Lorenzo bonifacio

.docker/Dockerfile

@@ -1,4 +1,4 @@
-FROM ros:jazzy AS as2fm
+FROM ros:jazzy AS moco
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 # Install requirements
@@ -16,10 +16,12 @@ RUN cd /smc_storm_executable && \
     rm -rf /var/lib/apt/lists/*
 RUN ln /smc_storm_executable/bin/smc_storm /usr/local/bin
 
-# Add AS2FM
+# Add MOCO
 RUN mkdir -p /colcon_ws/src
-COPY . /colcon_ws/src/as2fm
-RUN pip3 install --break-system-packages /colcon_ws/src/as2fm[dev]
+COPY . /colcon_ws/src/moco
+#TODO fix package name once release is up
+RUN pip3 install --break-system-packages /colcon_ws/src/moco[dev]  
+
 
 # Make ROS workspace and build it
 RUN source /opt/ros/jazzy/setup.bash && \
@@ -30,6 +32,6 @@ RUN source /opt/ros/jazzy/setup.bash && \
 CMD /bin/bash
 COPY .docker/entrypoint.sh /entrypoint.sh
 RUN chmod +x entrypoint.sh
-WORKDIR /colcon_ws/src/as2fm
+WORKDIR /colcon_ws/src/moco
 
 ENTRYPOINT [ "/entrypoint.sh" ]

.github/workflows/docker.yml

@@ -6,8 +6,14 @@ on:
   pull_request:
 
 env:
-  REGISTRY_IMAGE: ghcr.io/${{ github.repository_owner }}/as2fm
-  REGISTRY_IMAGE_LATEST: ghcr.io/${{ github.repository_owner }}/as2fm:latest
+
+  OWNER: '${{ github.repository_owner }}'
+
+  # TODO hardcoded, should instead get repository_owner and convert to lowercase
+  OWNER_LC: 'nevertools'
+
+  REGISTRY_IMAGE: ghcr.io/$OWNER_LC/moco
+  REGISTRY_IMAGE_LATEST: ghcr.io/$OWNER_LC/moco:latest
   RAW_BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
 jobs:
   build:
@@ -41,7 +47,7 @@ jobs:
           docker push ${{ env.REGISTRY_IMAGE }}:$BRANCH_NAME
           echo "TAG_NAME=$BRANCH_NAME" >> $GITHUB_ENV
       - name: Testing
-        run: docker run ${{ env.REGISTRY_IMAGE_LATEST }} pytest /colcon_ws/src/as2fm
+        run: docker run ${{ env.REGISTRY_IMAGE_LATEST }} pytest /colcon_ws/src/moco
       - name: Push to gh registry with latest if this is main
         if: github.ref == 'refs/heads/main'
         run: |

CONTRIBUTING.md

@@ -3,7 +3,7 @@
 Want to contribute? Great! You can do so through the standard GitHub pull
 request model. For large contributions we do encourage you to file a ticket in
 the GitHub issues tracking system prior to any code development to coordinate
-with the as2fm development team early in the process.
+with the moco development team early in the process.
 Coordinating up front helps to avoid frustration later on.
 
 Your contribution must be licensed under the Apache-2.0 license, the license
@@ -89,7 +89,7 @@ Often employers or academic institution have ownership over code that is
 written in certain circumstances, so please do due diligence to ensure that
 you have the right to submit the code.
 
-If you are a developer who is authorized to contribute to as2fm
+If you are a developer who is authorized to contribute to moco
 on behalf of your employer, then please use your corporate email address in the
 Signed-off-by tag. Otherwise please use a personal email address.
 
@@ -100,7 +100,7 @@ Each contributor is responsible for identifying themselves in the
 Please add the respective information corresponding to the Signed-off-by tag
 as part of your first pull request.
 
-If you are a developer who is authorized to contribute to as2fm
+If you are a developer who is authorized to contribute to moco
 on behalf of your employer, then add your company / organization to the list of
 copyright holders in the [NOTICE](NOTICE) file. As author of a corporate
 contribution you can also add your name and corporate email address as in the

NOTICE

@@ -1,4 +1,4 @@
-# This is the official list of AS2FM copyright holders and authors.
+# This is the official list of moco copyright holders and authors.
 #
 # Often employers or academic institutions have ownership over code that is
 # written in certain circumstances, so please do due diligence to ensure that

README.md

@@ -1,12 +1,12 @@
-# Autonomous Systems to Formal Models (AS2FM)
+# Autonomous Systems to Formal Models (moco)
 
 ## Summary overview
 
 This package provides tools to convert the high level representation of an autonomous system (implemented using a combination of BT XML + a ROS flavoured set of SCXML (also called ROS-SCXML) files) to a formal model (i.e. JANI).
 
 ## Documentation
 
-Please access the documentation via [convince-project.github.io/AS2FM](https://convince-project.github.io/AS2FM)
+Please access the documentation via [convince-project.github.io/moco](https://convince-project.github.io/moco)
 
 ## Further Information
 
@@ -16,8 +16,8 @@ See [Contributing](./CONTRIBUTING.md).
 
 ### Feedback
 
-Feedback is highly appreciated. Please open issues on new ideas, bugs, etc. here at [as2fm/issues](https://github.com/convince-project/as2fm/issues) or reach out to the maintainers.
+Feedback is highly appreciated. Please open issues on new ideas, bugs, etc. here at [moco/issues](https://github.com/convince-project/moco/issues) or reach out to the maintainers.
 
 ### License
 
-AS2FM comes under the Apache-2.0 license, see [LICENSE](./LICENSE).
+moco comes under the Apache-2.0 license, see [LICENSE](./LICENSE).

docker-compose.yml

@@ -1,11 +1,11 @@
 
 services:
   base:
-    image: ghcr.io/convince-project/as2fm:latest
+    image: ghcr.io/nevertools/moco:latest # TODO fix link once release is up
     build:
       context: .
       dockerfile: .docker/Dockerfile
-      target: as2fm
+      target: moco
     # Ensures signals are actually passed and reaped in the container for shutdowns.
     # https://docs.docker.com/compose/compose-file/compose-file-v3/#init
     init: true
@@ -29,7 +29,7 @@ services:
       - QTWEBENGINE_DISABLE_SANDBOX=1
     volumes:
       # Mount the workshop source code
-      - ./:/colcon_ws/src/as2fm:rw
+      - ./:/colcon_ws/src/moco:rw
       # Allows graphical programs in the container
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
@@ -39,6 +39,6 @@ services:
     extends: base
     command: >
       bash -c "
-        python3 -m pytest /colcon_ws/src/as2fm
+        python3 -m pytest /colcon_ws/src/moco
       "
     profiles: [test]

docs/README.md

@@ -3,9 +3,9 @@
 Before you can build the documentation, you need to install the required packages as described above, since also the code API documentation of those packages is built.
 
 ```
-pip install ../as2fm_common
-pip install ../scxml_converter
-pip install ../jani_generator
+pip install ../moco_common
+pip install ../roaml_converter
+pip install ../roaml_generator
 pip install -r requirements.txt
 make html
 ```

docs/source/api.rst

@@ -6,4 +6,4 @@ API
    :template: custom-module-template.rst
    :recursive:
 
-   as2fm
+   moco

docs/source/installation.rst

@@ -75,9 +75,9 @@ AS2FM Python Package
 
     .. code-block:: bash
 
-        python3 -m pip uninstall as2fm_common
-        python3 -m pip uninstall jani_generator
-        python3 -m pip uninstall scxml_converter
+        python3 -m pip uninstall moco_common
+        python3 -m pip uninstall roaml_generator
+        python3 -m pip uninstall roaml_converter
         python3 -m pip uninstall jani_visualizer
         python3 -m pip uninstall trace_visualizer
 

docs/source/tutorials.rst

@@ -49,7 +49,7 @@ Reference Model: Fetch & Carry Robot
 For this tutorial we use the model defined here: `tutorial_fetch_and_carry <https://github.com/convince-project/AS2FM/tree/main/examples/tutorial_fetch_and_carry>`_.
 A classical fetch and carry task is implemented there. A robot should drive to the pantry where food is stored, pick up snacks, drive to the table and place the snacks there. The robot should be done with this task after at most 100 seconds.
 
-The model consists of a `main.xml <https://github.com/convince-project/AS2FM/blob/main/examples/tutorial_fetch_and_carry/main.xml>`_ file, referencing the BT `bt_tree.xml <https://github.com/convince-project/AS2FM/blob/main/examples/tutorial_fetch_and_carry/bt_tree.xml>`_ running in the system and the SCXML files modeling the BT plugins for navigating `bt_navigate_action.scxml <https://github.com/convince-project/AS2FM/blob/main/examples/tutorial_fetch_and_carry/bt_navigate_action.scxml>`_, picking `bt_pick_action.scxml <https://github.com/convince-project/AS2FM/blob/main/test/jani_generator/
+The model consists of a `main.xml <https://github.com/convince-project/AS2FM/blob/main/examples/tutorial_fetch_and_carry/main.xml>`_ file, referencing the BT `bt_tree.xml <https://github.com/convince-project/AS2FM/blob/main/examples/tutorial_fetch_and_carry/bt_tree.xml>`_ running in the system and the SCXML files modeling the BT plugins for navigating `bt_navigate_action.scxml <https://github.com/convince-project/AS2FM/blob/main/examples/tutorial_fetch_and_carry/bt_navigate_action.scxml>`_, picking `bt_pick_action.scxml <https://github.com/convince-project/AS2FM/blob/main/test/roaml_generator/
 _test_data/tutorial_fetch_and_carry/bt_pick_action.scxml>`__, and placing `bt_place_action.scxml <https://github.com/convince-project/AS2FM/blob/main/examples/tutorial_fetch_and_carry/bt_place_action.scxml>`_, as well as the world model `world.scxml <https://github.com/convince-project/AS2FM/blob/main/examples/tutorial_fetch_and_carry/world.scxml>`_. Finally, there is the property to check later with SMC Storm in JANI format in `properties.jani <https://github.com/convince-project/AS2FM/blob/main/examples/tutorial_fetch_and_carry/properties.jani>`_.
 
 All of those components are summarized and collected in the `main.xml <https://github.com/convince-project/AS2FM/blob/main/examples/tutorial_fetch_and_carry/main.xml>`_ file.

pyproject.toml

@@ -3,7 +3,7 @@ requires = ["setuptools>=61.0.0", "wheel", "pip>=24.2"]
 build-backend = "setuptools.build_meta"
 
 [project]
-name = "as2fm"
+name = "moco"
 version = "0.0.1"
 description = ""
 readme = "README.md"
@@ -19,30 +19,30 @@ classifiers = [
 keywords = []
 # TODO: Check dependencies to remove
 dependencies = [
-    # as2fm_common
+    # moco_common
     "lxml",
-    # jani_generator
+    # roaml_generator
     "jsonschema",
     "esprima",
     "escodegen",
-    # scxml_converter
+    # roaml_converter
     "typing-extensions>=4.12.2",
 ]
 requires-python = ">=3.10"
 
 # Comment these lines out, since they prevent the package from being found in code
 # [tool.setuptools.packages.find]
 # where = ["src"]
-# include = ["as2fm", "as2fm.*"]
+# include = ["moco", "moco.*"]
 #
 # [tool.setuptools.package-dir]
-# "as2fm" = "src/as2fm"
+# "moco" = "src/moco"
 
 [tool.setuptools.package-data]
-"as2fm.resources" = ["bt_control_nodes/*.scxml"]
+"moco.resources" = ["bt_control_nodes/*.scxml"]
 
 [project.scripts]
-as2fm_scxml_to_jani = "as2fm.jani_generator.main:main_scxml_to_jani" # TODO: rename this function
+moco_roaml_to_scxml = "moco.roaml_generator.main:main_roaml_to_scxml" # TODO: rename this function
 
 [project.optional-dependencies]
 dev = [

ros_support_interfaces/grid_robot_interfaces/README.md

@@ -1 +1 @@
-Used in `test/jani_generator/_test_data/grid_robot_blackboard`
+Used in `test/roaml_generator/_test_data/grid_robot_blackboard`

ros_support_interfaces/as2fm_test_ros_interfaces/CMakeLists.txt → ros_support_interfaces/moco_test_ros_interfaces/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 
-project(as2fm_test_ros_interfaces)
+project(moco_test_ros_interfaces)
 
 # find dependencies
 find_package(ament_cmake REQUIRED)

ros_support_interfaces/as2fm_test_ros_interfaces/package.xml → ros_support_interfaces/moco_test_ros_interfaces/package.xml

@@ -1,14 +1,14 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>as2fm_test_ros_interfaces</name>
+  <name>moco_test_ros_interfaces</name>
   <version>0.0.0</version>
   <description>Meta package depending on all interface we use in the tests.</description>
   <maintainer email="[email protected]">Marco Lampacrescia</maintainer>
   <license>Apache License 2.0</license>
   <author email="[email protected]">Marco Lampacrescia</author>
 
-  <exec_depend>as2fm_test_srvs</exec_depend>
+  <exec_depend>moco_test_srvs</exec_depend>
   <exec_depend>example_interfaces</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>std_msgs</exec_depend>

ros_support_interfaces/as2fm_test_srvs/CMakeLists.txt → ros_support_interfaces/moco_test_srvs/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(as2fm_test_srvs)
+project(moco_test_srvs)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)

ros_support_interfaces/as2fm_test_srvs/package.xml → ros_support_interfaces/moco_test_srvs/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>as2fm_test_srvs</name>
+  <name>moco_test_srvs</name>
   <version>0.0.0</version>
   <description>Test interface for ensuring Float support in ROS.</description>
   <maintainer email="[email protected]">Marco Lampacrescia</maintainer>

ros_support_interfaces/nested_interfaces/README.md

@@ -1 +1 @@
-Used in `test/jani_generator/_test_data/nested_data_ros`
+Used in `test/roaml_generator/_test_data/nested_data_ros`

src/as2fm/as2fm_common/array_type.py → src/moco/moco_common/array_type.py

@@ -16,7 +16,7 @@
 from dataclasses import dataclass
 from typing import List, MutableSequence, Optional, Tuple, Type, Union, get_args
 
-from as2fm.as2fm_common.common import ValidPlainScxmlTypes
+from moco.moco_common.common import ValidPlainScxmlTypes
 
 ARRAY_BASE_TYPES = (int, float, None)
 

src/as2fm/as2fm_common/ecmascript_interpretation.py → src/moco/moco_common/ecmascript_interpretation.py

@@ -24,13 +24,13 @@
 from esprima.syntax import Syntax
 from lxml.etree import _Element as XmlElement
 
-from as2fm.as2fm_common.ecmascript_interpretation_functions import (
+from moco.moco_common.ecmascript_interpretation_functions import (
     ValidECMAScriptTypes,
     get_ast_expression_type,
     get_dict_from_object_expression,
     get_list_from_array_expr,
 )
-from as2fm.as2fm_common.logging import check_assertion, get_error_msg
+from moco.moco_common.logging import check_assertion, get_error_msg
 
 
 class ArrayAccess:

src/as2fm/as2fm_common/ecmascript_interpretation_functions.py → src/moco/moco_common/ecmascript_interpretation_functions.py

@@ -18,8 +18,8 @@
 import esprima
 from esprima.syntax import Syntax
 
-from as2fm.as2fm_common.array_type import ArrayInfo, array_value_to_type_info
-from as2fm.as2fm_common.common import ValidPlainScxmlTypes
+from moco.moco_common.array_type import ArrayInfo, array_value_to_type_info
+from moco.moco_common.common import ValidPlainScxmlTypes
 
 # Definition of a valid ECMAScript expression type
 ValidECMAScriptTypes = Union[

src/as2fm/as2fm_common/logging.py → src/moco/moco_common/logging.py

@@ -23,7 +23,7 @@
 
 from lxml.etree import _Element as XmlElement
 
-from as2fm.as2fm_common.common import is_comment
+from moco.moco_common.common import is_comment
 
 LOCATION_INFO = Tuple[str, int]  # filename, line_number
 SUPPORTED_LOCATIONS = Union[XmlElement, LOCATION_INFO, str]
@@ -73,7 +73,7 @@ def _get_xml_location(element: XmlElement) -> LOCATION_INFO:
     )
     assert INTERNAL_FILEPATH_ATTR in element.attrib.keys(), (
         "The element must have a filepath attribute. This is set by "
-        "`as2fm_common.logging.set_filepath_for_all_elements`."
+        "`moco_common.logging.set_filepath_for_all_elements`."
     )
     path = element.attrib[INTERNAL_FILEPATH_ATTR]
     sourceline = element.sourceline

src/as2fm/scxml_converter/bt_converter.py → src/moco/roaml_converter/bt_converter.py

@@ -25,10 +25,10 @@
 from lxml import etree as ET
 from lxml.etree import _Element as XmlElement
 
-from as2fm.as2fm_common.array_type import get_default_expression_for_type, value_to_string_expr
-from as2fm.scxml_converter.data_types.struct_definition import StructDefinition
-from as2fm.scxml_converter.data_types.type_utils import SCXML_DATA_STR_TO_TYPE
-from as2fm.scxml_converter.scxml_entries import (
+from moco.moco_common.array_type import get_default_expression_for_type, value_to_string_expr
+from moco.roaml_converter.data_types.struct_definition import StructDefinition
+from moco.roaml_converter.data_types.type_utils import SCXML_DATA_STR_TO_TYPE
+from moco.roaml_converter.scxml_entries import (
     BtChildTickStatus,
     BtTickChild,
     RosRateCallback,
@@ -42,7 +42,7 @@
     ScxmlState,
     ScxmlTransition,
 )
-from as2fm.scxml_converter.scxml_entries.bt_utils import (
+from moco.roaml_converter.scxml_entries.bt_utils import (
     BT_BLACKBOARD_EVENT_VALUE,
     BT_BLACKBOARD_GET,
     BT_BLACKBOARD_REQUEST,
@@ -127,7 +127,7 @@ def load_available_bt_plugins(
         bt_plugin_scxml = ScxmlRoot.from_scxml_file(path, custom_data_types)
         available_bt_plugins.update({bt_plugin_scxml.get_name(): bt_plugin_scxml})
     internal_bt_plugins_path = (
-        resource_files("as2fm").joinpath("resources").joinpath("bt_control_nodes")
+        resource_files("moco").joinpath("resources").joinpath("bt_control_nodes")
     )
     for plugin_path in internal_bt_plugins_path.iterdir():
         if plugin_path.is_file() and plugin_path.suffix == ".scxml":

src/as2fm/scxml_converter/data_types/json_struct_definition.py → src/moco/roaml_converter/data_types/json_struct_definition.py

@@ -17,8 +17,8 @@
 import os
 from typing import Any, Dict, List, Tuple
 
-from as2fm.as2fm_common.logging import log_warning
-from as2fm.scxml_converter.data_types.struct_definition import StructDefinition
+from moco.moco_common.logging import log_warning
+from moco.roaml_converter.data_types.struct_definition import StructDefinition
 
 ARRAY = "array"
 OBJECT = "object"