as2fm.scxml_converter.ascxml_extensions.ros_entries.scxml_ros_field.RosField

class as2fm.scxml_converter.ascxml_extensions.ros_entries.scxml_ros_field.RosField(name: str, *, expr: AscxmlConfiguration | str, cb_prefixes: List[str] | None = None)

Bases: ScxmlParam

Field of a ROS msg published in a topic.

__init__(name: str, *, expr: AscxmlConfiguration | str, cb_prefixes: List[str] | None = None)

Initialize the SCXML Parameter object.

The ‘location’ entry is kept for consistency, but using expr achieves the same result.

Parameters:

• name – The name of the parameter.

• expr – The expression to assign to the parameter. Can come from a BT port.

• cb_prefixes – The list of prefixes we can expect in the expression.

Methods

__init__(name, *, expr[, cb_prefixes])	Initialize the SCXML Parameter object.
as_plain_scxml(struct_declarations, ...)	Convert the object to its plain SCXML version.
as_xml()	Convert the object to an XML element.
check_validity()	Check if the object is valid.
evaluate_expr()	Replace expression of type AscxmlConfiguration with their current value.
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 a ScxmlParam object from an XML tree.
get_custom_data_types()	Get the container with custom data types.
get_expr()
get_name()
get_tag_name()	Get the tag name of the XML element.
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.
set_callback_prefixes(cb_prefixes)
set_custom_data_types(custom_data_types)	Save container with custom data types.
set_xml_origin(xml_origin)	Set the xml_element this object was made from.
update_configured_value(ascxml_declarations)	Set the value of the configured value based on the declarations content.

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_validity() → bool

Check if the object is valid.

evaluate_expr()

Replace expression of type AscxmlConfiguration with their current value.

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]) → ScxmlParam

Create a ScxmlParam object from an XML tree.

get_custom_data_types() → Dict[str, StructDefinition]

Get the container with custom data types.

static get_tag_name() → str

Get the tag name of the XML element.

get_xml_origin() → _Element | None

Get the xml_element this object was made from.

is_plain_scxml(verbose: bool = False)

Check if the object is compatible with the plain SCXML standard.

set_custom_data_types(custom_data_types: Dict[str, StructDefinition])

Save container with custom data types.

set_xml_origin(xml_origin: _Element)

Set the xml_element this object was made from.

update_configured_value(ascxml_declarations: List[AscxmlDeclaration])

Set the value of the configured value based on the declarations content.