fix ci

.github/workflows/main.yml

@@ -0,0 +1,37 @@
+name: CI
+
+on:
+  push:
+  pull_request:
+  schedule:
+    - cron: "0 0 * * 0" # every Sunday at midnight
+  workflow_dispatch:
+
+jobs:
+  industrial_ci:
+    if: github.event.pull_request.draft == false  # only run on non-draft PRs
+    runs-on: ubuntu-latest
+    timeout-minutes: 60
+
+    env:
+      ADDITIONAL_DEBS: 'apt-utils dialog'
+      CATKIN_LINT: pedantic
+      CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release
+      PARALLEL_TESTS: 1
+      PYLINT_ARGS: '--output-format=parseable --errors-only --disable=method-hidden'
+      PYLINT_CHECK: true
+      ROS_REPO: main
+
+    strategy:
+      matrix:
+        include:
+          - { ROS_DISTRO: noetic }
+
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          lfs: true
+
+      - uses: ros-industrial/industrial_ci@master
+        with:
+          config: ${{toJSON(matrix)}}

.gitignore

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

.travis.yml

@@ -1,17 +1,24 @@
-sudo: required
-dist: xenial
 language: generic
+services:
+  - docker
 
-before_install:
-  - git clone https://github.com/FlexBE/flexbe_ci.git ~/flexbe_ci
-  - source ~/flexbe_ci/setup.bash
-  - ~/flexbe_ci/ci_scripts/before_install.bash
-
+notifications:
+  email:
+    on_success: change
+    on_failure: always
+env:
+  global:
+    - ADDITIONAL_DEBS='apt-utils dialog'
+    - CATKIN_LINT=pedantic
+    - CMAKE_ARGS=-DCMAKE_BUILD_TYPE=Release
+    - PARALLEL_TESTS=1
+    - PYLINT_ARGS='--output-format=parseable --errors-only --disable=method-hidden'
+    - PYLINT_CHECK=true
+    - ROS_REPO=main
+  matrix:
+    - ROS_DISTRO=kinetic
+    - ROS_DISTRO=noetic
 install:
-  - ~/flexbe_ci/ci_scripts/install.bash
-
-before_script:
-  - ~/flexbe_ci/ci_scripts/before_script.bash
-
+  - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci -b master
 script:
-  - ~/flexbe_ci/ci_scripts/script.bash
+  - .industrial_ci/travis.sh

CHANGELOG.rst

@@ -1,6 +1,13 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package flexbe_app
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+2.4.2 (2023-09-21)
+------------------
+
+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)
 ------------------

CMakeLists.txt

@@ -1,28 +1,9 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 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})
-
-#add_custom_target(nwjs_inst)
-#add_custom_command(TARGET nwjs_inst POST_BUILD COMMAND bin/nwjs_install)
+catkin_package()
 
 add_custom_command(OUTPUT nwjs
   COMMAND bin/nwjs_install
@@ -36,24 +17,22 @@ if(NOT ${CMAKE_CURRENT_SOURCE_DIR}/nwjs)
   safe_execute_process(COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/bin/nwjs_install)
 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
@@ -63,7 +42,6 @@ install(DIRECTORY
     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
-# run tests
 if(CATKIN_ENABLE_TESTING)
 	find_package(rostest REQUIRED)
 	add_rostest(launch/test_report.test)

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
 

bin/nwjs_install

@@ -36,7 +36,23 @@ fi
 
 # ready to go
 echo "Downloading nwjs..."
-curl -s -o $TEMPFILE https://dl.nwjs.io/$VERSION/nwjs-$VERSION-$OS-$ARCH.tar.gz
+set +e
+main_uri="https://dl.nwjs.io/$VERSION/nwjs-$VERSION-$OS-$ARCH.tar.gz"
+curl -sL -o $TEMPFILE $main_uri
+status=$?
+if [ $status -ne 0 ] ; then
+	echo "Failed to download '$main_uri': $status"
+	echo "Using mirror instead..."
+	mirror_uri="https://npm.taobao.org/mirrors/nwjs/$VERSION/nwjs-$VERSION-$OS-$ARCH.tar.gz"
+	curl -sL -o $TEMPFILE $mirror_uri
+	status=$?
+	if [ $status -ne 0 ] ; then
+		echo "Failed to download '$mirror_uri': $status"
+		exit "$status"
+	fi
+fi
+set -e
+echo -e "Successfully downloaded nwjs!"
 
 echo "Unpacking..."
 tar -xzf $TEMPFILE --strip-components 1
@@ -48,4 +64,4 @@ if [ -f nwjs_old/nw ]; then
 	rm -rf nwjs_old
 fi
 
-echo -e "Successfully downloaded nwjs!"
+echo -e "Successfully installed nwjs!"

bin/shortcut

@@ -3,9 +3,11 @@ if [ "$1" == "create" ] ; then
 	cd $(rospack find flexbe_app)
 	if [[ -z $2 ]] ; then
 		cp flexbe.desktop ~/.local/share/applications
+		chmod +x  ~/.local/share/applications/flexbe.desktop
 	else
 		content=$(cat flexbe.desktop)
 		echo "${content/rosrun/$2; rosrun}" > ~/.local/share/applications/flexbe.desktop
+		chmod +x  ~/.local/share/applications/flexbe.desktop
 	fi
 	if [[ ! -d ~/.local/share/icons ]] ; then
 		mkdir -p ~/.local/share/icons

package.json

@@ -1,6 +1,6 @@
 {
   "name": "FlexBE App",
-  "version": "2.3.0",
+  "version": "2.4.2",
   "main": "src/main.js",
   "window": {
     "icon": "src/img/icon-128.png",

package.xml

@@ -1,6 +1,7 @@
-<package>
+<package format="2">
   <name>flexbe_app</name>
-  <version>2.3.0</version>
+  <version>2.4.2</version>
+  <!-- NOTE: also sync the version in package.json when updating the version -->
   <description>
      flexbe_app provides a user interface (editor + runtime control) for the FlexBE behavior engine.
   </description>
@@ -13,22 +14,20 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>curl</build_depend>
-  <build_depend>rostest</build_depend>
-
-  <run_depend>libnss3-dev</run_depend>
-
-  <run_depend>rospy</run_depend>
-  <run_depend>genpy</run_depend>
-  <run_depend>actionlib</run_depend>
-  <run_depend>rospack</run_depend>
-
-  <run_depend>flexbe_onboard</run_depend>
-  <run_depend>flexbe_mirror</run_depend>
-  <run_depend>flexbe_widget</run_depend>
-
-  <run_depend>std_msgs</run_depend>
-  <run_depend>flexbe_msgs</run_depend>
+  <exec_depend>actionlib</exec_depend>
+  <exec_depend>flexbe_mirror</exec_depend>
+  <exec_depend>flexbe_msgs</exec_depend>
+  <exec_depend>flexbe_onboard</exec_depend>
+  <exec_depend>flexbe_widget</exec_depend>
+  <exec_depend>genpy</exec_depend>
+  <exec_depend>gtk3</exec_depend>  <!-- needed by libnw.so -->
+  <exec_depend>libnss3-dev</exec_depend>
+  <exec_depend>rospack</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>rospy_message_converter</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
 
   <test_depend>rosunit</test_depend>
+  <test_depend>rostest</test_depend>
 
 </package>

src/_helper/checking.js

@@ -2,9 +2,9 @@ Checking = new (function() {
 	var that = this;
 
 	var python_varname_pattern = /^[a-z_][a-z0-9_]*$/i;
-	var python_reserved_list = ["and", "assert", "break", "class", "continue", "def", "del", "elif", 
-	         "else", "except", "exec", "finally", "for", "from", "global", "if", 
-	         "import", "in", "is", "lambda", "not", "or", "pass", "print", 
+	var python_reserved_list = ["and", "assert", "break", "class", "continue", "def", "del", "elif",
+	         "else", "except", "exec", "finally", "for", "from", "global", "if",
+	         "import", "in", "is", "lambda", "not", "or", "pass", "print",
 	         "raise", "return", "try", "while", "yield"];
 
 	this.checkBehavior = function() {
@@ -147,6 +147,10 @@ Checking = new (function() {
 			return "state machine " + statemachine.getStatePath() + " has no initial state";
 		}
 
+		if (statemachine.isConcurrent() && statemachine.getOutcomes().contains("preempted")) {
+			return "state machine " + statemachine.getStatePath() + " has outcome 'preempted' which is not permitted for concurrency statemachines";
+		}
+
 		for (var i = 0; i < states.length; i++) {
 			var error_string = undefined;
 			if (states[i] instanceof Statemachine) {
@@ -213,7 +217,11 @@ Checking = new (function() {
 			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];
+				// when there is a "." in the key, assume we want to read the object's attribute, so check the individual fields
+				var field = imap[i].split(".")
+				for (var j = 0; j < field.length; j++) {
+					if (!field[j].match(python_varname_pattern)) return "input key " + state.getInputKeys()[i] + " of state " + state.getStatePath() + " has invalid value: " + field[j];
+				}
 			}
 		}
 
@@ -235,9 +243,18 @@ Checking = new (function() {
 			if (state.getContainer().getStateName() == "") {
 				available_userdata = available_userdata.concat(Behavior.getDefaultUserdata().map(function(el) { return el.key; }));
 			}
-			if (!available_userdata.contains(sm_dataflow[i].getOutcome())) {
-				if (!UI.Statemachine.isDataflow()) UI.Statemachine.toggleDataflow();
-				return "input key " + sm_dataflow[i].getOutcome() + " of state " + state.getStatePath() + " could be undefined";
+			// when there is a "." in the key, assume we want to read the object's attribute, so check only the object itself
+			var outcome = sm_dataflow[i].getOutcome().split(".")[0];
+			if (!available_userdata.contains(outcome)) {
+				var idx = state.getParameters().indexOf(sm_dataflow[i].getOutcome());
+				if (idx >= 0 && state.getParameterValues()[idx] != "None") {
+					T.logWarn("input key " + sm_dataflow[i].getOutcome() + " of state " + state.getStatePath() + " is overwritten by parameter with same name");
+					continue;
+				}
+				else {
+					if (!UI.Statemachine.isDataflow()) UI.Statemachine.toggleDataflow();
+					return "input key " + outcome + " of state " + state.getStatePath() + " could be undefined";
+				}
 			}
 		}
 
@@ -277,7 +294,7 @@ Checking = new (function() {
 
 		var close_stack = [];
 		var dot_last = false;
-		
+
 		for (var i = 0; i < expr.length; i++) {
 			var c = expr[i];
 			if (dot_last && !c.match(/[a-z_0-9]/i)) return false;
@@ -312,4 +329,4 @@ Checking = new (function() {
 		return expr.match(python_varname_pattern) && !python_reserved_list.contains(expr);
 	}
 
-}) ();
+}) ();

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("', '") + "']";