Merge pull request #86 from FlexBE/noetic

Noetic 2.4.1 release
FlexBE · Apr 29, 2024 · be3a835 · be3a835
2 parents 2ef95e2 + 0cc05c4
commit be3a835
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diff --git a/.github/workflows/flexbe_ci.yml b/.github/workflows/flexbe_ci.yml
@@ -0,0 +1,41 @@
+# This is a basic workflow to help you get started with Actions
+name: FlexBE CI
+# Controls when the action will run.
+on: [push, pull_request, workflow_dispatch]
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  test:
+    strategy:
+      matrix:
+        ros: [noetic]
+        include:
+          - os: ubuntu-20.04
+            ros: noetic
+            python: python3
+
+    runs-on: ${{ matrix.os }}
+    env:
+      ROS_DISTRO: ${{ matrix.ros }}
+      PYTHON: ${{ matrix.python }}
+
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+      - uses: actions/checkout@v3
+      - name: Prepare CI
+        run: |
+          git clone https://github.com/FlexBE/flexbe_ci.git ~/flexbe_ci
+          source ~/flexbe_ci/setup.bash $ROS_DISTRO
+      - name: Install ROS
+        run: ~/flexbe_ci/ci_scripts/install_ros.bash
+      - name: Setup Workspace
+        run: ~/flexbe_ci/ci_scripts/setup_workspace.bash
+      - name: Clone FlexBE Repos
+        run: ~/flexbe_ci/ci_scripts/run_rosinstall.bash
+      - name: Test Create Repo
+        run: ~/flexbe_ci/ci_scripts/test_create_repo.bash
+      - name: Test Devel Workspace
+        run: ~/flexbe_ci/ci_scripts/run_devel_tests.bash
+      - name: Test Install Workspace
+        run: ~/flexbe_ci/ci_scripts/run_install_tests.bash
diff --git a/.gitignore b/.gitignore
@@ -1,2 +1,2 @@
 nwjs/
-.*/**
+.vscode/**
diff --git a/.travis.yml b/.travis.yml
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -1,6 +1,18 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package flexbe_app
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+2.4.1 (2023-05-22)
+------------------
+* merge PR `#74 <https://github.com/FlexBE/flexbe_app/issues/74>`_, 76, 77; tweak CI workflow
+* Merge pull request `#60 <https://github.com/FlexBE/flexbe_app/issues/60>`_ from fmessmer/fix/catkin_lint
+  some catkin_lint fixes
+* some catkin_lint fixes
+* Contributors: David Conner, dcconner, fmessmer
+
+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)
 ------------------

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,25 +1,9 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0)
 project(flexbe_app)
 
 find_package(catkin REQUIRED)
 
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-#catkin_python_setup()
-
-# specify catkin-specific information
-# INCLUDE_DIRS - The exported include paths (i.e. cflags) for the package
-# LIBRARIES - The exported libraries from the project
-# CATKIN_DEPENDS - Other catkin projects that this project depends on
-# DEPENDS - Non-catkin CMake projects that this project depends on
-# CFG_EXTRAS - Additional configuration options 
-catkin_package(
-    INCLUDE_DIRS src
-    LIBRARIES ${PROJECT_NAME})
-
-# use add_library() or add_executable() as required
-#add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SRCS})
+catkin_package()
 
 #add_custom_target(nwjs_inst)
 #add_custom_command(TARGET nwjs_inst POST_BUILD COMMAND bin/nwjs_install)
@@ -40,20 +24,22 @@ endif()
 ## Install ##
 #############
 
-INSTALL(PROGRAMS
+install(PROGRAMS
+    bin/nwjs_install
     bin/run_app
     bin/shortcut
+    bin/test_report
     DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
-INSTALL(FILES
+install(FILES
     package.json
     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
-INSTALL(DIRECTORY
+install(DIRECTORY
     src
     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
-INSTALL(DIRECTORY
+install(DIRECTORY
     nwjs
     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
     USE_SOURCE_PERMISSIONS

diff --git a/LICENSE b/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

diff --git a/README.md b/README.md
@@ -2,11 +2,13 @@
 
 User interface (editor + runtime control) for the FlexBE behavior engine.
 
+![FlexBE CI](https://github.com/FlexBE/flexbe_app/workflows/FlexBE%20CI/badge.svg?branch=noetic)
+
 ## Installation
 
 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 +51,7 @@ 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 +71,7 @@ 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
 

diff --git a/package.xml b/package.xml
@@ -1,21 +1,23 @@
 <package>
   <name>flexbe_app</name>
-  <version>2.3.0</version>
+  <version>2.4.1</version>
   <description>
      flexbe_app provides a user interface (editor + runtime control) for the FlexBE behavior engine.
   </description>
-  <maintainer email="schillin@kth.se">Philipp Schillinger</maintainer>
+  <author>Philipp Schillinger</author>
+  <maintainer email="philsplus@gmail.com">Philipp Schillinger</maintainer>
+  <maintainer email="robotics@cnu.edu">David Conner</maintainer>
   <license>BSD</license>
 
   <url>http://ros.org/wiki/flexbe_app</url>
-  <author>Philipp Schillinger</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>curl</build_depend>
-  <build_depend>rostest</build_depend>
 
+  <run_depend>libasound2-dev</run_depend>
   <run_depend>libnss3-dev</run_depend>
+  <run_depend>libxss1</run_depend>
 
   <run_depend>rospy</run_depend>
   <run_depend>genpy</run_depend>
@@ -30,5 +32,6 @@
   <run_depend>flexbe_msgs</run_depend>
 
   <test_depend>rosunit</test_depend>
+  <test_depend>rostest</test_depend>
 
 </package>
diff --git a/src/io/io_codegenerator.js b/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("', '") + "']";

diff --git a/src/io/io_codeparser.js b/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
 

diff --git a/src/ros/ros.js b/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()
 	// 	});
 	// }
 
-}) ();
+}) ();