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Introduce blackboard support #71

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merged 58 commits into from
Dec 16, 2024
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b1c63c2
Initial implementation of Blackboard example
MarcoLm993 Nov 26, 2024
f9d05bb
a brand new world
ct2034 Nov 26, 2024
1b09d13
valid xml
ct2034 Nov 26, 2024
d28b03d
Implement some plugins
MarcoLm993 Nov 26, 2024
e949f5b
Continue implementation
MarcoLm993 Nov 27, 2024
1fb5849
Check the BT Tree return status instead of publishing empty msgs
MarcoLm993 Nov 27, 2024
4c24685
Some braindump about how to proceed with the blackboard implementation
MarcoLm993 Nov 27, 2024
87b8f09
Enable the test (will fail)
MarcoLm993 Nov 28, 2024
6d690eb
Implemented unctionality to extract BT variables information from fsm…
MarcoLm993 Nov 28, 2024
2b0df5f
Remove assertions for Blackboard variables in BtPortsHandler
MarcoLm993 Nov 28, 2024
e1c29ba
Add flag to check if there are blackboard variables or not
MarcoLm993 Nov 28, 2024
d8cb76d
Prepare state bt processing for generating additional states
MarcoLm993 Nov 28, 2024
2ec87a7
Code cleanup
MarcoLm993 Nov 29, 2024
9717cdc
Implement the additional states generation
MarcoLm993 Nov 29, 2024
19fe5ad
Generate class to set value through a port
MarcoLm993 Nov 29, 2024
89d02c7
Implement reading from blackboard
MarcoLm993 Nov 29, 2024
a969129
Split BT ports files to break cyclic dependencies
MarcoLm993 Nov 29, 2024
1adf823
First complete bt_out_port scxml class
MarcoLm993 Nov 29, 2024
395f2bc
Add Scxml Blackboard FSM
MarcoLm993 Nov 29, 2024
bf596da
Enable test
MarcoLm993 Nov 29, 2024
f668748
Fixed model
MarcoLm993 Nov 29, 2024
4be98dc
Fixed models
MarcoLm993 Nov 29, 2024
ac88e3a
Quick pass over documentation
MarcoLm993 Dec 9, 2024
7e37d91
Additional property to check actual functionality
MarcoLm993 Dec 9, 2024
9ad0363
Comments for readability
MarcoLm993 Dec 9, 2024
ac9038e
Prepare method for checking the need of reading from the blackboard
MarcoLm993 Dec 9, 2024
09f5a56
Add support for reading blackboard from all other transitions
MarcoLm993 Dec 10, 2024
8736824
Update property name in test of grid_world
MarcoLm993 Dec 10, 2024
1f8819e
Add test and bug circumventing
MarcoLm993 Dec 10, 2024
b87bef2
Proper check for plain scxml of scxml_root object
MarcoLm993 Dec 11, 2024
c8aaaaa
a simple grid example that doesnt work right now
ct2034 Dec 13, 2024
fbfbb69
a bug
ct2034 Dec 14, 2024
59a28f4
bug .. Unknown identifier _event.data.move
ct2034 Dec 14, 2024
508ee9e
but why though?
ct2034 Dec 14, 2024
68b7c7a
also here
ct2034 Dec 14, 2024
4ce9387
Revert "but why though?"
ct2034 Dec 15, 2024
f8cd877
Revert "also here"
ct2034 Dec 15, 2024
7465db1
it does something
ct2034 Dec 15, 2024
6cc80e8
Introduce support for randomness in the model
MarcoLm993 Dec 16, 2024
c0c4e62
this makes a bit more sense
ct2034 Dec 15, 2024
ecfefc1
Differentiating between trigger and data events in executable content
ct2034 Dec 16, 2024
4d22d75
Allow reading output BT variables
MarcoLm993 Dec 16, 2024
2953e42
cleaning up example
ct2034 Dec 16, 2024
d9f6084
works when smaller
ct2034 Dec 16, 2024
c4d6236
updating ground truth after ecfefc135aa66b8c802951f3fb95c9678206425f
ct2034 Dec 16, 2024
ff26900
Remove flag for input blackboards in the full model
MarcoLm993 Dec 16, 2024
b932b4c
running bigger tests
ct2034 Dec 16, 2024
efadf65
handling has_bt_blackboard_input for RosActionHandleGoalResponse
ct2034 Dec 16, 2024
f80e1fc
using randomness
ct2034 Dec 16, 2024
b26c36b
Running 3 goal example
MarcoLm993 Dec 16, 2024
6e005f9
Making n options configurable and fix bt
MarcoLm993 Dec 16, 2024
60f1fb4
3 goals
ct2034 Dec 16, 2024
afc8035
Developed a simple and fast approach, with 3 consecutive goals
MarcoLm993 Dec 16, 2024
36ad842
Naming error fix
MarcoLm993 Dec 16, 2024
c2d74c1
Fix default value of options
MarcoLm993 Dec 16, 2024
f759782
Some more comments
MarcoLm993 Dec 16, 2024
a554237
Update src/as2fm/scxml_converter/bt_converter.py
ct2034 Dec 16, 2024
f34e42e
Update src/as2fm/jani_generator/jani_entries/jani_assignment.py
ct2034 Dec 16, 2024
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also here
Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com>
ct2034 committed Dec 15, 2024
commit 68b7c7a77dd76b584b64829c6a9b6ce7307d59c4
2 changes: 1 addition & 1 deletion src/as2fm/jani_generator/scxml_helpers/scxml_tags.py
Original file line number Diff line number Diff line change
@@ -334,7 +334,7 @@ def _append_scxml_body_to_jani_automaton(
interm_loc_after,
"-".join([hash_str, _hash_element(ec), str(if_idx)]),
jani_cond,
None,
trigger_event,
max_array_size,
)
new_edges.extend(sub_edges)