Allow to set parameters of included behaviors

FlexBE · Apr 14, 2019 · 77d2b3d · 77d2b3d
1 parent 49fdd4b
commit 77d2b3d
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Showing 13 changed files with 236 additions and 60 deletions.
diff --git a/package.json b/package.json
@@ -1,6 +1,6 @@
 {
   "name": "FlexBE App",
-  "version": "2.1.5",
+  "version": "2.2.0",
   "main": "src/main.js",
   "window": {
     "icon": "src/img/icon-128.png",

diff --git a/package.xml b/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>flexbe_app</name>
-  <version>2.1.5</version>
+  <version>2.2.0</version>
   <description>
      flexbe_app provides a user interface (editor + runtime control) for the FlexBE behavior engine.
   </description>

diff --git a/src/_helper/checking.js b/src/_helper/checking.js
@@ -186,6 +186,7 @@ Checking = new (function() {
 			var sparams = state.getParameterValues();
 			for (var i = 0; i < sparams.length; i++) {
 				if (sparams[i] == "") return "parameter " + state.getParameters()[i] + " of state " + state.getStatePath() + " has empty value";
+				if (state instanceof BehaviorState && sparams[i] == undefined) continue;
 				if (!that.isValidExpressionSyntax(sparams[i], false)) return "parameter " + state.getParameters()[i] + " of state " + state.getStatePath() + " has invalid value";
 			}
 		}
@@ -195,6 +196,7 @@ Checking = new (function() {
 			var imap = state.getInputMapping();
 			for (var i = 0; i < imap.length; i++) {
 				if (imap[i] == "") return "input key " + state.getInputKeys()[i] + " of state " + state.getStatePath() + " has empty value";
+				if (state instanceof BehaviorState && imap[i] == undefined) continue;
 				if (!imap[i].match(python_varname_pattern)) return "input key " + state.getInputKeys()[i] + " of state " + state.getStatePath() + " has invalid value: " + imap[i];
 			}
 		}

diff --git a/src/_helper/tools.js b/src/_helper/tools.js
@@ -30,7 +30,7 @@ Tools = new (function() {
 				new_state.setInitialState(new_state.getStateByName(s.getInitialState().getStateName()));
 			}
 		} else if (s instanceof BehaviorState) {
-			new_state = new BehaviorState(s.getBehaviorName(), WS.Behaviorlib.getByName(s.getBehaviorName()), s.getDefaultKeys().clone());
+			new_state = new BehaviorState(s.getBehaviorName(), WS.Behaviorlib.getByName(s.getBehaviorName()));
 			new_state.setStateName(s.getStateName());
 		} else if (s instanceof State) {
 			var state_def = WS.Statelib.getFromLib(s.getStateType());

diff --git a/src/_model/behaviorstate.js b/src/_model/behaviorstate.js
@@ -1,12 +1,11 @@
-BehaviorState = function(be_name, be_definition, be_defkeys) {
+BehaviorState = function(be_name, be_definition) {
 	State.apply(this, [be_name, be_definition]);
 	var that = this;
 
 	var behavior_name = be_definition.getBehaviorName();
 	var behavior_manifest = be_definition.getBehaviorManifest();
 	var behavior_statemachine = be_definition.cloneBehaviorStatemachine();
 	behavior_statemachine.setBehavior(that);
-	var default_keys = be_defkeys;
 
 	this.getBehaviorName = function() {
 		return behavior_name;
@@ -20,21 +19,13 @@ BehaviorState = function(be_name, be_definition, be_defkeys) {
 		return behavior_manifest;
 	}
 
-	this.getDefaultKeys = function() {
-		return default_keys;
-	}
-
-	this.addDefaultKey = function(new_key) {
-		if (default_keys.contains(new_key)) return;
-		default_keys.push(new_key);
-	}
-
-	this.removeDefaultKey = function(key) {
-		if (!default_keys.contains(key)) return;
-		default_keys.remove(key);
+	this.getParameterDefinition = function(param) {
+		return behavior_manifest.params.findElement(el => {
+			return el.name == param;
+		});
 	}
 
-	this.getDefaultValue = function(key) {
+	this.getDefaultUserdataValue = function(key) {
 		var element = be_definition.getDefaultUserdata().findElement(function(el) {
 			return el.key == key;
 		});

diff --git a/src/_model/statemachine.js b/src/_model/statemachine.js
@@ -178,7 +178,7 @@ Statemachine = function(sm_name, sm_definition) {
 			var added_keys = []
 			state.getInputMapping().forEach(function(key, i) {
 				if (added_keys.contains(key)) return;
-				if (state instanceof BehaviorState && state.getDefaultKeys().contains(state.getInputKeys()[i])) return;
+				if (state instanceof BehaviorState && key == undefined) return;
 				added_keys.push(key);
 				addDataEdgeForPredecessors(state, state, key, []);
 			});

diff --git a/src/io/io_codegenerator.js b/src/io/io_codegenerator.js
@@ -298,15 +298,24 @@ IO.CodeGenerator = new (function() {
 
 		} else if (s instanceof BehaviorState) {
 			var defkeys_str = "";
-			var be_defkeys = s.getDefaultKeys();
-			if (be_defkeys.length > 0) {
-				var be_defkeys_str = []
-				for (var j = 0; j < be_defkeys.length; j++) {
-					be_defkeys_str.push("'"+be_defkeys[j]+"'");
-				}
-				defkeys_str = ", default_keys=[" + be_defkeys_str.join(',') + "]";
+			var be_defkeys_str = [];
+			for (var j = 0; j < s.getInputKeys().length; j++) {
+				if (s.getInputMapping()[j] != undefined) continue;
+				be_defkeys_str.push("'"+s.getInputKeys()[j]+"'");
+			}
+			if (be_defkeys_str.length > 0) {
+				defkeys_str = ",\n"+ws+ws+ws+ws+ws+ws+ws+ws+ws+ws+ws+"default_keys=[" + be_defkeys_str.join(',') + "]";
+			}
+			var params_str = "";
+			var be_params_str = [];
+			for (var j = 0; j < s.getParameters().length; j++) {
+				if (s.getParameterValues()[j] == undefined) continue;
+				be_params_str.push("'"+s.getParameters()[j]+"': "+s.getParameterValues()[j]);
 			}
-			code += ws+ws+ws+ws+ws+ws+ws+ws+ws+ws+"self.use_behavior(" + s.getStateClass() + ", '" + s.getStatePath().substr(1) + "'" + defkeys_str + "),\n";
+			if (be_params_str.length > 0) {
+				params_str = ",\n"+ws+ws+ws+ws+ws+ws+ws+ws+ws+ws+ws+"parameters={" + be_params_str.join(', ') + "}";
+			}
+			code += ws+ws+ws+ws+ws+ws+ws+ws+ws+ws+"self.use_behavior(" + s.getStateClass() + ", '" + s.getStatePath().substr(1) + "'" + defkeys_str + params_str + "),\n";
 
 		} else {
 			var class_key = (!UI.Settings.isExplicitStates() && WS.Statelib.isClassUnique(s.getStateClass()))?
@@ -352,18 +361,21 @@ IO.CodeGenerator = new (function() {
 
 		// remapping
 		if (s.getInputKeys().length + s.getOutputKeys().length > 0) {
-			code += ",\n";
-			code += ws+ws+ws+ws+ws+ws+ws+ws+ws+ws+"remapping={";
 			var remapping_strings = [];
 			for (var j=0; j<s.getInputKeys().length; ++j) {
+				if (s.getInputMapping()[j] == undefined) continue;
 				remapping_strings.push("'" + s.getInputKeys()[j] + "': '" + s.getInputMapping()[j] + "'");
 			}
 			for (var j=0; j<s.getOutputKeys().length; ++j) {
 				if (s.getInputKeys().contains(s.getOutputKeys()[j])) continue;
 				remapping_strings.push("'" + s.getOutputKeys()[j] + "': '" + s.getOutputMapping()[j] + "'");
 			}
-			code += remapping_strings.join(", ");
-			code += "}";
+			if (remapping_strings.length > 0) {
+				code += ",\n";
+				code += ws+ws+ws+ws+ws+ws+ws+ws+ws+ws+"remapping={";
+				code += remapping_strings.join(", ");
+				code += "}";
+			}
 		}
 
 		code += ")\n\n";

diff --git a/src/io/io_codeparser.js b/src/io/io_codeparser.js
@@ -86,8 +86,10 @@ IO.CodeParser = new (function() {
 	var string_quotes_pattern = /^["'](.*)["']/;
 		// [1] - name of the state class
 	var state_class_pattern = /^\s*(\w+)\(/;
-		// [1] - name of the behavior class , [2] - (optional) list of default keys
-	var state_behavior_pattern = /^\s*self\.use_behavior\((\w+)(?:, ?['"](?:[^'"]*)['"])?(?:, ?default_keys ?= ?\[([^\]]*)\])?\)/;
+		// [1] - name of the behavior class , [2+2*i,3+2*i] - (optional) list of default keys or parameters
+		// if [2] is "default_keys", [3] is a list of default keys
+		// if [2] or [4] is "parameters", [3] or [5] is a dict of behavior parameters
+	var state_behavior_pattern = /^\s*self\.use_behavior\((\w+)(?:, ?['"](?:[^'"]*)['"])?(?:,\s*(default_keys) ?= ?\[([^\]]*)\])?(?:,\s*(parameters) ?= ?\{([^\}]*)\})?\)/;
 		// [1] - kind of data (transitions/autonomy/remapping), [2] - comma separated list of values including surrounding braces
 	var state_interface_pattern = /(transitions|autonomy|remapping)\s*=\s*(\{[^}]*\})/;
 
@@ -461,11 +463,14 @@ IO.CodeParser = new (function() {
 	var parseStateParams = function(params) {
 		// get name
 		var state_name = helper_removeQuotes(params[0]);
-
-		// get state class and params
 		var state_class = "";
 		var state_type = "state";
 		var parameter_values = [];
+		var transitions = [];
+		var autonomy = [];
+		var remapping = [];
+
+		// get state class and params
 		var class_result = params[1].match(state_class_pattern);
 		if (class_result != null) {
 			state_class = class_result[1];
@@ -487,10 +492,23 @@ IO.CodeParser = new (function() {
 			if (behavior_use_result != null) {
 				state_class = behavior_use_result[1];
 				state_type = "behavior";
-				if (behavior_use_result[2] != undefined) {
-					parameter_values = behavior_use_result[2].replace(/["'\s]/g, '').split(',');
-				} else {
-					parameter_values = [];
+				if (behavior_use_result.length > 2 && behavior_use_result[2] == 'default_keys') {
+					behavior_use_result[3].replace(/["'\s]/g, '').split(',').forEach(key => {
+						remapping.push({
+							key: key,
+							value: undefined
+						});
+					});
+				}
+				if (behavior_use_result.length > 2 && behavior_use_result[2] == 'parameters'
+					|| behavior_use_result.length > 4 && behavior_use_result[4] == 'parameters') {
+					var dict_def = (behavior_use_result.length > 4)? behavior_use_result[5] : behavior_use_result[3];
+					var dict_split = helper_splitOnTopCommas('{'+dict_def+'}');
+					dict_split.forEach(element => {
+						var keyvalue = helper_splitKeyValue(element, ':');
+						keyvalue.key = helper_removeQuotes(keyvalue.key);
+						parameter_values.push(keyvalue);
+					});
 				}
 			} else {
 				state_class = params[1];
@@ -500,9 +518,6 @@ IO.CodeParser = new (function() {
 		}
 
 		// get further parameters
-		var transitions = [];
-		var autonomy = [];
-		var remapping = [];
 		for(var i=2; i<params.length; i++) {
 			var param_result = params[i].match(state_interface_pattern);
 			if (param_result == null) {
@@ -544,6 +559,11 @@ IO.CodeParser = new (function() {
 				var remapping_list = helper_splitOnTopCommas(param_result[2]);
 				for (var j=0; j<remapping_list.length; j++) {
 					var remapping_kv = helper_splitKeyValue(remapping_list[j].trim(), ":");
+					var default_input = remapping.findElement(element => {
+						return element.key == helper_removeQuotes(remapping_kv.key);
+					})
+					if (default_input != undefined)
+						continue;
 					if (remapping_kv != undefined) {
 						remapping.push({
 							key: helper_removeQuotes(remapping_kv.key),
@@ -596,11 +616,11 @@ IO.CodeParser = new (function() {
 		// split into relevant methods
 		var code_init_split = code_class_split[3].split(init_def_pattern);
 		if (code_init_split.length == 1) throw "behavior constructor definition could not be found";
-		var code_init = code_init_split[1].split(/\tdef/)[0];
+		var code_init = code_init_split[1].split(/\sdef\s/)[0];
 
 		var code_create_split = code_class_split[3].split(create_def_pattern);
 		if (code_create_split.length == 1) throw "behavior state machine creation section could not be found";
-		var code_create = code_create_split[1].split(/\tdef/)[0];
+		var code_create = code_create_split[1].split(/\sdef\s/)[0];
 
 		// parse init section
 		var init_result = parseInitSection(code_init);
@@ -673,7 +693,7 @@ IO.CodeParser = new (function() {
 
 		var code_create_split = code_class_split[3].split(create_def_pattern);
 		if (code_create_split.length == 1) throw "behavior state machine creation section could not be found";
-		var code_create = code_create_split[1].split(/\tdef/)[0];
+		var code_create = code_create_split[1].split(/\sdef\s/)[0];
 
 		// parse create section
 		var create_result = parseCreateSection(code_create, true);

diff --git a/src/io/io_modelgenerator.js b/src/io/io_modelgenerator.js
@@ -86,7 +86,8 @@ IO.ModelGenerator = new (function() {
 					T.logInfo("Please check your workspace settings.");
 					continue;
 				}
-				s = new BehaviorState(s_def.state_name, state_def, s_def.parameter_values);
+				s = new BehaviorState(s_def.state_name, state_def);
+				s.setParameterValues(helper_getSortedValueList(s.getParameters(), s.getParameterValues(), s_def.parameter_values));
 			} else {
 				var state_def = undefined;
 				if (s_def.state_class.includes("__")) {