State file name overwritten in Behavior source code when saving

[RhysMcK]

I have pulled the latest development repo in order to utilise the new 'update state when source code changes' feature. However I seem to have come across a bug which prevents me from running the behavior. Every time I save the behavior the file name of the State ( in this case- jp_picking_main.py) changes in the behavior source code. As seen below on 2nd last line.

Expected Behavior Source Code:

#!/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 kr3_flexbe_states.jp_picking_main import JP_FindAndPick
from flexbe_states.log_state import LogState

Actual Behavior Source Code:

#!/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 kr3_flexbe_states..goutputstream-C9ESGZ import JP_FindAndPick
from flexbe_states.log_state import LogState

I then proceed to get the following output when running the behavior :

[07:55:57] --> Starting new behavior...
[07:55:57] Exception caught in behavior definition: [-]
    invalid syntax (tmp_-826516856.py, line 12)
[07:55:57] No behavior active.
[07:55:57] Dropped behavior start request because preparation failed.

Any thoughts? cheers!

[RhysMcK]

After doing some further testing this seems to just be a bug with flexbe_full.launch. I am able to save the behavior and also make online edits to the state source file when using flexbe_ocs.launch without any issues. I can then open flexbe_full.launch to run the behavior. However, if i make any changes which require me to resave the behavior when in flexbe_full, the file name of the state will be overwritten as detailed above.

[pschillinger]

Thank you for reporting! I will look at this as soon as possible.

…

[pschillinger]

I was able to reproduce the issue and it looks like the following is going on:

When using some editor commands, for example "subl -n $FILE" for sublime, all works fine.

However, when using some other editor commands, including the default one "gedit --new-window $FILE +$LINE", the described issue occurs. The reason is that gedit creates a temporary file called ".goutputstream-xxxxxx", changes this file, and finally renames it to the target file again. As a consequence, the "change" event assumes a wrong file name.

[pschillinger]

I changed the condition to determine whether a state definition update should be performed. It works for me now.

Can you confirm?

[RhysMcK]

Thanks @pschillinger , that did it. Works a treat!