as2fm.scxml_converter.ascxml_extensions.ros_entries.scxml_ros_action_client.RosActionHandleGoalResponse

class as2fm.scxml_converter.ascxml_extensions.ros_entries.scxml_ros_action_client.RosActionHandleGoalResponse(action_client: str | RosActionClient, accept_target: str, reject_target: str)

Bases: RosCallback

SCXML object representing the handler of an action response upon a goal request.

A server might accept or refuse a goal request, based on its internal state. This handler is meant to handle both acceptance or refusal of a request. Translating this to plain-SCXML, it results to two conditional transitions.

__init__(action_client: str | RosActionClient, accept_target: str, reject_target: str) → None

Initialize a new RosActionHandleGoalResponse object.

Parameters:

action_client – Action client used by this handler, or its name.
accept_target – State to transition to, in case of goal acceptance.
reject_target – State to transition to, in case of goal refusal.

Methods

`__init__`(action_client, accept_target, ...)	Initialize a new RosActionHandleGoalResponse object.
`add_event`(event)
`add_targets_to_scxml_sends`(events_to_targets)	For each "ScxmlSend" entry in the transition body, add the automata receiving the event.
`append_body_executable_entry`(exec_entry)	Append a executable body entry if this has only one target.
`as_plain_scxml`(struct_declarations, ...)	Convert the object to its plain SCXML version.
`as_xml`()	Convert the ROS callback to an XML element.
`check_interface_defined`(ascxml_declarations)	Check if the ROS interface used in the callback exists.
`check_validity`()	Check if the object is valid.
`contains_transition_target`(xml_tree)	Check if the children of the ScxmlTransition contain ScxmlTransitionTarget tags.
`from_xml_tree`(xml_tree, custom_data_types, ...)	External interface to create a ScxmlBase object from an XML tree.
`from_xml_tree_impl`(xml_tree, _)	Create a RosServiceServer object from an XML tree.
`get_callback_prefixes`()	Return the callback type of a specific ROS Callback subclass
`get_condition`()	Return the condition required to execute this transition (if any).
`get_config_request_receive_events`()	Get all events for requesting and receiving the updated configurable values.
`get_custom_data_types`()	Get the container with custom data types.
`get_declaration_type`()	Get the type of ROS declaration related to the callback.
`get_events`()	Return the events that trigger this transition (if any).
`get_interface_name`(interface_decl)	Extract the interface name from either a string or a RosDeclaration.
`get_plain_scxml_event`(ascxml_declaration)	Translate the ROS interface name to a plain scxml event.
`get_related_interface`(ascxml_declarations)	Find the declared interface related to this callback.
`get_tag_name`()	XML tag name for the ROS callback type.
`get_targets`()	Return all targets belonging to this transition.
`get_xml_origin`()	Get the xml_element this object was made from.
`is_plain_scxml`([verbose])	Check if the transition is a plain scxml entry and contains only plain scxml.
`load_transition_targets_from_xml`(xml_tree, ...)	Loads all transition targets contained in the transition-like tags.
`make_single_target_transition`(...[, ...])	Generate a RosCallback with exactly one target, like in vanilla SCXML.
`replace_strings_types_with_integer_arrays`()	Replace the string literals in the transition condition and the different targets.
`set_custom_data_types`(custom_data_types)	Save container with custom data types.
`set_targets`(new_targets)	Set the targets of the transition.
`set_xml_origin`(xml_origin)	Set the xml_element this object was made from.
`update_exec_body_configurable_values`(...)

add_targets_to_scxml_sends(events_to_targets: Dict[str, Set[str]]): For each “ScxmlSend” entry in the transition body, add the automata receiving the event.

append_body_executable_entry(exec_entry: ScxmlExecutableEntry)

Append a executable body entry if this has only one target.

If this transition has not exactly one target, this will raise an AssertionError.

as_plain_scxml(struct_declarations: ScxmlStructDeclarationsContainer, ascxml_declarations: List[AscxmlDeclaration], **kwargs) → List[ScxmlBase]

Convert the object to its plain SCXML version.

Parameters:

struct_declarations – List of custom structures defined in the model
ascxml_declarations – Additional declarations, like ROS or BT specific ones
kwargs – Additional framework specific entries, e.g. the BT plugin ID.

as_xml() → _Element: Convert the ROS callback to an XML element.

check_interface_defined(ascxml_declarations: List[AscxmlDeclaration]) → bool: Check if the ROS interface used in the callback exists.

check_validity() → bool: Check if the object is valid.

static contains_transition_target(xml_tree: _Element) → bool: Check if the children of the ScxmlTransition contain ScxmlTransitionTarget tags.

classmethod from_xml_tree(xml_tree: _Element, custom_data_types: Dict[str, StructDefinition], **kwargs) → Self: External interface to create a ScxmlBase object from an XML tree.

classmethod from_xml_tree_impl(xml_tree: _Element, _: Dict[str, StructDefinition]) → RosActionHandleGoalResponse: Create a RosServiceServer object from an XML tree.

classmethod get_callback_prefixes(): Return the callback type of a specific ROS Callback subclass

get_condition() → str | None: Return the condition required to execute this transition (if any).

get_config_request_receive_events() → List[Tuple[str, str]]: Get all events for requesting and receiving the updated configurable values.

get_custom_data_types() → Dict[str, StructDefinition]: Get the container with custom data types.

classmethod get_declaration_type() → Type[RosDeclaration]

Get the type of ROS declaration related to the callback.

Examples: RosSubscriber, RosPublisher, …

get_events() → List[str]: Return the events that trigger this transition (if any).

classmethod get_interface_name(interface_decl: str | RosDeclaration) → str

Extract the interface name from either a string or a RosDeclaration.

Parameters:: interface_decl – The interface declaration to extract the information from.
Returns:: A string providing the alias for the communication interface within the model.

get_plain_scxml_event(ascxml_declaration: AscxmlDeclaration): Translate the ROS interface name to a plain scxml event.

get_related_interface(ascxml_declarations: List[AscxmlDeclaration]) → RosDeclaration | None: Find the declared interface related to this callback.

static get_tag_name() → str: XML tag name for the ROS callback type.

get_targets() → List[ScxmlTransitionTarget]: Return all targets belonging to this transition.

get_xml_origin() → _Element | None: Get the xml_element this object was made from.

is_plain_scxml(verbose: bool = False) → bool: Check if the transition is a plain scxml entry and contains only plain scxml.

classmethod load_transition_targets_from_xml(xml_tree: _Element, custom_data_types: Dict[str, StructDefinition]) → List[ScxmlTransitionTarget]: Loads all transition targets contained in the transition-like tags.

classmethod make_single_target_transition(interface_decl: str | RosDeclaration, target: str, condition: str | None = None, body: List[ScxmlExecutableEntry] | None = None) → Self

Generate a RosCallback with exactly one target, like in vanilla SCXML.

Parameters:

interface_decl – The ROS declaration this Callback refers to.
target – The state to transition to once the callback is executed.
condition – The condition that enables this callback.
body – The operations to execute when running this callback.

replace_strings_types_with_integer_arrays() → None: Replace the string literals in the transition condition and the different targets.

set_custom_data_types(custom_data_types: Dict[str, StructDefinition]): Save container with custom data types.

set_targets(new_targets: List[ScxmlTransitionTarget])

Set the targets of the transition.

Additionally, calculates potentially remaining probabilities and checks they sum to one.

set_xml_origin(xml_origin: _Element): Set the xml_element this object was made from.