Support variables, references to members, late-initialization

.github/linters/.pylintrc

@@ -3,7 +3,7 @@ ignore-paths=.*/osc2_parsing/.*
 
 [MESSAGES CONTROL]
 max-line-length=140
-disable=no-self-use,anomalous-backslash-in-string,too-many-arguments,too-few-public-methods,too-many-instance-attributes,redefined-variable-type,unused-argument,bad-continuation,too-many-lines,too-many-branches,locally-disabled,too-many-locals,too-many-statements,duplicate-code,too-many-nested-blocks,fixme,useless-object-inheritance,no-else-raise,no-else-break,unnecessary-pass,no-else-return,super-with-arguments,no-else-continue,bad-option-value,consider-using-dict-items,consider-using-f-string,line-too-long,wrong-import-order,missing-function-docstring,missing-class-docstring,f-string-without-interpolation,import-error,missing-module-docstring,consider-using-with,unspecified-encoding
+disable=attribute-defined-outside-init,no-self-use,anomalous-backslash-in-string,too-many-arguments,too-few-public-methods,too-many-instance-attributes,redefined-variable-type,unused-argument,bad-continuation,too-many-lines,too-many-branches,locally-disabled,too-many-locals,too-many-statements,duplicate-code,too-many-nested-blocks,fixme,useless-object-inheritance,no-else-raise,no-else-break,unnecessary-pass,no-else-return,super-with-arguments,no-else-continue,bad-option-value,consider-using-dict-items,consider-using-f-string,line-too-long,wrong-import-order,missing-function-docstring,missing-class-docstring,f-string-without-interpolation,import-error,missing-module-docstring,consider-using-with,unspecified-encoding
 ignored-modules=geometry_msgs,py_trees,launch
 variable-rgx=[a-z0-9_]{1,40}$
 function-rgx=[a-z0-9_]{1,40}$

.github/workflows/test_build.yml

@@ -56,9 +56,9 @@ jobs:
           export ROS_DOMAIN_ID=2
           colcon test --packages-select \
           scenario_execution \
-          scenario_execution_gazebo \
           scenario_execution_os \
           scenario_coverage \
+          scenario_execution_test \
           --event-handlers console_direct+ \
           --return-code-on-test-failure \
           --pytest-args \
@@ -93,6 +93,7 @@ jobs:
           export ROS_DOMAIN_ID=2
           colcon test --packages-select \
           scenario_execution_ros \
+          scenario_execution_ros_test \
           --event-handlers console_direct+ \
           --return-code-on-test-failure \
           --pytest-args \
@@ -340,6 +341,7 @@ jobs:
   test-scenario-execution-gazebo:
     needs: [build]
     runs-on: intellabs-01
+    timeout-minutes: 30
     container:
       image: ghcr.io/intellabs/scenario-execution:humble
       credentials:
@@ -367,8 +369,8 @@ jobs:
         uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
         if: always()
         with:
-          name: test-example-simulation-result
-          path: test_example_simulation/test.xml
+          name: test-scenario-execution-gazebo
+          path: test_scenario_execution_gazebo/test.xml
   tests:
     needs: 
     - test-scenario-execution
@@ -389,22 +391,29 @@ jobs:
         uses: actions/download-artifact@7a1cd3216ca9260cd8022db641d960b1db4d1be4 #v4.0
         with:
           path: downloaded-artifacts
+      - name: Restore cache
+        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
+        with:
+          key: ${{ runner.os }}-build-${{ github.run_number }}
+          path: .
       - name: Publish Test Results
-        uses: EnricoMi/publish-unit-test-result-action@f355d34d53ad4e7f506f699478db2dd71da9de5f #v2.15.1
+        uses: EnricoMi/publish-unit-test-result-action@30eadd5010312f995f0d3b3cff7fe2984f69409e #v2.16.1
         with:
           check_name: Test Results
-          check_run: false
           action_fail: true
           comment_mode: always
           files: |
             downloaded-artifacts/test-scenario-execution/scenario_execution/TEST.xml
-            downloaded-artifacts/test-scenario-execution-ros/scenario_execution_ros/TEST.xml
             downloaded-artifacts/test-scenario-execution/scenario_coverage/TEST.xml
             downloaded-artifacts/test-scenario-execution/libs/scenario_execution_os/TEST.xml
+            downloaded-artifacts/test-scenario-execution/test/scenario_execution_test/TEST.xml
+            downloaded-artifacts/test-scenario-execution-ros/scenario_execution_ros/TEST.xml
+            downloaded-artifacts/test-scenario-execution-ros/test/scenario_execution_ros_test/TEST.xml
             downloaded-artifacts/test-example-scenario-result/test.xml
             downloaded-artifacts/test-example-library-result/test.xml
             downloaded-artifacts/test-example-variation-result/test.xml
             downloaded-artifacts/test-example-nav2-result/test.xml
             downloaded-artifacts/test-example-simulation-result/test.xml
             downloaded-artifacts/test-example-multirobot-result/test.xml
             downloaded-artifacts/test-example-external-method-result/test.xml
+            downloaded-artifacts/test-scenario-execution-gazebo/test.xml

docs/development.rst

@@ -94,3 +94,4 @@ Implement an Action
    - Make use of ``self.feedback_message``
    - Make use of ``kwargs['logger']``, available in ``setup()``
    - If you want to draw markers for RViz, use ``kwargs['marker_handler']``, available in ``setup()`` (with ROS backend)
+- Use arguments from ``__init__()`` for longer running initializations in ``setup()`` and the arguments from ``execute()`` to set values just before executing the action.

docs/libraries.rst

@@ -203,19 +203,17 @@ Check the latency of the specified topic (in system time). If the check with `co
 
 ``check_data()``
 """"""""""""""""
-Wait for a topic message, compare a message field against a specific value.
-
-In the background, this action uses `check_data() <https://py-trees-ros.readthedocs.io/en/devel/modules.html#py_trees_ros.subscribers.CheckData>`__ from `py_trees_ros <https://github.com/splintered-reality/py_trees_ros>`__.
+Compare received topic messages using the given ``comparison_operator``, against the specified value. Either the whole message gets compared or a member defined by ``member_name``.
 
 - ``topic_name: string``: Name of the topic to connect to
 - ``topic_type: string``: Class of the message type (e.g. ``std_msgs.msg.String``)
 - ``qos_profile: qos_preset_profiles``: QoS Preset Profile for the subscriber (default: ``qos_preset_profiles!system_default``)
-- ``variable_name: string``: Name of the variable to check
-- ``expected_value: string``: Expected value of the variable
+- ``member_name: string``: Name of the type member to check. If empty, the whole type is checked (default: ``""``)
+- ``expected_value: string``: Expected value
 - ``comparison_operator: comparison_operator``: The comparison operator to apply (default: ``comparison_operator!eq``)
 - ``fail_if_no_data: bool``: return failure if there is no data yet (default: ``false``)
 - ``fail_if_bad_comparison: bool``: return failure if comparison failed (default: ``true``)
-- ``clearing_policy: clearing_policy``: When to clear the data (default: ``clearing_policy!on_initialise``)
+- ``wait_for_first_message: bool``: start checking with the first received message after action execution. If false, the check is executed on the last received message. (default: ``true``)
 
 ``differential_drive_robot.init_nav2()``
 """"""""""""""""""""""""""""""""""""""""

docs/tutorials.rst

@@ -90,27 +90,28 @@ Then, we can write the implementation of action plugin in Python.
 
 .. code-block::
 
-   import py_trees
+   from scenario_execution.actions.base_action import BaseAction
 
-   # define the py_trees behavior
-   class CustomAction(py_trees.behaviour.Behaviour):
+   class CustomAction(BaseAction):
 
-       # Override the __init__ function to accept parsed arguments.
-       def __init__(self, name, data: str):
-           super().__init__(name)
+       def __init__(self, data: str):
+           super().__init__()
+
+       def execute(self, data: str):
            self.data = data
 
-       # Override the update function to define how the behavior is ticking.
        def update(self):
            print(f"Custom Action Triggered. Data: {self.data}")
            return py_trees.common.Status.SUCCESS
 
 
 In the example, we created a custom action plugin to print a message on the
-screen. The first step is to create a ``py_trees`` behavior for the action
-plugin. First, override the ``__init__()`` function to accept the parsed
-parameter from the action plugin. Beside the fixed parameter ``name`` all parameters defined within the OpenSCENARIO 2 file
-are handed over to `__init__`. 
+screen. The first step is to create an action implementation, based on the class ``BaseAction``. 
+There are two methods that can be overloaded in order to receive the action arguments as defined in the osc file. 
+The first is the ``__init__()`` function which gets the argument values as they get initialized during parsing the scenario file.
+The second is the ``execute()`` function which gets the argument values as they are currently defined at the time the action gets executed.
+This allows to initialize the action and then set the latest values just before the action gets triggered.
+
 The action plugin ``custom_action`` only defines one parameter ``data``, so the behavior only has to accept ``data`` as an
 argument. Then, override the ``update()`` function to define how the
 behavior works. In this case, the behavior prints the message on the screen

examples/example_library/example_library/actions/custom_action.py

@@ -16,17 +16,18 @@
 
 """ Example for creating an action plugin for scenario execution """
 import py_trees
+from scenario_execution.actions.base_action import BaseAction
 
 
-class CustomAction(py_trees.behaviour.Behaviour):
-    # pylint: disable=missing-class-docstring
-    # Override the __init__ function to accept parsed arguments.
-    def __init__(self, name, data: str):
-        super().__init__(name)
+class CustomAction(BaseAction):
+
+    def __init__(self, data: str):  # get action arguments, at the time of initialization
+        super().__init__()
+
+    def execute(self, data: str):  # get action arguments, at the time of execution (may got updated during scenario execution)
         self.data = data
 
     # Override the update function to define how the behavior is ticking.
     def update(self):
-        # pylint: disable=missing-function-docstring
         print(f"Custom Action Triggered. Data: {self.data}")
         return py_trees.common.Status.SUCCESS

libs/scenario_execution_os/scenario_execution_os/actions/check_file_exists.py

@@ -16,15 +16,16 @@
 
 import os
 import py_trees
+from scenario_execution.actions.base_action import BaseAction
 
 
-class CheckFileExists(py_trees.behaviour.Behaviour):
+class CheckFileExists(BaseAction):
     """
-    Check existance of a file
+    Check existence of a file
     """
 
-    def __init__(self, name, file_name):
-        super().__init__(name)
+    def __init__(self, file_name):
+        super().__init__()
         self.file_name = file_name
 
     def update(self) -> py_trees.common.Status:

libs/scenario_execution_os/scenario_execution_os/actions/check_file_not_exists.py

@@ -16,15 +16,16 @@
 
 import os
 import py_trees
+from scenario_execution.actions.base_action import BaseAction
 
 
-class CheckFileNotExists(py_trees.behaviour.Behaviour):
+class CheckFileNotExists(BaseAction):
     """
     Check that a file does not exist
     """
 
-    def __init__(self, name, file_name):
-        super().__init__(name)
+    def __init__(self, file_name):
+        super().__init__()
         self.file_name = file_name
 
     def update(self) -> py_trees.common.Status:

libs/scenario_execution_os/test/test_check_file_exists.py

@@ -14,6 +14,7 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
+import py_trees
 import unittest
 import tempfile
 from scenario_execution import ScenarioExecution
@@ -24,18 +25,25 @@
 from antlr4.InputStream import InputStream
 
 
-class TestCheckData(unittest.TestCase):
+class TestCheckFileExists(unittest.TestCase):
     # pylint: disable=missing-function-docstring,missing-class-docstring
 
     def setUp(self) -> None:
         self.parser = OpenScenario2Parser(Logger('test', False))
         self.scenario_execution = ScenarioExecution(debug=False, log_model=False, live_tree=False,
                                                     scenario_file="test.osc", output_dir=None)
+        self.tree = py_trees.composites.Sequence()
         self.tmp_file = tempfile.NamedTemporaryFile()
-        print(self.tmp_file.name)
+
+    def parse(self, scenario_content):
+        parsed_tree = self.parser.parse_input_stream(InputStream(scenario_content))
+        model = self.parser.create_internal_model(parsed_tree, self.tree, "test.osc", False)
+        create_py_tree(model, self.tree, self.parser.logger, False)
+        self.scenario_execution.tree = self.tree
+        self.scenario_execution.run()
 
     def test_success(self):
-        scenario_content = """
+        self.parse("""
 import osc.os
 
 scenario test:
@@ -46,17 +54,11 @@ def test_success(self):
         time_out: serial:
             wait elapsed(1s)
             emit fail
-"""
-
-        parsed_tree = self.parser.parse_input_stream(InputStream(scenario_content))
-        model = self.parser.create_internal_model(parsed_tree, "test.osc", False)
-        scenarios = create_py_tree(model, self.parser.logger, False)
-        self.scenario_execution.scenarios = scenarios
-        self.scenario_execution.run()
+""")
         self.assertTrue(self.scenario_execution.process_results())
 
     def test_fail(self):
-        scenario_content = """
+        self.parse("""
 import osc.os
 
 scenario test:
@@ -67,11 +69,5 @@ def test_fail(self):
         time_out: serial:
             wait elapsed(1s)
             emit fail
-"""
-
-        parsed_tree = self.parser.parse_input_stream(InputStream(scenario_content))
-        model = self.parser.create_internal_model(parsed_tree, "test.osc", False)
-        scenarios = create_py_tree(model, self.parser.logger, False)
-        self.scenario_execution.scenarios = scenarios
-        self.scenario_execution.run()
+""")
         self.assertFalse(self.scenario_execution.process_results())

libs/scenario_execution_os/test/test_check_file_not_exists.py

@@ -16,6 +16,7 @@
 
 import unittest
 import tempfile
+import py_trees
 from scenario_execution import ScenarioExecution
 from scenario_execution.model.osc2_parser import OpenScenario2Parser
 from scenario_execution.model.model_to_py_tree import create_py_tree
@@ -24,18 +25,25 @@
 from antlr4.InputStream import InputStream
 
 
-class TestCheckData(unittest.TestCase):
+class TestCheckFileNotExists(unittest.TestCase):
     # pylint: disable=missing-function-docstring,missing-class-docstring
 
     def setUp(self) -> None:
         self.parser = OpenScenario2Parser(Logger('test', False))
         self.scenario_execution = ScenarioExecution(debug=False, log_model=False, live_tree=False,
                                                     scenario_file="test.osc", output_dir=None)
+        self.tree = py_trees.composites.Sequence()
         self.tmp_file = tempfile.NamedTemporaryFile()
-        print(self.tmp_file.name)
+
+    def parse(self, scenario_content):
+        parsed_tree = self.parser.parse_input_stream(InputStream(scenario_content))
+        model = self.parser.create_internal_model(parsed_tree, self.tree, "test.osc", False)
+        create_py_tree(model, self.tree, self.parser.logger, log_tree=False)
+        self.scenario_execution.tree = self.tree
+        self.scenario_execution.run()
 
     def test_success(self):
-        scenario_content = """
+        self.parse("""
 import osc.os
 
 scenario test:
@@ -46,17 +54,11 @@ def test_success(self):
         time_out: serial:
             wait elapsed(1s)
             emit fail
-"""
-
-        parsed_tree = self.parser.parse_input_stream(InputStream(scenario_content))
-        model = self.parser.create_internal_model(parsed_tree, "test.osc", False)
-        scenarios = create_py_tree(model, self.parser.logger, False)
-        self.scenario_execution.scenarios = scenarios
-        self.scenario_execution.run()
+""")
         self.assertTrue(self.scenario_execution.process_results())
 
     def test_fail(self):
-        scenario_content = """
+        self.parse("""
 import osc.os
 
 scenario test:
@@ -67,11 +69,5 @@ def test_fail(self):
         time_out: serial:
             wait elapsed(1s)
             emit fail
-"""
-
-        parsed_tree = self.parser.parse_input_stream(InputStream(scenario_content))
-        model = self.parser.create_internal_model(parsed_tree, "test.osc", False)
-        scenarios = create_py_tree(model, self.parser.logger, False)
-        self.scenario_execution.scenarios = scenarios
-        self.scenario_execution.run()
+""")
         self.assertFalse(self.scenario_execution.process_results())

scenario_coverage/scenario_coverage/scenario_batch_execution.py

@@ -172,6 +172,7 @@ def combine_test_xml(self):
                     print(f"### XML file has no 'testsuite' element. {test_file}")
 
             if not parsed_successfully:
+                total_errors += 1
                 missing_test_elem = ET.Element('testcase')
                 missing_test_elem.set("classname", "tests.scenario")
                 missing_test_elem.set("name", "no_test_result")

scenario_coverage/scenario_coverage/scenario_variation.py

@@ -22,7 +22,7 @@
 from copy import deepcopy
 
 import yaml
-
+import py_trees
 from scenario_execution.model.osc2_parser import OpenScenario2Parser
 from scenario_execution.model.model_resolver import resolve_internal_model
 from scenario_execution.model.types import RelationExpression, ListExpression, FieldAccessExpression, Expression, print_tree, serialize, to_string
@@ -130,7 +130,8 @@ def save_resulting_scenarios(self, models):
             if self.debug:
                 print_tree(model[0], self.logger)
             try:
-                resolve_internal_model(model[0], self.logger, False)
+                tree = py_trees.composites.Sequence()
+                resolve_internal_model(model[0], tree, self.logger, False)
             except ValueError as e:
                 raise ValueError(f"Resulting model is not resolvable: {e}") from e