Prepare features before integration week #26
Conversation
Signed-off-by: Marco Lampacrescia <marco.lampacrescia@de.bosch.com> Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com>
Signed-off-by: Marco Lampacrescia <marco.lampacrescia@de.bosch.com>
Signed-off-by: Marco Lampacrescia <marco.lampacrescia@de.bosch.com>
…hreads Signed-off-by: Marco Lampacrescia <marco.lampacrescia@de.bosch.com>
Signed-off-by: Marco Lampacrescia <marco.lampacrescia@de.bosch.com>
Signed-off-by: Marco Lampacrescia <marco.lampacrescia@de.bosch.com>
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This example involves real values, that are currently not supported by STORM.
Use modest for testing this, as in the following:
scxml_to_jani main.xml
modest modes main.jani -R Uniform -T -TF file.csv-R Uniform is used to resolve non-determinism in the resulting state machine, and is required.
-T -TF file.csv is used to generate a file collecting all the generated traces (in case debugging is required), and can be omitted.
Workarounds to make smc_storm able to deal with this kind of model will be implemented.
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Thanks for the amazing work @MarcoLm993. I did not find any blockers. Just some things we can discuss in our next Wednesday hackathon.
| from scxml_converter.scxml_entries.utils import SCXML_DATA_STR_TO_TYPE | ||
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| class RosCommunicationHandler: |
| # Additional self-loop in the waiting state, allowing the global timer to tick | ||
| # only if all events have been processed | ||
| event_automaton.add_edge(JaniEdge({ | ||
| "location": "waiting", | ||
| "destinations": [{ | ||
| "location": "waiting", | ||
| "probability": {"exp": 1.0}, | ||
| "assignments": [] | ||
| }], | ||
| "action": "global_timer_enable" | ||
| })) |
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This is used to ensure we do not have any unprocessed event (that means, there are no event-automata in the "received" state) before advancing the global timer / processing the timer callbacks. In a way, we can say it gives priority to events over timers
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| def convert_scxml_root_to_jani_automaton( | |||
| scxml_root: ScxmlRoot, jani_automaton: JaniAutomaton, events_holder: EventsHolder | |||
| scxml_root: ScxmlRoot, jani_automaton: JaniAutomaton, events_holder: EventsHolder, | |||
| max_array_size: int | |||
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I am not sure if this should be defined globally. We should think about making this per array
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Maybe we need a mix of both: ROS interfaces might contain unbounded arrays, and there we would definitely need to enforce a bound ourselves (e.g. in the Fibonacci example)
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@ste93 The reason for adding you to the PR was mostly to make you aware of the ROS-SCXML format updates in the various examples. Sorry for not mentioning it explicitly earlier. |
* Add support to BT Input Ports Signed-off-by: Marco Lampacrescia <marco.lampacrescia@de.bosch.com> Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * Implement scxml action interface. No conversion to Jani yet Signed-off-by: Marco Lampacrescia <marco.lampacrescia@de.bosch.com> * Add array support in scxml and jani Signed-off-by: Marco Lampacrescia <marco.lampacrescia@de.bosch.com> * Complete action implementation with fibonacci test with one and two threads Signed-off-by: Marco Lampacrescia <marco.lampacrescia@de.bosch.com> * Update basic ROS example Signed-off-by: Marco Lampacrescia <marco.lampacrescia@de.bosch.com> * Introduce robot controller example, fixing issues with real numbers Signed-off-by: Marco Lampacrescia <marco.lampacrescia@de.bosch.com> --------- Signed-off-by: Marco Lampacrescia <marco.lampacrescia@de.bosch.com> Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com>
Features in this PR:
To be implemented in a next PR: