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)

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 RosServiceServer object from an XML tree.

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(_)

This can not have a body, so it can not have BT blackboard input.

instantiate_bt_events(_, __)

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(target[, ...])

Generate a "traditional" transition 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(_)

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) → 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 contains_transition_target(xml_tree: Element) → bool

Check if the children of the ScxmlTransition contain ScxmlTransitionTarget tags.

static from_xml_tree(xml_tree: Element) → RosActionHandleGoalResponse

Create a RosServiceServer object from an XML tree.

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.

static get_tag_name() → str

Get the tag name of the XML element.

get_targets() → List[ScxmlTransitionTarget]

Return all targets belonging to this transition.

has_bt_blackboard_input(_) → bool

This can not have a body, so it can not have BT blackboard input.

instantiate_bt_events(_, __) → List[RosActionHandleGoalResponse]

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.

static make_single_target_transition(target: str, events: List[str] | None = None, condition: str | None = None, body: List[ScxmlAssign | ScxmlIf | ScxmlSend] | None = None)

Generate a “traditional” transition with exactly one target.

Parameters:

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

  • events – The events that trigger this transition.

  • 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(_) → None

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