as2fm.scxml_converter.scxml_entries.scxml_ros_action_client.RosActionHandleGoalResponse

class as2fm.scxml_converter.scxml_entries.scxml_ros_action_client.RosActionHandleGoalResponse(action_client: str | RosActionClient, accept_target: str, reject_target: str)

Bases: ScxmlTransition

SCXML object representing the handler of an action response upon a goal request.

A server might accept or refuse a goal request, based on its internal state. This handler is meant to handle both acceptance or refusal of a request. Translating this to plain-SCXML, it results to two conditional transitions.

__init__(action_client: str | RosActionClient, accept_target: str, reject_target: str) → None

Initialize a new RosActionHandleGoalResponse object.

Parameters:

• action_client – Action client used by this handler, or its name.

• accept_target – State to transition to, in case of goal acceptance.

• reject_target – State to transition to, in case of goal refusal.

Methods

__init__(action_client, accept_target, ...)	Initialize a new RosActionHandleGoalResponse object.
add_event(event)
append_body_executable_entry(exec_entry)
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.
from_xml_tree(xml_tree)	Create a RosServiceServer object from an XML tree.
get_body()	Return the executable content of this transition.
get_condition()	Return the condition required to execute this transition (if any).
get_data_model()	Get the data model of the object.
get_events()	Return the events that trigger this transition (if any).
get_id()	Get the ID of the object.
get_states()	Get the states of the object.
get_tag_name()	Get the tag name of the XML element.
get_target_state_id()	Return the ID of the target state of this transition.
instantiate_bt_events(_, __)	Instantiate the BT events of this transition.
set_body(body)	Set the body of this transition.
set_thread_id(thread_id)	Set the thread ID for the executable entries of this transition.
update_bt_ports_values(_)	Update the values of potential entries making use of BT ports.

as_plain_scxml(ros_declarations: ScxmlRosDeclarationsContainer) → List[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 from_xml_tree(xml_tree: Element) → RosActionHandleGoalResponse

Create a RosServiceServer object from an XML tree.

get_body() → List[ScxmlAssign | ScxmlIf | ScxmlSend]

Return the executable content of this transition.

get_condition() → str | None

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

get_data_model()

Get the data model of the object.

get_events() → List[str]

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

get_id() → str

Get the ID of the object.

get_states()

Get the states of the object.

static get_tag_name() → str

Get the tag name of the XML element.

get_target_state_id() → str

Return the ID of the target state of this transition.

instantiate_bt_events(_, __) → List[RosActionHandleGoalResponse]

Instantiate the BT events of this transition.

set_body(body: List[ScxmlAssign | ScxmlIf | ScxmlSend]) → None

Set the body of this transition.

set_thread_id(thread_id: int) → None

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

update_bt_ports_values(_) → None

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