addition of high level models for UC3 with full example

examples/UC3-museum-guide/high-level-models-full/README.md

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+# Museum guide (high-level model)
+
+This folder contains all the elements specifying a UC3-inspired model in the high-level/ROS SCXML format.

examples/UC3-museum-guide/high-level-models-full/bt_plugins/ROS2Action.scxml

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+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+    initial="idle"
+    version="1.0"
+    name="ROS2Action"
+    model_src=""
+    xmlns="http://www.w3.org/2005/07/scxml">
+
+    <bt_declare_port_in key="service_name" type="string" />
+
+    <datamodel>
+        <data id="SKILL_SUCCESS" type="int8" expr="0" />
+        <data id="SKILL_FAILURE" type="int8" expr="1" />
+        <data id="SKILL_RUNNING" type="int8" expr="2" />
+    </datamodel>
+
+    <ros_service_client type="bt_interfaces_dummy/TickAction"  name="srv_name_tick">
+        <service_name>
+            <bt_get_input key="service_name" />
+        </service_name>
+    </ros_service_client>
+    <!-- <ros_service_client type="bt_interfaces_dummy/HaltAction"  name="srv_name_halt">
+        <service_name>
+            <bt_get_input key="service_name" />
+        </service_name>
+    </ros_service_client> -->
+
+
+    <state id="idle">
+        <bt_tick target="handle_response_tick">
+            <ros_service_send_request name="srv_name_tick"/>
+        </bt_tick>
+        <bt_halt target="idle">
+            <bt_return_halted />
+        </bt_halt>
+
+        <!-- <transition event="bt_halt" target="handle_response_halt">
+            <ros_service_send_request name="srv_name_halt"/>
+        </transition> -->
+    </state>
+
+    <state id="handle_response_tick">
+        <ros_service_handle_response name="srv_name_tick" cond="_res.status == SKILL_SUCCESS" target="idle" >
+            <bt_return_status status="SUCCESS" />
+        </ros_service_handle_response>
+        <ros_service_handle_response name="srv_name_tick" cond="_res.status == SKILL_FAILURE" target="idle" >
+            <bt_return_status status="FAILURE" />
+        </ros_service_handle_response>
+        <ros_service_handle_response name="srv_name_tick" cond="_res.status == SKILL_RUNNING" target="idle" >
+            <bt_return_status status="RUNNING" />
+        </ros_service_handle_response>
+    </state>
+
+    <!-- <state id="handle_response_halt">
+        <ros_service_handle_response name="srv_name_halt" target="idle" >
+            <send event="bt_halt_response" />
+        </ros_service_handle_response>
+    </state> -->
+
+</scxml>

examples/UC3-museum-guide/high-level-models-full/bt_plugins/ROS2Condition.scxml

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+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+    initial="idle"
+    version="1.0"
+    name="ROS2Condition"
+    model_src=""
+    xmlns="http://www.w3.org/2005/07/scxml">
+
+    <bt_declare_port_in key="service_name" type="string" />
+
+    <datamodel>
+        <data id="SKILL_SUCCESS" type="int8" expr="0" />
+        <data id="SKILL_FAILURE" type="int8" expr="1" />
+    </datamodel>
+
+    <ros_service_client type="bt_interfaces_dummy/TickCondition" name="srv_name">
+        <service_name>
+            <bt_get_input key="service_name" />
+        </service_name>
+    </ros_service_client>
+
+    <state id="idle">
+        <bt_tick target="handle_response">
+            <ros_service_send_request name="srv_name"/>
+        </bt_tick>
+        <bt_halt target="idle">
+            <bt_return_halted />
+        </bt_halt>
+    </state>
+
+    <state id="handle_response">
+        <ros_service_handle_response name="srv_name" cond="_res.status == SKILL_SUCCESS" target="idle" >
+            <bt_return_status status="SUCCESS" />
+        </ros_service_handle_response>
+        <ros_service_handle_response name="srv_name" cond="_res.status == SKILL_FAILURE" target="idle" >
+            <bt_return_status status="FAILURE" />
+        </ros_service_handle_response>
+    </state>
+
+</scxml>

examples/UC3-museum-guide/high-level-models-full/bt_policies/Policy.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<root BTCPP_format="3" main_tree_to_execute="BehaviorTree">
+  <BehaviorTree ID="BatteryManagement">
+    <ReactiveSequence>
+      <ReactiveFallback>
+        <ROS2Condition name="BatteryLevel" interface="ROS2SERVICE" isMonitored="false" />
+        <ReactiveFallback>
+          <ReactiveSequence>
+            <Inverter>
+              <ROS2Condition name="BatteryCharging" interface="ROS2SERVICE" isMonitored="false" />
+            </Inverter>
+            <Parallel failure_threshold="1" success_threshold="2">
+              <ReactiveFallback>
+                <ROS2Condition name="IsAtChargingStation" interface="ROS2SERVICE" isMonitored="false" />
+                <Sequence>
+                  <ROS2Action name="SayBye" interface="ROS2SERVICE" isMonitored="false" />
+                  <ROS2Action name="ResetTour" interface="ROS2SERVICE" isMonitored="false" />
+                  <ROS2Action name="GoToChargingStation" interface="ROS2SERVICE" isMonitored="false" />
+                </Sequence>
+              </ReactiveFallback>
+              <ROS2Action name="AlarmBatteryLow" interface="ROS2SERVICE" isMonitored="false" />
+            </Parallel>
+          </ReactiveSequence>
+          <ROS2Action name="Wait" interface="ROS2SERVICE" isMonitored="false" />
+        </ReactiveFallback>
+      </ReactiveFallback>
+      <Parallel failure_threshold="1" success_threshold="2">
+        <ROS2Action name="NotifyCharged" interface="ROS2SERVICE" isMonitored="false" />
+        <ROS2Condition name="IsAllowedToMove" interface="ROS2SERVICE" isMonitored="false" />
+      </Parallel>
+    </ReactiveSequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="BehaviorTree">
+    <ReactiveSequence>
+      <SubTree ID="BatteryManagement" __shared_blackboard="false" />
+      <!-- <SubTree ID="NetworkManagement" /> -->
+      <Sequence>
+        <SubTree ID="MuseumHours" />
+        <SubTree ID="PoiScheduler" __shared_blackboard="false" />
+        <SubTree ID="GoToPoi" __shared_blackboard="false" />
+        <SubTree ID="CheckArtworkAndExplain" __shared_blackboard="false" />
+      </Sequence>
+    </ReactiveSequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="CheckArtworkAndExplain">
+    <Sequence>
+      <ROS2Action name="NarratePoi" interface="ROS2SERVICE" isMonitored="false" />
+      <!-- <ROS2Action name="Dialog" interface="ROS2SERVICE" isMonitored="false" /> -->
+      <ROS2Action name="SetCurrentPoiDone" interface="ROS2SERVICE" isMonitored="false" />
+      <ROS2Action name="ResetCounters" interface="ROS2SERVICE" isMonitored="false" />
+      <ROS2Action name="SetNavigationPosition" interface="ROS2SERVICE" isMonitored="false" />
+    </Sequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="GoToPoi">
+    <ReactiveFallback>
+      <ROS2Condition name="IsAtCurrentPoi" interface="ROS2SERVICE" isMonitored="false" />
+      <ReactiveSequence>
+        <SubTree ID="PeopleFollowing" />
+        <ReactiveSequence>
+          <ROS2Action name="SetNotTurning" interface="ROS2SERVICE" isMonitored="false" />
+          <Parallel failure_threshold="1" success_threshold="2">
+            <ROS2Action name="GoToPoiAction" interface="ROS2SERVICE" isMonitored="false" />
+            <ROS2Action name="SayWhileNavigating" interface="ROS2SERVICE" isMonitored="false" />
+          </Parallel>
+        </ReactiveSequence>
+      </ReactiveSequence>
+    </ReactiveFallback>
+  </BehaviorTree>
+
+  <BehaviorTree ID="MuseumHours">
+    <Fallback>
+      <Inverter>
+        <ROS2Condition name="CheckIfStart" interface="ROS2SERVICE" isMonitored="false" />
+      </Inverter>
+      <Inverter>
+        <ROS2Condition name="IsMuseumClosing" interface="ROS2SERVICE" isMonitored="false" />
+      </Inverter>
+    </Fallback>
+  </BehaviorTree>
+
+  <!-- <BehaviorTree ID="NetworkManagement">
+    <ReactiveFallback>
+      <Inverter>
+        <ROS2Condition name="NetworkStatusChanged" interface="ROS2SERVICE" isMonitored="false" />
+      </Inverter>
+      <ReactiveFallback>
+        <ReactiveSequence>
+          <ROS2Condition name="NetworkUp" interface="ROS2SERVICE" isMonitored="false" />
+          <ROS2Action name="StopService" interface="ROS2SERVICE" isMonitored="false" />
+        </ReactiveSequence>
+        <ROS2Action name="StartService" interface="ROS2SERVICE" isMonitored="false" />
+      </ReactiveFallback>
+    </ReactiveFallback>
+  </BehaviorTree> -->
+
+  <BehaviorTree ID="PeopleFollowing">
+    <ReactiveFallback>
+      <ROS2Condition name="CheckIfStart" interface="ROS2SERVICE" isMonitored="false" />
+      <Inverter>
+        <ROS2Condition name="IsAllowedToTurnBack" interface="ROS2SERVICE" isMonitored="false" />
+      </Inverter>
+      <ROS2Condition name="VisitorsFollowingRobot" interface="ROS2SERVICE" isMonitored="false" />
+      <ReactiveSequence>
+        <ReactiveFallback>
+          <ROS2Condition name="IsCheckingForPeople" interface="ROS2SERVICE" isMonitored="false" />
+          <ReactiveSequence>
+            <ROS2Action name="SetTurning" interface="ROS2SERVICE" isMonitored="false" />
+            <ROS2Action name="StopAndTurnBack" interface="ROS2SERVICE" isMonitored="false" />
+            <ROS2Action name="SetTurned" interface="ROS2SERVICE" isMonitored="false" />
+          </ReactiveSequence>
+        </ReactiveFallback>
+        <ROS2Action name="RunTimer" interface="ROS2SERVICE" isMonitored="false" />
+        <ROS2Action name="SayFollowMe" interface="ROS2SERVICE" isMonitored="false" />
+        <ROS2Action name="Wait" interface="ROS2SERVICE" isMonitored="false" />
+      </ReactiveSequence>
+    </ReactiveFallback>
+  </BehaviorTree>
+
+  <BehaviorTree ID="PeopleLeaving">
+    <ReactiveFallback>
+      <ROS2Condition name="ArePeoplePresent" interface="ROS2SERVICE" isMonitored="false" />
+      <ReactiveSequence>
+        <ROS2Action name="SayPeopleLeft" interface="ROS2SERVICE" isMonitored="false" />
+        <ROS2Action name="PeopleLeft" interface="ROS2SERVICE" isMonitored="false" />
+      </ReactiveSequence>
+    </ReactiveFallback>
+  </BehaviorTree>
+
+  <BehaviorTree ID="PoiScheduler">
+        <Fallback>
+            <Sequence>
+                <Inverter>
+                    <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="IsPoiDone0" />
+                </Inverter>
+                <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="false" name="SetPoi0" />
+            </Sequence>
+            <Sequence>
+                <Inverter>
+                    <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="IsPoiDone1" />
+                </Inverter>
+                <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="false" name="SetPoi1" />
+            </Sequence>
+            <Sequence>
+                <Inverter>
+                    <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="IsPoiDone2" />
+                </Inverter>
+                <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="false" name="SetPoi2" />
+            </Sequence>
+            <Sequence>
+                <Inverter>
+                    <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="IsPoiDone3" />
+                </Inverter>
+                <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="false" name="SetPoi3" />
+            </Sequence>
+            <Sequence>
+                <Inverter>
+                    <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="IsPoiDone4" />
+                </Inverter>
+                <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="false" name="SetPoi4" />
+            </Sequence>
+            <Sequence>
+                <Inverter>
+                    <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="IsPoiDone5" />
+                </Inverter>
+                <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="false" name="SetPoi5" />
+            </Sequence>
+            <ROS2Action name="ResetTourAndFlags" interface="ROS2SERVICE" isMonitored="false" />
+        </Fallback>
+    </BehaviorTree>
+
+  <BehaviorTree ID="TourDuration">
+    <Fallback>
+      <ReactiveSequence>
+        <ROS2Condition name="CheckIfStart" interface="ROS2SERVICE" isMonitored="false" />
+        <ROS2Action name="StopTourTimer" interface="ROS2SERVICE" isMonitored="false" />
+      </ReactiveSequence>
+      <ReactiveSequence>
+        <ROS2Condition name="CheckIfFirstPoi" interface="ROS2SERVICE" isMonitored="false" />
+        <ROS2Action name="StartTourTimer" interface="ROS2SERVICE" isMonitored="false" />
+      </ReactiveSequence>
+      <Inverter>
+        <ROS2Condition name="IsWarningDuration" interface="ROS2SERVICE" isMonitored="false" />
+      </Inverter>
+      <Sequence>
+        <ROS2Action name="SayDurationWarning" interface="ROS2SERVICE" isMonitored="false" />
+        <ROS2Condition name="IsMaximumDuration" interface="ROS2SERVICE" isMonitored="false" />
+        <ROS2Action name="SayDurationExceeded" interface="ROS2SERVICE" isMonitored="false" />
+      </Sequence>
+    </Fallback>
+  </BehaviorTree>
+
+
+  <TreeNodesModel>
+    <Action ID="ROS2Action">
+      <input_port name="interface" type="std::string" />
+      <input_port name="isMonitored" type="std::string" />
+    </Action>
+    <Condition ID="ROS2Condition">
+      <input_port name="interface" type="std::string" />
+      <input_port name="isMonitored" type="std::string" />
+    </Condition>
+  </TreeNodesModel>
+
+</root>

examples/UC3-museum-guide/high-level-models-full/components/AllowedToMoveComponent.scxml

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+<?xml version="1.0" encoding="UTF-8"?>
+<scxml xmlns="http://www.w3.org/2005/07/scxml"
+       version="1.0"
+       initial="idle"
+       name="AllowedToMoveComponent"
+       datamodel="ecmascript">
+
+  <datamodel>
+    <data id="is_robot_allowed_to_move" type="boolean" expr="false"/>
+    <data id="temp_is_allowed_to_move_request" type="boolean" expr="false"/>
+  </datamodel>
+
+  <ros_service_server service_name="/AllowedToMoveComponent/SetAllowedToMove" type="allowed_to_move_interfaces/SetAllowedToMove"/>
+  <ros_service_server service_name="/AllowedToMoveComponent/IsAllowedToMove" type="allowed_to_move_interfaces/IsAllowedToMove"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/AllowedToMoveComponent/SetAllowedToMove" target="HandleSetAllowedToMove">
+      <assign location="temp_is_allowed_to_move_request" expr="_req.is_allowed_to_move"/>
+    </ros_service_handle_request>
+
+    <ros_service_handle_request name="/AllowedToMoveComponent/IsAllowedToMove" target="HandleIsAllowedToMove"/>
+  </state>
+
+  <state id="HandleSetAllowedToMove">
+    <onentry>
+      <assign location="is_robot_allowed_to_move" expr="temp_is_allowed_to_move_request"/>
+      <ros_service_send_response name="/AllowedToMoveComponent/SetAllowedToMove">
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="HandleIsAllowedToMove">
+    <onentry>
+      <ros_service_send_response name="/AllowedToMoveComponent/IsAllowedToMove">
+        <field name="is_ok" expr="true"/>
+        <field name="is_allowed_to_move" expr="is_robot_allowed_to_move"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>

examples/UC3-museum-guide/high-level-models-full/components/BatteryComponent.scxml

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+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  version="1.0"
+  xmlns="..."
+  datamodel="ecmascript"
+  name="BatteryComponent"
+  initial="idle">
+
+	<datamodel>
+		<data id="percentage" type="int32" expr="100" />
+    <!-- <data id="timer_duration" type="int32" expr="1000" /> --> <!--Timer duration in milliseconds -->
+	</datamodel>
+
+  <ros_topic_publisher topic="/BatteryComponent/battery_status" type="sensor_msgs/BatteryState" />
+
+  <ros_time_rate name="control_timer" rate_hz="1.0" />
+
+  <state id="idle">
+    <onentry>
+      <!-- <send event="timer_expired" delayexpr="timer_duration + 'ms'" /> -->
+      <!-- <if cond="percentage &gt; 0" >
+				<assign location="percentage" expr="percentage - 1" />
+			</if> -->
+      <ros_topic_publish name="/BatteryComponent/battery_status">
+        <field name="data" expr="percentage" />
+        <field name="power_supply_status" expr="3" /> <!-- Assuming 3 means not charging -->
+      </ros_topic_publish>
+    </onentry>
+    <!-- <transition event="timer_expired" target="idle"/> -->
+    <ros_rate_callback name="control_timer" target="idle">
+      <if cond="percentage &gt; 0" >
+				<assign location="percentage" expr="percentage - 1" />
+			</if>
+    </ros_rate_callback>
+    <!-- <transition target="idle"/> -->
+  </state>
+
+</scxml>