Module: Roby::EventStructure::TemporalConstraints::Extension

Defined in:
lib/roby/event_structure/temporal_constraints.rb

Defined Under Namespace

Classes: FailedOccurenceConstraint, FailedTemporalConstraint

Instance Method Summary collapse

Instance Method Details

#add_occurence_constraint(other_event, min, max = Infinity, recurrent = false) ⇒ Object

Adds a constraint on the allowed emission of other_event based on the existing emissions of self

min and max specify the minimum (resp. maximum) of times self should be emitted before other_event has the right to be emitted.

If recurrent is true, then the min/max values are computed using the emissions of self since the last emission of other_event. Otherwise, all emissions since the creation of self are taken into account.



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# File 'lib/roby/event_structure/temporal_constraints.rb', line 543

def add_occurence_constraint(other_event, min, max = Infinity, recurrent = false)
    set = TemporalConstraintSet.new
    set.add_occurence_constraint(min, max, recurrent)
    add_forward_temporal_constraint(other_event, set)
end

#add_temporal_constraint(other_event, min, max) ⇒ Object

Creates a temporal constraint between self and other_event. min is the minimum time



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# File 'lib/roby/event_structure/temporal_constraints.rb', line 513

def add_temporal_constraint(other_event, min, max)
    if min > max
        raise ArgumentError, "min should be lower than max (min == #{min} and max == #{max})"
    end

    if max < 0
        return other_event.add_temporal_constraint(self, -max, -min)
    elsif min < 0
        set = TemporalConstraintSet.new
        set.add(-max, -min)
        other_event.add_forward_temporal_constraint(self, set)
    end

    set = TemporalConstraintSet.new
    set.add(min, max)
    add_forward_temporal_constraint(other_event, set)
    set
end

#each_failed_occurence_constraint(use_last_event:) ⇒ Object

Enumerate the occurence constraints that would be failed because of next_event

Parameters:

  • next_event (Boolean) —

    consider the last event (true) or one-from-last (false)



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# File 'lib/roby/event_structure/temporal_constraints.rb', line 576

def each_failed_occurence_constraint(use_last_event:)
    unless block_given?
        return enum_for(
            :each_failed_occurence_constraint,
            use_last_event: use_last_event
        )
    end

    base_event =
        if use_last_event
            last
        else
            history[-2]
        end

    base_time = base_event&.time

    each_backward_temporal_constraint do |parent|
        constraints = parent[self, TemporalConstraints]
        counts = { false => parent.history.size }
        if base_time
            negative_count = parent.history.inject(0) do |count, ev|
                break(count) if ev.time > base_time

                count + 1
            end
        else
            negative_count = 0
        end
        counts[true] = counts[false] - negative_count
        counts.each do |recurrent, count|
            min_count, max_count = constraints.occurence_constraints[recurrent]
            next unless count < min_count || count > max_count

            failure = FailedOccurenceConstraint.new(
                parent: parent,
                parent_history_size: parent.history.size,
                required_min_count: min_count,
                required_max_count: max_count
            )
            failure.base_time = base_time if recurrent
            yield(failure)
        end
    end
    nil
end

#each_failed_temporal_constraint(time) {|constraint| ... } ⇒ Object

Yield each temporal constraint that is currently unmet

Yield Parameters:



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# File 'lib/roby/event_structure/temporal_constraints.rb', line 475

def each_failed_temporal_constraint(time)
    unless block_given?
        return enum_for(:each_failed_temporal_constraint, time)
    end

    each_backward_temporal_constraint do |parent|
        disjoint_set = parent[self, TemporalConstraints]
        next if disjoint_set.intervals.empty?

        if disjoint_set.boundaries[0] < 0
            # It might be fullfilled in the future
            next
        end

        max_diff = disjoint_set.boundaries[1]
        parent.history.each do |parent_event|
            diff = time - parent_event.time
            if diff > max_diff || !disjoint_set.include?(diff)
                failure = FailedTemporalConstraint.new(
                    parent: parent, interval: disjoint_set,
                    time: time
                )
                yield(failure)
            end

            disjoint_set.include?(diff)
        end
    end
end

#find_failed_occurence_constraint(next_event) ⇒ Object

Deprecated.

use #each_failed_occurence_constraint



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# File 'lib/roby/event_structure/temporal_constraints.rb', line 550

def find_failed_occurence_constraint(next_event)
    each_failed_occurence_constraint(use_last_event: next_event) do |f|
        next if block_given? && !yield(f.parent)

        result = [
            f.parent, f.parent_history_size,
            [f.required_min_count, f.required_max_count]
        ]

        result << f.base_time if f.base_time
        return result
    end
    nil
end

#find_failed_temporal_constraint(time) ⇒ Object

Deprecated.

use #each_failed_temporal_constraint



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# File 'lib/roby/event_structure/temporal_constraints.rb', line 460

def find_failed_temporal_constraint(time)
    each_failed_temporal_constraint(time) do |failure|
        next if block_given? && !yield(failure.parent)

        return failure.parent, failure.interval
    end
    nil
end

#has_temporal_constraints? ⇒ Boolean

True if this event is constrained by the TemporalConstraints relation in any way

Returns:

  • (Boolean) 


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# File 'lib/roby/event_structure/temporal_constraints.rb', line 452

def has_temporal_constraints?
    each_backward_temporal_constraint do |parent| # rubocop:disable Lint/UnreachableLoop
        return true
    end
    false
end

#meets_temporal_constraints?(time, &block) ⇒ Boolean

Returns true if this event meets its temporal constraints

Returns:

  • (Boolean) 


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# File 'lib/roby/event_structure/temporal_constraints.rb', line 506

def meets_temporal_constraints?(time, &block)
    !find_failed_temporal_constraint(time, &block) &&
        !find_failed_occurence_constraint(true, &block)
end

#should_emit_after(other_event, options = nil) ⇒ Object

Shortcut to specify that self should be emitted after other_event



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# File 'lib/roby/event_structure/temporal_constraints.rb', line 430

def should_emit_after(other_event, options = nil)
    if options
        options = Kernel.validate_options options,
                                          min_t: nil, max_t: nil, recurrent: false
        recurrent = options[:recurrent]
    end
    other_event.add_occurence_constraint(self, 1, Infinity, recurrent)
    if options && (options[:min_t] || options[:max_t])
        other_event.add_temporal_constraint(self,
                                            options[:min_t] || 0, options[:max_t] || Infinity)
    end
end

#should_emit_after?(generator) ⇒ Boolean

Returns true if there is a constraint that specifies that self and generator are ordered in time

Returns:

  • (Boolean) 


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# File 'lib/roby/event_structure/temporal_constraints.rb', line 445

def should_emit_after?(generator)
    graph = plan.event_relation_graph_for(TemporalConstraints)
    graph.has_edge?(generator, self)
end