as2fm.scxml_converter.ascxml_extensions.ros_entries.scxml_ros_action_server_thread.RosActionThreadFree

class as2fm.scxml_converter.ascxml_extensions.ros_entries.scxml_ros_action_server_thread.RosActionThreadFree(action_name: str | RosActionServer, fields: List[RosField] = [], _=None)

Bases: RosTrigger

SCXML object receiving a trigger from the action server to stop a thread.

The selection of the thread is encoded in the event name. The thread ID is set from the parent, via a dedicated method.

__init__(action_name: str | RosActionServer, fields: List[RosField] = [], _=None) → None

Constructor of a generic ROS trigger.

Parameters:

interface_decl – ROS interface declaration to be used in the trigger, or its name.
fields – Name of fields that are sent together with the trigger.
additional_args – Additional arguments in the SCXML-ROS tag.

Methods

`__init__`(action_name[, fields, _])	Constructor of a generic ROS trigger.
`add_events_targets`(events_to_models)	Add the target models for all events sent by this executable entry.
`append_field`(field)
`append_param`(param)
`as_plain_scxml`(struct_declarations, ...)	Convert the object to its plain SCXML version.
`as_xml`()	Convert the object to an XML element.
`check_fields_validity`(_)	Check if all the fields defined in the declared ROS interface are assigned.
`check_interface_defined`(ascxml_declarations)	Check if the ROS interface used in the callback exists.
`check_valid_ros_instantiations`(_)	Check if the ros instantiations have been declared.
`check_validity`()	Check if the object is valid.
`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, custom_data_types)	Create an instance of the class from an XML tree.
`get_additional_arguments`()	Get the names of additional arguments in the SCXML-ROS tag.
`get_config_request_receive_events`()	Return the events for requesting-receiving the updated value of a conf.
`get_custom_data_types`()	Get the container with custom data types.
`get_declaration_type`()	Get the type of ROS declaration related to the trigger.
`get_event`()	Get the event to send.
`get_params`()	Get the parameters to send.
`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 trigger type.
`get_target_automaton`()	Get the target automata associated to this send event.
`get_xml_origin`()	Get the xml_element this object was made from.
`is_plain_scxml`([verbose])	Check if the object is compatible with the plain SCXML standard.
`replace_strings_types_with_integer_arrays`()	Replace all string literals in the contained expressions.
`set_callback_prefixes`(cb_prefixes)	Set the callback executing this trigger for this instance and its children.
`set_custom_data_types`(custom_data_types)	Save container with custom data types.
`set_target_automaton`(target_automaton)	Set the target automata associated to this send event.
`set_xml_origin`(xml_origin)	Set the xml_element this object was made from.
`update_configurable_entry`(ascxml_declarations)	Update possible configurable entries in the executable object.

add_events_targets(events_to_models: Dict[str, Set[str]]): Add the target models for all events sent by this executable entry.

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 object to an XML element.

check_fields_validity(_) → bool: Check if all the fields defined in the declared ROS interface are assigned.

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

check_valid_ros_instantiations(_) → bool: Check if the ros instantiations have been declared.

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

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, custom_data_types: Dict[str, StructDefinition]) → Self

Create an instance of the class from an XML tree.

Parameters:

xml_tree – XML tree to be used for the creation of the instance.
additional_args – Additional arguments to be parsed from the SCXML-ROS tag.

static get_additional_arguments() → List[str]: Get the names of additional arguments in the SCXML-ROS tag.

get_config_request_receive_events() → Tuple[str, str] | None: Return the events for requesting-receiving the updated value of a conf. entry, if any.

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

static get_declaration_type() → Type[RosActionServer]

Get the type of ROS declaration related to the trigger.

Examples: RosServiceClient, RosActionClient, …

get_event() → str: Get the event to send.

get_params() → List[ScxmlParam]: Get the parameters to send.

get_plain_scxml_event(ascxml_declaration: AscxmlDeclaration) → str: 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 trigger type.

get_target_automaton() → str | None: Get the target automata associated to this send event.

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

is_plain_scxml(verbose: bool = False) → bool: Check if the object is compatible with the plain SCXML standard.

replace_strings_types_with_integer_arrays() → ScxmlSend: Replace all string literals in the contained expressions.

set_callback_prefixes(cb_prefixes: List[str]): Set the callback executing this trigger for this instance and its children.

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

set_target_automaton(target_automaton: str) → None: Set the target automata associated to this send event.

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

update_configurable_entry(ascxml_declarations: List[AscxmlDeclaration]): Update possible configurable entries in the executable object.