From 1ce7a2c472265ccb09f31b64abfc4adb87e27e3f Mon Sep 17 00:00:00 2001 From: Christian Henkel Date: Thu, 16 May 2024 09:58:53 +0200 Subject: [PATCH 1/8] somewhat useful layout for the overview diagram Signed-off-by: Christian Henkel --- docs/source/overview.plantuml | 39 +++++++++++++++-------------------- 1 file changed, 17 insertions(+), 22 deletions(-) diff --git a/docs/source/overview.plantuml b/docs/source/overview.plantuml index eaeeb5e..c6430c4 100644 --- a/docs/source/overview.plantuml +++ b/docs/source/overview.plantuml @@ -32,10 +32,10 @@ file "Model" as m { mfunc --> menv } -m -[hidden]> r +' m -[hidden]> r -renv -[hidden]> menv -rdelib -[hidden]> mdelib +' renv -[hidden]> menv +' rdelib -[hidden]> mdelib database "Knowledge Model\n" as k @@ -52,7 +52,7 @@ WP2 / CEA ] ' } -sitaw -[hidden]> rskill +renv -[hidden]> sitaw rskill .. sitaw sitaw <-> k : OWL @@ -79,14 +79,14 @@ agent simulateplan #PaleGreen [ .... WP3 / UoB ] -refineplan -[hidden]-> simulateplan -simulateplan -[hidden]-> activeplan -' } -coverageplan .. rskill +rskill .. coverageplan +rfunc -[hidden]> coverageplan activeplan <-> simulateplan : root-cause mdelib -> refineplan : "BT.cpp XML" refineplan -> rdelib : "BT.cpp XML" +' rskill -[hidden]> refineplan +' refineplan -[hidden]> mskill rdelib -> simulateplan : "BT.cpp XML" k -> simulateplan : OWL k -> activeplan : OWL @@ -99,13 +99,8 @@ agent moon #TECHNOLOGY [ .... WP4 / UniGe ] -' together { -' agent scan #TECHNOLOGY [ -' [[https:///github.com/convince-project/scan SCAN]] -' .... -' WP4 / UniGe ' ] -agent storm #TECHNOLOGY [ +agent stormscan #TECHNOLOGY [ [[https:///github.com/convince-project/smc_storm SMC-STORM]] .... WP4 / Bosch @@ -128,22 +123,22 @@ agent modeltocode #TECHNOLOGY [ .... WP4 / IIT ] -' } -' activeplan -[hidden]-> jani -activeplan -[hidden]-> modeltocode -' moon -[hidden]> scan -moon -[hidden]-> rdelib +' activeplan -[hidden]-> modeltocode +moon -[hidden]-> rdelib moon <-- r : ROS Communication -m -> storm : "JANI / SCXML" -' m -> storm : "SCXML" +stormscan -[hidden]-> mdelib +stormscan <-- m : "JANI / SCXML" r -> jani : "SCXML" jani -> m : "JANI" rskill <- modeltocode : "CPP" modeltocode <- mskill : "SCXML" +coverageplan -[hidden]> modeltocode + +refineplan -[hidden]-> modeltocode -refineplan -[hidden]> jani +' refineplan -[hidden]> jani @enduml From 8de02a2b4a9203d2208c7eedbc8b0111491fa740 Mon Sep 17 00:00:00 2001 From: Christian Henkel Date: Thu, 16 May 2024 10:02:15 +0200 Subject: [PATCH 2/8] no commented out code Signed-off-by: Christian Henkel --- docs/source/overview.plantuml | 19 ------------------- 1 file changed, 19 deletions(-) diff --git a/docs/source/overview.plantuml b/docs/source/overview.plantuml index c6430c4..c27fe17 100644 --- a/docs/source/overview.plantuml +++ b/docs/source/overview.plantuml @@ -32,19 +32,10 @@ file "Model" as m { mfunc --> menv } -' m -[hidden]> r - -' renv -[hidden]> menv -' rdelib -[hidden]> mdelib - database "Knowledge Model\n" as k -' renv -[hidden]> k -' k -[hidden]> menv - ' WP2 -' rectangle WP2 #line.dashed{ agent sitaw #LightGreen [ [[https:///github.com/convince-project/sit-aw SIT-AW]] .... @@ -58,7 +49,6 @@ sitaw <-> k : OWL ' WP3 -' rectangle WP3 #line.dashed { agent refineplan #PaleGreen [ [[https://github.com/convince-project/refine-plan REFINE-PLAN]] .... @@ -85,15 +75,12 @@ rfunc -[hidden]> coverageplan activeplan <-> simulateplan : root-cause mdelib -> refineplan : "BT.cpp XML" refineplan -> rdelib : "BT.cpp XML" -' rskill -[hidden]> refineplan -' refineplan -[hidden]> mskill rdelib -> simulateplan : "BT.cpp XML" k -> simulateplan : OWL k -> activeplan : OWL ' WP4 -' rectangle WP4 #line.dashed { agent moon #TECHNOLOGY [ [[https:///github.com/convince-project/moon MOON]] .... @@ -110,9 +97,6 @@ WP4 / Bosch .... WP4 / UniGe ] -' scan -[hidden]-> storm -' } -' together { agent jani #TECHNOLOGY [ [[https:///github.com/convince-project/mc-toolchain-jani MC-TOOLCHAIN-JANI]] .... @@ -124,8 +108,6 @@ agent modeltocode #TECHNOLOGY [ WP4 / IIT ] -' activeplan -[hidden]-> modeltocode - moon -[hidden]-> rdelib moon <-- r : ROS Communication @@ -140,5 +122,4 @@ coverageplan -[hidden]> modeltocode refineplan -[hidden]-> modeltocode -' refineplan -[hidden]> jani @enduml From a8a4304ec3dcd50ff16ce683aa9c8101d70b0a0a Mon Sep 17 00:00:00 2001 From: Christian Henkel Date: Thu, 16 May 2024 10:11:47 +0200 Subject: [PATCH 3/8] sorting out labels Signed-off-by: Christian Henkel --- docs/source/overview.plantuml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/docs/source/overview.plantuml b/docs/source/overview.plantuml index c27fe17..07bdd0d 100644 --- a/docs/source/overview.plantuml +++ b/docs/source/overview.plantuml @@ -73,10 +73,10 @@ WP3 / UoB rskill .. coverageplan rfunc -[hidden]> coverageplan activeplan <-> simulateplan : root-cause -mdelib -> refineplan : "BT.cpp XML" +mdelib -> refineplan : "\nBT.cpp XML" refineplan -> rdelib : "BT.cpp XML" rdelib -> simulateplan : "BT.cpp XML" -k -> simulateplan : OWL +k -> simulateplan : "\nOWL" k -> activeplan : OWL ' WP4 @@ -112,12 +112,12 @@ moon -[hidden]-> rdelib moon <-- r : ROS Communication stormscan -[hidden]-> mdelib -stormscan <-- m : "JANI / SCXML" +stormscan <-- m : "JANI / SCXML\n" r -> jani : "SCXML" -jani -> m : "JANI" +jani -> m : "JANI\n" rskill <- modeltocode : "CPP" -modeltocode <- mskill : "SCXML" +modeltocode <- mskill : "SCXML\t\t\t" coverageplan -[hidden]> modeltocode refineplan -[hidden]-> modeltocode From 09317c729d06be9781eeb91133b876edb7190701 Mon Sep 17 00:00:00 2001 From: Christian Henkel Date: Thu, 16 May 2024 10:26:47 +0200 Subject: [PATCH 4/8] adding a legend Signed-off-by: Christian Henkel --- docs/source/overview.plantuml | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/docs/source/overview.plantuml b/docs/source/overview.plantuml index 07bdd0d..768bf00 100644 --- a/docs/source/overview.plantuml +++ b/docs/source/overview.plantuml @@ -122,4 +122,19 @@ coverageplan -[hidden]> modeltocode refineplan -[hidden]-> modeltocode + +rectangle Legend { + agent a [ + ] + agent b [ + ] + a -> b : "data flow" + + agent c [ + ] + agent d [ + ] + c . d : "contained in" +} + @enduml From f20656e6f66940ff4a4539f9a43f599446bc8adf Mon Sep 17 00:00:00 2001 From: Christian Henkel Date: Thu, 16 May 2024 10:27:48 +0200 Subject: [PATCH 5/8] overview on index page Signed-off-by: Christian Henkel --- docs/source/index.rst | 3 ++- docs/source/overview_plantuml.rst | 4 ---- docs/source/test.md | 15 --------------- 3 files changed, 2 insertions(+), 20 deletions(-) delete mode 100644 docs/source/overview_plantuml.rst delete mode 100644 docs/source/test.md diff --git a/docs/source/index.rst b/docs/source/index.rst index 5817e61..f6d206d 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -1,6 +1,8 @@ CONVINCE Toolchain Overview =========================== +.. uml:: overview.plantuml + Welcome to the CONVINCE toolchain documentation. The goal of the `CONVINCE project `_ is to provide an open source toolchain to improve robust robot deliberation with the help of planning, learning, and model checking techniques. @@ -82,5 +84,4 @@ This is a statistical model checking engine for DTMC models given in Jani, which .. toctree:: :hidden: - overview_plantuml tutorials diff --git a/docs/source/overview_plantuml.rst b/docs/source/overview_plantuml.rst deleted file mode 100644 index 0efb36f..0000000 --- a/docs/source/overview_plantuml.rst +++ /dev/null @@ -1,4 +0,0 @@ -Overview -======== - -.. uml:: overview.plantuml \ No newline at end of file diff --git a/docs/source/test.md b/docs/source/test.md deleted file mode 100644 index 56e03a0..0000000 --- a/docs/source/test.md +++ /dev/null @@ -1,15 +0,0 @@ -# Testing Markdown - -This is a test markdown file. - -```python -print("Hello, World!") -``` - -```bash -echo "Hello, World!" -``` - -## Test Section - -> Quote From b5b2f66a8f9f5ab14c8841d3e10e2e02b832aad0 Mon Sep 17 00:00:00 2001 From: Christian Henkel Date: Thu, 16 May 2024 10:30:18 +0200 Subject: [PATCH 6/8] no link Signed-off-by: Christian Henkel --- docs/source/index.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/source/index.rst b/docs/source/index.rst index f6d206d..7bd6531 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -8,7 +8,7 @@ The goal of the `CONVINCE project `_ is to provide This is the entry-point for the CONVINCE toolchain documentation. It provides an overview of all the individual components which are part of the large toolchain. Those components can be used standalone and also linked together as required for individual use cases. -The CONVINCE toolchain works as depicted in the :doc:`interactive overview picture <../overview_plantuml>`. The individual repos and documentations are linked from there. +The CONVINCE toolchain works as depicted above. The individual repos and documentations are linked from there. In the following the CONVINCE toolchain components are briefly described. For more details please check out the individual repositories with their documentation and tutorial pages. From 7b78f73ef2b22120b7555b8ac1064f63cf226523 Mon Sep 17 00:00:00 2001 From: Christian Henkel Date: Thu, 16 May 2024 10:44:11 +0200 Subject: [PATCH 7/8] maybe having additional little diagrams Signed-off-by: Christian Henkel --- docs/source/index.rst | 19 ++++++++++++++++++- docs/source/overview.plantuml | 4 +++- 2 files changed, 21 insertions(+), 2 deletions(-) diff --git a/docs/source/index.rst b/docs/source/index.rst index 7bd6531..3295261 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -1,13 +1,16 @@ CONVINCE Toolchain Overview =========================== -.. uml:: overview.plantuml Welcome to the CONVINCE toolchain documentation. The goal of the `CONVINCE project `_ is to provide an open source toolchain to improve robust robot deliberation with the help of planning, learning, and model checking techniques. This is the entry-point for the CONVINCE toolchain documentation. It provides an overview of all the individual components which are part of the large toolchain. Those components can be used standalone and also linked together as required for individual use cases. +.. uml:: overview.plantuml + :caption: CONVINCE Toolchain Overview + :alt: CONVINCE Toolchain Overview + The CONVINCE toolchain works as depicted above. The individual repos and documentations are linked from there. In the following the CONVINCE toolchain components are briefly described. For more details please check out the individual repositories with their documentation and tutorial pages. @@ -19,6 +22,20 @@ To be filled by CEA. coverage-plan ------------- + +.. .. uml:: + +.. agent "\nSkill Layer\n" as rskill #LightYellow + +.. agent coverageplan #PaleGreen [ +.. [[https:///github.com/convince-project/coverage-plan COVERAGE-PLAN]] +.. .... +.. WP3 / UoB +.. ] + +.. rskill . coverageplan + + COVERAGE-PLAN is an online tool for *lifelong area coverage in dynamic and uncertain environments*. The current release of COVERAGE-PLAN operates on discrete grid environments. diff --git a/docs/source/overview.plantuml b/docs/source/overview.plantuml index 768bf00..b64eeae 100644 --- a/docs/source/overview.plantuml +++ b/docs/source/overview.plantuml @@ -123,7 +123,7 @@ coverageplan -[hidden]> modeltocode refineplan -[hidden]-> modeltocode -rectangle Legend { +rectangle Legend as legend { agent a [ ] agent b [ @@ -137,4 +137,6 @@ rectangle Legend { c . d : "contained in" } +renv -[hidden]-> legend + @enduml From 268647564390e90602eddce82e0a5d00d2ade152 Mon Sep 17 00:00:00 2001 From: Christian Henkel Date: Thu, 16 May 2024 10:57:52 +0200 Subject: [PATCH 8/8] links to sections Signed-off-by: Christian Henkel --- docs/source/index.rst | 23 +++++++++++++++++++++-- docs/source/overview.plantuml | 16 ++++++++-------- 2 files changed, 29 insertions(+), 10 deletions(-) diff --git a/docs/source/index.rst b/docs/source/index.rst index 3295261..1433bd7 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -17,11 +17,14 @@ In the following the CONVINCE toolchain components are briefly described. For mo sit-aw ------ +`convince-project/sit-aw `_ + To be filled by CEA. coverage-plan ------------- +`convince-project/coverage-plan `_ .. .. uml:: @@ -52,6 +55,8 @@ The documentation contains a tutorial demonstrating the coverage planner. refine-plan ----------- +`convince-project/refine-plan `_ + REFINE-PLAN is an offline tool for *refining hand-designed behaviour trees (BTs)* to attain robustness under uncertainty, improving performance. @@ -68,22 +73,32 @@ The documentation contains a tutorial demonstrating the current functionality. active-plan ----------- +`convince-project/active-plan `_ + To be filled by UoB. simulate-plan ------------- +`convince-project/simulate-plan `_ + To be filled by UoB. scan ---- +`convince-project/scan `_ + To be filled by UniGe. moon ---- +`convince-project/moon `_ + To be filled by UniGe. mc-toolchain-jani -------------------- +----------------- +`convince-project/mc-toolchain-jani `_ + This is a toolbox for converting all specifications of components of a robotic system under investigation into a format which can be given as input to model checkers for verifying the robustness of the system functionalities. The resulting format used for model checking is `JANI `_. The toolbox, which can be found `here `_, consist of a script to convert models describing the system and its environment together, given in the CONVINCE robotics JANI flavor as specified in the `data model repository `_, into `plain JANI `_ accepted as input by model checkers. @@ -91,10 +106,14 @@ The second part of the provided toolchain components centers around system speci model2code ---------- +`convince-project/model2code `_ + To be filled by IIT. smc-storm ---------------- +--------- +`convince-project/smc_storm `_ + This is a statistical model checking engine for DTMC models given in Jani, which has been implemented as an extension to the famous `Storm model checker `_. The tool and its documentation can be found in this `repository `_. diff --git a/docs/source/overview.plantuml b/docs/source/overview.plantuml index b64eeae..8455678 100644 --- a/docs/source/overview.plantuml +++ b/docs/source/overview.plantuml @@ -37,7 +37,7 @@ database "Knowledge Model\n" as k ' WP2 agent sitaw #LightGreen [ -[[https:///github.com/convince-project/sit-aw SIT-AW]] +[[https://convince-project.github.io/overview/#sit-aw SIT-AW]] .... WP2 / CEA ] @@ -50,12 +50,12 @@ sitaw <-> k : OWL ' WP3 agent refineplan #PaleGreen [ -[[https://github.com/convince-project/refine-plan REFINE-PLAN]] +[[https://convince-project.github.io/overview/#refine-plan REFINE-PLAN]] .... WP3 / UoB ] agent coverageplan #PaleGreen [ -[[https:///github.com/convince-project/coverage-plan COVERAGE-PLAN]] +[[https://convince-project.github.io/overview/#coverage-plan COVERAGE-PLAN]] .... WP3 / UoB ] @@ -82,28 +82,28 @@ k -> activeplan : OWL ' WP4 agent moon #TECHNOLOGY [ -[[https:///github.com/convince-project/moon MOON]] +[[https://convince-project.github.io/overview/#moon MOON]] .... WP4 / UniGe ] ' ] agent stormscan #TECHNOLOGY [ -[[https:///github.com/convince-project/smc_storm SMC-STORM]] +[[https://convince-project.github.io/overview/#smc_storm SMC-STORM]] .... WP4 / Bosch ---- -[[https:///github.com/convince-project/scan SCAN]] +[[https://convince-project.github.io/overview/#scan SCAN]] .... WP4 / UniGe ] agent jani #TECHNOLOGY [ -[[https:///github.com/convince-project/mc-toolchain-jani MC-TOOLCHAIN-JANI]] +[[https://convince-project.github.io/overview/#mc-toolchain-jani MC-TOOLCHAIN-JANI]] .... WP4 / Bosch ] agent modeltocode #TECHNOLOGY [ -[[https:///github.com/convince-project/modeltocode MODEL2CODE]] +[[https://convince-project.github.io/overview/#model2code MODEL2CODE]] .... WP4 / IIT ]