Reorganizing and trying schemas

.github/workflows/check_examples.yml

@@ -0,0 +1,42 @@
+name: Validate SCXML File
+
+on:
+    - push
+
+jobs:
+    find-files:
+        runs-on: ubuntu-latest
+        outputs:
+            files: ${{ steps.set-files.outputs.files }}
+        steps:
+            - uses: actions/checkout@v3
+            - name: Find SCXML files
+              id: set-files
+              run: |
+                  FILES=$(find examples/UC1-vacuum-cleaner/high-level-models -type f \( -name "*.ascxml" -o -name "*.scxml" -o -name "*.xml" \) | jq -R . | jq -s .)
+                  FILES=$(echo "$FILES" | tr -d '\n') # Ensure single-line JSON
+                  echo "Files found: $FILES"
+                  echo "files=$FILES" >> $GITHUB_OUTPUT
+    validate-xml:
+        strategy:
+            matrix:
+                path:
+                    - ${{ fromJson(needs.find-files.outputs.files) }}
+            fail-fast: false
+        needs: find-files
+        runs-on: ubuntu-latest
+        steps:
+            - uses: actions/checkout@v3
+            - name: Install xmllint
+              run: sudo apt-get install -y libxml2-utils
+            - name: Validate SCXML file
+              run: |
+                  SCHEMA_PATH=$(xmllint --xpath 'string(//@*[local-name()="noNamespaceSchemaLocation"])' "${{ matrix.path }}")
+                  if [ -z "$SCHEMA_PATH" ]; then
+                    echo "No schema found for file: ${{ matrix.path }}. Skipping validation."
+                    exit 0
+                  fi
+                  SCHEMA_DIR=$(dirname "${{ matrix.path }}")
+                  SCHEMA_PATH="$SCHEMA_DIR/$SCHEMA_PATH"
+                  echo "Using schema: $SCHEMA_PATH"
+                  xmllint --noout --schema "$SCHEMA_PATH" "${{ matrix.path }}";

data-format-specifications/RoAML/main.xsd → data-format-specifications/RoAML-XML/main.xsd

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema">
 
-	<xs:element name="convince_mc_tc">
+	<xs:element name="roaml">
 		<xs:complexType>
 			<xs:sequence>
 				<xs:element name="mc_parameters">
@@ -72,4 +72,5 @@
 		</xs:complexType>
 	</xs:element>
 
-</xs:schema>
+
+</xs:schema>

data-format-specifications/RoAML-XML/todo.md

@@ -0,0 +1,6 @@
+- [x] Change tag convince_mc_tc into roaml or something like it 
+- [ ] Check the issue of xmlns
+- [x] Change the extension of high level files from scxml to ascxml
+- [ ] Check xsd for BT: standard reference?
+- [ ] Only one xsd for components and skills? Also plugins?
+- [ ] What are the ROSprotocols in the examples?

data-format-specifications/RoAML/bt_plugin.xsd → data-format-specifications/bt-plugin-ASCXML/bt_plugin.xsd

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema">
 
-	<xs:element name="scxml">
+	<xs:element name="ascxml">
 		<xs:complexType>
 			<xs:choice minOccurs="0" maxOccurs="unbounded">
 				<xs:element name="bt_declare_port_in">

data-format-specifications/RoAML/component.xsd → data-format-specifications/skill-components-(A)SCXML/ascxml_component.xsd

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema">
 
-	<xs:element name="scxml">
+	<xs:element name="ascxml">
 		<xs:complexType>
 			<xs:choice minOccurs="0" maxOccurs="unbounded">
 				<xs:element name="bt_declare_port_in">

data-format-specifications/RoAML/skill.xsd → data-format-specifications/skill-components-(A)SCXML/ascxml_skill.xsd

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema">
 
-	<xs:element name="scxml">
+	<xs:element name="ascxml">
 		<xs:complexType>
 			<xs:choice minOccurs="0" maxOccurs="unbounded">
 				<xs:element name="bt_declare_port_in">

examples/UC1-vacuum-cleaner/high-level-models/bt_plugins/bt_back_up.scxml

@@ -3,7 +3,8 @@
     initial="initial"
     name="BackUp"
     model_src=""
-    xmlns="http://www.w3.org/2005/07/scxml">
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:noNamespaceSchemaLocation="../../../../data-format-specifications/skill-components-(A)SCXML/ascxml_component.xsd">
 
     <ros_topic_publisher name="cmd" topic="/cmd_vel" type="std_msgs/Int16" />
 

examples/UC1-vacuum-cleaner/high-level-models/bt_plugins/bt_is_bump_detected.scxml

@@ -3,7 +3,8 @@
     initial="initial"
     name="IsBumpDetected"
     model_src=""
-    xmlns="http://www.w3.org/2005/07/scxml">
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:noNamespaceSchemaLocation="../../../../data-format-specifications/skill-components-(A)SCXML/ascxml_component.xsd">
 
     <datamodel>
         <data id="state" expr="false" type="bool" />

examples/UC1-vacuum-cleaner/high-level-models/bt_plugins/bt_is_charging.scxml

@@ -3,7 +3,8 @@
     initial="initial"
     name="IsCharging"
     model_src=""
-    xmlns="http://www.w3.org/2005/07/scxml">
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:noNamespaceSchemaLocation="../../../../data-format-specifications/skill-components-(A)SCXML/ascxml_component.xsd">
 
     <datamodel>
         <data id="msg_received" expr="false" type="bool" />

examples/UC1-vacuum-cleaner/high-level-models/bt_plugins/bt_perform_docking_maneuver.scxml

@@ -3,7 +3,8 @@
     initial="initial"
     name="PerformDockingManeuver"
     model_src=""
-    xmlns="http://www.w3.org/2005/07/scxml">
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:noNamespaceSchemaLocation="../../../../data-format-specifications/skill-components-(A)SCXML/ascxml_component.xsd">
 
     <ros_topic_publisher name="cmd" topic="/cmd_vel" type="std_msgs/Int16" />
     <ros_topic_subscriber name="dock_dist" topic="/dist_to_dock" type="std_msgs/Int16" />

examples/UC1-vacuum-cleaner/high-level-models/bt_plugins/bt_perform_docking_maneuver_bug.scxml

@@ -3,7 +3,8 @@
     initial="initial"
     name="PerformDockingManeuver"
     model_src=""
-    xmlns="http://www.w3.org/2005/07/scxml">
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:noNamespaceSchemaLocation="../../../../data-format-specifications/skill-components-(A)SCXML/ascxml_component.xsd">
 
     <ros_topic_publisher name="cmd" topic="/cmd_vel" type="std_msgs/Int16" />
 

examples/UC1-vacuum-cleaner/high-level-models/bt_plugins/bt_reset_bumper_state.scxml

@@ -3,7 +3,8 @@
     initial="initial"
     name="ResetBumperState"
     model_src=""
-    xmlns="http://www.w3.org/2005/07/scxml">
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:noNamespaceSchemaLocation="../../../../data-format-specifications/skill-components-(A)SCXML/ascxml_component.xsd">
 
     <ros_service_client name="reset_bump" service_name="/reset_bump" type="std_srvs/Empty" />
 

examples/UC1-vacuum-cleaner/high-level-models/bt_plugins/bt_simple_wait.scxml

@@ -3,7 +3,8 @@
     initial="initial"
     name="SimpleWait"
     model_src=""
-    xmlns="http://www.w3.org/2005/07/scxml">
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:noNamespaceSchemaLocation="../../../../data-format-specifications/skill-components-(A)SCXML/ascxml_component.xsd">
 
     <datamodel>
         <data id="waiting" expr="false" type="bool" />

examples/UC1-vacuum-cleaner/high-level-models/main.xml

@@ -1,9 +1,13 @@
-<roaml>
-    <parameters>
+<?xml version="1.0" encoding="UTF-8"?>
+<roaml
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:noNamespaceSchemaLocation="../../../data-format-specifications/RoAML-XML/main.xsd">
+
+    <mc_parameters>
         <max_time value="40" unit="s" />
         <bt_tick_rate value="5.0" />
         <bt_tick_if_not_running value="true" />
-    </parameters>
+    </mc_parameters>
 
     <behavior_tree>
         <input type="bt.cpp-xml" src="./bt_policies/policy.xml" />