Changelog for package flexbe_core

3.0.5 (2024-07-02)

3.0.4 (2024-07-02)

• minor clean up from flake8/pycodestyle
• add option to globally set desired update rate by calling set_default_rate from behavior
• add peek_at_buffer to proxy subscriber; modify processing of transition command for nested behaviors
• modify _entering flag and no sleep if entering
• grab reference to avoid race condition processing message in different thread while behavior finishing
• tweak state_map string text

3.0.3 (2024-06-06)

3.0.2 (2024-06-04)

• flake8/pycodestyle cleanup

3.0.1 (2024-05-31)

• Add parsing check to handle exceptions in manifest

3.0.0 (2024-05-01)

• update with state map and changes to concurrent handling
• add options to remove service callers and action clients
• proxy publisher dictionary usage
• use modern style names with deprecated flag
• add sync lock to proxies
• added code to remove subscriptions and publishers with sync lock
• use deque for msg buffer add lock to prevent modifications during callback (e.g. when thread starts or finishes)
• add hash for StateMap outcome index to standardize handling
• reinitialize existing state machine instead of rebuilding on sync (1000x faster)
• update with standardized topic handling
• update ui version handling
• OperatableStateMachine is now a pseudo manually transitionable state (TODO -separate logic to shadow state design)
• add is_controlled check to avoid attempts at duplicate subscriptions and cleanup
• onboard side coded to send new BehaviorSync and 'mirror/outcome'
• adding state_id handling; pre-building ContainerStructure to set IDs
• flake8, pep257 and codestyle checks

2.3.4 (2024-05-01)

• proxy action client: remove result_status and test proxy status
• Fixed bug when trying to get result state/GoalStatus.
• Add throttle option for logging (PR #14)

2.3.3 (2023-08-09)

• destroy sub/pub/client in executor thread
• update to protect against executor calls after unsubscribe/shutdown
• use SingleThreadedExecutor without callback groups
• use basic pub/sub for onboard; cleanup

2.3.2 (2023-08-01)

2.3.1 (2023-07-31)

• merge from ros2-devel to reduce spam and missing package handling

2.3.0 (2023-07-20)

• add wait_duration to proxy action client send goal and other tweaks
  • This change could reducing waiting. If you need longer wait time, specify wait_duration
• make action client is_available check current status not wait
• flake8 cleanup; make test consistent; protect against build farm timing issue
• cleanup; modify handling of existing subscriptions
• Updates to dependencies for ROS build farm
• Modify sync messaging to avoid issue if not active state when behavior shuts down
• clean up some spam to FlexBE app console
• include package name in behavior request (requires flexbe_app 3.1+) to allow duplicate behavior names in packages

2.2.0 (2023-06-29)

• Modify to used behavior_id (checksum) and behavior_key consistently
• Modify shutdown handling for clean stop
• Modify wait() handling to avoid creating a rate object
• modify sync handling and execute loop timing
• add proxy tf listener
• Require 'inst_id' for ProxySubscriber setup (change from 'id')
• flake8, pep257, pylint cleanup; licenses and copyright
• Pull request #154
• Pull request #163
• Pull request #153 Modification
• Merge pull request #11 from grejj/ros2-devel Added destroy rate calls to clear up rate resources (undone by item 2 above)

2.1.1 (2022-09-12)

• ProxyServiceCaller changes
  • fix issue #1
  • wait_duration handling
  • connect without service being available
  • misc cleanup

2.1.0 (2022-08-02)

• ROS 2 Humble release
• Includes changes sync check handling
• Label proxy subscribers by instance id and handle instance type changes
• Update proxy action client handling
• Tested under Ubuntu 22.04 and ROS Humble

2.0.0 (2022-02-22)

• Initial ROS 2 "foxy" release based on ROS 1 commit a343c657
• Includes changes to concurrent state and sleep handling

1.3.1 (2020-12-11)

• [flexbe_core] Replace set conversion for python3 compatibility (see #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)
• [flexbe_core] Several fixes to userdata (see #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)
• Merge pull request #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)
• [flexbe_msgs] [flexbe_core] Add debug level to logger (see #101)
• Merge pull request #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)
• [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)
• 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 from team-vigir/feature/test_behaviors flexbe_testing support for behaviors
• [flexbe_core] Clear previous outcome requests on state loopback (see #93)
• [flexbe_core] [flexbe_onboard] Move behavior parametrization to core
• Merge remote-tracking branch 'origin/develop' into feature/test_behaviors # Conflicts: # flexbe_testing/bin/testing_node # flexbe_testing/src/flexbe_testing/state_tester.py
• [flexbe_core] [flexbe_widget] Add simple breakpoint feature (see #93)
• Merge pull request #88 from team-vigir/fix/concurrency_sleep Fix rate sleep of concurrency container
• Fix rate sleep of concurrency container (see #87)
• Contributors: Philipp Schillinger

1.2.2 (2019-09-16)

• [flexbe_core] Add method to set a custom execute rate for states
• [flexbe_core] Remove unnecessary sleep call in logger (see #79)
• [flexbe_core] Fix custom rate issues with nested and concurrent states
• Contributors: Philipp Schillinger

1.2.1 (2019-06-02)

• Merge pull request #72 from mgruhler/fix/filemodes fix filemodes: those files should not be executable
• fix filemodes: those files should not be executable
• Merge remote-tracking branch 'origin/feature/sub_parameters' into develop
• Bump required flexbe_app version
• [flexbe_core] Accept explicit definition of parameters for included behaviors
• Merge remote-tracking branch 'origin/master' into develop
• Contributors: Matthias Gruhler, Philipp Schillinger

1.1.2 (2019-04-09)

• Merge remote-tracking branch 'origin/develop'
• Merge pull request #66 from ksm0709/add_remove_result add remove_result function to proxy action client
• add remove_result function to proxy action client
• Merge remote-tracking branch 'origin/master' into develop
• Contributors: Philipp Schillinger, taehokang

1.1.1 (2018-12-18)

• Merge remote-tracking branch 'origin/develop'
• Revise run dependencies
• Merge remote-tracking branch 'origin/master' into develop
• Contributors: Philipp Schillinger

1.1.0 (2018-12-01)

• Merge branch 'develop'
• Merge branch 'feature/flexbe_app' into develop
• Update maintainer information
• State logger is optional and off by default
• Merge remote-tracking branch 'origin/action_client_remove_feedback' into feature/flexbe_app
• Merge pull request #62 from team-vigir/action_client_remove_feedback Added remove_feedback function to ensure new feedback is received
• Added remove_feedback function to ensure new feedback is received
• Merge pull request #58 from alireza-hosseini/feat-action-client-wait-param feat: Add [wait_duration]{.title-ref} parameter to [ProxyActionClient]{.title-ref}
• feat: Add wait_duration parameter to ProxyActionClient
  • So that the wait duration can be specified in the states definition
• [flexbe_core] Allow to use behavior default userdata (see #38)
• [flexbe_core] Update behavior lib if behavior is not found (see Flexbe/flexbe_app#4)
• Merge branch 'develop' into feature/flexbe_app Conflicts: flexbe_mirror/src/flexbe_mirror/flexbe_mirror.py flexbe_onboard/src/flexbe_onboard/flexbe_onboard.py flexbe_widget/bin/flexbe_app flexbe_widget/src/flexbe_widget/behavior_action_server.py
• Merge remote-tracking branch 'origin/master' into develop Conflicts: flexbe_onboard/src/flexbe_onboard/flexbe_onboard.py
• Merge remote-tracking branch 'origin/develop' Conflicts: flexbe_onboard/src/flexbe_onboard/flexbe_onboard.py
• Merge pull request #31 from fmauch/reset_entering reset entering of currently active state when exiting a state machine
• reset entering member of currently active state when exiting a state machine
• Find behaviors by export tag and execute via checksum
• Merge branch 'automatic_reload' into develop
• allow locking and unlocking of current state without knowing the current path
• remove manual reloading code, as this is done already by the reload importer
• Merge pull request #26 from jgdo/automatic_reload Automatic reload
• automatic reload of imported behaviors upon sm creation
• Reload class definition before instantiating a contained behavior inside a behavior
• Merge remote-tracking branch 'origin/master' into develop
• [flexbe_core] Fixed event triggering in concurrency container (resolve #18)
• Merge remote-tracking branch 'origin/master'
• Merge remote-tracking branch 'origin/develop'
• [flexbe_core] Only call on_exit on cc leave for states which are still looping (fix #17)
• Merge branch 'develop'
• [flexbe_core] Fixed sm on_exit to propagate own ud instead of parent ud
• Merge branch 'master' into cnurobotics
• Merge remote-tracking branch 'origin/develop'
• [flexbe_core] Properly reset current state when leaving state machine (fix #7)
• Merge remote-tracking branch 'origin/develop'
• [flexbe_core] Fixed reset of current state on leave in cc and related concurrency userdata problems
• [flexbe_core] Use aggregated diagnostics topic instead of raw
• [flexbe_core] Correctly execute concurrency inside priority container
• [flexbe_core] Can always preempt behavior even if not supervised
• Merge remote-tracking branch 'origin/develop'
• Provide option to set userdata input on behavior action calls
• [flexbe_core] Fixed occasional problems to resume a paused state
• [flexbe_core] [flexbe_mirror] Improved robustness of fast repeated synchronization
• Merge branch 'feature/late_connect' into develop
• [flexbe_core] Added command to attach to running behavior execution
• Merge branch 'feature/pause_repeat' into develop
• [flexbe_core] Handle pause and repeat commands
• [flexbe_core] Propagate skipped notification on pause in order to react on preemption commands even if paused
• [flexbe_core] Added function to check if a goal is already active on a proxy client
• [flexbe_core] Fix for backup sync
• [flexbe_core] Fixed sync issues after leaving CC by explicitly syncing automatically
• [flexbe_core] Fixed calling on_exit on all states in CC
• Merge remote-tracking branch 'origin/feature/multirobot'
• Merge remote-tracking branch 'origin/master' into feature/multirobot Conflicts: flexbe_core/src/flexbe_core/core/monitoring_state.py flexbe_core/src/flexbe_core/core/operatable_state.py
• [flexbe_core] Added availability checks to proxies
• [flexbe_core] Added onboard debug topic for current state
• [flexbe_core] Convert all logged messages to string before sending ros message in logger
• [flexbe_core] Added priority container
• [flexbe_core] Added some more documentation
• [flexbe_core] Fixed initialization of input userdata in inner statemachines
• [flexbe_core] Correctly preempt auxilliary control flows in concurrency container
• [flexbe_core] Fixed a bug with concurrent execution: State machines inside state machine inside concurrency containers still blocked during execution.
• [flexbe_core] Slightly reworked monitoring state
• [flexbe_core] Fixed preemption of concurrency container
• [flexbe_core] Added container for concurrent execution
• Changed absolute topic references to relative
• [flexbe_core] Improved proxy interface
• [flexbe_core] Reverted last change, will only publish state updates when being controlled
• [flexbe_core] Always send outcome update, even if not being controlled
• Removed some old and unused project files
• Initial commit of software
• Contributors: Alberto, Alireza, David Conner, Dorian Scholz, DorianScholz, Felix Mauch, Mark Prediger, Philipp Schillinger