Merge pull request #990 from DLR-RM/develop

Merge develop into master

.bumpversion.cfg

@@ -1,5 +1,5 @@
 [bumpversion]
-current_version = 2.1.4
+current_version = 2.2.0
 
 [bumpversion:glob:**/pyproject.toml]
 search = version = "{current_version}" # Handled by bump2version

CHANGELOG.rst

@@ -4,6 +4,27 @@ Changelog
 Information about :ref:`RAFCON` changes in each release will be published here. More
 details can be found in the `GIT commit log <https://github.com/DLR-RM/RAFCON/commits/master>`__.
 
+2.2.0
+""""""
+- Features:
+  - Now using flat storage for state machines (removed first layer in folder structure)
+  - Automatic conversion to new structure when re-saving existing state machines
+  - Only storing meta_data for root_state if available
+  - Added custom color for library states
+  - Prevent saving a state machine inside another via GUI
+  - Added locking current view feature in execution history GUI
+  - Added open library from execution history feature in GUI
+
+- Bug fixes:
+  - Fixed bug in "run only selected state"
+  - Fixed bug when destroying gtk controllers
+  - Fixed bug in automatic dataport generation for GUI
+  - Fixed bug in automaticly setting dataport for invalid data flows
+
+- Miscellaneous:
+  - Added cheat-sheet to documentation and GitHub
+  - Updated package versions to support python>3.10
+
 2.1.4
 """"""
     - Bug fixes:

CITATION.cff

@@ -3,8 +3,8 @@
 cff-version: "1.2.0"
 message: "If you use this software, please cite it using these metadata."
 title: RAFCON
-version: 2.1.4  # Handled by bump2version
-date-released: 2024-08-12
+version: 2.2.0  # Handled by bump2version
+date-released: 2025-01-17
 license: EPL-1.0
 doi: "10.5281/zenodo.1493058"
 authors:

README.rst

@@ -12,6 +12,7 @@ RAFCON
 * Documentation: Hosted on `Read the Docs <http://rafcon.readthedocs.io/en/latest/>`_
 * Homepage: `DLR-RM.github.io/RAFCON/ <https://dlr-rm.github.io/RAFCON/>`_
 * License: `EPL <https://github.com/DLR-RM/RAFCON/blob/master/LICENSE>`_
+* Cheatsheet: `Download Cheatsheet <doc/_static/rafcon_cheatsheet.pdf>`_
 
 Develop your robotic tasks using an intuitive graphical user interface
 ----------------------------------------------------------------------

VERSION

@@ -1 +1 @@
-2.1.4
+2.2.0

doc/index.rst

@@ -43,7 +43,12 @@ Have a look at our `website <https://dlr-rm.github.io/RAFCON/getting_started.htm
    development/development.rst
    api/rafcon.rst
 
+There is also a cheatsheet, high-resolution can be downloaded from the github repository:
 
+.. figure:: _static/rafcon_cheatsheet.jpg
+   :width: 90 %
+   :alt: RAFCON Cheatsheet
+   :align: center
 
 Indices and tables
 ==================

pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "rafcon"
-version = "2.1.4" # Handled by bump2version
+version = "2.2.0" # Handled by bump2version
 description = "Develop your robotic tasks with hierarchical state machines using an intuitive graphical user interface"
 keywords = ["state machine", "robotic", "FSM", "development", "GUI", "visual programming"]
 readme = "README.rst"
@@ -27,36 +27,35 @@ classifiers = [
     "Topic :: Utilities",
 ]
 dependencies = [
-    "PyGObject==3.42.0",
-    "astroid>=2.0.0,<2.9.0",
+    "PyGObject>=3.42.0",
+    "wrapt>=1.14.0",
+    "astroid>=3.0.0",
     "gaphas>=2.1.0,<2.2.0",
-    "jsonconversion>=1.0.0",
+    "jsonconversion>=1.0.2",
     "psutil>=5.0.0,<6.0.0",
-    "pycairo>=1.11.0,<1.21.0",
-    "pylint>=2.11.0,<2.12.0",
+    "pycairo>=1.11.0",
+    "pylint>=2.11.0",
     "simplegeneric>=0.5.0,<1.0.0",
     "yaml_configuration>=0.2.5,<0.3.0",
-    "numpy==1.21.6; python_version >= \"3.7\" and python_full_version < \"3.7.1\"",
-    "numpy<2.0.0,>=1.22.4; python_version >= \"3.8\" and python_version < \"4.0\"",
+    "numpy>=2.0.0",
     "pandas==1.1.5; python_full_version < \"3.7.1\"",
     "pandas<2.0.0,>=1.2.0; python_full_version >= \"3.7.1\"",
 ]
 license = {text = "EPL"}
-requires-python = ">=3.7"
+requires-python = ">=3.9"
 
 [project.urls]
 Homepage = "https://github.com/DLR-RM/RAFCON"
 
 [tool.pdm.dev-dependencies]
 dev = [
-    "attrs==22.2.0",
-    "graphviz==0.18.2",
-    "matplotlib==2.1.1",
-    "monitoring==0.9.12",
-    "objgraph==3.5.0",
-    "profiling==0.1.3",
-    "pyuserinput==0.1.11",
-    "pytest-faulthandler~=1.6.0",
+    "attrs>=22.2.0",
+    "graphviz>=0.18.2",
+    "matplotlib>=3.9.0",
+    "monitoring>=0.9.12",
+    "objgraph>=3.5.0",
+    "pyuserinput>=0.1.11",
+    "pytest-faulthandler>=1.6.0",
     "pytest-mock>=1.9.0,<3",
     "pytest-timeout",
     "pytest>=6.0.0,<7.0.0",

source/pyproject.toml

@@ -18,7 +18,7 @@ dependencies = [
     "jsonconversion<1.0.0,>=0.2.13",
 ]
 name = "rafcon-core"
-version = "2.1.4" # Handled by bump2version
+version = "2.2.0" # Handled by bump2version
 description = "Develop your robotic tasks with hierarchical state machines"
 keywords = [
     "state machine",

source/rafcon/core/execution/execution_engine.py

@@ -66,6 +66,7 @@ def __init__(self, state_machine_manager):
         self.state_counter_lock = Lock()
         self.new_execution_command_handled = True
         self.stop_state_machine_after_finishing_step = False
+        self.running_only_selected_state = False
 
     @Observable.observed
     def pause(self):
@@ -418,6 +419,7 @@ def _wait_if_required(self, container_state, next_child_state_to_execute, woke_u
                     # "run-(only)-selected-state" feature, now we just add one FORWARD_OVER step
                     if self._status.execution_mode is StateMachineExecutionStatus.RUN_ONLY_SELECTED_STATE:
                         self.stop_state_machine_after_finishing_step = True
+                        self.running_only_selected_state = True
                     self._status.execution_mode = StateMachineExecutionStatus.FORWARD_OVER
                     self.run_to_states.remove(state_path)
                     # add the container state to self.run_to_states

source/rafcon/core/execution/execution_history_items.py

@@ -139,7 +139,7 @@ def __init__(self, state_machine, run_id):
         self.os_environment = dict(os.environ)
 
     def __str__(self):
-        return "StateMachineStartItem with name %s (time: %s)" % (self.sm_dict['root_state_storage_id'], self.timestamp)
+        return "StateMachineStartItem (time: {})".format(self.timestamp)
 
     def to_dict(self, pickled=True):
         record = HistoryItem.to_dict(self, pickled=pickled)

source/rafcon/core/state_machine.py

@@ -106,13 +106,14 @@ def update_hash(self, obj_hash):
 
     @staticmethod
     def state_machine_to_dict(state_machine):
+        from rafcon.core.states.execution_state import ExecutionState
         from rafcon.core.storage.storage import get_storage_id_for_state
         dict_representation = {
-            'root_state_storage_id': get_storage_id_for_state(state_machine.root_state),
             'state_machine_version': state_machine.version,
             'used_rafcon_version': rafcon.__version__,
             'creation_time': state_machine.creation_time,
         }
+
         return dict_representation
 
     def start(self):

source/rafcon/core/states/hierarchy_state.py

@@ -107,7 +107,10 @@ def run(self):
                     self.state_execution_status = StateExecutionStatus.EXECUTE_CHILDREN
                 self.backward_execution = False  # TODO: why is this line needed?
                 if self.preempted:
-                    if self.last_transition and self.last_transition.from_outcome == -2:
+                    if singleton.state_machine_execution_engine.running_only_selected_state:
+                        singleton.state_machine_execution_engine.running_only_selected_state = False
+                        break
+                    elif self.last_transition and self.last_transition.from_outcome == -2:
                         logger.debug("Execute preemption handling for '{0}'".format(self.child_state))
                     else:
                         break
@@ -122,6 +125,10 @@ def run(self):
 
                 self._execute_current_child()
 
+                # Stop after the desired state was executed if run only selected state
+                if execution_mode == StateMachineExecutionStatus.RUN_ONLY_SELECTED_STATE:
+                    break
+
                 if self.backward_execution:
                     break_loop = self._handle_backward_execution_after_child_execution()
                     if break_loop:

source/rafcon/core/states/state.py

@@ -603,10 +603,11 @@ def get_storage_path(self, appendix=None):
             else:
                 return self.parent.get_storage_path(state_identifier + PATH_SEPARATOR + appendix)
         else:
+            # the root state is located in the root state machine folder
             if appendix is None:
-                return state_identifier
+                return ""
             else:
-                return state_identifier + PATH_SEPARATOR + appendix
+                return appendix
 
     def get_state_machine(self):
         """Get a reference of the state_machine the state belongs to
@@ -650,7 +651,7 @@ def get_temp_file_system_path(self):
 
         The path is not fully secure because the all state ids are not globally unique.
         """
-        return os.path.join(RAFCON_TEMP_PATH_STORAGE, str(self.get_path()))
+        return os.path.join(RAFCON_TEMP_PATH_STORAGE, self.get_storage_path())
 
     @lock_state_machine
     @Observable.observed

source/rafcon/core/storage/storage.py

@@ -48,6 +48,7 @@
 
 #: File names for various purposes
 FILE_NAME_META_DATA = 'meta_data.json'
+FILE_NAME_META_DATA_SM = 'sm_meta_data.json'
 FILE_NAME_CORE_DATA = 'core_data.json'
 FILE_NAME_CORE_DATA_OLD = 'meta.json'
 SCRIPT_FILE = 'script.py'
@@ -250,7 +251,7 @@ def save_state_recursively(state, base_path, parent_path, as_copy=False):
     from rafcon.core.states.execution_state import ExecutionState
     from rafcon.core.states.container_state import ContainerState
 
-    state_path = os.path.join(parent_path, get_storage_id_for_state(state))
+    state_path = state.get_storage_path()
     state_path_full = os.path.join(base_path, state_path)
     if not os.path.exists(state_path_full):
         os.makedirs(state_path_full)
@@ -311,13 +312,19 @@ def load_state_machine_from_path(base_path, state_machine_id=None):
             logger.warning(note_about_possible_incompatibility)
 
     state_machine = StateMachine.from_dict(state_machine_dict, state_machine_id)
-    if "root_state_storage_id" not in state_machine_dict:
+    if "root_state_storage_id" not in state_machine_dict and "root_state_id" not in state_machine_dict:
+        root_state_storage_id = ""
+    elif "root_state_storage_id" not in state_machine_dict:
         root_state_storage_id = state_machine_dict['root_state_id']
         state_machine.supports_saving_state_names = False
     else:
         root_state_storage_id = state_machine_dict['root_state_storage_id']
 
-    root_state_path = os.path.join(base_path, root_state_storage_id)
+    if root_state_storage_id:  # deprecated, new state machines (>=2.2.0) have the root state located in the base path
+        root_state_path = os.path.join(base_path, root_state_storage_id)
+    else:
+        root_state_path = base_path
+
     state_machine.file_system_path = base_path
     dirty_states = []
     state_machine.root_state = load_state_recursively(parent=state_machine, state_path=root_state_path,