Module: Roby::Distributed::PlanModificationHooks

Included in:
Plan
Defined in:
lib/roby/distributed/notifications.rb

Overview

Set of hooks which send Plan updates to remote hosts

Class Method Summary collapse

Instance Method Summary collapse

Class Method Details

.discovered_objects(plan, objects) ⇒ Object

Common implementation for the #discovered_events and #discovered_tasks hooks. It sends PeerServer#plan_discover for all tasks which can be shared among plan managers



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# File 'lib/roby/distributed/notifications.rb', line 97

def self.discovered_objects(plan, objects)
		unless Distributed.updating?(plan)
 relations = nil
 Distributed.each_updated_peer(plan) do |peer|
			# Compute +objects+ and +relations+ only if there is a
			# peer to update
			unless relations
  objects = objects.find_all { |t| t.distribute? && t.self_owned? && t.root_object? && !Distributed.updating?(t) }
  return if objects.empty?
  relations = Distributed.subgraph_of(objects)
			end
			peer.transmit(:plan_discover, plan, objects, relations)
 end
 Distributed.trigger(*objects)
		end
end

.finalized_object(plan, object) ⇒ Object

Common implementation for the #finalized_task and PeerServer#finalized_event hooks. It sends the plan_remove_object message.



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# File 'lib/roby/distributed/notifications.rb', line 143

def self.finalized_object(plan, object)
		return unless object.distribute? && object.root_object?

		Distributed.keep.delete(object)

		if object.self_owned?
 Distributed.clean_triggered(object)

 if !Distributed.updating?(plan)
			Distributed.peers.each_value do |peer|
  if peer.connected?
				peer.transmit(:plan_remove_object, plan, object)
  end
			end
 end

 if object.remotely_useful?
			Distributed.removed_objects << object
 end
		else
 object.remote_siblings.keys.each do |peer|
			object.forget_peer(peer) unless peer == Roby::Distributed
 end
		end
end

Instance Method Details

#discarded(task) ⇒ Object

Hook called when a new task is not a mission anymore. It sends a PeerServer#plan_set_mission message to the remote host.



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# File 'lib/roby/distributed/notifications.rb', line 83

def discarded(task)
		super if defined? super
		return unless task.distribute? && task.self_owned?

		unless Distributed.updating?(self) || Distributed.updating?(task)
 Distributed.each_updated_peer(self, task) do |peer|
			peer.transmit(:plan_set_mission, self, task, false)
 end
		end
end

#discovered_events(events) ⇒ Object

New free events have been discovered in the plan.

See PlanModificationHooks.discovered_objects



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# File 'lib/roby/distributed/notifications.rb', line 123

def discovered_events(events)
		super if defined? super
		PlanModificationHooks.discovered_objects(self, events) 
end

#discovered_tasks(tasks) ⇒ Object

New tasks have been discovered in the plan.

See PlanModificationHooks.discovered_objects



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# File 'lib/roby/distributed/notifications.rb', line 116

def discovered_tasks(tasks)
		super if defined? super
		PlanModificationHooks.discovered_objects(self, tasks)
end

#finalized_event(event) ⇒ Object

Hook called when a free event has been removed from the plan.

See PlanModificationHooks.finalized_object



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# File 'lib/roby/distributed/notifications.rb', line 178

def finalized_event(event)
		super if defined? super
		PlanModificationHooks.finalized_object(self, event) 
end

#finalized_task(task) ⇒ Object

Hook called when a task has been removed from the plan.

See PlanModificationHooks.finalized_object



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# File 'lib/roby/distributed/notifications.rb', line 171

def finalized_task(task)
		super if defined? super
		PlanModificationHooks.finalized_object(self, task) 
end

#inserted(task) ⇒ Object

Hook called when a new task is marked as mission. It sends a PeerServer#plan_set_mission message to the remote host.

Note that plan will have called the #discovered_tasks hook beforehand



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# File 'lib/roby/distributed/notifications.rb', line 69

def inserted(task)
		super if defined? super
		return unless task.distribute? && task.self_owned?

		unless Distributed.updating?(self) || Distributed.updating?(task)
 Distributed.each_updated_peer(self, task) do |peer|
			peer.transmit(:plan_set_mission, self, task, true)
 end
 Distributed.trigger(task)
		end
end

#replaced(from, to) ⇒ Object

Hook called when from has been replaced by to in the plan. It sends a PeerServer#plan_replace message



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# File 'lib/roby/distributed/notifications.rb', line 130

def replaced(from, to)
		super if defined? super
		if (from.distribute? && to.distribute?) && (to.self_owned? || from.self_owned?)
 unless Distributed.updating?(self) || Distributed.updating_all?([from, to])
			Distributed.each_updated_peer(from) do |peer|
  peer.transmit(:plan_replace, self, from, to)
			end
 end
		end
end