Work on team tasks

src/pyutil/apiutil.py

@@ -111,6 +111,7 @@ def cleanup_tst(task):
         cleanup_tst(child)
 
 def do_tst_command(jobj, root_uuid=str(uuid.uuid4())):
+    print(jobj)
     if len(jobj["children"]) != 1:
         print("ERROR: Not a simple TST")
     tstobj = jobj

src/pyutil/jsonutil.py

@@ -541,7 +541,7 @@ def json_basic_fly_near_topic(ns, geopoint_topic, geopose_topic, distance, speed
         "name": "fly-near",
         "params": {
             "commanded-speed": speed,
-            "geopoint-topic": geopoint_topic,
+            "position-topic": geopoint_topic,
             "geopose-topic": geopose_topic,
             "use-topic-for-position": True,
             "distance": distance,
@@ -987,10 +987,10 @@ def json_basic_scan_map(ns, mission, use_alias=False, node_uuid="", use_lock=Fal
     }
     return jobj;
 
-def json_basic_joy_trigger(ns, topic, enough="", pause="", cont="", abort="", node_uuid="", use_alias=False):
+def json_basic_joy_trigger(ns, topic, enough="", pause="", cont="", abort="", node_uuid="", use_alias=False, use_lock=False):
     jobj = {
         "children": [],
-        "common_params": get_common_params (ns, use_alias, node_uuid),        
+        "common_params": get_common_params (ns, use_alias, node_uuid, use_lock=use_lock),        
         "name": "joy-trigger",
         "params": {
             "joy-topic": topic,
@@ -1333,14 +1333,14 @@ def json_leashing_point(ns, pointtopic, leashing_uuid="", fly_near=False, use_al
 
     if fly_near:
         speed = 5.0
-        jobj["children"].append(json_basic_fly_near_topic(ns, pointtopic, "", 5.0, speed, use_alias=use_alias)
+        jobj["children"].append(json_basic_fly_near_topic(ns, pointtopic, "", 5.0, speed, use_alias=use_alias))
     
     cobj = json_basic_conc(ns, use_alias=use_alias)
     jobj["children"].append(cobj)
     if use_alias:
         jobj["common_params"]["all-different"] = [[ns]]    
     cobj["children"].append(json_basic_leashing_geopoint_topic(ns, pointtopic, use_alias=use_alias, node_uuid=nuuid, use_lock=use_lock))
-    cobj["children"].append(json_basic_joy_trigger(ns, "joy",enough=nuuid, pause=nuuid, cont=nuuid, abort=nuuid, use_alias=use_alias))
+    cobj["children"].append(json_basic_joy_trigger(ns, "joy",enough=nuuid, pause=nuuid, cont=nuuid, abort=nuuid, use_alias=use_alias, use_lock=use_lock))
     return jobj
 
 def json_land (ns, z=0.0, use_alias=False, use_lock=False):