Merge pull request team-vigir#11 from team-vigir/develop

sync upstream repo

.github/workflows/flexbe_ci.yml

@@ -1,11 +1,7 @@
 # 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:
+on: [push, pull_request, workflow_dispatch]
 
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:

flexbe_onboard/package.xml

@@ -22,6 +22,7 @@
 
   <exec_depend>flexbe_core</exec_depend>
   <exec_depend>flexbe_msgs</exec_depend>
+  <exec_depend>flexbe_states</exec_depend>
   <exec_depend>rospy</exec_depend>
 
 </package>

flexbe_testing/src/flexbe_testing/test/selftest_behavior_sm.py

@@ -1,81 +1,74 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
-###########################################################
-#               WARNING: Generated code!                  #
-#              **************************                 #
-# Manual changes may get lost if file is generated again. #
-# Only code inside the [MANUAL] tags will be kept.        #
-###########################################################
 
-from flexbe_core import Behavior, Autonomy, OperatableStateMachine, ConcurrencyContainer, PriorityContainer, Logger
-from flexbe_states.calculation_state import CalculationState
-from flexbe_states.decision_state import DecisionState
-# Additional imports can be added inside the following tags
-# [MANUAL_IMPORT]
+#
+# Content is only intended for the flexbe_testing self-test
+#
 
-# [/MANUAL_IMPORT]
+from flexbe_core import Behavior, Autonomy, OperatableStateMachine, EventState, Logger
 
 
-'''
-Created on Fri Apr 17 2020
-@author: Philipp Schillinger
-'''
 class SelftestBehaviorSM(Behavior):
-	'''
-	Simple behavior for the flexbe_testing self-test of behaviors.
-	'''
-
+	''' Simple behavior for the flexbe_testing self-test of behaviors. '''
 
 	def __init__(self):
 		super(SelftestBehaviorSM, self).__init__()
 		self.name = 'Selftest Behavior'
-
-		# parameters of this behavior
 		self.add_parameter('value', 'wrong')
 
-		# references to used behaviors
-
-		# Additional initialization code can be added inside the following tags
-		# [MANUAL_INIT]
-
-		# [/MANUAL_INIT]
-
-		# Behavior comments:
-
-
-
 	def create(self):
-		# x:30 y:365, x:130 y:365
 		_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['data'], output_keys=['result'])
 		_state_machine.userdata.data = None
 		_state_machine.userdata.result = None
 
-		# Additional creation code can be added inside the following tags
-		# [MANUAL_CREATE]
-
-		# [/MANUAL_CREATE]
-
-
 		with _state_machine:
-			# x:40 y:73
 			OperatableStateMachine.add('Modify Data',
-										CalculationState(calculation=lambda x: x * 2),
+										SelftestBehaviorSM._CalculationState(calculation=lambda x: x * 2),
 										transitions={'done': 'Decide Param'},
 										autonomy={'done': Autonomy.Off},
 										remapping={'input_value': 'data', 'output_value': 'result'})
-
-			# x:37 y:201
 			OperatableStateMachine.add('Decide Param',
-										DecisionState(outcomes=['finished', 'failed'], conditions=lambda x: 'finished' if self.value == 'correct' else 'failed'),
+										SelftestBehaviorSM._DecisionState(outcomes=['finished', 'failed'], conditions=lambda x: 'finished' if self.value == 'correct' else 'failed'),
 										transitions={'finished': 'finished', 'failed': 'failed'},
 										autonomy={'finished': Autonomy.Off, 'failed': Autonomy.Off},
 										remapping={'input_value': 'data'})
-
-
 		return _state_machine
 
-
-	# Private functions can be added inside the following tags
-	# [MANUAL_FUNC]
-
-	# [/MANUAL_FUNC]
+	class _CalculationState(EventState):
+		''' Copy of the flexbe_states.CalculationState for use in the test behavior. '''
+
+		def __init__(self, calculation):
+			super(SelftestBehaviorSM._CalculationState, self).__init__(outcomes=['done'], input_keys=['input_value'], output_keys=['output_value'])
+			self._calculation = calculation
+			self._calculation_result = None
+
+		def execute(self, userdata):
+			userdata.output_value = self._calculation_result
+			return 'done'
+
+		def on_enter(self, userdata):
+			if self._calculation is not None:
+				try:
+					self._calculation_result = self._calculation(userdata.input_value)
+				except Exception as e:
+					Logger.logwarn('Failed to execute calculation function!\n%s' % str(e))
+			else:
+				Logger.logwarn('Passed no calculation!')
+
+	class _DecisionState(EventState):
+		''' Copy of the flexbe_states.DecisionState for use in the test behavior. '''
+
+		def __init__(self, outcomes, conditions):
+			super(SelftestBehaviorSM._DecisionState, self).__init__(outcomes=outcomes, input_keys=['input_value'])
+			self._conditions = conditions
+
+		def execute(self, userdata):
+			if self._conditions is not None:
+				outcome = None
+				try:
+					outcome = str(self._conditions(userdata.input_value))
+				except Exception as e:
+					Logger.logwarn('Passed no function as predicate!\n%s' % str(e))
+					outcome = None
+				if outcome is not None and outcome in self._outcomes:
+					return outcome