Various minor improvements

.gitignore

@@ -1 +1,2 @@
 nwjs/
+.*/**

launch/flexbe_full.launch

@@ -2,8 +2,11 @@
 
 <launch>
 
+<arg name="no_app" default="false" />
+
 <include file="$(find flexbe_app)/launch/flexbe_ocs.launch" >
     <arg name="offline" value="false"/>
+    <arg name="no_app" value="$(arg no_app)"/>
 </include>
 
 <include file="$(find flexbe_onboard)/launch/behavior_onboard.launch" />

launch/flexbe_ocs.launch

@@ -7,9 +7,11 @@
 <arg name="offline_arg" value="--offline" if="$(arg offline)" />
 <arg name="offline_arg" value="" unless="$(arg offline)" />
 
+<arg name="no_app" default="false" />
+
 <node name="behavior_mirror" pkg="flexbe_mirror" type="behavior_mirror_sm" output="screen" />
 
-<node name="flexbe_app" pkg="flexbe_app" type="run_app" args="$(arg offline_arg)" output="screen"  />
+<node name="flexbe_app" pkg="flexbe_app" type="run_app" args="$(arg offline_arg)" output="screen" unless="$(arg no_app)" />
 
 <node name="behavior_launcher" pkg="flexbe_widget" type="be_launcher" output="screen" />
 

src/_helper/checking.js

@@ -20,6 +20,22 @@ Checking = new (function() {
 			return error;
 		}
 
+		try {
+			// this needs to work when starting a behavior
+			Behavior.createStructureInfo();
+		} catch (error) {
+			var container_path = error.path.replace("/"+error.path.split("/").pop(), "");
+			var container = Behavior.getStatemachine().getStateByPath(container_path);
+			if (container instanceof BehaviorState) {
+				error.error += "<br />Note: Since this error is inside a contained behavior, please open this behavior directly and fix it there.";
+				error.error += "<br />Affected behavior: " + container.getBehaviorName();
+				container = container.getBehaviorStatemachine();
+			}
+			UI.Statemachine.setDisplayedSM(container);
+			UI.Menu.toStatemachineClicked();
+			return error.error;
+		}
+
 		return undefined;
 	}
 

src/_model/behavior.js

@@ -341,6 +341,7 @@ Behavior = new (function() {
 		var result = [];
 
 		createStateStructure(root_sm, result);
+
 		return result;
 	}
 
@@ -349,31 +350,35 @@ Behavior = new (function() {
 		result.path = s.getStatePath();
 		result.outcomes = s.getOutcomes();
 		result.transitions = [];
-		if (s.getContainer() != undefined) {
-			result.autonomy = s.getAutonomy();
-			var transitions = s.getContainer().getTransitions();
-			for (var i=0; i<result.outcomes.length; i++) {
-				var transition = transitions.findElement(function(element) {
-					return element.getFrom().getStateName() == s.getStateName() && element.getOutcome() == result.outcomes[i];
-				});
-				var target_name = transition.getTo().getStateName();
-				if (s.getContainer().isConcurrent() && transition.getTo().getStateClass() == ':CONDITION') {
-					target_name = target_name.split('#')[0];
+		try {
+			if (s.getContainer() != undefined) {
+				result.autonomy = s.getAutonomy();
+				var transitions = s.getContainer().getTransitions();
+				for (var i=0; i<result.outcomes.length; i++) {
+					var transition = transitions.findElement(function(element) {
+						return element.getFrom().getStateName() == s.getStateName() && element.getOutcome() == result.outcomes[i];
+					});
+					var target_name = transition.getTo().getStateName();
+					if (s.getContainer().isConcurrent() && transition.getTo().getStateClass() == ':CONDITION') {
+						target_name = target_name.split('#')[0];
+					}
+					result.transitions.push(target_name);
 				}
-				result.transitions.push(target_name);
 			}
-		}
-		result.children = [];
-		if (s instanceof BehaviorState) {
-			s = s.getBehaviorStatemachine();
-		}
-		if (s instanceof Statemachine) {
-			var children = s.getStates();
-			for (var c=0; c<children.length; c++) {
-				var child = children[c];
-				result.children.push(children[c].getStateName());
-				createStateStructure(children[c], info);
+			result.children = [];
+			if (s instanceof BehaviorState) {
+				s = s.getBehaviorStatemachine();
+			}
+			if (s instanceof Statemachine) {
+				var children = s.getStates();
+				for (var c=0; c<children.length; c++) {
+					var child = children[c];
+					result.children.push(children[c].getStateName());
+					createStateStructure(children[c], info);
+				}
 			}
+		} catch (error) {
+			throw {path: error.path || result.path, error: error.error || error};
 		}
 		info.push(result);
 	}

src/io/io_modelgenerator.js

@@ -99,7 +99,18 @@ IO.ModelGenerator = new (function() {
 				} 
 				if (state_def == undefined) {
 					var state_key = s_def.state_class;
-					var state_def = WS.Statelib.getClassFromLib(state_key);
+					var state_def = WS.Statelib.getClassFromLib(state_key, WS.Statelib.isClassUnique(state_key)? undefined : lib_def => {
+						for (var j=0; j<s_def.transitions_from.length; j++) {
+							if (!lib_def.getOutcomes().contains(s_def.transitions_from[j].outcome)) {
+								return false;
+							}
+						}
+						return true;
+					});
+					if (state_def != undefined && !WS.Statelib.isClassUnique(state_key)) {
+						T.logWarn("State class name " + state_key + " is not unique, but was able to re-construct.");
+						T.logWarn("Please save behavior again to fix this for the future.");
+					}
 				}
 				if (state_def == undefined) {
 					T.logError("Unable to find state definition for: " + state_key);

src/rc/rc_pubsub.js

@@ -447,13 +447,20 @@ RC.PubSub = new (function() {
 			RC.Controller.signalStarted();
 			RC.Sync.register("BehaviorStart", 60);
 
+			var behavior_structure = undefined;
+			try {
+				behavior_structure = Behavior.createStructureInfo();
+			} catch (error) {
+				T.logError("Failed to construct behavior structure, execution might fail: " + error);	
+			}
+
 			// request start
 			behavior_start_publisher.publish({
 				behavior_name: Behavior.getBehaviorName(),
 				autonomy_level: autonomy,
 				arg_keys: param_keys,
 				arg_values: param_vals,
-				structure: Behavior.createStructureInfo()
+				structure: behavior_structure
 			});
 			RC.Sync.setProgress("BehaviorStart", 0.2, false);
 		});

src/ui/ui_runtimecontrol.js

@@ -204,9 +204,21 @@ UI.RuntimeControl = new (function() {
 		var doc = "";
 
 		if (state instanceof Statemachine) {
-			doc += "<b>Statemachine</b><br />";
+			doc += "<b>Container</b><br /><br />";
+			if (state.isConcurrent()) {
+				doc += "Execution type: Concurrency<br />";
+				doc += "<i>Parallel execution of all elements.</i><br />";
+			} else if (state.isPriority()) {
+				doc += "Execution type: Priority<br />";
+				doc += "<i>Execution supersedes all other containers.</i><br />";
+			} else {
+				doc += "Execution type: Statemachine<br />";
+				doc += "<i>Sequential execution based on outcomes.</i><br />";
+			}
+			doc += "<br />Double-click the displayed container symbol to look inside."
 		} else if (state instanceof BehaviorState) {
-			doc += "<b>Behavior</b><br />";
+			doc += "<b>" + state.getBehaviorName() + "</b> (Behavior)<br />";
+			doc += WS.Behaviorlib.getByName(state.getBehaviorName()).getBehaviorDesc() + "<br />";
 		} else if (WS.Statelib.getFromLib(state_type) != undefined) {
 			doc += "<b>" + state_type + "</b><br />";
 			doc += WS.Statelib.getFromLib(state_type).getStateDesc() + "<br />";
@@ -224,6 +236,11 @@ UI.RuntimeControl = new (function() {
 					doc += " (" + resolved + ")</div>";
 				}
 			}
+			doc += "<br /><br />";
+			doc += "<b>Outcomes:</b><br />";
+			WS.Statelib.getFromLib(state_type).getOutcomeDesc().forEach(outcome => {
+				doc += "<div><b>" + outcome.name + "</b>: " + outcome.desc + "</div>";
+			});
 		}
 
 		document.getElementById("runtime_documentation_text").innerHTML = doc;
@@ -501,7 +518,7 @@ UI.RuntimeControl = new (function() {
 			});
 			var selection_box = document.getElementById("selection_rc_autonomy");
 			var autonomy_value = parseInt(selection_box.options[selection_box.selectedIndex].value);
-			RC.PubSub.sendBehaviorStart(param_keys, param_vals, autonomy_value); 
+			RC.PubSub.sendBehaviorStart(param_keys, param_vals, autonomy_value);
 		});
 	}
 

src/window.html

@@ -369,12 +369,12 @@ <h1>No connection!</h1>
 				<ul>
 					<li>
 						Make sure the onboard behavior engine is running in the current ROS environment. You can start it with the following command:<br />
-						<input id="rc_command_engine" type="text" value="roslaunch flexbe_onboard behavior_onboard.launch" class="code_copy" readonly="readonly" size="39" />
+						<input id="rc_command_engine" type="text" value="roslaunch flexbe_onboard behavior_onboard.launch" class="code_copy" readonly="readonly" size="38" />
 						<br /><br />
 					</li>
 					<li>
 						Make sure that operator control software is running for starting a behavior and monitoring its execution. You can start it with the following command:<br />
-						<input id="rc_command_engine" type="text" value="roslaunch flexbe_widget behavior_ocs.launch" class="code_copy" readonly="readonly" size="34" />
+						<input id="rc_command_engine" type="text" value="roslaunch flexbe_app flexbe_ocs.launch no_app:=true" class="code_copy" readonly="readonly" size="39" />
 						<br /><br />
 					</li>
 					<li>

src/ws/ws_statelib.js

@@ -16,9 +16,9 @@ WS.Statelib = new (function() {
 		}
 	}
 
-	this.getClassFromLib = function(state_class) {
+	this.getClassFromLib = function(state_class, filter_function) {
 		for (var i=0; i<statelib.length; ++i) {
-			if (state_class == statelib[i].getStateClass())
+			if (state_class == statelib[i].getStateClass() && (!filter_function || filter_function(statelib[i])))
 				return statelib[i];
 		}
 	}