Merge pull request FlexBE#18 from fmessmer/feature/sync_flexbe

Feature/sync flexbe

Author: fmessmer

CHANGELOG.rst

@@ -1,6 +1,10 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package flexbe_app
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+2.4.0 (2023-05-18)
+------------------
+* Merge develop branch
+* Updates for Melodic and Noetic releases on github.com/FlexBE
 
 2.3.0 (2020-11-19)
 ------------------

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2017, 
+Copyright (c) 2017-2023,
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

README.md

@@ -6,7 +6,7 @@ User interface (editor + runtime control) for the FlexBE behavior engine.
 
 Clone the following repos into your ROS workspace:
 
-    git clone https://github.com/team-vigir/flexbe_behavior_engine.git  # if not already present
+    git clone https://github.com/FlexBE/flexbe_behavior_engine.git  # if not already present
     git clone https://github.com/FlexBE/flexbe_app.git
 
 Build you workspace:
@@ -49,15 +49,7 @@ Use the following launch file to run both of the above for local behavior execut
 
 ## Backwards Compatibility
 
-The FlexBE App in this repository replaces the previous *flexbe_chrome_app*. Please refer to the following announcement for an overview of the most important changes: [Future of the FlexBE Chrome App](https://github.com/pschillinger/flexbe_chrome_app/issues/11)
-
-If you have been using FlexBE already with the old Chrome app, you can convert the content of your repository according to the structure defined below. Besides adding the export statement to your state packages, you can automate this conversion by running the FlexBE App. If no behavior package is detected, it will suggest you to initialize one.
-
----
-
-Deprecated Chrome App branch: **deprecated/chrome_app**
-
-*Please checkout the above branch on all repos if available for a best-effort support of the deprecated Chrome app. However, please consider to update as soon as possible according to the instructions below to ensure that the system will remain working in the future and to receive all updates.*
+The FlexBE App in this repository replaces the previous *flexbe_chrome_app*. 
 
 ---
 
@@ -77,7 +69,7 @@ A package is a state package for FlexBE if its `package.xml` declares the export
     ...
     </package>
 
-It is then expected to provide Python class definitions as described in [Developing Basic States](http://wiki.ros.org/flexbe/Tutorials/Developing%20Basic%20States). Example: [flexbe_states](https://github.com/team-vigir/flexbe_behavior_engine/tree/feature/flexbe_app/flexbe_states). Adding the above export statement is the only change to previous versions.
+It is then expected to provide Python class definitions as described in [Developing Basic States](http://wiki.ros.org/flexbe/Tutorials/Developing%20Basic%20States). Example: [flexbe_states](https://github.com/FlexBE/flexbe_behavior_engine/tree/feature/flexbe_app/flexbe_states). Adding the above export statement is the only change to previous versions.
 
 ### Behavior packages
 

package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>flexbe_app</name>
-  <version>2.3.0</version>
+  <version>2.4.0</version>
   <description>
      flexbe_app provides a user interface (editor + runtime control) for the FlexBE behavior engine.
   </description>

src/io/io_codegenerator.js

@@ -220,11 +220,11 @@ IO.CodeGenerator = new (function() {
 			}
 			code += ws+ws+"# " + pos.join(", ") + "\n";
 			if (sm.isConcurrent()) {
-				code += ws+ws+ sm_name + " = ConcurrencyContainer(outcomes=['" + sm.getOutcomes().join("', '") + "']";
+				code += ws+ws+ sm_name + " = ConcurrencyContainer(outcomes=[" + sm.getOutcomes().map(x => "'" + x + "'").join(", ") + "]";
 			} else if (sm.isPriority()) {
-				code += ws+ws+ sm_name + " = PriorityContainer(outcomes=['" + sm.getOutcomes().join("', '") + "']";
+				code += ws+ws+ sm_name + " = PriorityContainer(outcomes=[" + sm.getOutcomes().map(x => "'" + x + "'").join(", ") + "]";
 			} else {
-				code += ws+ws+ sm_name + " = OperatableStateMachine(outcomes=['" + sm.getOutcomes().join("', '") + "']";
+				code += ws+ws+ sm_name + " = OperatableStateMachine(outcomes=[" + sm.getOutcomes().map(x => "'" + x + "'").join(", ") + "]";
 			}
 			if (sm.getInputKeys().length > 0) {
 				code += ", input_keys=['" + sm.getInputKeys().join("', '") + "']";

src/io/io_codeparser.js

@@ -264,7 +264,7 @@ IO.CodeParser = new (function() {
 	}
 
 
-	var parseCreateSection = function(code, only_interface) {
+	var parseCreateSection = function(code, only_interface, state_type_imports) {
 		// get root sm var name
 		var root_sm_name_result = code.match(return_sm_pattern);
 		if (root_sm_name_result == null) throw "could not identify root state machine";
@@ -344,7 +344,7 @@ IO.CodeParser = new (function() {
 			var idx = i * 2 + 1;
 			sm_states.push({
 				sm_name: sm_parts[idx],
-				sm_states: parseStates(sm_parts[idx+1])
+				sm_states: parseStates(sm_parts[idx+1], state_type_imports)
 			});
 		}
 
@@ -434,14 +434,14 @@ IO.CodeParser = new (function() {
 	}
 
 
-	var parseStates = function(code) {
+	var parseStates = function(code, state_type_imports) {
 		var code_splitted = code.split(state_begin_pattern);
 		if (code_splitted.length == 1) throw "a container does not contain any states"
 
 		var state_list = [];
 
 		for (var i=4; i<code_splitted.length; i+=4) {
-			var state_param_result = parseStateParams(helper_splitOnTopCommas(code_splitted[i]));
+			var state_param_result = parseStateParams(helper_splitOnTopCommas(code_splitted[i]), state_type_imports);
 			if (code_splitted[i-3] != undefined)
 				state_param_result.state_pos_x = parseInt(code_splitted[i-3]);
 			if (code_splitted[i-2] != undefined)
@@ -460,7 +460,7 @@ IO.CodeParser = new (function() {
 		return state_list;
 	}
 
-	var parseStateParams = function(params) {
+	var parseStateParams = function(params, state_type_imports) {
 		// get name
 		var state_name = helper_removeQuotes(params[0]);
 		var state_class = "";
@@ -474,7 +474,9 @@ IO.CodeParser = new (function() {
 		var class_result = params[1].match(state_class_pattern);
 		if (class_result != null) {
 			state_class = class_result[1];
-			var params_split = helper_splitOnTopCommas(params[1].replace(state_class, ""));
+			if (!state_class.includes("__") && state_type_imports != undefined && state_type_imports[state_class] != undefined)
+				state_class = state_type_imports[state_class] + "__" + state_class;
+			var params_split = helper_splitOnTopCommas(params[1].replace(class_result[1], ""));
 			params_split.forEach(function(element, i) {
 				var keyvalue = helper_splitKeyValue(element, "=");
 				if (keyvalue != undefined && !element.startsWith("lambda")) {
@@ -626,7 +628,7 @@ IO.CodeParser = new (function() {
 		var init_result = parseInitSection(code_init);
 
 		// parse create section
-		var create_result = parseCreateSection(code_create, false);
+		var create_result = parseCreateSection(code_create, false, top_result.state_type_imports);
 
 		// parse additional functions
 

src/ros/ros.js

@@ -93,10 +93,12 @@ rospy.spin()
 
 	that.getPackagePythonPath = function(package_name, callback) {
 		var python_path = undefined;
+		var temp_package_path = undefined;
 		that.getPackageList((package_cache) => {
 			for (var i=0; i<package_cache.length; i++) {
 				if (package_cache[i]['name'] == package_name) {
 					python_path = package_cache[i]['python_path'];
+					temp_package_path = package_cache[i]['path'];
 					break;
 				}
 			}
@@ -105,7 +107,7 @@ rospy.spin()
 					callback(python_path);
 				});
 			} else {
-				var proc = spawn(python, ['-c', `import importlib; print(importlib.import_module('` + package_name + `').__path__[-1])`]);
+				var proc = spawn(python, ['-c', `import importlib; temp = importlib.import_module('` + package_name + `').__path__; path_index = next((i for i, x in enumerate(temp) if ('`+ temp_package_path +`' in x)), -1); print(temp[path_index])`]);
 				var path_data = '';
 				proc.stdout.on('data', data => {
 					path_data += data;
@@ -143,4 +145,4 @@ rospy.spin()
 	// 	});
 	// }
 
-}) ();
+}) ();