style and warning fixes

lib/roby/app.rb

@@ -1318,7 +1318,6 @@ 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
@@ -1712,7 +1711,7 @@ 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?
@@ -1941,7 +1940,7 @@ 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
@@ -1963,7 +1962,7 @@ 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/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
@@ -127,7 +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)
@@ -224,5 +224,3 @@ def to_s
         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?
@@ -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
-

lib/roby/task_structure/dependency.rb

@@ -69,7 +69,7 @@ def self.merge_fullfilled_model(model, required_models, required_arguments)
                     end
                 end
 
-                arguments = arguments.merge(required_arguments) do |name, old, new| 
+                arguments = arguments.merge(required_arguments) do |name, old, new|
                     if old != new
                         raise Roby::ModelViolation, "inconsistency in fullfilled models: #{old} and #{new}"
                     end
@@ -434,7 +434,7 @@ def resolve_role_path(*path)
                 # +self+.
                 #
                 # I.e. if ['role1', 'role2', 'role3'] is a role path from +self+ to
-                # +task, it means that 
+                # +task, it means that
                 #
                 #    task1 = self.child_from_role('role1')
                 #    task2 = task1.child_from_role('role2')
@@ -479,7 +479,7 @@ def role_paths(task, validate = true)
                 #
                 # success:: the list of success events. The default is [:success]
                 # failure:: the list of failing events. The default is [:failed]
-                # model:: 
+                # model::
                 #   a <tt>[task_model, arguments]</tt> pair which defines the task
                 #   model the parent is expecting.  The default value is to get these
                 #   parameters from +task+
@@ -504,9 +504,9 @@ def depends_on(task, options = {})
                         raise ArgumentError, "cannot add a dependency of a task to itself"
                     end
 
-                    options = Dependency.validate_options options, 
-                        model: [task.provided_models, task.meaningful_arguments], 
-                        success: :success.to_unbound_task_predicate, 
+                    options = Dependency.validate_options options,
+                        model: [task.provided_models, task.meaningful_arguments],
+                        success: :success.to_unbound_task_predicate,
                         failure: false.to_unbound_task_predicate,
                         remove_when_done: true,
                         consider_in_pending: true,
@@ -639,7 +639,7 @@ def first_children
                 # However, this fails in case +self+ is a root task in the dependency
                 # relation. Moreover, it might be handy to over-constrain the model
                 # computed through the dependency relation.
-                # 
+                #
                 # In both cases, a model can be specified explicitely by setting the
                 # fullfilled_model attribute. The value has to be
                 #
@@ -826,7 +826,7 @@ def implicit_fullfilled_model
                 def fullfilled_model
                     explicit_fullfilled_model || implicit_fullfilled_model
                 end
-                
+
                 # Enumerates the models that all instances of this task model fullfill
                 #
                 # @yieldparam [Model<Task>,Model<TaskService>] model
@@ -919,4 +919,3 @@ def involved_plan_object?(obj)
         end
     end
 end
-

test/coordination/models/test_action_state_machine.rb

@@ -152,7 +152,7 @@ def start_task(task)
         it "raises if attempting to specify a state that is not a toplevel state" do
             monitoring = state_machine.state(action_m.monitoring_task)
             start.depends_on(monitoring)
-            
+
             assert_raises(Roby::Coordination::Models::NotToplevelState) do
                 state_machine.forward monitoring, monitoring.success_event,
                     state_machine.success_event
@@ -161,7 +161,7 @@ def start_task(task)
         it "raises if attempting to specify an event that is not active in the state" do
             monitoring = state_machine.state(action_m.monitoring_task)
             state_machine.transition start.success_event, monitoring
-            
+
             assert_raises(Roby::Coordination::Models::EventNotActiveInState) do
                 state_machine.forward start, monitoring.success_event,
                     state_machine.success_event
@@ -206,7 +206,7 @@ def start_task(task)
     describe "#state" do
         it "can use any object that responds to #to_action_state" do
             obj = flexmock
-            obj.should_receive(:to_action_state).and_return(task = Roby::Task.new)
+            obj.should_receive(:to_action_state).and_return(Roby::Task.new)
             task_m = self.task_m
             assert_raises(ArgumentError) do
                 Roby::Actions::Interface.new_submodel do
@@ -292,10 +292,9 @@ def start_task(task)
                 coordination_model
 
             assert_equal 1, rebound.forwards.size
-            source_event, target_event = rebound.forwards.first
-
             assert_equal [[new_action_m.monitoring_task, 'task_dependency']],
-                rebound.find_state_by_name('start_task').dependencies.map { |task, role| [task.action, role] }
+                rebound.find_state_by_name('start_task').dependencies.
+                    map { |task, role| [task.action, role] }
         end
     end
 
@@ -352,7 +351,7 @@ def start_task(task)
                 # task model can be transferred afterwards
                 test_task_m = Roby::Task.new_submodel
                 start_task_m = Roby::Task.new_submodel
-                description = action_m.describe("with_arguments").
+                action_m.describe("with_arguments").
                     optional_arg('test', 'test', test_task_m)
                 action_m.action_state_machine 'with_arguments' do
                     start state(start_task_m)

test/coordination/test_action_script.rb

@@ -50,15 +50,15 @@ def start_script
         end
 
         it "fails if asked to wait for an unreachable event" do
-            script = start_script
+            start_script
             expect_execution { action_task.intermediate_event.unreachable! }.
                 to { have_error_matching Models::Script::DeadInstruction.match.with_origin(root_task) }
         end
 
         it "fails if the event it is waiting for becomes unreachable" do
             task_model.event :second
             script_model.wait script_task.second_event
-            script = start_script
+            start_script
             execute { action_task.second_event.unreachable! }
             expect_execution { action_task.intermediate_event.unreachable! }.
                 to { have_error_matching Models::Script::DeadInstruction.match.with_origin(root_task) }
@@ -135,7 +135,7 @@ def start_script
                 and_return(action_task = task_model.new)
             script_model.forward script_task.intermediate_event, script_model.success_event
             script_model.start script_task
-            script = script_model.new(root_task)
+            script_model.new(root_task)
             execute { root_task.start! }
             expect_execution do
                 action_task.start!
@@ -148,4 +148,3 @@ def start_script
 end
     end
 end
-