Test for reactive sequence

Signed-off-by: Marco Lampacrescia <marco.lampacrescia@de.bosch.com>

src/as2fm/resources/bt_control_nodes/always_failure.scxml

@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+    xmlns="http://www.w3.org/2005/07/scxml"
+    initial="idle"
+    version="1.0"
+    name="AlwaysFailure"
+    model_src="https://raw.githubusercontent.com/BehaviorTree/BehaviorTree.CPP/refs/heads/v3.8/include/behaviortree_cpp_v3/actions/always_failure_node.h">
+
+    <!-- A default BT port reporting the amount of children -->
+    <bt_declare_port_in key="CHILDREN_COUNT" type="int8" />
+
+    <datamodel>
+        <data id="children_count" type="int8">
+            <expr>
+                <bt_get_input key="CHILDREN_COUNT" />
+            </expr>
+        </data>
+    </datamodel>
+
+    <state id="idle">
+        <!-- Check if the state is valid. If not, go to error and stop -->
+        <transition target="error" cond="children_count != 0" />
+        <!-- React to an incoming BT Tick -->
+        <bt_tick target="idle">
+            <bt_return_status status="FAILURE" />
+        </bt_tick>
+    </state>
+
+    <!-- A state to transition to when something did not work -->
+    <state id="error" />
+
+</scxml>

src/as2fm/resources/bt_control_nodes/always_success.scxml

@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+    xmlns="http://www.w3.org/2005/07/scxml"
+    initial="idle"
+    version="1.0"
+    name="AlwaysSuccess"
+    model_src="https://raw.githubusercontent.com/BehaviorTree/BehaviorTree.CPP/refs/heads/v3.8/include/behaviortree_cpp_v3/actions/always_success_node.h">
+
+    <!-- A default BT port reporting the amount of children -->
+    <bt_declare_port_in key="CHILDREN_COUNT" type="int8" />
+
+    <datamodel>
+        <data id="children_count" type="int8">
+            <expr>
+                <bt_get_input key="CHILDREN_COUNT" />
+            </expr>
+        </data>
+    </datamodel>
+
+    <state id="idle">
+        <!-- Check if the state is valid. If not, go to error and stop -->
+        <transition target="error" cond="children_count != 0" />
+        <!-- React to an incoming BT Tick -->
+        <bt_tick target="idle">
+            <bt_return_status status="SUCCESS" />
+        </bt_tick>
+    </state>
+
+    <!-- A state to transition to when something did not work -->
+    <state id="error" />
+
+</scxml>

test/jani_generator/_test_data/bt_test_models/bt_count_ticks.scxml

@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+    xmlns="http://www.w3.org/2005/07/scxml"
+    initial="initial"
+    version="1.0"
+    name="BtCountTicks"
+    model_src="">
+
+    <datamodel>
+        <data id="counter" type="int16" expr="0" />
+    </datamodel>
+
+    <bt_declare_port_in key="topic_name" type="string" />
+
+    <ros_topic_publisher type="std_msgs/Int16" name="counter_pub">
+        <topic>
+            <bt_get_input key="topic_name" />
+        </topic>
+    </ros_topic_publisher>
+
+    <state id="initial">
+        <bt_tick target="initial">
+            <assign location="counter" expr="counter + 1" />
+            <ros_topic_publish name="counter_pub">
+                <field name="data" expr="counter" />
+            </ros_topic_publish>
+            <bt_return_status status="SUCCESS" />
+        </bt_tick>
+    </state>
+
+</scxml>

test/jani_generator/_test_data/bt_test_models/bt_test_reactive_sequence.xml

@@ -0,0 +1,10 @@
+<!-- First test: We expect that tick_count_0 is ticked multiple times and tick_count_1 is never ticked -->
+<root BTCPP_format="4" >
+    <BehaviorTree ID="MainTree">
+        <ReactiveSequence name="root_sequence">
+            <Action ID="BtCountTicks" topic_name="tick_count_0" />
+            <Action ID="AlwaysFailure" />
+            <Action ID="BtCountTicks" topic_name="tick_count_1" />
+        </ReactiveSequence>
+    </BehaviorTree>
+</root>

test/jani_generator/_test_data/bt_test_models/main_test_reactive_sequence.xml

@@ -0,0 +1,15 @@
+<convince_mc_tc>
+    <mc_parameters>
+        <max_time value="100" unit="s" />
+        <bt_tick_rate value="1.0" />
+    </mc_parameters>
+
+    <behavior_tree>
+        <input type="bt.cpp-xml" src="./bt_test_reactive_sequence.xml" />
+        <input type="bt-plugin-ros-scxml" src="./bt_count_ticks.scxml" />
+    </behavior_tree>
+
+    <properties>
+        <input type="jani" src="./property_test_reactive_sequence.jani" />
+    </properties>
+</convince_mc_tc>

test/jani_generator/_test_data/bt_test_models/property_test_reactive_sequence.jani

@@ -0,0 +1,36 @@
+{
+    "properties": [
+        {
+            "name": "ten_tick_zero_no_tick_one",
+            "expression": {
+                "op": "filter",
+                "fun": "values",
+                "values": {
+                    "op": "Pmin",
+                    "exp": {
+                        "step-bounds": {
+                            "lower": 100
+                        },
+                        "left": true,
+                        "op": "U",
+                        "right": {
+                            "left": {
+                                "op": "=",
+                                "left": "topic_tick_count_0_msg.ros_fields__data",
+                                "right": 10
+                            },
+                            "op": "∧",
+                            "right": {
+                                "op": "¬",
+                                "exp": "topic_tick_count_1_msg.valid"
+                            }
+                        }
+                    }
+                },
+                "states": {
+                    "op": "initial"
+                }
+            }
+        }
+    ]
+}

test/jani_generator/test_systemtest_behavior_tree_scxml.py

@@ -0,0 +1,77 @@
+# Copyright (c) 2024 - for information on the respective copyright owner
+# see the NOTICE file
+
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+
+#     http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Test the SCXML conversion to JANI"""
+
+import os
+import unittest
+
+import pytest
+
+from as2fm.jani_generator.scxml_helpers.top_level_interpreter import interpret_top_level_xml
+
+from ..as2fm_common.test_utilities_smc_storm import run_smc_storm_with_output
+
+
+# pylint: disable=too-many-public-methods
+class TestConversion(unittest.TestCase):
+    """
+    Test the conversion of SCXML to JANI.
+    """
+
+    def _test_with_main(self, path_to_main_xml: str, property_name: str, success: bool):
+        """
+        Testing the model resulting from the main xml file with the entrypoint.
+
+        :param path_to_main_xml: The path to the main xml file.
+        :param property_name: The property name to test.
+        :param success: If the property is expected to be always satisfied or always not satisfied.
+        """
+        test_folder = os.path.join(os.path.dirname(__file__), "_test_data")
+        main_xml_full_path = os.path.join(test_folder, path_to_main_xml)
+        generated_scxml_path = "generated_plain_scxml"
+        jani_file = "main.jani"
+        test_folder = os.path.dirname(main_xml_full_path)
+        interpret_top_level_xml(main_xml_full_path, "main.jani", generated_scxml_path)
+        jani_file_path = os.path.join(test_folder, jani_file)
+        generated_scxml_path = os.path.join(test_folder, generated_scxml_path)
+        self.assertTrue(os.path.exists(jani_file_path))
+        pos_res = "Result: 1" if success else "Result: 0"
+        neg_res = "Result: 0" if success else "Result: 1"
+        run_smc_storm_with_output(
+            f"--model {jani_file_path} --properties-names {property_name}",
+            [property_name, jani_file_path, pos_res],
+            [neg_res],
+        )
+        # Remove generated file (in case of test passed)
+        if os.path.exists(jani_file_path):
+            os.remove(jani_file_path)
+        if os.path.exists(generated_scxml_path):
+            for file in os.listdir(generated_scxml_path):
+                assert file.endswith(".scxml")
+                os.remove(os.path.join(generated_scxml_path, file))
+            os.removedirs(generated_scxml_path)
+
+    def test_reactive_sequence(self):
+        """Test the reactive_sequence behavior."""
+        self._test_with_main(
+            os.path.join("bt_test_models", "main_test_reactive_sequence.xml"),
+            "ten_tick_zero_no_tick_one",
+            True,
+        )
+
+
+if __name__ == "__main__":
+    pytest.main(["-s", "-v", __file__])

test/jani_generator/test_systemtest_scxml_to_jani.py

@@ -218,7 +218,7 @@ def _test_with_main(
         :param folder: The folder containing the test data.
         :param store_generated_scxmls: If the generated SCXMLs should be stored.
         :param property_name: The property name to test.
-        :param success: If the property is expected to be always satisfied of always not satisfied.
+        :param success: If the property is expected to be always satisfied or always not satisfied.
         :param skip_smc: If the model shall be executed using SMC (uses smc_storm).
         """
         test_data_dir = os.path.join(os.path.dirname(__file__), "_test_data", folder)