From f6687484d4055dd49fae1b380eeae221118930e2 Mon Sep 17 00:00:00 2001
From: Marco Lampacrescia <marco.lampacrescia@de.bosch.com>
Date: Fri, 29 Nov 2024 17:42:50 +0100
Subject: [PATCH] Fixed model

Signed-off-by: Marco Lampacrescia <marco.lampacrescia@de.bosch.com>
---
 .../grid_robot_blackboard/bt_move.scxml       |  4 +--
 .../grid_robot_blackboard/world.scxml         | 28 +++++++++----------
 2 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/test/jani_generator/_test_data/grid_robot_blackboard/bt_move.scxml b/test/jani_generator/_test_data/grid_robot_blackboard/bt_move.scxml
index 3b9afcc6..9462122c 100644
--- a/test/jani_generator/_test_data/grid_robot_blackboard/bt_move.scxml
+++ b/test/jani_generator/_test_data/grid_robot_blackboard/bt_move.scxml
@@ -2,7 +2,7 @@
 <scxml
     initial="running"
     version="1.0"
-    name="ShallMove"
+    name="Move"
     model_src=""
     xmlns="http://www.w3.org/2005/07/scxml">
 
@@ -24,7 +24,7 @@
 
     <state id="running">
         <bt_tick target="running">
-            <ros_topic_publish name="goal">
+            <ros_topic_publish name="move_pub">
                 <field name="data">
                     <expr>
                         <bt_get_input key="direction" />
diff --git a/test/jani_generator/_test_data/grid_robot_blackboard/world.scxml b/test/jani_generator/_test_data/grid_robot_blackboard/world.scxml
index 1c34967e..30b457a5 100644
--- a/test/jani_generator/_test_data/grid_robot_blackboard/world.scxml
+++ b/test/jani_generator/_test_data/grid_robot_blackboard/world.scxml
@@ -6,11 +6,11 @@
     initial="init">
 
     <datamodel>
-        <data id="n" type="int" expr="10" />  <!-- grid size -->
-        <data id="pose_x" type="int32" expr="Math.floor(Math.random() * n)" />
-        <data id="pose_y" type="int32" />
-        <data id="goal_x" type="int32" />
-        <data id="goal_y" type="int32" />
+        <data id="n" type="int32" expr="10" />  <!-- grid size -->
+        <data id="pose_x" type="int32" expr="0" /> <!-- TODO: Math.floor(Math.random() * n) -->
+        <data id="pose_y" type="int32" expr="0" /> <!-- TODO: Math.floor(Math.random() * n) -->
+        <data id="goal_x" type="int32" expr="4" />
+        <data id="goal_y" type="int32" expr="9" />
     </datamodel>
 
     <ros_topic_subscriber topic="move" type="std_msgs/Int16" />
@@ -23,12 +23,12 @@
     <ros_topic_publisher topic="pose" type="grid_robot_interfaces/Int2D" />
     <ros_topic_publisher topic="goal" type="grid_robot_interfaces/Int2D" />
 
-    <state name="init">
+    <state id="init">
         <onentry>
             <!-- if at goal -->
-            <if cond="pose_x == goal_x and pose_y == goal_y">
-                <assign location="goal_x" expr="Math.floor(Math.random() * n)" />
-                <assign location="goal_y" expr="Math.floor(Math.random() * n)" />
+            <if cond="pose_x == goal_x &amp;&amp; pose_y == goal_y">
+                <assign location="goal_x" expr="goal_x + 1" /> <!-- TODO: Math.floor(Math.random() * n) -->
+                <assign location="goal_y" expr="goal_y - 1" /> <!-- TODO: Math.floor(Math.random() * n) -->
                 <ros_topic_publish name="goal">
                     <field name="x" expr="goal_x" />
                     <field name="y" expr="goal_y" />
@@ -36,17 +36,17 @@
             </if>
         </onentry>
 
-        <ros_topic_callback name="move">
-            <if cond="_msg.data == 0 and pose_x &lt; n - 1">
+        <ros_topic_callback name="move" target="init">
+            <if cond="_msg.data == 0 &amp;&amp; pose_x &lt; n - 1">
                 <!-- right -->
                 <assign location="pose_x" expr="pose_x + 1" />
-                <elseif cond="_msg.data == 1 and pose_x &gt; 0" />
+                <elseif cond="_msg.data == 1 &amp;&amp; pose_x &gt; 0" />
                 <!-- left -->
                 <assign location="pose_x" expr="pose_x - 1" />
-                <elseif cond="_msg.data == 2 and pose_y &lt; n - 1" />
+                <elseif cond="_msg.data == 2 &amp;&amp; pose_y &lt; n - 1" />
                 <!-- up -->
                 <assign location="pose_y" expr="pose_y + 1" />
-                <elseif cond="_msg.data == 3 and pose_y &gt; 0" />
+                <elseif cond="_msg.data == 3 &amp;&amp; pose_y &gt; 0" />
                 <!-- down -->
                 <assign location="pose_y" expr="pose_y - 1" />
             </if>