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Introduce blackboard support #71

Merged
merged 58 commits into from
Dec 16, 2024
Merged

Introduce blackboard support #71

merged 58 commits into from
Dec 16, 2024

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MarcoLm993
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@MarcoLm993 MarcoLm993 commented Nov 29, 2024 •
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The Blackboard support is up and running, together with some very basic documentation about it!

In the current state, we expect that BlackBoard variables are accessed only inside the state body (hence Transitions and related subclasses), and not in the state's onentry and onexit blocks (we can think about removing this limitation later, but for now I think it is fair).
As usual, tests for this new feature have been added and some bugs have been spotted and solved :)

MarcoLm993 and others added 22 commits November 26, 2024 15:57
@MarcoLm993 @ct2034
Initial implementation of Blackboard example
b1c63c2 
Co-authored-by: Christian Henkel <[email protected]>
Signed-off-by: Marco Lampacrescia <[email protected]>
@ct2034
a brand new world
f9d05bb 
Signed-off-by: Christian Henkel <[email protected]>
@ct2034
valid xml
1b09d13 
Signed-off-by: Christian Henkel <[email protected]>
@MarcoLm993
Implement some plugins
d28b03d 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Continue implementation
e949f5b 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Check the BT Tree return status instead of publishing empty msgs
1fb5849 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Some braindump about how to proceed with the blackboard implementation
4c24685 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Enable the test (will fail)
87b8f09 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Implemented unctionality to extract BT variables information from fsm…
6d690eb 
…s in the model

Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Remove assertions for Blackboard variables in BtPortsHandler
2b0df5f 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Add flag to check if there are blackboard variables or not
e1c29ba 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Prepare state bt processing for generating additional states
d8cb76d 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Code cleanup
2ec87a7 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Implement the additional states generation
9717cdc 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Generate class to set value through a port
19fe5ad 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Implement reading from blackboard
89d02c7 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Split BT ports files to break cyclic dependencies
a969129 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
First complete bt_out_port scxml class
1adf823 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Add Scxml Blackboard FSM
395f2bc 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Enable test
bf596da 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Fixed model
f668748 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Fixed models
4be98dc 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993 MarcoLm993 requested review from ct2034 and MKlauck November 29, 2024 17:32
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ct2034 commented Nov 29, 2024

Great work. I will definitely give it a try!

MKlauck
MKlauck reviewed Dec 2, 2024
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Thank you very much for all the effort and for finishing this before your vacation 👍 I guess Christian will have a closer and more detailed look into the code specifics. From my side it already looks great.

docs/source/scxml-jani-conversion.rst Outdated Show resolved Hide resolved
docs/source/scxml-jani-conversion.rst Outdated Show resolved Hide resolved
@ct2034
also here
68b7c7a 
Signed-off-by: Christian Henkel <[email protected]>
@ct2034
Revert "but why though?"
4ce9387 
This reverts commit dc0f1a4.

Signed-off-by: Christian Henkel <[email protected]>
@ct2034
Revert "also here"
f8cd877 
This reverts commit 08115f7.

Signed-off-by: Christian Henkel <[email protected]>
@ct2034
it does something
7465db1 
Signed-off-by: Christian Henkel <[email protected]>
@ct2034 ct2034 force-pushed the introduce-blackboard-support branch from 41b0ce0 to 7465db1 Compare December 15, 2024 20:28
MarcoLm993 and others added 18 commits December 16, 2024 10:24
@MarcoLm993
Introduce support for randomness in the model
6cc80e8 
Signed-off-by: Marco Lampacrescia <[email protected]>
@ct2034
this makes a bit more sense
c0c4e62 
Signed-off-by: Christian Henkel <[email protected]>
@ct2034
Differentiating between trigger and data events in executable content
ecfefc1 
Co-authored-by: Marco Lampacrescia <[email protected]>

Signed-off-by: Christian Henkel <[email protected]>
@MarcoLm993
Allow reading output BT variables
4d22d75 
Signed-off-by: Marco Lampacrescia <[email protected]>
@ct2034
cleaning up example
2953e42 
Signed-off-by: Christian Henkel <[email protected]>
@ct2034
works when smaller
d9f6084 
Signed-off-by: Christian Henkel <[email protected]>
@ct2034
updating ground truth after ecfefc1
c4d6236 
Signed-off-by: Christian Henkel <[email protected]>
@MarcoLm993
Remove flag for input blackboards in the full model
ff26900 
Signed-off-by: Marco Lampacrescia <[email protected]>
@ct2034
running bigger tests
b932b4c 
Signed-off-by: Christian Henkel <[email protected]>
@ct2034
handling has_bt_blackboard_input for RosActionHandleGoalResponse
efadf65 
Signed-off-by: Christian Henkel <[email protected]>
@ct2034
using randomness
f80e1fc 
Signed-off-by: Christian Henkel <[email protected]>
@MarcoLm993
Running 3 goal example
b26c36b 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Making n options configurable and fix bt
6e005f9 
Signed-off-by: Marco Lampacrescia <[email protected]>
@ct2034
3 goals
60f1fb4 
Signed-off-by: Christian Henkel <[email protected]>
@MarcoLm993
Developed a simple and fast approach, with 3 consecutive goals
afc8035 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Naming error fix
36ad842 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Fix default value of options
c2d74c1 
Signed-off-by: Marco Lampacrescia <[email protected]>
@MarcoLm993
Some more comments
f759782 
Signed-off-by: Marco Lampacrescia <[email protected]>
ct2034
ct2034 requested changes Dec 16, 2024
View reviewed changes
docs/source/scxml-jani-conversion.rst Outdated Show resolved Hide resolved
src/as2fm/jani_generator/jani_entries/jani_assignment.py Show resolved Hide resolved
src/as2fm/scxml_converter/bt_converter.py Outdated Show resolved Hide resolved
@MarcoLm993 MarcoLm993 merged commit 1ecf24a into main Dec 16, 2024
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@MarcoLm993 MarcoLm993 deleted the introduce-blackboard-support branch December 16, 2024 15:51
@ct2034 ct2034 mentioned this pull request Jan 8, 2025
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@ct2034 ct2034 ct2034 approved these changes

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@MarcoLm993 @ct2034 @MKlauck