as2fm.scxml_converter.scxml_entries.scxml_bt_base.BtGenericStatusHandle

class as2fm.scxml_converter.scxml_entries.scxml_bt_base.BtGenericStatusHandle(child_seq_id: str | int, targets: List[ScxmlTransitionTarget], condition: str | None = None)

Bases: ScxmlTransition

Process a generic response received from a BT child.

__init__(child_seq_id: str | int, targets: List[ScxmlTransitionTarget], condition: str | None = None)

Generate an instance of a handler for a generic BT Child reply.

Parameters:

• child_seq_id – Which BT child is the response related to.

• targets – The targets to use for transitioning to new states.

• condition – The condition to check before transitioning.

Methods

__init__(child_seq_id, targets[, condition])	Generate an instance of a handler for a generic BT Child reply.
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(ros_declarations)	Convert the object to its plain SCXML version.
as_xml()	Convert the object to an XML element.
check_valid_ros_instantiations(ros_declarations)	Check if the ros instantiations have been declared.
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)	Create a ScxmlTransition 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_condition()	Return the condition required to execute this transition (if any).
get_events()	Return the events that trigger this transition (if any).
get_id()	Get the ID of the object.
get_tag_name()	Get the tag name of the XML element.
get_targets()	Return all targets belonging to this transition.
has_bt_blackboard_input(bt_ports_handler)	Check if the transition contains references to blackboard inputs.
instantiate_bt_events(instance_id, children_ids)	Instantiate the BT events of this transition.
is_plain_scxml()	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(child_seq_id, ...)	Generate a BtGenericStatusHandle with exactly one target.
set_targets(new_targets)	Set the targets of the transition.
set_thread_id(thread_id)	Set the thread ID for the executable entries of this transition.
update_bt_ports_values(bt_ports_handler)	Update the values of potential entries making use of BT ports.

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: ScxmlAssign | ScxmlIf | ScxmlSend)

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(ros_declarations: ScxmlRosDeclarationsContainer) → ScxmlTransition

Convert the object to its plain SCXML version.

as_xml() → Element

Convert the object to an XML element.

check_valid_ros_instantiations(ros_declarations: ScxmlRosDeclarationsContainer) → bool

Check if the ros instantiations have been declared.

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) → BtGenericStatusHandle

Create a ScxmlTransition object from an XML tree.

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_condition() → str | None

Return the condition required to execute this transition (if any).

get_events() → List[str]

Return the events that trigger this transition (if any).

get_id() → str

Get the ID of the object.

classmethod get_tag_name()

Get the tag name of the XML element.

get_targets() → List[ScxmlTransitionTarget]

Return all targets belonging to this transition.

has_bt_blackboard_input(bt_ports_handler: BtPortsHandler)

Check if the transition contains references to blackboard inputs.

instantiate_bt_events(instance_id: int, children_ids: List[int]) → List[ScxmlTransition]

Instantiate the BT events of this transition.

is_plain_scxml() → bool

Check if the transition is a plain scxml entry and contains only plain scxml.

classmethod load_transition_targets_from_xml(xml_tree: Element) → List[ScxmlTransitionTarget]

Loads all transition targets contained in the transition-like tags.

classmethod make_single_target_transition(child_seq_id: str | int, target: str, condition: str | None = None, body: List[ScxmlAssign | ScxmlIf | ScxmlSend] | None = None)

Generate a BtGenericStatusHandle with exactly one target.

Parameters:

• child_seq_id – From which BT children ID we receive the response.

• target – The state transition goes to. Required (unlike in SCXML specifications)

• condition – The condition guard to enable/disable the transition

• body – Content that is executed when the transition happens

set_targets(new_targets: List[ScxmlTransitionTarget])

Set the targets of the transition.

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

set_thread_id(thread_id: int) → None

Set the thread ID for the executable entries of this transition.

update_bt_ports_values(bt_ports_handler: BtPortsHandler) → None

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