as2fm.scxml_converter.ascxml_extensions.ros_entries.scxml_ros_topic.RosTopicCallback

class as2fm.scxml_converter.ascxml_extensions.ros_entries.scxml_ros_topic.RosTopicCallback(interface_decl: str | RosDeclaration, targets: List[ScxmlTransitionTarget], condition: str | None = None)

Bases: RosCallback

Object representing a transition to perform when a new ROS msg is received.

__init__(interface_decl: str | RosDeclaration, targets: List[ScxmlTransitionTarget], condition: str | None = None) → None

Constructor of ROS callback.

Parameters:

• interface_decl – ROS interface declaration to be used in the callback, or its name.

• targets – A list of targets reachable from this callback.

• condition – Condition to be met for the callback to be executed.

Methods

__init__(interface_decl, targets[, condition])	Constructor of ROS callback.
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, custom_data_types)	Create an instance of the class 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, custom_data_types: Dict[str, StructDefinition]) → Self

Create an instance of the class from an XML tree.

static get_callback_prefixes() → List[str]

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.

static get_declaration_type() → Type[RosTopicSubscriber]

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) → 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 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.