Adjusted counter example to use given ROS value for counting

config_tessla/counter_with_reset.json

@@ -22,18 +22,6 @@
     "type": "Events[Int]"
   }],
   "outputs": [{
-    "annotations": [{
-      "args": {
-        "value": {
-          "type": "String",
-          "value": "counter"
-        }
-      },
-      "name": "$name"
-    }],
-    "name": "$903",
-    "type": "Events[Int]"
-  }, {
     "annotations": [{
       "args": {
         "name": {
@@ -59,7 +47,7 @@
       },
       "name": "$name"
     }],
-    "name": "reset$905",
+    "name": "reset$899",
     "type": "Events[Bool]"
   }]
 }
\ No newline at end of file

config_tessla/counter_with_reset.tessla

@@ -6,10 +6,13 @@ def @RosPublisher(name: String, ros_type: String, qos_profile: String)
 @RosSubscription("/counter", "int64", "10")
 in x: Events[Int]
 
-def counter = count(x)
-def reset = counter > 10
+# Version 2 - if once reset true then forever
+# def counter = count(x)
+# def reset = counter > 10
+# out counter
 
-out counter
+# Version 1 - every time reset if counter is bigger then 10
+def reset = x > 10
 
 @RosPublisher("/reset_counter", "bool", "10")
 out reset

src/tesslabridge/tesslabridge/examples/counter_with_reset.py

@@ -52,7 +52,9 @@ class CounterWithReset(Node):
         """If event of type bool is true reset counter to zero, else do nothing."""
         if msg.data:
             self.counter = 0
-        self.get_logger().debug('Received on reset topic:"{}"'.format(msg.data))
+            self.get_logger().warn('Counter Node: Reset Counter to zero, after receiving on reset topic:"{}"'.
+                                   format(msg.data))
+        self.get_logger().debug('Counter Node: Received on reset topic:"{}"'.format(msg.data))
 
 
 def main(args=None):