Merge pull request team-vigir#6 from team-vigir/develop

sync develop branch with team-vigir

.github/workflows/flexbe_ci.yml

@@ -0,0 +1,50 @@
+# 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

README.md

@@ -8,6 +8,8 @@ The user interface features a runtime control interface as well as a graphical e
 
 Please refer to the FlexBE Homepage ([flexbe.github.io](http://flexbe.github.io)) for further information, tutorials, application examples, and much more.
 
+![FlexBE CI](https://github.com/team-vigir/flexbe_behavior_engine/workflows/FlexBE%20CI/badge.svg)
+
 ## Installation
 
 Execute the following commands to install FlexBE:

flexbe_behavior_engine/CHANGELOG.rst

@@ -2,6 +2,20 @@
 Changelog for package flexbe_behavior_engine
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.1 (2020-12-11)
+------------------
+
+1.3.0 (2020-11-19)
+------------------
+
+1.2.5 (2020-06-14)
+------------------
+* Merge branch 'develop' into feature/state_logger_rework
+* Contributors: Philipp Schillinger
+
+1.2.4 (2020-03-25)
+------------------
+
 1.2.3 (2020-01-10)
 ------------------
 * Merge remote-tracking branch 'origin/develop' into feature/test_behaviors

flexbe_behavior_engine/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>flexbe_behavior_engine</name>
-  <version>1.2.3</version>
+  <version>1.3.1</version>
   <description>
     A meta-package to aggregate all the FlexBE packages
   </description>

flexbe_core/.gitignore

@@ -1,14 +1,6 @@
-<<<<<<< HEAD
-/build/
-/lib/
-/msg_gen/
-/srv_gen/
-=======
 build
 devel
-bin
 lib
 msg_gen
 srv_gen
 qtcreator-build
->>>>>>> refs/remotes/origin/master

flexbe_core/CHANGELOG.rst

@@ -2,6 +2,70 @@
 Changelog for package flexbe_core
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.1 (2020-12-11)
+------------------
+* [flexbe_core] Replace set conversion for python3 compatibility
+  (see `#136 <https://github.com/team-vigir/flexbe_behavior_engine/issues/136>`_)
+* Contributors: Philipp Schillinger
+
+1.3.0 (2020-11-19)
+------------------
+* [flexbe_core] Further fixes to userdata
+* [flexbe_core] [flexbe_widget] Correctly handle non-existing behaviors in action goals
+  (fix `#133 <https://github.com/team-vigir/flexbe_behavior_engine/issues/133>`_)
+* [flexbe_core] Several fixes to userdata
+  (see `#129 <https://github.com/team-vigir/flexbe_behavior_engine/issues/129>`_)
+* [flexbe_core] [flexbe_testing] [flexbe_widget] Use yaml backwards compatible
+* Merge remote-tracking branch 'origin/feature/core_rework' into develop
+  # Conflicts:
+  #	flexbe_core/src/flexbe_core/core/operatable_state_machine.py
+  #	flexbe_onboard/src/flexbe_onboard/flexbe_onboard.py
+* Merge branch 'feature/core_rework' of https://github.com/team-vigir/flexbe_behavior_engine into feature/core_rework
+* Add support for python3
+* [flexbe_core] Fix typo in userdata handling of concurrency container
+* [flexbe_core] Use more explicit userdata update operations
+* [flexbe_core] Add userdata tests and improvements
+* [flexbe_core] Add checks and specific exception types
+* [flexbe_core] Add test cases for state capabilities
+* Major clean-up of most core components
+* Remove smach dependency
+* Contributors: Philipp Schillinger
+
+1.2.5 (2020-06-14)
+------------------
+* [flexbe_core] Consider a running mirror as being controlled
+  (see `#123 <https://github.com/team-vigir/flexbe_behavior_engine/issues/123>`_)
+* Merge pull request `#113 <https://github.com/team-vigir/flexbe_behavior_engine/issues/113>`_ from team-vigir/feature/state_logger_rework
+  State Logger Rework
+* Merge branch 'develop' into feature/state_logger_rework
+* [flexbe_core] Allow to specify a subset of logged userdata keys
+* [flexbe_core] Extend configuration options
+* [flexbe_core] Rework state logger implementation
+* Contributors: Philipp Schillinger
+
+1.2.4 (2020-03-25)
+------------------
+* [flexbe_core] Add tests for proxies
+* [flexbe_core] Several minor improvements of proxies
+  (see `#114 <https://github.com/team-vigir/flexbe_behavior_engine/issues/114>`_)
+* [flexbe_msgs] [flexbe_core] Add debug level to logger
+  (see `#101 <https://github.com/team-vigir/flexbe_behavior_engine/issues/101>`_)
+* Merge pull request `#110 <https://github.com/team-vigir/flexbe_behavior_engine/issues/110>`_ from team-vigir/fix/catkin_install
+  Let behavior library find sourcecode in devel or install spaces
+* Let behavior library find sourcecode in devel or install spaces
+  (fix `#104 <https://github.com/team-vigir/flexbe_behavior_engine/issues/104>`_)
+* [flexbe_core] Fix reset of requested outcome when re-visiting the same state and immediately requesting an outcome
+* [flexbe_core] Fix duplicate sleep in case of state machine inside concurrency
+* [flexbe_core] Robustify priority container path handling
+* Do not trigger on_resume and on_exit when stopped during pause
+  (see `#103 <https://github.com/team-vigir/flexbe_behavior_engine/issues/103>`_)
+* Remove mistakenly added text
+* Merge branch 'fmessmer-feature/python3_compatibility' into develop
+* Remove explicit list construction where not required
+* Remove redundant type check
+* python3 compatibility via 2to3
+* Contributors: Philipp Schillinger, fmessmer
+
 1.2.3 (2020-01-10)
 ------------------
 * Merge pull request `#97 <https://github.com/team-vigir/flexbe_behavior_engine/issues/97>`_ from team-vigir/feature/test_behaviors

flexbe_core/CMakeLists.txt

@@ -25,3 +25,10 @@ catkin_package(
 #install(PROGRAMS bin/hello
 #        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
+# run tests
+if(CATKIN_ENABLE_TESTING)
+	find_package(rostest REQUIRED)
+	add_rostest(test/flexbe_proxies.test)
+	add_rostest(test/flexbe_core.test)
+	add_rostest(test/flexbe_exceptions.test)
+endif()

flexbe_core/package.xml

@@ -1,8 +1,8 @@
 <package>
   <name>flexbe_core</name>
-  <version>1.2.3</version>
+  <version>1.3.1</version>
   <description>
-     flexbe_core provides the core smach extension for the FlexBE behavior engine.
+     flexbe_core provides the core components for the FlexBE behavior engine.
   </description>
   <maintainer email="[email protected]">Philipp Schillinger</maintainer>
   <license>BSD</license>
@@ -12,7 +12,8 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <run_depend>smach_ros</run_depend>
+  <build_depend>rostest</build_depend>
+
   <run_depend>rospy</run_depend>
   <run_depend>tf</run_depend>
   <run_depend>diagnostic_msgs</run_depend>

flexbe_core/src/flexbe_core/__init__.py

@@ -1,33 +1,32 @@
 #!/usr/bin/env python
 
-
 #
 #    Please use EventState as parent class for new states because it extends all other parent classes.
 #    For a behavior, choose OperatableStateMachine as state machine.
-#    For each state machine in the background, choose SilentStateMachine or JumpableStateMachine (only do this if you know what you are doing).
 #
 
-from .core import EventState
-from .core import OperatableStateMachine, JumpableStateMachine, SilentStateMachine, LockableStateMachine, ConcurrencyContainer, PriorityContainer
+from .core import EventState  # noqa: F401
+from .core import OperatableStateMachine, ConcurrencyContainer, PriorityContainer  # noqa: F401
 
-from .behavior import Behavior
+from .behavior import Behavior  # noqa: F401
 
-from .behavior_library import BehaviorLibrary
+from .behavior_library import BehaviorLibrary  # noqa: F401
 
-from .logger import Logger
+from .logger import Logger  # noqa: F401
+from .state_logger import StateLogger  # noqa: F401
 
 
 class Autonomy:
     """
     Provides constants for the available required Autonomy Levels.
     """
-    
+
     Inherit = 0
     """
     Use this whenever you want to rely on an already defined level of autonomy
     Typical situations: Outcomes of a contained state machine or behavior, outcome of the input request state
     """
-    
+
     Off = 0
     """
     Use this when no level of autonomy is required, the Autonomy Level needs to be at least 'Off'.
@@ -38,28 +37,15 @@ class Autonomy:
     """
     Use this for reliable decisions that only need validation in the 'low' autonomy mode.
     """
-    
+
     High = 2
     """
-    Use this for more important or high level decisions that will only be executed autonomously when in full autonomy and need validation in the 'high' autonomy mode.
+    Use this for more important or high level decisions that will only be executed autonomously
+    when in full autonomy and need validation in the 'high' autonomy mode.
     """
 
     Full = 3
     """
     Use this for outcomes that always need an operator input.
     A use of this level is not recommended.
     """
-
-
-
-
-
-
-
-
-
-
-
-
-
-