Developed a simple and fast approach, with 3 consecutive goals

Signed-off-by: Marco Lampacrescia <[email protected]>
convince-project · Dec 16, 2024 · afc8035 · afc8035
1 parent 60f1fb4
commit afc8035
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Showing 8 changed files with 4 additions and 313 deletions.
diff --git a/test/jani_generator/_test_data/grid_robot_blackboard_simple/bt.xml b/test/jani_generator/_test_data/grid_robot_blackboard_simple/bt.xml
@@ -2,7 +2,7 @@
     <BehaviorTree ID="simple_robot_blackboard">
         <Fallback name="control_loop">
             <!-- Store goal and robot pose in 4 blackboard variables -->
-            <Action ID="UpdateGoalAndCurrentPosition" goal_x="{goal_x}" goal_y="{goal_y}" curr_x="{curr_x}" curr_y="{curr_y}" grid_size="100" />
+            <Action ID="UpdateGoalAndCurrentPosition" goal_x="{goal_x}" goal_y="{goal_y}" curr_x="{curr_x}" curr_y="{curr_y}" grid_size="10" />
             <!--
                 Movement enum in the world.
                 0: right,

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
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
diff --git a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_shall_move.scxml b/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_shall_move.scxml
diff --git a/...erator/_test_data/grid_robot_blackboard_simpler/bt_update_goal_and_current_position.scxml b/...erator/_test_data/grid_robot_blackboard_simpler/bt_update_goal_and_current_position.scxml
diff --git a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/main.xml b/test/jani_generator/_test_data/grid_robot_blackboard_simpler/main.xml
diff --git a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/properties.jani b/test/jani_generator/_test_data/grid_robot_blackboard_simpler/properties.jani
diff --git a/test/jani_generator/test_systemtest_scxml_to_jani.py b/test/jani_generator/test_systemtest_scxml_to_jani.py
@@ -454,12 +454,12 @@ def test_grid_robot_blackboard(self):
             success=True,
         )
 
-    def test_grid_robot_blackboard_simpler(self):
+    def test_grid_robot_blackboard_simple(self):
         """Test the simpler grid_robot_blackboard model (BT + Blackboard)."""
         self._test_with_main(
-            "grid_robot_blackboard_simpler",
+            "grid_robot_blackboard_simple",
             model_xml="main.xml",
-            property_name="at_goal",
+            property_name="tree_success",
             success=True,
             size_limit=1_000_000,
         )