Merge pull request FlexBE#11 from benmaidel/sync

sync with upstream

.github/workflows/flexbe_ci.yml

@@ -0,0 +1,49 @@
+# This is a basic workflow to help you get started with Actions
+name: FlexBE CI
+# Controls when the action will run. 
+on:
+  # Triggers the workflow on push or pull request events but only for the master branch
+  push:
+  # Allows you to run this workflow manually from the Actions tab
+  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: [kinetic, melodic, noetic]
+        include:
+          - os: ubuntu-16.04
+            ros: kinetic
+          - os: ubuntu-18.04
+            ros: melodic
+          - 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@v2
+      - 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

.gitignore

@@ -1,2 +1,2 @@
 nwjs/
-.*/**
+.vscode/**

CHANGELOG.rst

@@ -2,6 +2,55 @@
 Changelog for package flexbe_app
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.0 (2020-11-19)
+------------------
+* Merge remote-tracking branch 'origin/feature/python3_support' into develop
+* Add support for python3
+* Use correct state prefix in autocompletion
+  (fix `#65 <https://github.com/FlexBE/flexbe_app/issues/65>`_)
+* Prevent module caching in Python parser to fix state reloading
+  (see `#61 <https://github.com/FlexBE/flexbe_app/issues/61>`_)
+* Sort input-dependent elements for more deterministic code generation
+  (see #`team-vigir/flexbe_behavior_engine#111 <https://github.com/team-vigir/flexbe_behavior_engine/issues/111>`_)
+* Contributors: Philipp Schillinger
+
+2.2.4 (2020-03-25)
+------------------
+* Revert nwjs version increment because of Travis failure due to Chromium bug
+  (see https://crbug.com/1025266)
+* Increment nwjs version after file chooser fix
+* Use HTML file chooser instead of Chrome file API for settings import and export
+  (see `#52 <https://github.com/FlexBE/flexbe_app/issues/52>`_)
+* Improve cache for workspace switching and allow to disable it
+* Fix detection of new packages
+* Merge branch 'benmaidel-feature/cmd_option_checkbehaviors' into develop
+* Always run all behavior check tests and print error message
+* Robustify behavior loading for generating behavior check reports
+* Close window-related sub-processes also when only closing the window
+  (see `team-vigir/flexbe_behavior_engine#105 <https://github.com/team-vigir/flexbe_behavior_engine/issues/105>`_)
+* Merge remote-tracking branch 'origin/fix/handle_closed_window' into develop
+* add --check-behavior command line option
+* Fix support for symbolic references in Python parser
+* Robustify Python parser against instantiation failures
+  (see `team-vigir/flexbe_behavior_engine#99 <https://github.com/team-vigir/flexbe_behavior_engine/issues/99>`_)
+* Close window-related sub-processes also when only closing the window
+  (see `team-vigir/flexbe_behavior_engine#105 <https://github.com/team-vigir/flexbe_behavior_engine/issues/105>`_)
+* Merge branch 'cheffe112-bugfix-import-config' into develop
+* Fix mixed indentation
+* reverting nw.js to last known-to-work version
+  From nw.js 0.42.4, the import/export configuration functionality throws an "Invalid calling page. This function can't be called from a background page." error. This has been reported for nw.js already on https://github.com/nwjs/nw.js/issues/7349.
+  Hence, the import/export functionality is currently unusable with nw.js >0.42.3 as integrated in b93078fd6705445bf6183af40598619243800b1e.
+* throw error if importing/exporting configuration crashes
+* Explicitly spawn window on center position because default changed
+* Allow comment after super-call in regex state parser
+  (see `team-vigir/flexbe_behavior_engine#98 <https://github.com/team-vigir/flexbe_behavior_engine/issues/98>`_)
+* Check for undefined transition label (fix `team-vigir/flexbe_behavior_engine#100 <https://github.com/team-vigir/flexbe_behavior_engine/issues/100>`_)
+* Merge branch 'cheffe112-bugfix-python-parsing' into develop
+* Fix mixed indentation
+* bugfix: avoid crash during Python state parsing on empty documentation string
+  The Python state parsing feature introduced in 4f20227ef900ca32e78414c190fb464d964666e5 used to crash when no docstring is provided in a state definition, hence stalling the parsing procedure. This commit returns the default label "[no documentation]" on a missing docstring.
+* Contributors: Benjamin Maidel, Philipp Schillinger, Tobias Doernbach
+
 2.2.3 (2020-01-15)
 ------------------
 * Increment nwjs version

bin/test_report

@@ -1,4 +1,11 @@
-#!/usr/bin/env python
+#!/bin/bash
+if "true" : '''\'
+then
+python${ROS_PYTHON_VERSION:-} "${BASH_SOURCE[0]}" $*
+exit
+fi
+'''
+# flake8: noqa
 import yaml
 import unittest
 
@@ -18,7 +25,7 @@ class TestReport(unittest.TestCase):
     def test_report(self):
         try:
             with open("/tmp/flexbe_app_report.log", 'r') as f:
-                report = yaml.load(f)
+                report = yaml.safe_load(f)
         except IOError:
             return  # skip test since there is no report to evaluate
         for test_type, tests in report.items():

package.json

@@ -1,6 +1,6 @@
 {
   "name": "FlexBE App",
-  "version": "2.2.3",
+  "version": "2.3.0",
   "main": "src/main.js",
   "window": {
     "icon": "src/img/icon-128.png",

package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>flexbe_app</name>
-  <version>2.2.3</version>
+  <version>2.3.0</version>
   <description>
      flexbe_app provides a user interface (editor + runtime control) for the FlexBE behavior engine.
   </description>

src/events.js

@@ -129,6 +129,7 @@ document.addEventListener('DOMContentLoaded', function() {
     document.getElementById('button_ros_connect').addEventListener('click', UI.Settings.rosConnectClicked);
 
     document.getElementById('select_state_parser').addEventListener('change', UI.Settings.stateParserChanged);
+    document.getElementById('cb_pkg_cache_enabled').addEventListener('change', UI.Settings.pkgCacheEnabledClicked);
     document.getElementById('button_force_discover').addEventListener('click', UI.Settings.forceDiscoverClicked);
 
     document.getElementById('cb_synthesis_enabled').addEventListener('change', UI.Settings.synthesisEnabledClicked);

src/io/io_codegenerator.js

@@ -49,7 +49,7 @@ IO.CodeGenerator = new (function() {
 		}
 		// put together
 		code += "from flexbe_core import Behavior, Autonomy, OperatableStateMachine, ConcurrencyContainer, PriorityContainer, Logger\n";
-		code += import_list.join("\n");
+		code += import_list.sort().join("\n");
 		code += "\n";
 		// add manual imports
 		code += "# Additional imports can be added inside the following tags\n";
@@ -104,6 +104,7 @@ IO.CodeGenerator = new (function() {
 
 			contained_behaviors.push(states[i]);
 		}
+		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";
 		}
@@ -120,6 +121,7 @@ IO.CodeGenerator = new (function() {
 		code += "\n";
 		code += ws+ws+"# Behavior comments:\n\n";
 		var notes = Behavior.getCommentNotes();
+		notes.sort(compareKey(note => note.getContent()));
 		for (var i = 0; i < notes.length; i++) {
 			var n = notes[i];
 			code += ws+ws+"# " + (n.isImportant()? "!" : "O") + " " + Math.round(n.getPosition().x) + " " + Math.round(n.getPosition().y) + " " + n.getContainerPath() + "\n";
@@ -174,6 +176,7 @@ IO.CodeGenerator = new (function() {
 
 		// generate contained state machines
 		var sub_sms = helper_getAllSubSMs(Behavior.getStatemachine());
+		sub_sms.sort(compareKey(sm => sm.getStatePath()));
 		for (var i = sub_sms.length - 1; i >= 0; i--) {
 			code += generateStateMachine(sub_sms[i], true);
 			code += "\n";
@@ -249,6 +252,7 @@ IO.CodeGenerator = new (function() {
 
 		// smach needs to start with initial state
 		var states = sm.getStates();
+		states.sort(compareKey(s => s.getStateName()));
 		var init_trans = sm.getTransitions().findElement(function(element) {
 			return element.getFrom().getStateName() == "INIT";
 		});
@@ -457,4 +461,17 @@ IO.CodeGenerator = new (function() {
 		return states;
 	}
 
+	var compareKey = function(operation) {
+		return (a, b) => {
+			var a_key = operation(a);
+			var b_key = operation(b);
+			if (a_key < b_key)
+				return -1;
+			else if (a_key > b_key)
+				return 1;
+			else
+				return 0;
+		};
+	}
+
 }) ();

src/io/io_packageparser.js

@@ -12,17 +12,23 @@ IO.PackageParser = new (function() {
 		var add_behaviors = [];
 
 		ROS.getPackageList((pkg_list) => {
-			pkg_list = pkg_list.filter(entry => pkg_cache.findElement(cached => cached['name'] == entry['name']) == undefined);
+			// remove missing packages from cache
+			pkg_cache = pkg_cache.filter(cached => pkg_list.findElement(entry => cached.name == entry.name) != undefined);
+			// remove cached packages from detected ones
+			pkg_list = pkg_list.filter(entry => pkg_cache.findElement(cached => cached.name == entry.name) == undefined);
+			// all remaining packages are new and should be parsed
 			var pkg_count = pkg_list.length;
 			if (pkg_count > 0) {
 				T.logInfo("Checking "+pkg_count+" ROS packages for states and behaviors  ("+pkg_cache.length+" in cache)...");
 			} else {
 				T.logInfo("No new ROS packages detected ("+pkg_cache.length+" in cache).");
 			}
+			pkg_cache = pkg_cache.concat(pkg_list);
+
 			var processEntry = function(idx) {
 				var entry = pkg_list[idx];
 				if (idx >= pkg_count) {
-					callback(pkg_list, add_states, add_behaviors);
+					callback(pkg_cache, add_states, add_behaviors);
 				} else {
 					checkForRelevance(entry['path'], (has_states, has_behaviors) => {
 						if (has_states || has_behaviors) {
@@ -95,9 +101,9 @@ IO.PackageParser = new (function() {
 							if (state_def != undefined) {
 								state_def.setFilePath(entry);
 								WS.Statelib.updateDef(state_def);
-								T.logInfo("Updating changed definition for state: " + state_def.getStateClass());
+								T.logInfo("Updating changed definition for state: " + state_def.getStateType());
 								var update_states = Behavior.getStatemachine().traverseStates(function(state) {
-									return state.getStateClass() == state_def.getStateClass();
+									return state.getStateType() == state_def.getStateType();
 								});
 								update_states.forEach(function (state) {
 									state.updateStateDefinition(state_def);

src/io/io_stateparser.js

@@ -2,6 +2,7 @@ IO.StateParser = new (function() {
 	var that = this;
 	var os = require('os');
 	var spawn = require('child_process').spawn;
+	var python = 'python' + (process.env.ROS_PYTHON_VERSION != undefined? process.env.ROS_PYTHON_VERSION : '');
 	var crypto = require('crypto');
 	var md5 = str => crypto.createHash('md5').update(str).digest('hex');
 
@@ -19,6 +20,7 @@ for data in iter(sys.stdin.readline, ""):
 	result = {'id': request['id'], 'state_defs': state_defs}
 	try:
 		pkg = __import__(request['import_path'], fromlist=[request['import_path']])
+		del sys.modules[pkg.__name__]  # prevent module caching (to allow state reloading)
 		def is_state(member):
 			return (inspect.isclass(member) and
 					member.__module__ == pkg.__name__ and
@@ -69,7 +71,7 @@ for data in iter(sys.stdin.readline, ""):
 	var parseCallbacks = [];
 
 	var spawnLoader = function() {
-		loader = spawn('python', ['-c', impl]);
+		loader = spawn(python, ['-c', impl]);
 		loader.stdout.on('data', (data) => {
 			buffer += data;
 			var try_parse = true;

src/ros/ros.js

@@ -4,6 +4,7 @@ ROS = new (function() {
 	var os = require('os');
 	var sys = require('sys');
 	var spawn = require('child_process').spawn;
+	var python = 'python' + (process.env.ROS_PYTHON_VERSION != undefined? process.env.ROS_PYTHON_VERSION : '');
 
 ////////////////////////////////
 // BEGIN Python implementation
@@ -25,7 +26,7 @@ rospy.spin()
 	var ros_proc = undefined;
 
 	that.init = function(callback) {
-		ros_proc = spawn('python', ['-c', init_impl]);
+		ros_proc = spawn(python, ['-c', init_impl]);
 		ros_proc.stdout.on('data', data => {
 			data = String(data);
 			if (data.endsWith("connected")) {
@@ -104,7 +105,7 @@ 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; print(importlib.import_module('` + package_name + `').__path__[-1])`]);
 				var path_data = '';
 				proc.stdout.on('data', data => {
 					path_data += data;

src/ros/ros_actionclient.js

@@ -3,6 +3,7 @@ ROS.ActionClient = function(topic, action_type) {
 	var os = require('os');
 	var sys = require('sys');
 	var spawn = require('child_process').spawn;
+	var python = 'python' + (process.env.ROS_PYTHON_VERSION != undefined? process.env.ROS_PYTHON_VERSION : '');
 
 	var feedback_cb = undefined;
 	var result_cb = undefined;
@@ -64,7 +65,7 @@ while not rospy.is_shutdown():
 // END Python implementation
 //////////////////////////////
 
-	var client = spawn('python', ['-c', impl, topic, action_type]);
+	var client = spawn(python, ['-c', impl, topic, action_type]);
 
 	var buffer = "";
 

src/ros/ros_publisher.js

@@ -3,6 +3,7 @@ ROS.Publisher = function(topic, msg_type, latched=false) {
 	var os = require('os');
 	var sys = require('sys');
 	var spawn = require('child_process').spawn;
+	var python = 'python' + (process.env.ROS_PYTHON_VERSION != undefined? process.env.ROS_PYTHON_VERSION : '');
 
 	var LATCHED = "latched";
 ////////////////////////////////
@@ -43,7 +44,7 @@ while not rospy.is_shutdown():
 // END Python implementation
 //////////////////////////////
 
-	var pub = spawn('python', ['-c', impl, topic, msg_type, latched? LATCHED : "_"]);
+	var pub = spawn(python, ['-c', impl, topic, msg_type, latched? LATCHED : "_"]);
 
 	pub.stdout.on('data', (data) => {
 		T.logInfo('[PUB:'+topic+'] ' + data);

src/ros/ros_subscriber.js

@@ -2,6 +2,7 @@ ROS.Subscriber = function(topic, msg_type, callback) {
 	var that = this;
 	var sys = require('sys');
 	var spawn = require('child_process').spawn;
+	var python = 'python' + (process.env.ROS_PYTHON_VERSION != undefined? process.env.ROS_PYTHON_VERSION : '');
 
 ////////////////////////////////
 // BEGIN Python implementation
@@ -35,7 +36,7 @@ rospy.spin()
 // END Python implementation
 //////////////////////////////
 
-	var sub = spawn('python', ['-c', impl, topic, msg_type]);
+	var sub = spawn(python, ['-c', impl, topic, msg_type]);
 
 	var buffer = "";
 

src/ui/panels/ui_panels_stateproperties.js

@@ -45,15 +45,18 @@ UI.Panels.StateProperties = new (function() {
 		});
 	}
 
-	var addAutocomplete = function(el, state_class, mode, state, additional_keywords) {
+	var addAutocomplete = function(el, state_type, mode, state, additional_keywords) {
 		var additional_keywords = additional_keywords || [];
-		if (state_class != undefined) {
-			var class_vars = WS.Statelib.getFromLib(state_class).getClassVariables();
+		if (state_type != undefined) {
+			var state_def = WS.Statelib.getFromLib(state_type);
+			var state_prefix = (!UI.Settings.isExplicitStates() && WS.Statelib.isClassUnique(state_def.getStateClass()))?
+				state_def.getStateClass() : state_def.getStatePackage() + "__" + state_def.getStateClass();
+			var class_vars = state_def.getClassVariables();
 			for (var i = 0; i < class_vars.length; i++) {
 				var v = class_vars[i];
-				additional_keywords.push({text: v.name, hint: "", fill: state_class + "." + v.name});
+				additional_keywords.push({text: v.name, hint: "", fill: state_prefix + "." + v.name});
 			}
-			additional_keywords.push({text: state_class, hint: "", fill: state_class + "."});
+			additional_keywords.push({text: state_def.getStateClass(), hint: "", fill: state_prefix + "."});
 		}
 
 		el.addEventListener('keyup', function(evt) {