Merge pull request #111 from rock-core/update_dalex_pull_request

merge #37

lib/roby/actions/models/method_action.rb

@@ -3,6 +3,27 @@ module Actions
         module Models
             # Action defined by a method on an {Interface}
             class MethodAction < Action
+                class InvalidReturnedType < RuntimeError
+                    def initialize(action_interface_model, method_name,
+                        returned_task, expected_type)
+                        @action_interface_model = action_interface_model
+                        @method_name = method_name
+                        @returned_task = returned_task
+                        @expected_type = expected_type
+                    end
+
+                    def pretty_print(pp)
+                        pp.text "method '#{@method_name}' of #{@action_interface_model}"
+                        pp.breakable
+                        pp.text "was expected to return a task of type "
+                        @expected_type.pretty_print(pp)
+                        pp.text ","
+                        pp.breakable
+                        pp.text "but returned "
+                        @returned_task.pretty_print(pp)
+                    end
+                end
+
                 # The action interface on which this action is defined
                 attr_accessor :action_interface_model
 
@@ -14,7 +35,7 @@ def initialize(action_interface_model, doc = nil)
                 def to_s
                     "#{super} of #{action_interface_model}"
                 end
-            
+
                 def ==(other)
                     other.kind_of?(self.class) &&
                         other.action_interface_model == action_interface_model &&
@@ -43,6 +64,15 @@ def instanciate(plan, arguments = Hash.new)
                         end
                         result = action_interface.send(name, arguments).as_plan
                     end
+
+                    unless result.fullfills?(returned_task_type)
+                        raise InvalidReturnedType.new(
+                            action_interface_model, name, result, returned_task_type),
+                            "method '#{name}' of #{action_interface_model} was expected "\
+                            "to return a task of type #{returned_task_type}, but "\
+                            "returned #{result}"
+                    end
+
                     # Make the planning task inherit the model/argument flags
                     if planning_task = result.planning_task
                         if planning_task.respond_to?(:action_model=)
@@ -87,4 +117,3 @@ def to_s
         end
     end
 end
-

lib/roby/app.rb

@@ -1322,7 +1322,6 @@ def created_log_dir?
         def log_save_metadata(append: true)
             path = File.join(log_dir, 'info.yml')
 
-            info = Array.new
             current =
                 if File.file?(path)
                     YAML.load(File.read(path)) || Array.new
@@ -1716,7 +1715,7 @@ def require_planners
         end
 
         def auto_require_planners
-            search_path = self.auto_load_search_path
+            self.auto_load_search_path
 
             prefixes = ['actions']
             if backward_compatible_naming?
@@ -1945,7 +1944,7 @@ def run(thread_priority: 0, &block)
         def join
             @thread.join
 
-        rescue Exception => e
+        rescue Exception
             if @thread.alive? && execution_engine.running?
                 if execution_engine.forced_exit?
                     raise
@@ -1967,7 +1966,7 @@ def running?
         #
         # Simply execs the same command line
         def restart!
-            Kernel.exec *@restart_cmdline
+            Kernel.exec(*@restart_cmdline)
         end
 
         # Indicates to whomever is managing this app that {#restart} should be

lib/roby/cli/gen/roby_app/config/robots/robot.rb

@@ -25,7 +25,7 @@
 #
 # Add use statements here, as e.g.
 #
-#   use <%= Roby.app.module_name %>::Actions::MyActionInterface
+#   use_library <%= Roby.app.module_name %>::Actions::MyActionInterface
 #
 # or, if you're using syskit
 #

lib/roby/coordination/models/action_state_machine.rb

@@ -36,9 +36,9 @@ module Models
         #       stand = state move(speed: 0)
         #       # This monitor triggers each time the system moves more than
         #       # 0.1 meters
-        #       d_monitor = task monitor_movement_threshold(d: 0.1) 
+        #       d_monitor = task monitor_movement_threshold(d: 0.1)
         #       # This monitor triggers after 20 seconds
-        #       t_monitor = task monitor_time_threshold(t: 20) 
+        #       t_monitor = task monitor_time_threshold(t: 20)
         #       # Make the distance monitor run in the move state
         #       move.depends_on d_monitor
         #       # Make the time monitor run in the stand state
@@ -89,6 +89,10 @@ def parse_names
             # Declares the starting state
             def start(state)
                 parse_names
+                if @starting_state
+                    raise ArgumentError, "this state machine already has a starting "\
+                        "state, use #depends_on to run more than one task at startup"
+                end
                 @starting_state = validate_task(state)
             end
 
@@ -123,7 +127,7 @@ def capture(state, event = nil, &block)
                     if block
                         lambda(&block)
                     else
-                        lambda { |event| event.context.first }
+                        lambda { |ev| ev.context.first }
                     end
 
                 capture = Capture.new(filter)
@@ -220,5 +224,3 @@ def to_s
         end
     end
 end
-
-

lib/roby/coordination/script.rb

@@ -106,7 +106,10 @@ def execute(script)
                                 event.resolve.emit
                                 script.jump_to(timeout_stop)
                             else
-                                raise TimedOut.new(script.root_task, script.current_instruction), "#{script.current_instruction} timed out"
+                                e = TimedOut.new(
+                                    script.root_task, script.current_instruction).
+                                    exception("#{script.current_instruction} timed out")
+                                script.root_task.execution_engine.add_error(e)
                             end
                         end
                     end

lib/roby/coordination/task_script.rb

@@ -88,7 +88,7 @@ def resolve_event(event)
                         raise ArgumentError, "#{model.root} has no event called #{symbol}"
                     end
                 end
-                script_task, model_task = resolve_task(event.task)
+                _, model_task = resolve_task(event.task)
                 model_event  = model_task.find_event(event.symbol)
                 script_event = instance_for(model_event)
                 return script_event, model_event
@@ -191,7 +191,7 @@ def transition!
             # emit an event (and quit the block)
             #
             # @param [Hash] options
-            # @option options [Event] :event (nil) if set, the given event will
+            # @option options [Event] :emit (nil) if set, the given event will
             #   be emitted when the timeout is reached. Otherwise, a
             #   Script::TimedOut exception is generated with the script's
             #   supporting task as origin
@@ -207,7 +207,7 @@ def timeout(seconds, options = Hash.new, &block)
             def timeout_start(seconds, options = Hash.new)
                 options, timeout_options  = Kernel.filter_options options, emit: nil
                 if event = options[:emit]
-                    script_event, model_event = resolve_event(event)
+                    _, model_event = resolve_event(event)
                 end
                 model.timeout_start(seconds, timeout_options.merge(emit: model_event))
             end
@@ -288,6 +288,3 @@ def transition!
         end
     end
 end
-
-
-

lib/roby/execution_engine.rb

@@ -559,7 +559,6 @@ def gather_propagation(initial_set = Hash.new)
                 @propagation_sources = nil
                 @propagation_step_id = 0
 
-                before = @propagation
                 propagation_context([]) do
                     yield
                 end
@@ -855,7 +854,7 @@ def error_handling_phase(events_errors)
 
         # Compute the set of unhandled fatal exceptions
         def compute_kill_tasks_for_unhandled_fatal_errors(fatal_errors)
-            kill_tasks = fatal_errors.inject(Set.new) do |tasks, (exception, affected_tasks)|
+            kill_tasks = fatal_errors.inject(Set.new) do |tasks, (_exception, affected_tasks)|
                 tasks.merge(affected_tasks)
             end
             # Tasks might have been finalized during exception handling, filter
@@ -1052,7 +1051,7 @@ def prepare_propagation(target, is_forward, info)
         # the forwardings and signals that the propagation of the considered event
         # have added.
         def event_propagation_step(current_step, propagation_info)
-            signalled, step_id, forward_info, call_info = next_event(current_step)
+            signalled, _step_id, forward_info, call_info = next_event(current_step)
 
             next_step = nil
             if !call_info.empty?
@@ -2008,15 +2007,15 @@ def self.call_every(plan) # :nodoc:
                 # Check if the nearest timepoint is the beginning of
                 # this cycle or of the next cycle
                 if !last_call || (duration - (now - last_call)) < length / 2
-                    if !handler.call(engine, engine.plan)
+                    unless handler.call(engine, engine.plan)
                         next
                     end
 
+                    next if handler.once?
+                    next if handler.disposed?
                     last_call = now
                 end
-                unless handler.disposed?
-                    [handler, last_call, duration]
-                end
+                [handler, last_call, duration]
             end.compact!
         end
 
@@ -2440,7 +2439,7 @@ def execute(catch: [], type: :external_events)
             when :ret
                 return value
             when :throw
-                throw *value
+                throw(*value)
             else
                 raise value
             end

lib/roby/interface/rest/server.rb

@@ -27,8 +27,11 @@ class Server
                 # @param [Integer] port the port the server should bind to if it
                 #   is a TCP server. Set to zero to auto-allocate. Ignored if 'host'
                 #   is the path to a UNIX socket.
-                def initialize(app, host: '0.0.0.0', port: Roby::Interface::DEFAULT_REST_PORT,
-                               api: REST::API)
+                def initialize(app,
+                    host: '0.0.0.0',
+                    port: Roby::Interface::DEFAULT_REST_PORT,
+                    api: REST::API, **thin_options)
+
                     @app = app
                     @host = host
                     @interface = Interface.new(app)
@@ -42,7 +45,8 @@ def initialize(app, host: '0.0.0.0', port: Roby::Interface::DEFAULT_REST_PORT,
                             run api
                         end
                     end
-                    @server = Thin::Server.new(host, port, rack_app, signals: false)
+                    @server = Thin::Server.new(host, port, rack_app,
+                        signals: false, **thin_options)
                     @server.silent = true
                     if @server.backend.respond_to?(:port)
                         @original_port = port

lib/roby/plan.rb

@@ -4,7 +4,7 @@ class Plan < DistributedObject
         extend Logger::Hierarchy
         extend Logger::Forward
         include DRoby::EventLogging
-        
+
         # The Peer ID of the local owner (i.e. of the local process / execution
         # engine)
         attr_accessor :local_owner
@@ -219,7 +219,7 @@ def merge_base(plan)
             task_index.merge(plan.task_index)
             task_events.merge(plan.task_events)
         end
-        
+
         def merge_relation_graphs(plan)
             # Now merge the relation graphs
             #
@@ -607,7 +607,7 @@ def add_permanent_event(event)
 
         # True if the given event is registered as a permanent event on self
         def permanent_event?(generator)
-            @permanent_events.include?(generator) 
+            @permanent_events.include?(generator)
         end
 
         # Removes a task from the set of permanent tasks
@@ -677,7 +677,7 @@ def handle_force_replace(from, to)
             elsif to.plan != self
                 raise ArgumentError, "trying to replace #{to} but its plan is #{to.plan}, expected #{self}"
             elsif from == to
-                return 
+                return
             end
 
             # Swap the subplans of +from+ and +to+
@@ -758,7 +758,7 @@ def exclude_tasks(tasks)
                 @tasks.merge(tasks)
                 self
             end
-            
+
             # Exclude a single task
             #
             # @param [Task] task the task to be excluded
@@ -767,7 +767,7 @@ def exclude_task(task)
                 @tasks << task
                 self
             end
-            
+
             # Tests whether a task is to be excluded
             #
             # @param [Task] task
@@ -1378,7 +1378,7 @@ def each_task
             return enum_for(__method__) if !block_given?
             @tasks.each { |t| yield(t) }
         end
- 
+
         # Returns +object+ if object is a plan object from this plan, or if
         # it has no plan yet (in which case it is added to the plan first).
         # Otherwise, raises ArgumentError.
@@ -1592,15 +1592,15 @@ def replan(task)
                 return task.create_fresh_copy
             end
 
-            planner = replan(old_planner = task.planning_task)
+            planner = replan(task.planning_task)
             planned = task.create_fresh_copy
             planned.abstract = true
             planned.planned_by planner
             replace(task, planned)
             planned
         end
 
-        
+
         # The set of blocks that should be called to check the structure of the
         # plan.
         #
@@ -1635,7 +1635,7 @@ def self.check_failed_missions(plan)
             result
         end
         structure_checks << method(:check_failed_missions)
-        
+
         # @api private
         #
         # Normalize the value returned by one of the {#structure_checks}, by
@@ -1909,4 +1909,3 @@ def each_object_in_transaction_stack(object)
         end
     end
 end
-