as2fm.scxml_converter.scxml_entries.scxml_root.ScxmlRoot

class as2fm.scxml_converter.scxml_entries.scxml_root.ScxmlRoot(name: str)

Bases: ScxmlBase

This class represents a whole scxml model, that is used to define specific skills.

__init__(name: str)

Methods

`__init__`(name)
`add_action_thread`(action_thread)
`add_bt_port_declaration`(bt_port_decl)	Add a BT port declaration to the handler.
`add_ros_declaration`(ros_declaration)
`add_state`(state, *[, initial])	Append a state to the list of states in the SCXML model.
`add_targets_to_scxml_sends`(events_to_targets)	For each "ScxmlSend" instance, add the names of the automata receiving the sent event.
`append_bt_child_id`(child_id)	Append a child ID to the list of child IDs.
`as_plain_scxml`(struct_declarations, ...)	Convert the object to its plain SCXML version.
`as_xml`(**kwargs)	Convert the object to an XML element.
`as_xml_string`(**kwargs)
`check_validity`()	Check if the object is valid.
`from_scxml_file`(xml_file, custom_data_types)	Create a ScxmlRoot object from an SCXML file.
`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 ScxmlRoot object from an XML tree.
`get_body`()	Get the body of the object.
`get_bt_plugin_id`()	Get the ID of the BT plugin instance, if any.
`get_bt_ports_types_values`()	Get information about the BT ports in the model.
`get_custom_data_types`()	Get the container with custom data types.
`get_data_model`()
`get_id`()	Get the ID of the object.
`get_initial_state_id`()	Get the ID of the initial state of the SCXML model.
`get_name`()	Get the name of the automaton represented by this SCXML model.
`get_state_by_id`(state_id)
`get_states`()
`get_tag_name`()	Get the tag name of the XML element.
`get_transition_events`()	Generate the set of events that are expected by the SCXML automaton.
`get_xml_origin`()	Get the xml_element this object was made from.
`instantiate_bt_information`()	Instantiate the values of BT ports and children IDs in the SCXML entries.
`is_plain_scxml`()	Check whether there are ROS or BT specific tags in the SCXML model.
`set_bt_plugin_id`(instance_id)	Update all BT-related events to use the assigned instance ID.
`set_bt_port_value`(port_name, port_value)	Set the value of an input port.
`set_bt_ports_values`(ports_values)	Set the values of multiple input ports.
`set_custom_data_types`(custom_data_types)	Save container with custom data types.
`set_data_model`(data_model)
`set_name`(name)	Rename the automaton represented by this SCXML model.
`set_xml_origin`(xml_origin)	Set the xml_element this object was made from.
`to_plain_scxml_and_declarations`()	Convert all internal ROS specific entries to plain SCXML.
`update_bt_ports_values`(bt_ports_handler)	Update the values of potential entries making use of BT ports.

add_bt_port_declaration(bt_port_decl: BtInputPortDeclaration | BtOutputPortDeclaration): Add a BT port declaration to the handler.

add_state(state: ScxmlState, *, initial: bool = False): Append a state to the list of states in the SCXML model. If initial is True, set it as the initial state.

add_targets_to_scxml_sends(events_to_targets: Dict[str, Set[str]]) → None

For each “ScxmlSend” instance, add the names of the automata receiving the sent event.

Parameters:: events_to_targets – Mapping between the event name and the automata recipients.

append_bt_child_id(child_id: int): Append a child ID to the list of child IDs.

as_plain_scxml(struct_declarations, ros_declarations) → List: Convert the object to its plain SCXML version.

as_xml(**kwargs) → _Element: Convert the object to an XML element.

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

static from_scxml_file(xml_file: str, custom_data_types: Dict[str, StructDefinition]) → ScxmlRoot: Create a ScxmlRoot object from an SCXML file.

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]) → ScxmlRoot: Create a ScxmlRoot object from an XML tree.

get_body(): Get the body of the object.

get_bt_plugin_id() → int | None: Get the ID of the BT plugin instance, if any.

get_bt_ports_types_values() → List[Tuple[str, str, str]]

Get information about the BT ports in the model.

Returns:: A list of Tuples containing bt_port_name, type and value.

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

get_id() → str: Get the ID of the object.

get_initial_state_id() → str: Get the ID of the initial state of the SCXML model.

get_name() → str: Get the name of the automaton represented by this SCXML model.

static get_tag_name() → str: Get the tag name of the XML element.

get_transition_events() → Set[str]: Generate the set of events that are expected by the SCXML automaton.

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

instantiate_bt_information(): Instantiate the values of BT ports and children IDs in the SCXML entries.

is_plain_scxml() → bool: Check whether there are ROS or BT specific tags in the SCXML model.

set_bt_plugin_id(instance_id: int) → None: Update all BT-related events to use the assigned instance ID.

set_bt_port_value(port_name: str, port_value: str): Set the value of an input port.

set_bt_ports_values(ports_values: List[Tuple[str, str]]): Set the values of multiple input ports.

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

set_name(name: str) → None: Rename the automaton represented by this SCXML model.

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

to_plain_scxml_and_declarations() → Tuple[List[ScxmlRoot], ScxmlRosDeclarationsContainer]

Convert all internal ROS specific entries to plain SCXML.

Returns:: A tuple with: - a list of ScxmlRoot objects with all ROS specific entries converted to plain SCXML - The Ros declarations contained in the original SCXML object

update_bt_ports_values(bt_ports_handler): Update the values of potential entries making use of BT ports.