fixed ifthenelse node

src/as2fm/resources/bt_control_nodes/if_then_else.ascxml

@@ -38,24 +38,24 @@
 
     <state id="reset_children">
         <onentry>
-            <if cond="current_child_idx &lt; children_count">
-                <bt_halt_child id="current_child_idx" />
+            <if cond="child_idx &lt; children_count">
+                <bt_halt_child id="child_idx" />
             </if>
         </onentry>
-        <bt_child_halted id="current_child_idx" target="reset_children">
-            <assign location="current_child_idx" expr="current_child_idx + 1" />
+        <bt_child_halted id="child_idx" target="reset_children">
+            <assign location="child_idx" expr="child_idx + 1" />
         </bt_child_halted>
-        <transition cond="current_child_idx &gt;= children_count" target="wait_for_tick">
-            <if cond="seq_failure">
+        <transition cond="child_idx &gt;= children_count" target="wait_for_tick">
+            <if cond="ret_failure">
                 <bt_return_status status="FAILURE" />
-            <elseif cond="seq_success" />
+            <elseif cond="ret_success" />
                 <bt_return_status status="SUCCESS" />
             <else/>
                 <bt_return_halted/>
             </if>
-            <assign location="current_child_idx" expr="0" />
-            <assign location="seq_failure" expr="false" />
-            <assign location="seq_success" expr="false" />
+            <assign location="child_idx" expr="0" />
+            <assign location="ret_failure" expr="false" />
+            <assign location="ret_success" expr="false" />
         </transition>
     </state>
 
@@ -86,11 +86,11 @@
         <transition target="error" cond="child_idx >= children_count" />
         <bt_child_status id="child_idx" cond="_bt.status == SUCCESS" target="reset_children">
             <assign location="child_idx" expr="0" />
-            <assign location="seq_success" expr="true" />
+            <assign location="ret_success" expr="true" />
         </bt_child_status>
         <bt_child_status id="child_idx" cond="_bt.status == FAILURE" target="reset_children">
             <assign location="child_idx" expr="0" />
-            <assign location="seq_failure" expr="true" />
+            <assign location="ret_failure" expr="true" />
         </bt_child_status>
         <bt_child_status id="child_idx" cond="_bt.status == RUNNING" target="wait_for_tick">
             <bt_return_status status="RUNNING" />

test/jani_generator/_test_data/bt_test_models/bt_test_ifthenelse_else.xml

@@ -0,0 +1,14 @@
+<!-- Test that as soon as the Sequence returns success (tick_count_3 = 1):
+    - tick_count_0 is ticked one time
+    - tick_count_1 is ticked three times
+    - tick_count_2 is ticked one time
+ -->
+<root BTCPP_format="4" >
+    <BehaviorTree ID="MainTree">
+        <IfThenElse>
+            <Action ID="AlwaysFailure" />
+            <Action ID="BtCountTicks" topic_name="tick_count_then" reset_name="reset_count_then" n_ticks_running="0" />
+            <Action ID="BtCountTicks" topic_name="tick_count_else" reset_name="reset_count_else" n_ticks_running="0" />
+        </IfThenElse>
+    </BehaviorTree>
+</root>

test/jani_generator/_test_data/bt_test_models/bt_test_ifthenelse_then.xml

@@ -0,0 +1,14 @@
+<!-- Test that as soon as the Sequence returns success (tick_count_3 = 1):
+    - tick_count_0 is ticked one time
+    - tick_count_1 is ticked three times
+    - tick_count_2 is ticked one time
+ -->
+<root BTCPP_format="4" >
+    <BehaviorTree ID="MainTree">
+        <IfThenElse>
+            <Action ID="AlwaysSuccess" />
+            <Action ID="BtCountTicks" topic_name="tick_count_then" reset_name="reset_count_then" n_ticks_running="0" />
+            <Action ID="BtCountTicks" topic_name="tick_count_else" reset_name="reset_count_else" n_ticks_running="0" />
+        </IfThenElse>
+    </BehaviorTree>
+</root>

test/jani_generator/_test_data/bt_test_models/main_test_ifthenelse_else.xml

@@ -0,0 +1,16 @@
+<roaml>
+    <parameters>
+        <max_time value="10" unit="s" />
+        <bt_tick_rate value="1.0" />
+        <bt_tick_if_not_running value="true" />
+    </parameters>
+
+    <behavior_tree>
+        <input type="bt.cpp-xml" src="./bt_test_ifthenelse_else.xml" />
+        <input type="bt-plugin-ascxml" src="./bt_count_ticks.ascxml" />
+    </behavior_tree>
+
+    <properties>
+        <input type="jani" src="./property_test_ifthenelse.jani" />
+    </properties>
+</roaml>

test/jani_generator/_test_data/bt_test_models/main_test_ifthenelse_then.xml

@@ -0,0 +1,16 @@
+<roaml>
+    <parameters>
+        <max_time value="10" unit="s" />
+        <bt_tick_rate value="1.0" />
+        <bt_tick_if_not_running value="true" />
+    </parameters>
+
+    <behavior_tree>
+        <input type="bt.cpp-xml" src="./bt_test_ifthenelse_then.xml" />
+        <input type="bt-plugin-ascxml" src="./bt_count_ticks.ascxml" />
+    </behavior_tree>
+
+    <properties>
+        <input type="jani" src="./property_test_ifthenelse.jani" />
+    </properties>
+</roaml>

test/jani_generator/_test_data/bt_test_models/property_test_ifthenelse.jani

@@ -0,0 +1,84 @@
+{
+    "properties": [
+        {
+            "expression": {
+                "fun": "values",
+                "op": "filter",
+                "states": {
+                    "op": "initial"
+                },
+                "values": {
+                    "exp": {
+                        "exp": {
+                            "comment": "Bt 1000 is always the root, Values = {1: SUCCESS, 2: FAILURE, 3: RUNNING}",
+                            "left": "bt_1000_response__status",
+                            "op": "=",
+                            "right": 1
+                        },
+                        "op": "F"
+                    },
+                    "op": "Pmin"
+                }
+            },
+            "name": "tree_success"
+        },
+        {
+            "expression": {
+                "fun": "values",
+                "op": "filter",
+                "states": {
+                    "op": "initial"
+                },
+                "values": {
+                    "exp": {
+                        "exp": {
+                            "comment": "10 ticks to the then branch and the else branch should have never had a message.",
+                            "left": {
+                                "left": "topic_tick_count_then_msg__ros_fields__data",
+                                "op": "=",
+                                "right": 10
+                            },
+                            "op": "∧",
+                            "right": {
+                                "exp": "topic_tick_count_else_msg.valid",
+                                "op": "¬"
+                            }
+                        },
+                        "op": "F"
+                    },
+                    "op": "Pmin"
+                }
+            },
+            "name": "counter_then_10"
+        },
+        {
+            "expression": {
+                "fun": "values",
+                "op": "filter",
+                "states": {
+                    "op": "initial"
+                },
+                "values": {
+                    "exp": {
+                        "exp": {
+                            "comment": "10 ticks to the else branch and the then branch should have never had a message.",
+                            "left": {
+                                "left": "topic_tick_count_else_msg__ros_fields__data",
+                                "op": "=",
+                                "right": 10
+                            },
+                            "op": "∧",
+                            "right": {
+                                "exp": "topic_tick_count_then_msg.valid",
+                                "op": "¬"
+                            }
+                        },
+                        "op": "F"
+                    },
+                    "op": "Pmin"
+                }
+            },
+            "name": "counter_else_10"
+        }
+    ]
+}

test/jani_generator/test_systemtest_behavior_tree_scxml.py

@@ -112,6 +112,38 @@ def test_repeat(self):
             expected_result_probability=1.0,
         )
 
+    def test_ifthenelse_then_tree_success(self):
+        """Test the ifthenelse BT plugins then branch for tree success."""
+        self._test_with_main(
+            os.path.join("bt_test_models", "main_test_ifthenelse_then.xml"),
+            "tree_success",
+            expected_result_probability=1.0,
+        )
+
+    def test_ifthenelse_then_counter(self):
+        """Test the ifthenelse BT plugins then branch for correct number of ticks."""
+        self._test_with_main(
+            os.path.join("bt_test_models", "main_test_ifthenelse_then.xml"),
+            "counter_then_10",
+            expected_result_probability=1.0,
+        )
+
+    def test_ifthenelse_else_tree_success(self):
+        """Test the ifthenelse BT plugins else branch for tree success."""
+        self._test_with_main(
+            os.path.join("bt_test_models", "main_test_ifthenelse_else.xml"),
+            "tree_success",
+            expected_result_probability=1.0,
+        )
+
+    def test_ifthenelse_else_counter(self):
+        """Test the ifthenelse BT plugins else branch for correct number of ticks."""
+        self._test_with_main(
+            os.path.join("bt_test_models", "main_test_ifthenelse_else.xml"),
+            "counter_else_10",
+            expected_result_probability=1.0,
+        )
+
 
 if __name__ == "__main__":
     pytest.main(["-s", "-v", __file__])