as2fm.scxml_converter.scxml_entries.scxml_ros_timer.RosTimeRate

class as2fm.scxml_converter.scxml_entries.scxml_ros_timer.RosTimeRate(name: str, rate_hz: float)

Bases: RosDeclaration

Object used in the SCXML root to declare a new timer with its related tick rate.

__init__(name: str, rate_hz: float)

Constructor of ROS declaration.

Parameters:

• interface_name – Comm. interface used by the declared ROS interface.

• interface_type – ROS type used for communication.

• interface_alias – Alias for the defined interface, used for ref. by the the handlers

Methods

__init__(name, rate_hz)	Constructor of ROS declaration.
as_plain_scxml(_)	Convert the object to its plain SCXML version.
as_xml()	Convert the object to an XML element.
check_valid_instantiation()	Check if the timer has undefined entries (i.e.
check_valid_interface_type()
check_validity()	Check if the object is valid.
from_xml_tree(xml_tree)	Create a RosTimeRate object from an XML tree.
get_body()	Get the body of the object.
get_communication_interface()	Which communication interface is used by the ROS declaration.
get_data_model()	Get the data model of the object.
get_id()	Get the ID of the object.
get_interface_name()	Get the name of the ROS comm.
get_interface_type()	Get the ROS type used for communication.
get_name()	Get the alias name of the ROS interface.
get_rate()
get_states()	Get the states of the object.
get_tag_name()	The xml tag related to the ROS declaration.
get_xml_arg_interface_name()
update_bt_ports_values(bt_ports_handler)	Update the values of potential entries making use of BT ports.

as_plain_scxml(_) → ScxmlBase

Convert the object to its plain SCXML version.

as_xml() → Element

Convert the object to an XML element.

check_valid_instantiation() → bool

Check if the timer has undefined entries (i.e. from BT ports).

check_validity() → bool

Check if the object is valid.

static from_xml_tree(xml_tree: Element) → RosTimeRate

Create a RosTimeRate object from an XML tree.

get_body()

Get the body of the object.

classmethod get_communication_interface() → str

Which communication interface is used by the ROS declaration.

Expected values: “service”, “action”

get_data_model()

Get the data model of the object.

get_id() → str

Get the ID of the object.

get_interface_name() → str

Get the name of the ROS comm. interface.

get_interface_type() → str

Get the ROS type used for communication.

get_name() → str

Get the alias name of the ROS interface.

get_states()

Get the states of the object.

static get_tag_name() → str

The xml tag related to the ROS declaration.

update_bt_ports_values(bt_ports_handler: BtPortsHandler) → None

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