From 2953e421689abd721657c8de5c8f1ea89eacd8e6 Mon Sep 17 00:00:00 2001
From: Christian Henkel <christian.henkel2@de.bosch.com>
Date: Mon, 16 Dec 2024 13:44:07 +0100
Subject: [PATCH] cleaning up example

Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com>
---
 .../grid_robot_blackboard_simpler/bt.xml      | 11 +++---
 .../bt_move.scxml                             | 28 ++++-----------
 .../bt_update_goal_and_current_position.scxml | 34 -------------------
 3 files changed, 13 insertions(+), 60 deletions(-)

diff --git a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt.xml b/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt.xml
index e5be6095..99af0d3e 100644
--- a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt.xml
+++ b/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt.xml
@@ -5,12 +5,13 @@
             <Action ID="UpdateGoalAndCurrentPosition" goal_x="{goal_x}" goal_y="{goal_y}" curr_x="{curr_x}" curr_y="{curr_y}" move_out="{move}" move_in="{move}" />
             <Fallback name="move_to_goal">
                 <!--
-                    Movement enum in the world.
-                    0: right,
-                    1: left,
-                    2: up,
-                    3: down
+                    move: 0 - right
+                        1 - left
+                        2 - up
+                        3 - down
+                        4 - stop
                 -->
+
                 <Sequence name="TryR">
                     <Condition ID="ShallMove" direction="0" name="check_right" goal_x="{goal_x}" goal_y="{goal_y}" curr_x="{curr_x}" curr_y="{curr_y}" />
                     <Action ID="Move" direction="0" name="move_right" move="{move}" />
diff --git a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_move.scxml b/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_move.scxml
index 5facc523..e6dc37a4 100644
--- a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_move.scxml
+++ b/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_move.scxml
@@ -6,36 +6,22 @@
     model_src=""
     xmlns="http://www.w3.org/2005/07/scxml">
 
-    <!--
-        Movement enum in the world.
-        0: right,
-        1: left,
-        2: up,
-        3: down
-    -->
     <bt_declare_port_in key="direction" type="int32" />
-    <!-- <bt_declare_port_in key="cmd_topic" type="string" /> -->
     <bt_declare_port_out key="move" type="int32" />
+    <!--
+        move: 0 - right
+              1 - left
+              2 - up
+              3 - down
+              4 - stop
+    -->
 
     <datamodel>
         <data id="direction" expr="0" type="int32" />
     </datamodel>
 
-    <!-- <ros_topic_publisher name="move_pub" type="std_msgs/Int16">
-        <topic>
-            <bt_get_input key="cmd_topic" />
-        </topic>
-    </ros_topic_publisher> -->
-
     <state id="running">
         <bt_tick target="running">
-            <!-- <ros_topic_publish name="move_pub">
-                <field name="data">
-                    <expr>
-                        <bt_get_input key="direction" />
-                    </expr>
-                </field>
-            </ros_topic_publish> -->
             <assign location="direction">
                 <expr>
                     <bt_get_input key="direction" />
diff --git a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_update_goal_and_current_position.scxml b/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_update_goal_and_current_position.scxml
index 70f9e68f..5142d8ab 100644
--- a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_update_goal_and_current_position.scxml
+++ b/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_update_goal_and_current_position.scxml
@@ -19,13 +19,10 @@
               3 - down
               4 - stop
     -->
-    <!-- <bt_declare_port_in key="goal_topic" type="string" />
-    <bt_declare_port_in key="curr_topic" type="string" /> -->
 
     <ros_topic_publisher name="at_goal" topic="at_goal" type="std_msgs/Bool" />
 
     <datamodel>
-        <!-- <data id="is_goal_init" expr="false" type="bool" /> -->
         <data id="is_pose_init" expr="false" type="bool" />
         <data id="goal_x" expr="99" type="int32" />
         <data id="goal_y" expr="99" type="int32" />
@@ -36,33 +33,6 @@
         <data id="first_tick" expr="true" type="bool" />
     </datamodel>
 
-    <!-- <state id="running">
-        New robot goal
-        <ros_topic_callback name="goal_sub" target="running">
-            <assign location="goal_x" expr="_msg.x" />
-            <assign location="goal_y" expr="_msg.y" />
-            <assign location="is_goal_init" expr="true" />
-        </ros_topic_callback>
-        New robot pose
-        <ros_topic_callback name="curr_sub" target="running">
-            <assign location="curr_x" expr="_msg.x" />
-            <assign location="curr_y" expr="_msg.y" />
-            <assign location="is_pose_init" expr="true" />
-        </ros_topic_callback>
-        Leaf node tick
-        <bt_tick target="running">
-            <if cond="is_goal_init &amp;&amp; is_pose_init">
-                <bt_set_output key="goal_x" expr="goal_x" />
-                <bt_set_output key="goal_y" expr="goal_y" />
-                <bt_set_output key="curr_x" expr="curr_x" />
-                <bt_set_output key="curr_y" expr="curr_y" />
-                <bt_return_status status="SUCCESS" />
-                <else />
-                <bt_return_status status="FAILURE" />
-            </if>
-        </bt_tick>
-    </state> -->
-
     <state id="init">
         <onentry>
             <bt_set_output key="move_out" expr="4" />
@@ -105,10 +75,6 @@
                     <field name="data" expr="true" />
                 </ros_topic_publish>
             </if>
-            <!-- <ros_topic_publish name="pose">
-                <field name="x" expr="pose_x" />
-                <field name="y" expr="pose_y" />
-            </ros_topic_publish> -->
             <bt_return_status status="SUCCESS" />
         </transition>
     </state>