as2fm.scxml_converter.scxml_entries.scxml_bt_base.BtGenericRequestSend

class as2fm.scxml_converter.scxml_entries.scxml_bt_base.BtGenericRequestSend(child_seq_id: str | int)

Bases: ScxmlSend

A generic class representing the sender of a BT related request (i.e. tick and halt)

__init__(child_seq_id: str | int)

Generate a new BtGenericRequestSend instance.

Parameters:

child_seq_id – Which BT control node children to tick (relative the the BT-XML file).

Methods

__init__(child_seq_id)	Generate a new BtGenericRequestSend instance.
append_param(param)
as_plain_scxml(_)	Convert the object to its plain SCXML version.
as_xml()	Return the instance content as an XML Element.
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)	Create a ScxmlSend object from an XML tree.
generate_bt_event_name(instance_id)	Generate the plain scxml event associated to the BT Transition instance_id.
get_body()	Get the body of the object.
get_event()	Get the event to send.
get_id()	Get the ID of the object.
get_params()	Get the parameters to send.
get_tag_name()	Get the tag name of the XML element.
get_target_automaton()	Get the target automata associated to this send event.
has_bt_blackboard_input(_)	Check whether the If entry reads content from the BT Blackboard.
instantiate_bt_events(instance_id, children_ids)	Convert the BtGenericRequestSend to plain SCXML.
is_plain_scxml()
set_callback_type(cb_type)	Set the cb type for this entry and its children.
set_target_automaton(target_automaton)	Set the target automata associated to this send event.
update_bt_ports_values(bt_ports_handler)	Update the values of potential entries making use of BT ports.

as_plain_scxml(_) → ScxmlSend

Convert the object to its plain SCXML version.

as_xml() → Element

Return the instance content as an XML Element.

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) → BtGenericRequestSend

Create a ScxmlSend object from an XML tree.

Parameters:

• xml_tree – The XML tree to create the object from.

• cb_type – The kind of callback executing this SCXML entry.

classmethod generate_bt_event_name(instance_id: int)

Generate the plain scxml event associated to the BT Transition instance_id.

get_body()

Get the body of the object.

get_event() → str

Get the event to send.

get_id() → str

Get the ID of the object.

get_params() → List[ScxmlParam]

Get the parameters to send.

classmethod get_tag_name()

Get the tag name of the XML element.

get_target_automaton() → str | None

Get the target automata associated to this send event.

has_bt_blackboard_input(_)

Check whether the If entry reads content from the BT Blackboard.

instantiate_bt_events(instance_id: int, children_ids: List[int]) → List[ScxmlAssign | ScxmlIf | ScxmlSend]

Convert the BtGenericRequestSend to plain SCXML.

Returns an ScxmlSend if the child id is constant and an ScxmlIf otherwise.

set_callback_type(cb_type: CallbackType) → None

Set the cb type for this entry and its children.

set_target_automaton(target_automaton: str) → None

Set the target automata associated to this send event.

update_bt_ports_values(bt_ports_handler: BtPortsHandler)

Update the values of potential entries making use of BT ports.