From 4272594ef9b33fa8007cf6aa11f8f317a0d74157 Mon Sep 17 00:00:00 2001
From: Josh <joshua.zutell.18@cnu.edu>
Date: Mon, 22 Nov 2021 14:15:07 -0500
Subject: [PATCH] Fixes issue with saving behaviors that contain other
 behaviors

---
 package.xml                 |  6 ------
 src/io/io_codegenerator.js  | 13 +++++++++++--
 src/ros/ros_actionclient.js |  2 --
 src/ros/ros_publisher.js    |  2 --
 src/ros/ros_subscriber.js   |  1 -
 5 files changed, 11 insertions(+), 13 deletions(-)

diff --git a/package.xml b/package.xml
index 9296ddc..b51dcbe 100644
--- a/package.xml
+++ b/package.xml
@@ -30,8 +30,6 @@
 
     <exec_depend>libnss3-dev</exec_depend>
 
-    <exec_depend>genpy</exec_depend>
-
     <exec_depend>flexbe_onboard</exec_depend>
     <exec_depend>flexbe_mirror</exec_depend>
     <exec_depend>flexbe_widget</exec_depend>
@@ -47,8 +45,4 @@
     <export>
       <build_type>ament_cmake</build_type>
     </export>
-
-    <!-- <export>
-        <build_type>ament_python</build_type>
-    </export> -->
 </package>
diff --git a/src/io/io_codegenerator.js b/src/io/io_codegenerator.js
index e13507a..9436c4d 100644
--- a/src/io/io_codegenerator.js
+++ b/src/io/io_codegenerator.js
@@ -47,7 +47,12 @@ IO.CodeGenerator = new (function() {
 				import_list.push("from " + imported_states[i].getStateImport() + " import " + imported_states[i].getStateClass()
 					+ " as " + imported_states[i].getStatePackage() + "__" + imported_states[i].getStateClass());
 			}
-			state_init_list.push(ws + ws + imported_states[i].getStateClass() + ".initialize_ros(node)")
+
+			if (!imported_states[i].getStateClass().includes("SM") &&
+					!state_init_list.includes(ws + ws + imported_states[i].getStateClass() + ".initialize_ros(node)")) {
+
+					state_init_list.push(ws + ws + imported_states[i].getStateClass() + ".initialize_ros(node)")
+			}
 		}
 		// put together
 		code += "from flexbe_core import Behavior, Autonomy, OperatableStateMachine, ConcurrencyContainer, PriorityContainer, Logger\n";
@@ -107,6 +112,10 @@ IO.CodeGenerator = new (function() {
 		code += ws+ws+ "PriorityContainer" + ".initialize_ros(node)" + "\n"
 		code += ws+ws+ "Logger" + ".initialize(node)" + "\n"
 		code += state_init_list.sort().join("\n");
+		code += "\n";
+
+		// Need to clear state_init_list in case of saving multiple times
+		state_init_list = []
 
 
 		var contained_behaviors = [];
@@ -117,7 +126,7 @@ IO.CodeGenerator = new (function() {
 		}
 		contained_behaviors.sort(compareKey(be => be.getStatePath()));
 		for (var i=0; i<contained_behaviors.length; ++i) {
-			code += ws+ws+"self.add_behavior(" + contained_behaviors[i].getStateClass() + ", '" + contained_behaviors[i].getStatePath().substr(1) + "')\n";
+			code += ws+ws+"self.add_behavior(" + contained_behaviors[i].getStateClass() + ", '" + contained_behaviors[i].getStatePath().substr(1) + "', node)\n";
 		}
 		code += "\n";
 		// manual
diff --git a/src/ros/ros_actionclient.js b/src/ros/ros_actionclient.js
index 3daecc9..20fbf6d 100644
--- a/src/ros/ros_actionclient.js
+++ b/src/ros/ros_actionclient.js
@@ -19,8 +19,6 @@ from rclpy.action import ActionClient
 import sys
 import importlib
 import json
-import genpy
-import flexbe_core.message
 import yaml
 import rosidl_runtime_py.convert
 import rosidl_runtime_py.set_message
diff --git a/src/ros/ros_publisher.js b/src/ros/ros_publisher.js
index 2a3474b..45305d0 100644
--- a/src/ros/ros_publisher.js
+++ b/src/ros/ros_publisher.js
@@ -14,8 +14,6 @@ import os
 import sys
 import importlib
 import json
-import genpy
-import flexbe_core.message
 import yaml
 import rosidl_runtime_py.set_message
 
diff --git a/src/ros/ros_subscriber.js b/src/ros/ros_subscriber.js
index d371135..fe1ede2 100644
--- a/src/ros/ros_subscriber.js
+++ b/src/ros/ros_subscriber.js
@@ -11,7 +11,6 @@ import rclpy
 import sys
 import importlib
 import json
-import genpy
 import rosidl_runtime_py.convert
 import yaml