Skip to content

Example on how to use the schema #132

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Draft
ct2034 wants to merge 3 commits into
base: main
Choose a base branch
from
Draft

Example on how to use the schema #132

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
824f667
how to use the schema
ct2034 Aug 5, 2025
c6f3140
It should be called roaml
ct2034 Oct 13, 2025
199bed2
using wip schemata in quick example
ct2034 Oct 13, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 4 additions & 3 deletions examples/quick_start_battery_monitor/battery_drainer.scxml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,10 +1,11 @@
<?xml version="1.0" encoding="UTF-8"?>
<scxml
<ascxml
initial="use_battery"
version="1.0"
name="BatteryDrainer"
model_src=""
xmlns="http://www.w3.org/2005/07/scxml">
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="https://github.com/convince-project/data-model/raw/refs/heads/fix_root_tag/data-format-specifications/skill-components-(A)SCXML/ascxml_component.xsd">

<datamodel>
<data id="battery_percent" expr="100" type="int16" />
Expand All @@ -27,4 +28,4 @@
<assign location="battery_percent" expr="100" />
</ros_topic_callback>
</state>
</scxml>
</ascxml>
7 changes: 4 additions & 3 deletions examples/quick_start_battery_monitor/battery_manager.scxml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,10 +1,11 @@
<?xml version="1.0" encoding="UTF-8"?>
<scxml
<ascxml
initial="check_battery"
version="1.0"
name="BatteryManager"
model_src=""
xmlns="http://www.w3.org/2005/07/scxml">
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="https://github.com/convince-project/data-model/raw/refs/heads/fix_root_tag/data-format-specifications/skill-components-(A)SCXML/ascxml_component.xsd">

<datamodel>
<data id="battery_alarm" expr="false" type="bool" />
Expand All @@ -23,4 +24,4 @@
</ros_topic_publish>
</onentry>
</state>
</scxml>
</ascxml>
7 changes: 4 additions & 3 deletions examples/quick_start_battery_monitor/bt_topic_action.scxml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,10 +1,11 @@
<?xml version="1.0" encoding="UTF-8"?>
<scxml
<ascxml
initial="initial"
version="1.0"
name="TopicAction"
model_src=""
xmlns="http://www.w3.org/2005/07/scxml">
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="https://github.com/convince-project/data-model/raw/refs/heads/fix_root_tag/data-format-specifications/bt-plugin-ASCXML/bt_plugin.xsd">

<ros_topic_publisher topic="charge" type="std_msgs/Empty" />

Expand All @@ -21,4 +22,4 @@
</bt_halt>
</state>

</scxml>
</ascxml>
10 changes: 6 additions & 4 deletions examples/quick_start_battery_monitor/bt_topic_condition.scxml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,10 +1,11 @@
<?xml version="1.0" encoding="UTF-8"?>
<scxml
<ascxml
initial="initial"
version="1.0"
name="TopicCondition"
model_src=""
xmlns="http://www.w3.org/2005/07/scxml">
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="https://github.com/convince-project/data-model/raw/refs/heads/fix_root_tag/data-format-specifications/bt-plugin-ASCXML/bt_plugin.xsd">

<datamodel>
<data id="last_msg" expr="false" type="bool" />
Expand All @@ -13,7 +14,8 @@
<ros_topic_subscriber topic="alarm" type="std_msgs/Bool" />

<!-- Assumption: We get an event when the node is ticked by the BT, named "bt_tick". -->
<!-- Assumption: We have to send an event to the BT, that is either "bt_success" or "bt_failure". -->
<!-- Assumption: We have to send an event to the BT, that is either "bt_success" or
"bt_failure". -->

<state id="initial">
<ros_topic_callback name="alarm" target="initial">
Expand All @@ -31,4 +33,4 @@
</bt_halt>
</state>

</scxml>
</ascxml>
6 changes: 4 additions & 2 deletions examples/quick_start_battery_monitor/main.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,6 @@
<convince_mc_tc>
<roaml
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="https://github.com/convince-project/data-model/raw/refs/heads/fix_root_tag/data-format-specifications/RoAML-XML/main.xsd">
<mc_parameters>
<max_time value="100" unit="s" />
<bt_tick_rate value="1.0" />
Expand All @@ -19,4 +21,4 @@
<properties>
<input type="jani" src="./battery_properties.jani" />
</properties>
</convince_mc_tc>
</roaml>