Remove flag for input blackboards in the full model

Signed-off-by: Marco Lampacrescia <[email protected]>

src/as2fm/scxml_converter/scxml_entries/bt_utils.py

@@ -136,11 +136,6 @@ def __init__(self):
         # For each port name, store the port type string and value.
         self._in_ports: Dict[str, Tuple[str, str]] = {}
         self._out_ports: Dict[str, Tuple[str, str]] = {}
-        self._has_blackboard_inputs: bool = False
-
-    def has_blackboard_inputs(self) -> bool:
-        """Boolean check reporting whether any input port references blackboard variables."""
-        return self._has_blackboard_inputs
 
     def in_port_exists(self, port_name: str) -> bool:
         """Check if an input port exists."""
@@ -232,10 +227,6 @@ def _set_in_port_value(self, port_name: str, port_value: str):
         ), f"Error: Value of port {port_name} already assigned."
         port_type = self._in_ports[port_name][0]
         self._in_ports[port_name] = (port_type, port_value)
-        # Update flag to track whether we added a blackboard variable or not
-        self._has_blackboard_inputs = self._has_blackboard_inputs or is_blackboard_reference(
-            port_value
-        )
 
     def _set_out_port_value(self, port_name: str, port_value: str):
         """Set the value of an output port."""

src/as2fm/scxml_converter/scxml_entries/scxml_bt_ticks.py

@@ -133,6 +133,10 @@ def __init__(self, child_seq_id: Union[str, int]):
     def check_validity(self) -> bool:
         return True
 
+    def has_bt_blackboard_input(self, _):
+        """Check whether the If entry reads content from the BT Blackboard."""
+        return False
+
     def instantiate_bt_events(
         self, instance_id: int, children_ids: List[int]
     ) -> Union[ScxmlIf, ScxmlSend]:

src/as2fm/scxml_converter/scxml_entries/scxml_state.py

@@ -152,31 +152,30 @@ def _generate_blackboard_retrieval(
         self, bt_ports_handler: BtPortsHandler
     ) -> List["ScxmlState"]:
         generated_states: List[ScxmlState] = [self]
-        if bt_ports_handler.has_blackboard_inputs():
-            assert not has_bt_blackboard_input(self._on_entry, bt_ports_handler), (
-                f"Error: SCXML state {self.get_id()}: reading blackboard variables from onentry. "
-                "This isn't yet supported."
-            )
-            assert not has_bt_blackboard_input(self._on_exit, bt_ports_handler), (
-                f"Error: SCXML state {self.get_id()}: reading blackboard variables from onexit. "
-                "This isn't yet supported."
-            )
-            for transition in self._body:
-                if transition.has_bt_blackboard_input(bt_ports_handler):
-                    # Prepare the new state using the received BT info
-                    states_count = len(generated_states)
-                    new_state_id = f"{self.get_id()}_{transition.get_tag_name()}_{states_count}"
-                    new_state = ScxmlState(new_state_id)
-                    blackboard_transition = ScxmlTransition(
-                        transition.get_target_state_id(),
-                        [BT_BLACKBOARD_GET],
-                        body=transition.get_body(),
-                    )
-                    new_state.add_transition(blackboard_transition)
-                    generated_states.append(new_state)
-                    # Set the new target and body to the original transition
-                    transition.set_target_state_id(new_state_id)
-                    transition.set_body([ScxmlSend(BT_BLACKBOARD_REQUEST)])
+        assert not has_bt_blackboard_input(self._on_entry, bt_ports_handler), (
+            f"Error: SCXML state {self.get_id()}: reading blackboard variables from onentry. "
+            "This isn't yet supported."
+        )
+        assert not has_bt_blackboard_input(self._on_exit, bt_ports_handler), (
+            f"Error: SCXML state {self.get_id()}: reading blackboard variables from onexit. "
+            "This isn't yet supported."
+        )
+        for transition in self._body:
+            if transition.has_bt_blackboard_input(bt_ports_handler):
+                # Prepare the new state using the received BT info
+                states_count = len(generated_states)
+                new_state_id = f"{self.get_id()}_{transition.get_tag_name()}_{states_count}"
+                new_state = ScxmlState(new_state_id)
+                blackboard_transition = ScxmlTransition(
+                    transition.get_target_state_id(),
+                    [BT_BLACKBOARD_GET],
+                    body=transition.get_body(),
+                )
+                new_state.add_transition(blackboard_transition)
+                generated_states.append(new_state)
+                # Set the new target and body to the original transition
+                transition.set_target_state_id(new_state_id)
+                transition.set_body([ScxmlSend(BT_BLACKBOARD_REQUEST)])
         return generated_states
 
     def _substitute_bt_events_and_ports(

test/jani_generator/_test_data/grid_robot_blackboard_simple/properties.jani

@@ -21,39 +21,6 @@
                     "op": "initial"
                 }
             }
-        },
-        {
-            "name": "at_goal",
-            "expression": {
-                "op": "filter",
-                "fun": "values",
-                "values": {
-                    "op": "Pmin",
-                    "exp": {
-                        "op": "F",
-                        "exp": {
-                            "op": "∧",
-                            "left": "topic_goal_msg.valid",
-                            "right": {
-                                "op": "∧",
-                                "left": {
-                                    "op": "=",
-                                    "left": "topic_pose_msg.ros_fields__x",
-                                    "right": "topic_goal_msg.ros_fields__x"
-                                },
-                                "right": {
-                                    "op": "=",
-                                    "left": "topic_pose_msg.ros_fields__y",
-                                    "right": "topic_goal_msg.ros_fields__y"
-                                }
-                            }
-                        }
-                    }
-                },
-                "states": {
-                    "op": "initial"
-                }
-            }
         }
     ]
 }