codespell clean up

README.md

@@ -19,7 +19,7 @@ Jazzy ![ROS Build Farm](https://build.ros2.org/job/Jdev__flexbe_behavior_engine_
 
 Rolling ![ROS Build Farm](https://build.ros2.org/job/Rdev__flexbe_behavior_engine__ubuntu_noble_amd64/badge/icon)
 
-> Note: This version 4+ breaks compatability with the FlexBE App.  You must use the FlexBE WebUI [flexbe_webui](https://github.com/FlexBE/flexbe_webui.git) now.
+> Note: This version 4+ breaks compatibility with the FlexBE App.  You must use the FlexBE WebUI [flexbe_webui](https://github.com/FlexBE/flexbe_webui.git) now.
 
 
 ## Installation
@@ -58,7 +58,7 @@ from the `${WORKSPACE_ROOT}/src` folder will create:
 These are intended to contain your custom FlexBE state implementations and HFSM-based behaviors.
 
 This release of the FlexBE Behavior Engine requires version 4.1+ of the FlexBE UI.
-This breaks compatability with the older FlexBE App and now requires use of the FlexBE WebUI tool.
+This breaks compatibility with the older FlexBE App and now requires use of the FlexBE WebUI tool.
 
 It is recommended to install the FlexBE WebUI user interface:
 

flexbe_core/CHANGELOG.rst

@@ -336,7 +336,7 @@ Changelog for package flexbe_core
 * [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] Correctly preempt auxiliary 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/flexbe_core/behavior_library.py

@@ -131,7 +131,7 @@ def get_behavior(self, be_key):
         try:
             return self._behavior_lib[be_key]
         except KeyError:
-            Logger.logwarn(f"Did not find ID '{be_key}' in libary, updating...")
+            Logger.logwarn(f"Did not find ID '{be_key}' in library, updating...")
             self.parse_packages()
             return self._behavior_lib.get(be_key, None)
 
@@ -166,12 +166,12 @@ def __find_behavior():
         try:
             return __find_behavior()
         except StopIteration:
-            Logger.logwarn("Did not find behavior '%s' in current libary, updating..." % be_name)
+            Logger.logwarn("Did not find behavior '%s' in current library, updating..." % be_name)
             self.parse_packages()
             try:
                 return __find_behavior()
             except StopIteration:
-                Logger.logerr("Still cannot find behavior '%s' in libary after update, giving up!" % be_name)
+                Logger.logerr("Still cannot find behavior '%s' in library after update, giving up!" % be_name)
                 return None, None
 
     def count_behaviors(self):

flexbe_core/flexbe_core/core/event_state.py

@@ -106,7 +106,7 @@ def _event_execute(self, *args, **kwargs):
             repeat = True
 
         if repeat or outcome is not None:
-            # As this is currently coded, a repeat command will immedately halt
+            # As this is currently coded, a repeat command will immediately halt
             # call on_exit, then reenter the state
             # (vs. an alternative to wait until outcome and then repeat)
             self.on_exit(*args, **kwargs)

flexbe_core/flexbe_core/core/operatable_state_machine.py

@@ -214,7 +214,7 @@ def _execute_current_state(self):
             # catch any exception and log here, but re-raise to preempt behavior
             Logger.logerr("Failed to execute state '%s':\n%s - %s" % (self.current_state_label, str(type(exc)), str(exc)))
             import traceback  # pylint: disable=C0415
-            Logger.localinfo(traceback.format_exc().replace('%', '%%'))  # Guard against exeception including format!
+            Logger.localinfo(traceback.format_exc().replace('%', '%%'))  # Guard against exception including format!
             outcome = None
             if isinstance(exc, (StateError, StateMachineError, UserDataError)):
                 self._last_exception = exc
@@ -271,7 +271,7 @@ def process_sync_request(self):
         Provide explicit sync as back-up functionality.
 
         Should be used sparingly if there is no other choice
-        since it requires additional 8 byte + header update bandwith and time to restart mirror
+        since it requires additional 8 byte + header update bandwidth and time to restart mirror
         """
         if self._inner_sync_request:
             self._inner_sync_request = False

flexbe_core/flexbe_core/core/state.py

@@ -47,7 +47,7 @@ class State:
     _preempted_name = 'preempted'  # Define name here, but handle logic in derived class
 
     def __init__(self, *args, **kwargs):
-        """Initilize state instance."""
+        """Initialize state instance."""
         self._outcomes = _remove_duplicates(kwargs.get('outcomes', []))
         io_keys = kwargs.get('io_keys', [])
         self._input_keys = _remove_duplicates(kwargs.get('input_keys', []) + io_keys)

flexbe_core/flexbe_core/proxy/proxy_action_client.py

@@ -93,7 +93,7 @@ def __init__(self, topics=None, wait_duration=1.0):
         Initialize the proxy with an optionally given set of clients.
 
         @type topics: dictionary string - message class
-        @param topics: A dictionay containing a collection of topic - message type pairs.
+        @param topics: A dictionary containing a collection of topic - message type pairs.
 
         @type wait_duration: int
         @param wait_duration: Defines how long to wait for each client in the

flexbe_core/flexbe_core/proxy/proxy_publisher.py

@@ -77,7 +77,7 @@ def __init__(self, topics=None, qos=None, **kwargs):
         Automatically creates a publisher for sending status messages.
 
         @type topics: dictionary string - message class
-        @param topics: A dictionay containing a collection of topic - message type pairs.
+        @param topics: A dictionary containing a collection of topic - message type pairs.
 
         @type _latch: bool
         @param: _latch: Defines if messages on the given topics should be latched.

flexbe_core/flexbe_core/proxy/proxy_subscriber_cached.py

@@ -368,7 +368,7 @@ def remove_last_msg(cls, topic, clear_buffer=False):
     @classmethod
     def make_persistant(cls, topic):
         """
-        Make the given topic persistant which means messages can no longer be removed.
+        Make the given topic persistent which means messages can no longer be removed.
 
         Remove_last_msg will have no effect, only overwritten by a new message.
 

flexbe_core/flexbe_core/proxy/proxy_transform_listener.py

@@ -51,7 +51,7 @@ def initialize(node):
 
     @staticmethod
     def shutdown():
-        """Shut down this proxy by reseting the transform listener."""
+        """Shut down this proxy by resetting the transform listener."""
         try:
             ProxyTransformListener._listener = None
             ProxyTransformListener._buffer = None

flexbe_core/test/flexbe_logger_test.py

@@ -42,7 +42,7 @@
 
 @pytest.mark.rostest
 def generate_test_description():
-    """Generate test descriptoin for flexbe_logger test."""
+    """Generate test description for flexbe_logger test."""
     path_to_test = os.path.dirname(__file__)
 
     TEST_PROC_PATH = os.path.join(path_to_test, 'test_logger.py')

flexbe_core/test/test_logger.py

@@ -124,7 +124,7 @@ def execute(self, userdata):
         self.node.get_logger().info('test_throttle_logger_one  - OK! ')
 
     def test_throttle_logger_err_multi(self):
-        """Test throttle logger with errrors."""
+        """Test throttle logger with errors."""
         self.node.get_logger().info('test_throttle_logger_err_multi ...')
         self.node.declare_parameter('max_throttle_logging_size', 200)
         self.node.declare_parameter('throttle_logging_clear_ratio', 0.35)

flexbe_core/test/test_proxies.py

@@ -345,7 +345,7 @@ def execute_cb(goal_handle):
         client = ProxyActionClient({'/invalid': BehaviorExecution}, wait_duration=.1)
         self.assertFalse(client.is_available('/invalid'))
         self.node.get_logger().info('test_action_client - OK! ')
-        del server  # Through with instance, and explicitly calling del() to avoid ununsed warning
+        del server  # Through with instance, and explicitly calling del() to avoid unused warning
 
 
 if __name__ == '__main__':

flexbe_input/flexbe_input/complex_action_server.py

@@ -63,7 +63,7 @@ class ComplexActionServer:
     @param execute_cb Optional callback that gets called in a separate thread whenever
                       a new goal is received, allowing users to have blocking callbacks.
                       Adding an execute callback also deactivates the goalCallback.
-    @param  auto_start A boolean value that tells the ActionServer wheteher or not
+    @param  auto_start A boolean value that tells the ActionServer whether or not
                        to start publishing as soon as it comes up.
                        THIS SHOULD ALWAYS BE SET TO FALSE TO AVOID RACE CONDITIONS and
                        start() should be called after construction of the server.
@@ -196,7 +196,7 @@ def internal_goal_callback(self, goal):
         self.execute_condition.acquire()
 
         try:
-            Logger.localinfo(f'A new goal {goal.goal_id} has been recieved by the single goal action server')
+            Logger.localinfo(f'A new goal {goal.goal_id} has been received by the single goal action server')
 
             self.next_goal = goal
             self.new_goal = True
@@ -220,7 +220,7 @@ def internal_preempt_callback(self, preempt):
 
     # @brief Called from a separate thread to call blocking execute calls
     def executeLoop(self):
-        """Excute the server loop."""
+        """Execute the server loop."""
         loop_duration = Duration(seconds=0.1)
 
         while (rclpy.ok()):

flexbe_input/flexbe_input/input_action_server.py

@@ -110,7 +110,7 @@ def get_input_type(self, request_type):
 
         @return prompt, instance type, number of elements
         """
-        # Thse are the only types handled by this simple UI
+        # These are the only types handled by this simple UI
         types = {BehaviorInput.Goal.REQUEST_INT: ('int', int, 1),
                  BehaviorInput.Goal.REQUEST_FLOAT: ('float', (float, int), 1),  # int acceptable for desired float
                  BehaviorInput.Goal.REQUEST_2D: ('list of 2 numbers', (list, tuple), 2),  # allow either list or tuple

flexbe_mirror/flexbe_mirror/flexbe_mirror.py

@@ -277,7 +277,7 @@ def _activate_mirror(self, struct_msg, start_time):
         except Exception as exc:  # pylint: disable=W0703
             Logger.logerr(f'Exception in activate mirror: {type(exc)} started at {start_time.nanoseconds} ns ...\n  {exc}')
             Logger.localerr(f"{traceback.format_exc().replace('%', '%%')}")
-            self._running = False  # normally set false in execute_mirror (but not if exeception)
+            self._running = False  # normally set false in execute_mirror (but not if exception)
 
         Logger.localwarn(f'Done executing mirror {self._active_id} from activation '
                          f'{self.get_elapsed_str(start_time)}')

flexbe_mirror/flexbe_mirror/mirror_concurrency_container.py

@@ -148,5 +148,5 @@ def get_deep_states(self):
                             f" - current state is NOT a list! Error type='{type(self._current_state)}'")
             Logger.localerr(f"    '{self._current_state.name}' ({self._current_state.state_id})")
             raise TypeError(f"MirrorConcurrentContainer.get_deep_states '{self.name}' - "
-                            f"current state is NOT a list! Errror type='{type(self._current_state)}'")
+                            f"current state is NOT a list! Error type='{type(self._current_state)}'")
         return deep_states

flexbe_mirror/flexbe_mirror/mirror_state.py

@@ -64,7 +64,7 @@ def __init__(self, target_name, target_path, given_outcomes, outcome_autonomy):
         MirrorState._last_target_id = None  # reset any time that we build a new state machine
 
         if MirrorState._pub is None:
-            # Allow access to standard proxies initialied by flexbe_mirror
+            # Allow access to standard proxies initialized by flexbe_mirror
             MirrorState._pub = ProxyPublisher()
 
     @classmethod

flexbe_msgs/action/BehaviorInput.action

@@ -1,4 +1,4 @@
-# If desired, custom request types can be defined and choosen here
+# If desired, custom request types can be defined and chosen here
 uint8 request_type
 
 # Basic types (used by input_action_server, but otherwise optional)

flexbe_msgs/action/BehaviorSynthesis.action

@@ -6,7 +6,7 @@ SynthesisRequest request
 
 ---
 
-# Provides feedback regarding possibly occured errors
+# Provides feedback regarding possibly occurred errors
 SynthesisErrorCodes error_code
 
 # Result of behavior synthesis as a list of state instantiations

flexbe_msgs/msg/Container.msg

@@ -1,4 +1,4 @@
-int32  state_id     # Unique 23-bit identifer for state
+int32  state_id     # Unique 23-bit identifier for state
 string path         # String path from top-level state machine
 string[] children
 string[] outcomes

flexbe_onboard/flexbe_onboard/flexbe_onboard.py

@@ -94,7 +94,7 @@ def __init__(self):
         self._heartbeat_pub = self.create_publisher(BehaviorSync, Topics._ONBOARD_HEARTBEAT_TOPIC, 10)
         self._status_pub = self.create_publisher(BEStatus, Topics._ONBOARD_STATUS_TOPIC, 10)
 
-        # Latch state map so we can retreive later if desired
+        # Latch state map so we can retrieve later if desired
         latching_qos = QoSProfile(depth=1, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL)
         self._state_map_pub = self.create_publisher(StateMapMsg, Topics._STATE_MAP_TOPIC, qos_profile=latching_qos)
 
@@ -161,7 +161,7 @@ def _behavior_callback(self, beh_sel_msg):
             Logger.logwarn(f'Received behavior start request for {beh_sel_msg.behavior_key} '
                            f'({beh_sel_msg.behavior_id}) while prior request was starting.\n    Ignore second request!')
             return
-        self._starting = True  # Prevent two start requests from ocurring back to back
+        self._starting = True  # Prevent two start requests from occurring back to back
         self._trigger_ready = False  # We have received the behavior selection request
         self._ready_counter = 0
         thread = threading.Thread(target=self._behavior_execution, args=[beh_sel_msg])

flexbe_states/flexbe_states/input_state.py

@@ -136,9 +136,9 @@ def on_enter(self, userdata):
         self._client.remove_result(self._action_topic)
         self._return = None
 
-        # Retrive the goal for the BehaviorInput Action.
+        # Retrieve the goal for the BehaviorInput Action.
         action_goal = BehaviorInput.Goal()
-        # Retrive the request type and message from goal.
+        # Retrieve the request type and message from goal.
         action_goal.request_type = self._request
         action_goal.msg = self._message
         Logger.loghint(f"Onboard requests '{self._message}'")

flexbe_states/flexbe_states/selection_state.py

@@ -129,7 +129,7 @@ def on_enter(self, userdata):
             Logger.localwarn(msg)
             return
 
-        # Retrive the goal for the BehaviorInput Action.
+        # Retrieve the goal for the BehaviorInput Action.
         action_goal = BehaviorInput.Goal(request_type=BehaviorInput.Goal.REQUEST_SELECTION,
                                          items=userdata.items, msg=self._message)
         Logger.loghint(f"Onboard requests '{self._message}' : {userdata.items}")

flexbe_widget/flexbe_widget/behavior_launcher.py

@@ -80,7 +80,7 @@ def __init__(self):
         self._mirror_pub = self.create_publisher(ContainerStructure, Topics._MIRROR_STRUCTURE_TOPIC, 100)
         self._heartbeat_pub = self.create_publisher(Int32, Topics._LAUNCHER_HEARTBEAT_TOPIC, 2)
 
-        # Latch state map so we can retreive later if desired
+        # Latch state map so we can retrieve later if desired
         latching_qos = QoSProfile(depth=1, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL)
         self._state_map_pub = self.create_publisher(StateMapMsg, Topics._STATE_MAP_OCS_TOPIC, latching_qos)