Update uc2 models for paper and adjust random number generator (#77)

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

docs/source/howto.rst

@@ -311,7 +311,8 @@ As in the case of ROS functionalities, BT ports need to be declared before being
 .. code-block:: xml
 
     <bt_declare_port_in key="my_string_port" type="string" />
-    <bt_declare_port_in key="start_value" type="int32">
+    <bt_declare_port_in key="start_value" type="int32" />
+    <bt_declare_port_out key="output_int" type="int32" />
 
 Once declared, it is possible to reference to the port in multiple SCXML entries.
 
@@ -337,8 +338,27 @@ Or we can use `start_value` to define the initial value of a variable.
         </data>
     </datamodel>
 
+Finally, we can store a specific value to the blackboard (only for output ports).
 
-BT ports can also be linked to variables in the `BT Blackboard` by wrapping the variable name in curly braces in the BT XML file. However, this feature is not yet supported.
+.. code-block:: xml
+
+    <state id="some_state">
+        <onentry>
+            ...
+            <bt_set_output key="output_int" expr="new_value_expression" />
+            ...
+        </onentry>
+        ...
+    </state>
+
+
+BT Ports can be declared either as input or output ports:
+
+* input ports can refer to either fixed or mutable variables (i.e. blackboard variables)
+* output ports on only refer to mutable variables
+
+When a BT plugin declares an output port, this must be referenced to a `BT Blackboard` variable.
+This is defined in the BT XML file, by providing a blackboard variable name wrapped by curly braces.
 
 
 .. _main_xml_howto:

src/as2fm/jani_generator/jani_entries/jani_convince_expression_expansion.py

@@ -508,7 +508,7 @@ def expand_expression(
 
 
 def expand_distribution_expressions(
-    expression: JaniExpression, *, n_options: int = 101
+    expression: JaniExpression, *, n_options
 ) -> List[JaniExpression]:
     """
     Traverse the expression and substitute each distribution with n expressions.
@@ -543,8 +543,7 @@ def expand_distribution_expressions(
         dist_width = expression.get_dist_args()[1] - lower_bound
         # Generate a (constant) JaniExpression for each possible outcome
         return [
-            JaniExpression(lower_bound + (x * dist_width / (n_options - 1)))
-            for x in range(n_options)
+            JaniExpression(lower_bound + (x * dist_width / (n_options))) for x in range(n_options)
         ]
     return [expression]
 

src/as2fm/jani_generator/jani_entries/jani_helpers.py

@@ -43,9 +43,7 @@ def _generate_new_edge_for_random_assignments(
     )
 
 
-def _expand_random_variables_in_edge(
-    jani_edge: JaniEdge, *, n_options: int = 101
-) -> List[JaniEdge]:
+def _expand_random_variables_in_edge(jani_edge: JaniEdge, *, n_options: int) -> List[JaniEdge]:
     """
     If there are random variables in the input JaniEdge, generate new edges to handle it.
 
@@ -100,17 +98,19 @@ def _expand_random_variables_in_edge(
     return generated_edges
 
 
-def expand_random_variables_in_jani_model(model: JaniModel, *, n_options: int = 101) -> None:
+def expand_random_variables_in_jani_model(model: JaniModel, *, n_options: int) -> None:
     """Find all expression containing the 'distribution' expression and expand them."""
     # Check that no global variable has a random value (not supported)
     for g_var_name, g_var in model.get_variables().items():
         assert (
-            len(expand_distribution_expressions(g_var.get_init_expr())) == 1
+            len(expand_distribution_expressions(g_var.get_init_expr(), n_options=100)) == 1
         ), f"Global variable {g_var_name} is init using a random value. This is unsupported."
     for automaton in model.get_automata():
         # Also for automaton, check variables initialization
         for aut_var_name, aut_var in automaton.get_variables().items():
-            assert len(expand_distribution_expressions(aut_var.get_init_expr())) == 1, (
+            assert (
+                len(expand_distribution_expressions(aut_var.get_init_expr(), n_options=100)) == 1
+            ), (
                 f"Variable {aut_var_name} in automaton {automaton.get_name()} is init using random "
                 f"values: init expr = '{aut_var.get_init_expr().as_dict()}'. This is unsupported."
             )

src/as2fm/jani_generator/scxml_helpers/scxml_event.py

@@ -21,6 +21,13 @@
 from typing import Dict, List, Optional
 
 from as2fm.jani_generator.ros_helpers.ros_timer import ROS_TIMER_RATE_EVENT_PREFIX
+from as2fm.scxml_converter.scxml_entries.bt_utils import is_bt_response_event, is_bt_tick_event
+from as2fm.scxml_converter.scxml_entries.ros_utils import (
+    is_action_request_event,
+    is_action_result_event,
+    is_action_thread_event,
+    is_srv_event,
+)
 
 
 class EventSender:
@@ -142,3 +149,20 @@ def get_events(self) -> Dict[str, Event]:
     def add_event(self, event: Event):
         assert event.name not in self._events, f"Event {event.name} must not be added twice."
         self._events[event.name] = event
+
+
+def is_event_synched(event_name: str) -> bool:
+    """
+    Check if the event is synched, hence there should not be autogenerated self loops.
+
+    :param event_name: The name of the event to evaluate.
+    """
+    # Action feedbacks are not considered synched, since a client might discard one or more of them
+    return (
+        is_bt_tick_event(event_name)
+        or is_bt_response_event(event_name)
+        or is_action_request_event(event_name)
+        or is_action_result_event(event_name)
+        or is_action_thread_event(event_name)
+        or is_srv_event(event_name)
+    )

src/as2fm/jani_generator/scxml_helpers/scxml_tags.py

@@ -53,7 +53,7 @@
     get_variable_type,
     is_variable_array,
 )
-from as2fm.jani_generator.scxml_helpers.scxml_event import Event, EventsHolder
+from as2fm.jani_generator.scxml_helpers.scxml_event import Event, EventsHolder, is_event_synched
 from as2fm.jani_generator.scxml_helpers.scxml_expression import (
     ArrayInfo,
     parse_ecmascript_to_jani_expression,
@@ -627,6 +627,9 @@ def add_unhandled_transitions(self, transitions_set: Set[str]):
             if event_name in self._events_no_condition or len(event_name) == 0:
                 continue
             guard_exp = self.get_guard_exp_for_prev_conditions(event_name)
+            # If the event was not handled in the state and is expected to be synched, skip it
+            if guard_exp is None and is_event_synched(event_name):
+                continue
             edges, locations = _append_scxml_body_to_jani_automaton(
                 self.automaton,
                 self.events_holder,

src/as2fm/scxml_converter/scxml_entries/bt_utils.py

@@ -76,11 +76,21 @@ def generate_bt_tick_event(instance_id: str) -> str:
     return f"bt_{instance_id}_tick"
 
 
+def is_bt_tick_event(event_name: str) -> bool:
+    """Check is the event is used for ticking a BT node."""
+    return re.match(r"^bt_.+_tick$", event_name) is not None
+
+
 def generate_bt_response_event(instance_id: str) -> str:
     """Generate the BT response event name for a given BT node instance."""
     return f"bt_{instance_id}_response"
 
 
+def is_bt_response_event(event_name: str) -> bool:
+    """Check if the event name is for BT node's responses(success, failure, running)."""
+    return re.match(r"^bt_.+_response$", event_name) is not None
+
+
 def is_bt_event(event_name: str) -> bool:
     """Given an event name, returns whether it is related to a BT event or not."""
     bt_events = [f"bt_{suffix}" for suffix in ["tick", "running", "success", "failure"]]

src/as2fm/scxml_converter/scxml_entries/ros_utils.py

@@ -15,6 +15,7 @@
 
 """Collection of SCXML utilities related to ROS functionalities."""
 
+import re
 from typing import Any, Dict, List, Tuple, Type
 
 from as2fm.scxml_converter.scxml_entries import RosField, ScxmlBase
@@ -196,6 +197,11 @@ def generate_srv_server_response_event(service_name: str) -> str:
     return f"srv_{sanitize_ros_interface_name(service_name)}_response"
 
 
+def is_srv_event(event_name) -> str:
+    """Check whether the event name matches the ROS service plain events pattern."""
+    return re.match(r"^srv_.+_(response|request|req_client).*$", event_name) is not None
+
+
 def generate_action_goal_req_event(action_name: str, client_name: str) -> str:
     """Generate the name of the event that sends an action goal from a client to the server."""
     return f"action_{sanitize_ros_interface_name(action_name)}_goal_req_client_{client_name}"
@@ -262,6 +268,21 @@ def generate_action_result_handle_event(action_name: str, automaton_name: str) -
     )
 
 
+def is_action_request_event(event_name: str) -> bool:
+    """Check whether the event name matches the ROS action plain events pattern."""
+    return re.match(r"^action_.+_goal_.+$", event_name) is not None
+
+
+def is_action_result_event(event_name: str) -> bool:
+    """Check whether the event name matches the ROS action plain events pattern."""
+    return re.match(r"^action_.+_result.*$", event_name) is not None
+
+
+def is_action_thread_event(event_name: str) -> bool:
+    """Check whether the event name matches the ROS action plain events pattern."""
+    return re.match(r"^action_.+_thread_(start|free)$", event_name) is not None
+
+
 class ScxmlRosDeclarationsContainer:
     """Object that contains a description of the ROS declarations in the SCXML root."""
 

test/jani_generator/_test_data/grid_robot_blackboard/world.scxml

@@ -25,8 +25,8 @@
 
     <state id="init">
         <transition target="next_goal">
-            <assign location="pose_x" expr="Math.floor(Math.random() * (n-1))" />
-            <assign location="pose_y" expr="Math.floor(Math.random() * (n-1))" />
+            <assign location="pose_x" expr="Math.floor(Math.random() * n)" />
+            <assign location="pose_y" expr="Math.floor(Math.random() * n)" />
             <ros_topic_publish name="pose">
                 <field name="x" expr="pose_x" />
                 <field name="y" expr="pose_y" />
@@ -36,8 +36,8 @@
 
     <state id="next_goal">
         <transition target="running">
-            <assign location="goal_x" expr="Math.floor(Math.random() * (n-1))" />
-            <assign location="goal_y" expr="Math.floor(Math.random() * (n-1))" />
+            <assign location="goal_x" expr="Math.floor(Math.random() * n)" />
+            <assign location="goal_y" expr="Math.floor(Math.random() * n)" />
             <ros_topic_publish name="goal">
                 <field name="x" expr="goal_x" />
                 <field name="y" expr="goal_y" />

test/jani_generator/_test_data/grid_robot_blackboard_simple/bt_update_goal_and_current_position.scxml

@@ -28,17 +28,17 @@
 
     <state id="init">
         <transition target="next_goal">
-            <assign location="curr_x" expr="Math.floor(Math.random() * (n-1))" />
-            <assign location="curr_y" expr="Math.floor(Math.random() * (n-1))" />
+            <assign location="curr_x" expr="Math.floor(Math.random() * n)" />
+            <assign location="curr_y" expr="Math.floor(Math.random() * n)" />
             <bt_set_output key="curr_x" expr="curr_x" />
             <bt_set_output key="curr_y" expr="curr_y" />
         </transition>
     </state>
 
     <state id="next_goal">
         <transition target="running">
-            <assign location="goal_x" expr="Math.floor(Math.random() * (n-1))" />
-            <assign location="goal_y" expr="Math.floor(Math.random() * (n-1))" />
+            <assign location="goal_x" expr="Math.floor(Math.random() * n)" />
+            <assign location="goal_y" expr="Math.floor(Math.random() * n)" />
             <bt_set_output key="goal_x" expr="goal_x" />
             <bt_set_output key="goal_y" expr="goal_y" />
         </transition>
@@ -48,8 +48,8 @@
         <onentry>
             <if cond="curr_x == goal_x &amp;&amp; curr_y == goal_y">
                 <assign location="goal_count" expr="goal_count + 1" />
-                <assign location="goal_x" expr="Math.floor(Math.random() * (n-1))" />
-                <assign location="goal_y" expr="Math.floor(Math.random() * (n-1))" />
+                <assign location="goal_x" expr="Math.floor(Math.random() * n)" />
+                <assign location="goal_y" expr="Math.floor(Math.random() * n)" />
                 <bt_set_output key="goal_x" expr="goal_x" />
                 <bt_set_output key="goal_y" expr="goal_y" />
             </if>

test/jani_generator/_test_data/uc2_assembly/Main/properties.jani

@@ -1,14 +1,14 @@
 {
     "properties": [
         {
-            "name": "can_execute_recovery_branch",
+            "name": "executes_recovery_branch_or_success",
             "expression": {
                 "op": "filter",
                 "fun": "values",
                 "values": {
                     "op": "Pmin",
                     "exp": {
-                        "comment": "((abort_time > 0) ⇒ (clock < abort_time + 5000)) U (recover_block_running > 0)",
+                        "comment": "((abort_time > 0) ⇒ (clock < abort_time + 5000)) U (recover_block_running > 0 || tree_success)",
                         "op": "U",
                         "left": {
                             "op": "⇒",
@@ -28,9 +28,41 @@
                             }
                         },
                         "right": {
-                            "op": ">",
-                            "left": "topic_uc2__info__properties__recover_block_running_msg.ros_fields__data",
-                            "right": 0
+                            "op": "∨",
+                            "left": {
+                                "op": ">",
+                                "left": "topic_uc2__info__properties__recover_block_running_msg.ros_fields__data",
+                                "right": 0
+                            },
+                            "right": {
+                                "op": "=",
+                                "left": "bt_1000_response.status",
+                                "right": 1,
+                                "comment": "Bt 1000 is always the root, Values = {1: SUCCESS, 2: FAILURE, 3: RUNNING}"
+                            }
+                        }
+                    }
+                },
+                "states": {
+                    "op": "initial"
+                }
+            }
+        },
+        {
+            "name": "move_success",
+            "expression": {
+                "op": "filter",
+                "fun": "values",
+                "values": {
+                    "op": "Pmin",
+                    "exp": {
+                        "comment": "The tree succeeds only in case MoveBlock succeeds, but currently not working, since after recovery the plugin MoveAction will FAIL anyway! This is a problem with the missing reset: when RecoverBlock runs, the MoveAction plugin shall be reset, preventing failure from happening...",
+                        "op": "F",
+                        "exp": {
+                            "op": "=",
+                            "left": "bt_1000_response.status",
+                            "right": 1,
+                            "comment": "Bt 1000 is always the root, Values = {1: SUCCESS, 2: FAILURE, 3: RUNNING}"
                         }
                     }
                 },

test/jani_generator/_test_data/uc2_assembly/Skills/MoveBlockSkill.scxml

@@ -10,7 +10,7 @@
     <ros_action_server name="MoveBlock_action_srv" action_name="/uc2/skills/move_block" type="uc2_interfaces/MoveBlock" />
     <!-- service server regarding block_down information -->
     <ros_service_server name="get_block_status_srv" service_name="/uc2/world/get_block_status" type="uc2_interfaces/GetBlockStatus" />
-	  <ros_service_server name="reset_block_status_srv" service_name="/uc2/world/reset_block_status" type="std_srvs/Empty" />
+    <ros_service_server name="reset_block_status_srv" service_name="/uc2/world/reset_block_status" type="std_srvs/Empty" />
 
     <!-- listen time info and publish abort_time info -->
     <ros_topic_subscriber name="clock_sub" topic="/uc2/info/clock" type="std_msgs/Int32" />
@@ -38,15 +38,15 @@
             <!-- accept goal -->
             <ros_action_accept_goal name="MoveBlock_action_srv" goal_id="goal_id" />
             <!-- compute result -->
-            <assign location="block_down" expr="block_down + 1" />
-            <if cond="(block_down % 2) == 0">
+            <assign location="block_down" expr="Math.floor(Math.random() * 2)" />
+            <if cond="block_down == 0">
                 <!-- then success -->
                 <ros_action_succeed name="MoveBlock_action_srv" goal_id="goal_id" />
             <else/>
                 <!-- else abort -->
                 <!-- publish abort time -->
                 <ros_topic_publish name="moveblock_abort_time_pub">
-				            <field name="data" expr="time" />
+                    <field name="data" expr="time" />
                 </ros_topic_publish>
                 <ros_action_aborted name="MoveBlock_action_srv" goal_id="goal_id" />
             </if>

test/jani_generator/test_systemtest_scxml_to_jani.py

@@ -427,7 +427,7 @@ def test_uc2_assembly(self):
         self._test_with_main(
             os.path.join("uc2_assembly", "Main"),
             model_xml="main.xml",
-            property_name="can_execute_recovery_branch",
+            property_name="executes_recovery_branch_or_success",
             success=True,
         )
 
@@ -436,7 +436,7 @@ def test_uc2_assembly_with_bug(self):
         self._test_with_main(
             os.path.join("uc2_assembly", "Main"),
             model_xml="main_bug.xml",
-            property_name="can_execute_recovery_branch",
+            property_name="executes_recovery_branch_or_success",
             success=False,
         )