Merge pull request #8 from benmaidel/mojin-devel

Merge master into mojin-devel

package.xml

@@ -21,6 +21,7 @@
   <run_depend>genpy</run_depend>
   <run_depend>actionlib</run_depend>
   <run_depend>rospack</run_depend>
+  <run_depend>rospy_message_converter</run_depend>
 
   <run_depend>flexbe_onboard</run_depend>
   <run_depend>flexbe_mirror</run_depend>

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() {
@@ -236,8 +236,15 @@ Checking = new (function() {
 				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";
+				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 " + sm_dataflow[i].getOutcome() + " of state " + state.getStatePath() + " could be undefined";
+				}
 			}
 		}
 
@@ -277,7 +284,7 @@ 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;

src/ros/ros_actionclient.js

@@ -23,14 +23,14 @@ import yaml
 
 def feedback_cb(msg):
 	comm = dict()
-	comm['msg'] = yaml.load(genpy.message.strify_message(msg))
+	comm['msg'] = yaml.safe_load(genpy.message.strify_message(msg))
 	comm['type'] = "`+TYPE_FEEDBACK+`"
 	sys.stdout.write(json.dumps(comm))
 	sys.stdout.flush()
 
 def result_cb(state, msg):
 	comm = dict()
-	comm['msg'] = yaml.load(genpy.message.strify_message(msg))
+	comm['msg'] = yaml.safe_load(genpy.message.strify_message(msg))
 	comm['state'] = str(state)
 	comm['type'] = "`+TYPE_RESULT+`"
 	sys.stdout.write(json.dumps(comm))
@@ -142,7 +142,7 @@ while not rospy.is_shutdown():
 			if (timer != undefined) clearTimeout(timer);
 			timer = setTimeout(timeout_cb, timeout);
 		}
-		
+
 	}
 
 	that.close = function() {

src/ros/ros_subscriber.js

@@ -12,9 +12,10 @@ import importlib
 import json
 import genpy
 import yaml
+from rospy_message_converter import json_message_converter
 
 def callback(msg):
-	sys.stdout.write(json.dumps(yaml.load(genpy.message.strify_message(msg))))
+	sys.stdout.write(json_message_converter.convert_ros_message_to_json(msg))
 	sys.stdout.flush()
 
 topic = sys.argv[1]

src/ui/ui_settings.js

@@ -72,7 +72,7 @@ UI.Settings = new (function() {
 			'collapse_error': false,
 			'collapse_hint': false,
 			'default_package': 'flexbe_behaviors',
-			'code_indentation': 0,
+			'code_indentation': 2,
 			'explicit_states': false,
 			'editor_command': 'gedit --new-window $FILE +$LINE',
 			'transition_mode': 1,
@@ -102,7 +102,7 @@ UI.Settings = new (function() {
 			document.getElementById("cb_collapse_error").checked = items.collapse_error;
 			collapse_hint = items.collapse_hint;
 			document.getElementById("cb_collapse_hint").checked = items.collapse_hint;
-			
+
 			default_package = items.default_package;
 			that.createBehaviorPackageSelect(document.getElementById("select_default_package"));
 			code_indentation = items.code_indentation;
@@ -381,7 +381,7 @@ UI.Settings = new (function() {
 				var content = JSON.stringify(config);
 				entry.createWriter(function(writer) {
 					writer.onerror = function(error) { T.logError("Error when exporting configuration: " + error); };
-					writer.onwriteend = function() { 
+					writer.onwriteend = function() {
 						if (!truncated) {
 							truncated = true;
 							this.truncate(this.position);