3.0.7

FlexBE · Aug 25, 2024 · a25a118 · a25a118
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diff --git a/flexbe_behavior_engine/CHANGELOG.rst b/flexbe_behavior_engine/CHANGELOG.rst
@@ -2,9 +2,11 @@
 Changelog for package flexbe_behavior_engine
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-3.0.6 (2024-08-05)
+3.0.7 (2024-08-24)
 ------------------
 
+3.0.6 (2024-08-05)
+------------------
 
 3.0.5 (2024-07-02)
 ------------------

diff --git a/flexbe_behavior_engine/package.xml b/flexbe_behavior_engine/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>flexbe_behavior_engine</name>
-  <version>3.0.6</version>
+  <version>3.0.7</version>
   <description>
     A meta-package to aggregate all the FlexBE packages
   </description>

diff --git a/flexbe_core/CHANGELOG.rst b/flexbe_core/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package flexbe_core
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.0.7 (2024-08-24)
+------------------
+* reduce default wait durations on proxy start ups; reduce start up spam
+* clarify state map message
+* allow controllable OSM and concurrency outputs; improve sync handling; unhandled state exception stops behavior
+* modify clear action handling; retain action result status; reduce startup spam
+* add initialize_flexbe_core for common initialization
+* updates to ConcurrencyContainer and StateMachine to handle sync and forced outcomes
+
 3.0.6 (2024-08-05)
 ------------------
 * update cancel for action client

diff --git a/flexbe_core/flexbe_core/core/operatable_state_machine.py b/flexbe_core/flexbe_core/core/operatable_state_machine.py
@@ -195,7 +195,7 @@ def _execute_current_state(self):
                 cmd_msg2 = self._sub.get_from_buffer(Topics._CMD_TRANSITION_TOPIC)  # Using here, so clear from buffer
                 assert cmd_msg2 is command_msg, 'Unexpected change in CMD_TRANSITION_TOPIC buffer'
                 Logger.localinfo(f"Statemachine '{self.name}' from '{self.path}' is "
-                                 f"handling the transition cmd msg={command_msg}")
+                                 f"handling the transition cmd msg='{command_msg}'")
 
                 self._force_transition = True
                 outcome = self.outcomes[command_msg.outcome]

diff --git a/flexbe_core/flexbe_core/core/state_machine.py b/flexbe_core/flexbe_core/core/state_machine.py
@@ -143,6 +143,7 @@ def execute(self, userdata):
         return outcome
 
     def on_enter(self, userdata):
+        """Call on entering the state machine."""
         self.assert_consistent_transitions()
         self._entering = False
         self._current_state = self.initial_state

diff --git a/flexbe_core/flexbe_core/core/state_map.py b/flexbe_core/flexbe_core/core/state_map.py
@@ -47,7 +47,8 @@ def __init__(self):
     def __str__(self):
         """Return string with state map information."""
         return (f'State map with {len(self._state_map)} entries'
-                + ('.' if self._num_collision_processed == 0 else f' (resolved {self._num_collision_processed} state map id collisions)!'))
+                + ('.' if self._num_collision_processed == 0 else
+                   f' (resolved {self._num_collision_processed} state map id collisions)!'))
 
     def __getitem__(self, index):
         """Get existing state if possible, or return None."""

diff --git a/flexbe_core/flexbe_core/proxy/proxy_action_client.py b/flexbe_core/flexbe_core/proxy/proxy_action_client.py
@@ -53,13 +53,13 @@ class ProxyActionClient:
     _client_sync_lock = Lock()
 
     _goal_status_dict = {
-        0: "UNKNOWN",
-        1: "ACCEPTED",
-        2: "EXECUTING",
-        3: "CANCELING",
-        4: "SUCCEEDED",
-        5: "CANCELED",
-        6: "ABORTED"
+        0: 'UNKNOWN',
+        1: 'ACCEPTED',
+        2: 'EXECUTING',
+        3: 'CANCELING',
+        4: 'SUCCEEDED',
+        5: 'CANCELED',
+        6: 'ABORTED'
     }
 
     @staticmethod

diff --git a/flexbe_core/package.xml b/flexbe_core/package.xml
@@ -4,7 +4,7 @@
     schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>flexbe_core</name>
-    <version>3.0.6</version>
+    <version>3.0.7</version>
     <description>
         flexbe_core provides the core components for the FlexBE behavior engine.
     </description>

diff --git a/flexbe_core/setup.py b/flexbe_core/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='3.0.6',
+    version='3.0.7',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + PACKAGE_NAME]),

diff --git a/flexbe_input/CHANGELOG.rst b/flexbe_input/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package flexbe_input
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.0.7 (2024-08-24)
+------------------
+* fix issue with input action server
+* add new states; modify BehaviorInput to allow strings and selection combo box
+* add initialize_flexbe_core for common initialization
+
 3.0.6 (2024-08-05)
 ------------------
 * allow canceling input request

diff --git a/flexbe_input/flexbe_input/input_action_server.py b/flexbe_input/flexbe_input/input_action_server.py
@@ -178,7 +178,7 @@ def execute_callback(self, goal_handle):
                 else:
                     print(f"Process data '{self._input}' as {type_class}", flush=True)
                     input_data = ast.literal_eval(self._input)  # convert string to Python data
-                    print(f"  input data[{type(input_data)}] = {input_data}", flush=True)
+                    print(f"  input data[{type(input_data)}] = '{input_data}'", flush=True)
                     data_len = 1 if isinstance(input_data, (int, float)) else len(input_data)
 
                     if not isinstance(input_data, type_class):

diff --git a/flexbe_input/flexbe_input/input_gui.py b/flexbe_input/flexbe_input/input_gui.py
@@ -61,7 +61,7 @@ def __init__(self, prompt):
         self.input_line = None
 
     def clear_layout(self):
-        # Clear prior layout
+        """Clear prior layout of widget."""
         while self.main_layout.count():
             item = self.main_layout.takeAt(0)
             widget = item.widget()
@@ -70,7 +70,7 @@ def clear_layout(self):
                 widget.deleteLater()
 
     def set_layout(self, prompt, items=None):
-        # Update the layout
+        """Update the widget layout."""
         self.clear_layout()
 
         self.prompt = QLabel(self)
@@ -179,24 +179,24 @@ def set_layout(self, prompt, items=None):
     def change_selection(self):
         """Print selection."""
         if self.combo_box is None:
-            print("Unknown combo box - why is this called!", flush=True)
+            print('Unknown combo box - why is this called!', flush=True)
         else:
             print(f" Currently selected '{self.combo_box.currentText()}' ")
 
     def set_selection(self):
         """Set input text from selection box."""
         if self.combo_box is None:
-            print("Unknown combo box - why is this called!", flush=True)
-            self.input = "unknown"
+            print('Unknown combo box - why is this called!', flush=True)
+            self.input = 'unknown'
         else:
             print(f" Selected '{self.combo_box.currentText()}' ")
             self.input = self.combo_box.currentText()
 
     def set_input(self):
         """Set input text from GUI."""
         if self.input_line is None:
-            print("Unknown combo box - why is this called!", flush=True)
-            self.input = "unknown"
+            print('Unknown combo box - why is this called!', flush=True)
+            self.input = 'unknown'
         else:
             self.input = self.input_line.text()
 

diff --git a/flexbe_input/package.xml b/flexbe_input/package.xml
@@ -4,7 +4,7 @@
     schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>flexbe_input</name>
-    <version>3.0.6</version>
+    <version>3.0.7</version>
     <description>
         flexbe_input enables to send data to onboard behavior when required.
     </description>

diff --git a/flexbe_input/setup.py b/flexbe_input/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='3.0.6',
+    version='3.0.7',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + PACKAGE_NAME]),

diff --git a/flexbe_mirror/CHANGELOG.rst b/flexbe_mirror/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package flexbe_mirror
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.0.7 (2024-08-24)
+------------------
+* modify mirror handling for controllable OSM/CC and improve sync
+* add initialize_flexbe_core for common initialization
+* updates to ConcurrencyContainer and StateMachine to handle sync and forced outcomes
+
 3.0.6 (2024-08-05)
 ------------------
 * clean up sync messaging and set entering flag for state

diff --git a/flexbe_mirror/package.xml b/flexbe_mirror/package.xml
@@ -4,7 +4,7 @@
     schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>flexbe_mirror</name>
-    <version>3.0.6</version>
+    <version>3.0.7</version>
     <description>
         flexbe_mirror implements functionality to remotely mirror an executed behavior.
     </description>

diff --git a/flexbe_mirror/setup.py b/flexbe_mirror/setup.py
@@ -7,7 +7,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='3.0.6',
+    version='3.0.7',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + PACKAGE_NAME]),

diff --git a/flexbe_msgs/CHANGELOG.rst b/flexbe_msgs/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package flexbe_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.0.7 (2024-08-24)
+------------------
+* add new states; modify BehaviorInput to allow strings and selection combo box
+
 3.0.6 (2024-08-05)
 ------------------
 

diff --git a/flexbe_msgs/package.xml b/flexbe_msgs/package.xml
@@ -4,7 +4,7 @@
     schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>flexbe_msgs</name>
-    <version>3.0.6</version>
+    <version>3.0.7</version>
     <description>
         flexbe_msgs provides the messages used by FlexBE.
     </description>

diff --git a/flexbe_onboard/CHANGELOG.rst b/flexbe_onboard/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package flexbe_onboard
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.0.7 (2024-08-24)
+------------------
+* add initialize_flexbe_core for common initialization
+
 3.0.6 (2024-08-05)
 ------------------
 * minor clean up from flake8/pycodestyle

diff --git a/flexbe_onboard/package.xml b/flexbe_onboard/package.xml
@@ -4,7 +4,7 @@
     schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>flexbe_onboard</name>
-    <version>3.0.6</version>
+    <version>3.0.7</version>
     <description>
         flexbe_onboard implements the robot-side of the behavior engine from where all behaviors are started.
     </description>

diff --git a/flexbe_onboard/setup.py b/flexbe_onboard/setup.py
@@ -9,7 +9,7 @@
 
 setup(
     name=package_name,
-    version='3.0.6',
+    version='3.0.7',
     packages=find_packages(),
     data_files=[
         (os.path.join('share', package_name), glob('launch/*.launch.py')),

diff --git a/flexbe_states/CHANGELOG.rst b/flexbe_states/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package flexbe_states
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.0.7 (2024-08-24)
+------------------
+* add new states; modify BehaviorInput to allow strings and selection combo box
+* add initialize_flexbe_core for common initialization
+
 3.0.6 (2024-08-05)
 ------------------
 * update cancel for action client; define get_status to replace get_state for proxy action client

diff --git a/flexbe_states/package.xml b/flexbe_states/package.xml
@@ -4,7 +4,7 @@
     schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>flexbe_states</name>
-    <version>3.0.6</version>
+    <version>3.0.7</version>
     <description>
       flexbe_states provides a collection of common generic predefined states.
     </description>

diff --git a/flexbe_states/setup.py b/flexbe_states/setup.py
@@ -9,7 +9,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='3.0.6',
+    version='3.0.7',
     packages=find_packages(),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + PACKAGE_NAME]),

diff --git a/flexbe_testing/CHANGELOG.rst b/flexbe_testing/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package flexbe_testing
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.0.7 (2024-08-24)
+------------------
+* add initialize_flexbe_core for common initialization
+
 3.0.6 (2024-08-05)
 ------------------
 

diff --git a/flexbe_testing/package.xml b/flexbe_testing/package.xml
@@ -4,7 +4,7 @@
     schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>flexbe_testing</name>
-    <version>3.0.6</version>
+    <version>3.0.7</version>
     <description>
         flexbe_testing provides a framework for unit testing states.
     </description>

diff --git a/flexbe_widget/CHANGELOG.rst b/flexbe_widget/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package flexbe_widget
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.0.7 (2024-08-24)
+------------------
+* update create_repo script
+
 3.0.6 (2024-08-05)
 ------------------
 

diff --git a/flexbe_widget/package.xml b/flexbe_widget/package.xml
@@ -4,7 +4,7 @@
     schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>flexbe_widget</name>
-    <version>3.0.6</version>
+    <version>3.0.7</version>
     <description>
         flexbe_widget implements some smaller scripts for the behavior engine.
     </description>