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)
append_bt_child_id(child_id)	Append a child ID to the list of child IDs.
as_plain_scxml(ros_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)	Create a ScxmlRoot object from an SCXML file.
from_xml_tree(xml_tree)	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_data_model()	Get the data model of the object.
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 the states of the object.
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.
instantiate_bt_information()	Instantiate the values of BT ports and children IDs in the SCXML entries.
is_plain_scxml()	Check whether there are ROS specific features or all entries are plain SCXML.
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_data_model(data_model)
set_name(name)	Rename the automaton represented by this SCXML model.
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.

append_bt_child_id(child_id: int)

Append a child ID to the list of child IDs.

as_plain_scxml(ros_declarations) → ScxmlBase

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) → ScxmlRoot

Create a ScxmlRoot object from an SCXML file.

static from_xml_tree(xml_tree: Element) → 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_data_model() → ScxmlDataModel | None

Get the data model of the object.

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.

get_states() → List[ScxmlState]

Get the states of the object.

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.

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 specific features or all entries are plain SCXML.

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_name(name: str) → None

Rename the automaton represented by this SCXML model.

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.