as2fm.scxml_converter.scxml_entries.scxml_ros_base.RosCallback

class as2fm.scxml_converter.scxml_entries.scxml_ros_base.RosCallback(interface_decl: str | RosDeclaration, targets: List[ScxmlTransitionTarget], condition: str | None = None)

Bases: ScxmlTransition

Base class for ROS callbacks in SCXML.

__init__(interface_decl: str | RosDeclaration, targets: List[ScxmlTransitionTarget], condition: str | None = None) → None

Constructor of ROS callback.

Parameters:

interface_decl – ROS interface declaration to be used in the callback, or its name.
targets – A list of targets reachable from this callback.
condition – Condition to be met for the callback to be executed.

Methods

`__init__`(interface_decl, targets[, condition])	Constructor of ROS callback.
`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 ROS callback to an XML element.
`check_interface_defined`(ros_declarations)	Check if the ROS interface used in the callback exists.
`check_valid_ros_instantiations`(ros_declarations)	Check if the ROS entries in the callback are correctly defined.
`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 an instance of the class from an XML tree.
`get_body`()	Get the body of the object.
`get_callback_type`()	Return the callback type of a specific ROS Callback subclass
`get_condition`()	Return the condition required to execute this transition (if any).
`get_declaration_type`()	Get the type of ROS declaration related to the callback.
`get_events`()	Return the events that trigger this transition (if any).
`get_id`()	Get the ID of the object.
`get_interface_name`(interface_decl)	Extract the interface name from either a string or a RosDeclaration.
`get_plain_scxml_event`(ros_declarations)	Translate the ROS interface name to a plain scxml event.
`get_tag_name`()	XML tag name for the ROS callback type.
`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`(...[, ...])	Generate a RosCallback with exactly one target, like in vanilla SCXML.
`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 ROS callback to an XML element.

check_interface_defined(ros_declarations: ScxmlRosDeclarationsContainer) → bool: Check if the ROS interface used in the callback exists.

check_valid_ros_instantiations(ros_declarations: ScxmlRosDeclarationsContainer) → bool: Check if the ROS entries in the callback are correctly defined.

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: Element) → RosCallback: Create an instance of the class from an XML tree.

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

classmethod get_callback_type() → CallbackType: Return the callback type of a specific ROS Callback subclass

get_condition() → str | None: Return the condition required to execute this transition (if any).

classmethod get_declaration_type() → Type[RosDeclaration]

Get the type of ROS declaration related to the callback.

Examples: RosSubscriber, RosPublisher, …

get_events() → List[str]: Return the events that trigger this transition (if any).

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

classmethod get_interface_name(interface_decl: str | RosDeclaration) → str

Extract the interface name from either a string or a RosDeclaration.

Parameters:: interface_decl – The interface declaration to extract the information from.
Returns:: A string providing the unique ROS communication interface name.

get_plain_scxml_event(ros_declarations: ScxmlRosDeclarationsContainer) → str: Translate the ROS interface name to a plain scxml event.

classmethod get_tag_name() → str: XML tag name for the ROS callback type.

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.

Generate a RosCallback with exactly one target, like in vanilla SCXML.

Parameters:

interface_decl – The ROS declaration this Callback refers to.
target – The state to transition to once the callback is executed.
condition – The condition that enables this callback.
body – The operations to execute when running this callback.

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.