Merge pull request #106 from 130s/release-2.5.2

2.5.2

executive_smach/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package executive_smach
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.5.2 (2023-06-13)
+------------------
+
 2.5.1 (2023-02-15)
 ------------------
 

executive_smach/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>executive_smach</name>
-  <version>2.5.1</version>
+  <version>2.5.2</version>
   <description>
     This metapackage depends on the SMACH library and ROS SMACH integration
     packages.

smach/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package smach
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.5.2 (2023-06-13)
+------------------
+* Fix outcome_map disambiguation for Concurrence `#80 <https://github.com/ros/executive_smach/issues/80>`_
+* Fix is_running behaviour in case of exception in the state `#50 <https://github.com/ros/executive_smach/issues/50>`_ 
+* Executing an empty Concurrence container hangs forever `#51 <https://github.com/ros/executive_smach/issues/51>`_
+
 2.5.1 (2023-02-15)
 ------------------
 * Fix: state machines cannot be pickled `#86 <https://github.com/ros/executive_smach/issues/86>`  

smach/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>smach</name>
-  <version>2.5.1</version>
+  <version>2.5.2</version>
   <description>
     SMACH is a task-level architecture for rapidly creating complex robot
     behavior. At its core, SMACH is a ROS-independent Python library to build

smach/src/smach/concurrence.py

@@ -197,6 +197,10 @@ def execute(self, parent_ud = smach.UserData()):
         """Overridden execute method.
         This starts all the threads.
         """
+        # Check if any states added
+        if len(self._states) == 0:
+            raise smach.InvalidStateError("No states was added to concurrence")
+
         # Clear the ready event
         self._ready_event.clear()
 

smach/src/smach/state_machine.py

@@ -361,16 +361,18 @@ def execute(self, parent_ud = smach.UserData()):
             # Initialize container outcome
             container_outcome = None
 
-            # Step through state machine
-            while container_outcome is None and self._is_running and not smach.is_shutdown():
-                # Update the state machine
-                container_outcome = self._update_once()
+            try:
+                # Step through state machine
+                while container_outcome is None and self._is_running and not smach.is_shutdown():
+                    # Update the state machine
+                    container_outcome = self._update_once()
 
-            # Copy output keys
-            self._copy_output_keys(self.userdata, parent_ud)
+                # Copy output keys
+                self._copy_output_keys(self.userdata, parent_ud)
 
-            # We're no longer running
-            self._is_running = False
+            finally:
+                # We're no longer running
+                self._is_running = False
 
         return container_outcome
 

smach_msgs/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package smach_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.5.2 (2023-06-13)
+------------------
+
 2.5.1 (2023-02-15)
 ------------------
 

smach_msgs/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>smach_msgs</name>
-  <version>2.5.1</version>
+  <version>2.5.2</version>
   <description>
     this package contains a set of messages that are used by the introspection
     interfaces for smach.

smach_ros/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package smach_ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.5.2 (2023-06-13)
+------------------
+* Fix is_running behaviour in case of exception in the state `#50 <https://github.com/ros/executive_smach/issues/50>`_ 
+* Executing an empty Concurrence container hangs forever `#51 <https://github.com/ros/executive_smach/issues/51>`_
+
 2.5.1 (2023-02-15)
 ------------------
 * Fix: response_slots when action goal is lost `#64 <https://github.com/ros/executive_smach/issues/64>`  

smach_ros/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>smach_ros</name>
-  <version>2.5.1</version>
+  <version>2.5.2</version>
   <description>
     The smach_ros package contains extensions for the SMACH library to
     integrate it tightly with ROS.  For example, SMACH-ROS can call

smach_ros/test/concurrence.py

@@ -122,6 +122,13 @@ def test_outcome_cb(self):
         assert cc.userdata.a == 'A'
         assert cc.userdata.b == 'A'
 
+    def test_empty_concurrence(self):
+        """Test behavior of a container with no states"""
+        cc = Concurrence(['done'], default_outcome='done')
+
+        with self.assertRaises(InvalidStateError):
+            cc.execute()
+
 def main():
     rospy.init_node('concurrence_test',log_level=rospy.DEBUG)
     rostest.rosrun('smach', 'concurrence_test', TestStateMachine)

smach_ros/test/sequence.py

@@ -53,6 +53,31 @@ def test_sequence(self):
 
         assert outcome == 'done'
 
+    def test_exception(self):
+        class DoneState(State):
+            def __init__(self):
+                State.__init__(self,outcomes=['done'])
+            def execute(self,ud=None):
+                return 'done'
+
+        class ErrorState(State):
+            """State falls with exception"""
+            def __init__(self):
+                State.__init__(self, ['done'])
+            def execute(self, ud):
+                raise Exception('Test exception')
+
+        sq = Sequence(['done'], connector_outcome='done')
+        with sq:
+            Sequence.add('OK', DoneState())
+            Sequence.add('ERROR', ErrorState())
+            Sequence.add('IGNORED', Setter())
+
+        with self.assertRaises(InvalidUserCodeError):
+            sq.execute()
+
+        assert sq.is_running() == False
+        assert 'a' not in sq.userdata  # test IGNORED state wasn't called
 
 def main():
     rospy.init_node('sequence_test',log_level=rospy.DEBUG)

smach_ros/test/state_machine.py

@@ -161,6 +161,23 @@ def test_alt_api(self):
 
         assert outcome == 'succeeded'
 
+    def test_exception(self):
+        class ErrorState(State):
+            """State falls with exception"""
+            def __init__(self):
+                State.__init__(self, ['done'])
+            def execute(self, ud):
+                raise Exception('Test exception')
+
+        sm = StateMachine(['done'])
+        with sm:
+            StateMachine.add('ERROR', ErrorState())
+
+        with self.assertRaises(InvalidUserCodeError):
+            sm.execute()
+
+        assert sm.is_running() == False  # test running flag lowered
+
 def main():
     rospy.init_node('state_machine_test',log_level=rospy.DEBUG)
     rostest.rosrun('smach', 'state_machine_test', TestStateMachine)