use state id consistently to avoid long path strings; modify preempt …

…and published outcome to improve sync; add flexbe_outcome_listener node for simple monitoring; this breaks API with flexbe_app and requires version 4.1.0+ of the FlexBE WebUI API

README.md

@@ -3,8 +3,8 @@
 FlexBE is a high-level behavior engine coordinating the capabilities of a robot in order to solve complex tasks.
 Behaviors are modeled as hierarchical state machines (HFSM) where states correspond to active actions
 and transitions describe the reaction to outcomes.
-Main advantage over similar approaches is the good operator integration and an
-intuitive user interface.
+
+The main advantage of FlexBE over similar approaches is the good operator integration and an intuitive user interface.
 Besides executing behaviors in full autonomy, the operator can restrict execution of certain transitions or trigger them manually.
 Furthermore, FlexBE supports modifying the whole structure of a behavior during its execution without restarting it.
 The user interface features a runtime control interface as well as a graphical editor for state machines.
@@ -23,64 +23,73 @@ Rolling ![ROS Build Farm](https://build.ros2.org/job/Rdev__flexbe_behavior_engin
 
 ## Installation
 
-For released versions, FlexBE is available as ` apt install` package `ros-<DISTRO>-flexbe-*`
+For released versions, FlexBE is available as `apt install` package `ros-<DISTRO>-flexbe-*`
 
 To build from source, execute the following commands to install FlexBE for ROS 2 systems:
 
-    cd "ros2_ws"/src
-    git clone https://github.com/FlexBE/flexbe_behavior_engine.git
+  `cd "ros2_ws"/src`
 
-Next, navigate to the "ros2_ws" top-level directory and build FlexBE:
+  `git clone https://github.com/FlexBE/flexbe_behavior_engine.git`
 
-    colcon build
+Next, navigate to the "ros2_ws" top-level directory and build FlexBE:
 
+  `colcon build`
 
 ## Creating new FlexBE Behavior packages
 
 To begin, create your own repository for behavior development in the `${WORKSPACE_ROOT}/src` folder:
 
-    `ros2 run flexbe_widget create_repo [your_project_name] <meta_package_name> <--non-interactive>`
+  `ros2 run flexbe_widget create_repo [your_project_name] <meta_package_name> <--non-interactive>`
 
 This will clone a project template (requires internet access) that contains examples and proper package definitions,
 and create the ROS 2 package structure and three subfolders.
 
 For example, running
+
   `ros2 run flexbe_widget create_repo my_project my_flexbe_project`
 
 from the `${WORKSPACE_ROOT}/src` folder will create:
-    * `${WORKSPACE_ROOT}/src/my_flexbe_project`
-    * `${WORKSPACE_ROOT}/src/my_flexbe_project/my_flexbe_project` - the ROS meta package
-    * `${WORKSPACE_ROOT}/src/my_flexbe_project/my_project_flexbe_behaviors`
-    * `${WORKSPACE_ROOT}/src/my_flexbe_project/my_project_flexbe_states`
-
+  - `${WORKSPACE_ROOT}/src/my_flexbe_project`
+  - `${WORKSPACE_ROOT}/src/my_flexbe_project/my_flexbe_project` - the ROS meta package
+  - `${WORKSPACE_ROOT}/src/my_flexbe_project/my_project_flexbe_behaviors`
+  - `${WORKSPACE_ROOT}/src/my_flexbe_project/my_project_flexbe_states`
 
 These are intended to contain your custom FlexBE state implementations and HFSM-based behaviors.
 
-This version of the flexbe_behavior_engine requires version 4.0+ of the FlexBE user interface.
+This release of the FlexBE Behavior Engine requires version 4.1+ of the FlexBE UI.
+This breaks compatability with the older FlexBE App and now requires use of the FlexBE WebUI tool.
+
+It is recommended to install the FlexBE WebUI user interface:
 
-It is recommended to install the FlexBE user interface by following one of these steps:
- * https://github.com/FlexBE/flexbe_webui.git - new Python-based webserver version (preferred)
- * https://github.com/FlexBE/flexbe_app.git - classic FlexBE App (iron or ros2-devel branches)
+  [FlexBE WebUI](https://github.com/FlexBE/flexbe_webui.git) - Python-based webserver version
 
 
 ## Usage
 
 Use the following launch file for running the onboard engine:
 
-    ros2 launch flexbe_onboard behavior_onboard.launch.py
+  `ros2 launch flexbe_onboard behavior_onboard.launch.py`
 
 Use the following launch file for running the operator control station (requires the FlexBE App or WebUI):
 
-    ros2 launch flexbe_webui flexbe_ocs.launch.py
+  `ros2 launch flexbe_webui flexbe_ocs.launch.py`
 
- > Note: replace `flexbe_webui` with `flexbe_app` to run the "classic" UI (after `ros2 run flexbe_app nwjs_install`).
+During testing is is recommended to start the base nodes and the UI client separately:
 
-Use the following launch file to run both of the above, e.g., for testing on a single computer:
+  `ros2 launch flexbe_webui flexbe_ocs.launch.py headless:=True`
 
-    ros2 launch flexbe_webui flexbe_full.launch.py
+  `ros2 run flexbe_webui webui_client`
+
+  See the `flexbe_webui`  README for more details.
+
+
+Use the following launch file to run the entire FlexBE system, both onboard and OCS, e.g., for testing on a single computer:
+
+  `ros2 launch flexbe_webui flexbe_full.launch.py`
 
 For running tests use:
-`colcon test --ctest-args --packages-select <flexbe_package>`
+
+  `colcon test --ctest-args --packages-select <flexbe_package>`
 
 ## Next Steps
 

flexbe_core/flexbe_core/__init__.py

@@ -43,7 +43,7 @@
 from .logger import Logger  # noqa: F401
 from .state_logger import StateLogger  # noqa: F401
 
-MIN_UI_VERSION = '4.0.0'  # Minimum FlexBE App or UI version required to interact with this version of flexbe_core
+MIN_UI_VERSION = '4.1.0'  # Minimum FlexBE UI version required to interact with this version of flexbe_core
 
 # pylint: disable=R0903
 

flexbe_core/flexbe_core/behavior.py

@@ -30,7 +30,7 @@
 
 
 """This defines the superclass for all implemented behaviors."""
-from flexbe_core.core import LockableStateMachine, OperatableStateMachine, PreemptableState
+from flexbe_core.core import LockableStateMachine, OperatableStateMachine, PreemptableState, StateMap
 from flexbe_core.logger import Logger
 
 from flexbe_msgs.msg import BehaviorSync
@@ -44,14 +44,15 @@ def __init__(self):
         self._state_machine = None
         self.name = 'unnamed behavior'
         self.beh_id = 0  # Behavior id checksum assigned by processing the file contents
+        self._state_map = None
 
         self.contains = {}
         self._behaviors = {}
 
         self._autonomy_level = 3
         self._debug = False
 
-        self.requested_state_path = None
+        self.requested_state_id = None
 
     # Please implement this abstract method:
     def create(self):
@@ -178,15 +179,25 @@ def set_parameter(self, name, value):
 
     def confirm(self):
         """Confirm that this behavior is ready for execution."""
-        LockableStateMachine.path_for_switch = self.requested_state_path
-
-        self._state_machine.confirm(self.name, self.beh_id)
-
-    # def define_structure(self):
-    #     """
-    #     Calculate all state ids and prepare the ContainerStructure message
-    #     """
-    #     self._state_machine.define_structure()
+        self._state_map = StateMap()
+        self._state_machine.confirm(self.name, self.beh_id, self._state_map)
+        LockableStateMachine.path_for_switch = None
+        if self.requested_state_id is not None:
+            requested_state = self._state_map[self.requested_state_id]
+            LockableStateMachine.path_for_switch = requested_state.path
+
+    @property
+    def state_map_items(self):
+        """Return two lists of keys and values from state map."""
+        if self._state_machine is not None:
+            return list(zip(*self._state_map.items))
+        return [], []
+
+    def get_state_by_id(self, st_id):
+        """Return state reference from state map by id."""
+        if self._state_map is not None:
+            return self._state_map.get(st_id)
+        return None
 
     def execute(self):
         """
@@ -225,7 +236,7 @@ def prepare_for_switch(self, state):
             sm.replace_userdata(state_container.userdata)
             state_container = state_container._parent
         states[1].replace_state(state)  # add to new state machine
-        self.requested_state_path = state.path  # set start after switch
+        self.requested_state_id = state.state_id  # set start after switch
 
     def get_current_states(self):
         """Get all currently active (sub-)states."""

flexbe_core/flexbe_core/core/__init__.py

@@ -31,6 +31,9 @@
 
 from .concurrency_container import ConcurrencyContainer  # noqa: F401
 from .event_state import EventState  # noqa: F401
+from .exceptions import StateError  # noqa: F401
+from .exceptions import StateMachineError  # noqa: F401
+from .exceptions import UserDataError  # noqa: F401
 from .lockable_state import LockableState  # noqa: F401
 from .lockable_state_machine import LockableStateMachine  # noqa: F401
 from .manually_transitionable_state import ManuallyTransitionableState  # noqa: F401
@@ -44,23 +47,28 @@
 from .state import State  # noqa: F401
 from .state_machine import StateMachine  # noqa: F401
 from .state_map import StateMap  # noqa: F401
+from .topics import Topics
 from .user_data import UserData  # noqa: F401
 
 __all__ = [
-    'PreemptableStateMachine',
-    'OperatableStateMachine',
-    'LockableStateMachine',
-    'RosStateMachine',
-    'StateMachine',
     'ConcurrencyContainer',
-    'PriorityContainer',
-    'State',
-    'RosState',
-    'ManuallyTransitionableState',
+    'EventState',
     'LockableState',
-    'PreemptableState',
+    'LockableStateMachine',
+    'ManuallyTransitionableState',
     'OperatableState',
-    'EventState',
+    'OperatableStateMachine',
+    'PreemptableState',
+    'PreemptableStateMachine',
+    'PriorityContainer',
+    'RosState',
+    'RosStateMachine',
+    'State',
+    'StateError',
+    'StateMachine',
+    'StateMachineError',
     'StateMap',
-    'UserData'
+    'Topics',
+    'UserData',
+    'UserDataError'
 ]