as2fm.scxml_converter.scxml_entries.scxml_ros_base.RosTrigger

class as2fm.scxml_converter.scxml_entries.scxml_ros_base.RosTrigger(interface_decl: str | RosDeclaration, fields: List[RosField], additional_args: Dict[str, str] | None = None)

Bases: ScxmlSend

Base class for ROS triggers in SCXML.

__init__(interface_decl: str | RosDeclaration, fields: List[RosField], additional_args: Dict[str, str] | None = None) → None

Constructor of a generic ROS trigger.

Parameters:

interface_decl – ROS interface declaration to be used in the trigger, or its name.
fields – Name of fields that are sent together with the trigger.
additional_args – Additional arguments in the SCXML-ROS tag.

Methods

`__init__`(interface_decl, fields[, ...])	Constructor of a generic ROS trigger.
`append_field`(field)
`append_param`(param)
`as_plain_scxml`(struct_declarations, ...)	Convert the object to its plain SCXML version.
`as_xml`()	Convert the object to an XML element.
`check_fields_validity`(ros_declarations)	Check if all fields are assigned, given the ROS interface definition.
`check_interface_defined`(ros_declarations)	Check if the ROS interface used in the trigger exists.
`check_valid_ros_instantiations`(ros_declarations)	Check if the ROS entries in the trigger are correctly defined.
`check_validity`()	Check if the object is valid.
`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 an instance of the class from an XML tree.
`get_additional_arguments`()	Get the names of additional arguments in the SCXML-ROS tag.
`get_body`()	Get the body of the object.
`get_custom_data_types`()	Get the container with custom data types.
`get_declaration_type`()	Get the type of ROS declaration related to the trigger.
`get_event`()	Get the event to send.
`get_id`()	Get the ID of the object.
`get_params`()	Get the parameters to send.
`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 trigger type.
`get_target_automaton`()	Get the target automata associated to this send event.
`get_xml_origin`()	Get the xml_element this object was made from.
`has_bt_blackboard_input`(bt_ports_handler)	Check whether the If entry reads content from the BT Blackboard.
`instantiate_bt_events`(instance_id, _)	Instantiate the behavior tree events in the send action, if available.
`is_plain_scxml`()	Check if the object is compatible with the plain SCXML standard.
`replace_strings_types_with_integer_arrays`()	Replace all string literals in the contained expressions.
`set_callback_type`(cb_type)	Set the callback executing this trigger for this instance and its children.
`set_custom_data_types`(custom_data_types)	Save container with custom data types.
`set_target_automaton`(target_automaton)	Set the target automata associated to this send event.
`set_xml_origin`(xml_origin)	Set the xml_element this object was made from.
`update_bt_ports_values`(bt_ports_handler)	Update the values of potential entries making use of BT ports.

as_plain_scxml(struct_declarations: ScxmlStructDeclarationsContainer, ros_declarations: ScxmlRosDeclarationsContainer) → List[ScxmlSend]: Convert the object to its plain SCXML version.

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

check_fields_validity(ros_declarations: ScxmlRosDeclarationsContainer) → bool: Check if all fields are assigned, given the ROS interface definition.

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

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

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

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]) → RosTrigger

Create an instance of the class from an XML tree.

Parameters:

xml_tree – XML tree to be used for the creation of the instance.
additional_args – Additional arguments to be parsed from the SCXML-ROS tag.

static get_additional_arguments() → List[str]: Get the names of additional arguments in the SCXML-ROS tag.

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

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

classmethod get_declaration_type() → Type[RosDeclaration]

Get the type of ROS declaration related to the trigger.

Examples: RosServiceClient, RosActionClient, …

get_event() → str: Get the event to send.

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

get_params() → List[ScxmlParam]: Get the parameters to send.

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 trigger type.

get_target_automaton() → str | None: Get the target automata associated to this send event.

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

has_bt_blackboard_input(bt_ports_handler: BtPortsHandler): Check whether the If entry reads content from the BT Blackboard.

instantiate_bt_events(instance_id: int, _) → List[ScxmlAssign | ScxmlIf | ScxmlSend]: Instantiate the behavior tree events in the send action, if available.

is_plain_scxml() → bool: Check if the object is compatible with the plain SCXML standard.

replace_strings_types_with_integer_arrays() → ScxmlSend: Replace all string literals in the contained expressions.

set_callback_type(cb_type: CallbackType): Set the callback executing this trigger for this instance and its children.

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

set_target_automaton(target_automaton: str) → None: Set the target automata associated to this send event.

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

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