Add test for parameter passing

Signed-off-by: Enrico Ghiorzi <[email protected]>

scan_fmt_xml/tests/basic.rs

@@ -24,6 +24,11 @@ fn send() -> anyhow::Result<()> {
     test(PathBuf::from_str("./tests/test_send/model.xml")?)
 }
 
+#[test]
+fn param() -> anyhow::Result<()> {
+    test(PathBuf::from_str("./tests/test_param/model.xml")?)
+}
+
 fn test(file: PathBuf) -> anyhow::Result<()> {
     let parser = Parser::parse(file)?;
     let mut model = Sc2CsVisitor::visit(parser)?;

scan_fmt_xml/tests/test_param/fsm_1.scxml

@@ -0,0 +1,23 @@
+<scxml 
+  version="1.0"
+  xmlns="http://www.w3.org/2005/07/scxml"
+  datamodel="ecmascript"
+  name="fsm_1"
+  initial="initial">
+
+  <datamodel>
+    <!-- TYPE p:int32 -->
+    <data id="p" expr="0"/>
+  </datamodel>
+
+  <state id="initial">
+    <transition target="finished" cond="p == 0">
+      <send event="message" target="fsm_2">
+        <!-- TYPE result:int32 -->
+        <param name="result" expr="p + 1"/>
+      </send>
+    </transition>
+  </state>
+
+  <state id="finished"/>
+</scxml>

scan_fmt_xml/tests/test_param/fsm_2.scxml

@@ -0,0 +1,18 @@
+<scxml 
+  version="1.0"
+  xmlns="http://www.w3.org/2005/07/scxml"
+  datamodel="ecmascript"
+  name="fsm_2"
+  initial="idle">
+
+  <state id="idle">
+    <transition event="message" target="finished" cond="_event.data.result == 1"/>
+    <transition event="message" target="loop"/>
+  </state>
+
+  <state id="finished"/>
+
+  <state id="loop">
+    <transition target="loop"/>
+  </state>
+</scxml>

scan_fmt_xml/tests/test_param/model.xml

@@ -0,0 +1,16 @@
+<specification xmlns="..." xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="...">
+
+  <model>
+
+    <types path="./types.xml" />
+
+    <processList>
+      <process id="fsm_1" moc="fsm" path="./fsm_1.scxml" />
+      <process id="fsm_2" moc="fsm" path="./fsm_2.scxml" />
+    </processList>
+
+  </model>
+
+  <properties path="./properties.xml"/>
+</specification>

scan_fmt_xml/tests/test_param/types.xml

@@ -0,0 +1,102 @@
+<!--  Basic types from OMG IDL as utilized in ROS2 IDL
+      and mapping from OMG IDL datatypes to ECMAScript 2023
+      See: https://www.omg.org/spec/IDL/4.2/About-IDL/
+           https://design.ros2.org/articles/idl_interface_definition.html
+           https://wiki.ros.org/msg
+           https://262.ecma-international.org/14.0/#sec-ecmascript-data-types-and-values
+
+
+void
+ECMAScript: Null
+
+int8
+uint8
+int16
+uint16
+int32
+uint32
+int64
+uint64
+ECMAScript: BigInt
+
+float32
+float64
+ECMAScript: Number
+
+char
+wchar
+ECMAScript: String
+
+boolean
+ECMAScript: Boolean
+
+sequence<type_spec>
+sequence<type_spec, N>
+<type_spec> []
+ECMAScript: Array (??)
+
+string
+wstring
+ECMAScript: String
+
+time
+ECMAScript: BigInt
+NOTE: alias for uint32
+
+duration
+ECMAScript: BigInt
+NOTE: alias for int32
+
+URI
+ECMAScript: String
+NOTE: alias for string
+
+-->
+
+
+<dataTypeList>
+
+  <!-- Here are some examples on how ROS2 data types can be encoded easily -->
+
+  <!-- From https://wiki.ros.org/msg#headerSect -->
+  <structure id="Header">
+    <field id="stamp" type="time"/>
+    <field id="frame_id" type="string"/>
+  </structure>
+
+  <!-- From geometry_msgs/msg/Point.msg -->
+  <structure id="Point">
+    <field id="x" type="float64"/>
+    <field id="y" type="float64"/>
+    <field id="z" type="float64"/>
+  </structure>
+
+  <!-- From geometry_msgs/msg/Point.msg -->
+  <structure id="Point32">
+    <field id="x" type="float32"/>
+    <field id="y" type="float32"/>
+    <field id="z" type="float32"/>
+  </structure>
+
+  <!-- From geometry_msgs/msg/PointStamped.msg -->
+  <structure id="PointStamped">
+    <field id="header" type="Header"/>
+    <field id="point" type="Point"/>
+  </structure>
+
+  <!-- From geometry_msgs/msg/Polygon.msg -->
+  <structure id="Polygon">
+    <field id="points" type="Point32[]"/>
+  </structure>
+
+  <!-- End of example section -->
+
+  <!-- This is the only non-native data type required in this example -->
+
+  <enumeration id="TickResponse">
+    <label id="RUNNING"/>
+    <label id="SUCCESS"/>
+    <label id="FAILURE"/>
+  </enumeration>
+
+</dataTypeList>