rb', line 1046

def validate_transaction_not_frozen
    if frozen?
        raise FrozenTransaction,
              "transaction #{self} has been either committed or discarded. "\
              "No modification allowed"
    end

    nil
end

#wrap(object, create: true) ⇒ Object

Get the transaction proxy for object



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# File 'lib/roby/transaction.rb', line 181

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 164

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 146

def wrap_plan_object(object, proxy_map)
    if object.plan != plan
        raise ArgumentError,
              "#{object} is in #{object.plan}, "\
              "this transaction #{self} applies on #{plan}"
    else
        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 172

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 156

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