Various fixes

Signed-off-by: Marco Lampacrescia <[email protected]>

src/as2fm/as2fm_common/common.py

@@ -59,16 +59,6 @@ def remove_namespace(tag: str) -> str:
     return tag_wo_ns
 
 
-def substitute_xml_escaping(text: str) -> str:
-    """
-    Substitute the XML escaping characters in the text.
-
-    :param text: The text to substitute the characters in.
-    :return: The text with the characters substituted.
-    """
-    return text.replace("&lt;", "<").replace("&gt;", ">").replace("&amp;", "&")
-
-
 def is_comment(element: _Element) -> bool:
     """
     Check if an element is a comment.

src/as2fm/as2fm_common/ecmascript_interpretation.py

@@ -22,7 +22,7 @@
 
 import js2py
 
-from as2fm.as2fm_common.common import ValidTypes, substitute_xml_escaping
+from as2fm.as2fm_common.common import ValidTypes
 
 BasicJsTypes = Union[int, float, bool]
 
@@ -36,7 +36,6 @@ def interpret_ecma_script_expr(
     :param expr: The ECMA script expression
     :return: The interpreted object
     """
-    expr = substitute_xml_escaping(expr)
     if variables is None:
         variables = {}
     context = js2py.EvalJs(variables)

src/as2fm/jani_generator/scxml_helpers/scxml_expression.py

@@ -22,7 +22,6 @@
 
 import esprima
 
-from as2fm.as2fm_common.common import substitute_xml_escaping
 from as2fm.jani_generator.jani_entries.jani_convince_expression_expansion import (
     CALLABLE_OPERATORS_MAP,
     OPERATORS_TO_JANI_MAP,
@@ -54,7 +53,6 @@ def parse_ecmascript_to_jani_expression(
     :param array_info: The type and max size of the array, if required.
     :return: The jani expression.
     """
-    ecmascript = substitute_xml_escaping(ecmascript)
     try:
         ast = esprima.parseScript(ecmascript)
     except esprima.error_handler.Error as e:

src/as2fm/scxml_converter/scxml_entries/scxml_bt_ticks.py

@@ -35,7 +35,11 @@
     generate_bt_response_event,
     generate_bt_tick_event,
 )
-from as2fm.scxml_converter.scxml_entries.utils import is_non_empty_string
+from as2fm.scxml_converter.scxml_entries.utils import (
+    CallbackType,
+    get_plain_expression,
+    is_non_empty_string,
+)
 from as2fm.scxml_converter.scxml_entries.xml_utils import assert_xml_tag_ok, get_xml_argument
 
 
@@ -176,6 +180,9 @@ def __init__(
     def instantiate_bt_events(
         self, instance_id: int, children_ids: List[int]
     ) -> List[ScxmlTransition]:
+        plain_cond_expr = None
+        if self._condition is not None:
+            plain_cond_expr = get_plain_expression(self._condition, CallbackType.BT_RESPONSE)
         if isinstance(self._child_id, int):
             # Handling specific child ID, return a single transition
             assert self._child_id < len(children_ids), (
@@ -186,18 +193,18 @@ def instantiate_bt_events(
             return [
                 ScxmlTransition(
                     self._target,
-                    [generate_bt_tick_event(target_child_id)],
-                    self._condition,
+                    [generate_bt_response_event(target_child_id)],
+                    plain_cond_expr,
                     self._body,
                 ).instantiate_bt_events(instance_id, children_ids)
             ]
         else:
             # Handling a generic child ID, return a transition for each child
-            condition_prefix = "" if self._condition is None else f"({self._condition}) &amp;&amp; "
+            condition_prefix = "" if plain_cond_expr is None else f"({plain_cond_expr}) && "
             return [
                 ScxmlTransition(
                     self._target,
-                    [generate_bt_tick_event(child_id)],
+                    [generate_bt_response_event(child_id)],
                     condition_prefix + f"({self._child_id} == {child_id})",
                     self._body,
                 ).instantiate_bt_events(instance_id, children_ids)

src/as2fm/scxml_converter/scxml_entries/utils.py

@@ -71,6 +71,7 @@ class CallbackType(Enum):
     ROS_ACTION_GOAL = auto()  # Action callback
     ROS_ACTION_RESULT = auto()  # Action callback
     ROS_ACTION_FEEDBACK = auto()  # Action callback
+    BT_RESPONSE = auto()  # BT response callback
 
     @staticmethod
     def get_expected_prefixes(cb_type: "CallbackType") -> List[str]:
@@ -90,6 +91,8 @@ def get_expected_prefixes(cb_type: "CallbackType") -> List[str]:
             return ["_action.goal_id", "_wrapped_result.code", "_wrapped_result.result."]
         elif cb_type == CallbackType.ROS_ACTION_FEEDBACK:
             return ["_action.goal_id", "_feedback."]
+        elif cb_type == CallbackType.BT_RESPONSE:
+            return ["_bt.status"]
 
     @staticmethod
     def get_plain_callback(cb_type: "CallbackType") -> "CallbackType":
@@ -147,27 +150,28 @@ def _contains_prefixes(msg_expr: str, prefixes: List[str]) -> bool:
     return False
 
 
-def get_plain_expression(msg_expr: str, cb_type: CallbackType) -> str:
+def get_plain_expression(in_expr: str, cb_type: CallbackType) -> str:
     """
     Convert a ROS interface expressions (using ROS-specific PREFIXES) to plain SCXML.
 
-    :param msg_expr: The expression to convert.
+    :param in_expr: The expression to convert.
     :param cb_type: The type of callback the expression is used in.
     """
     expected_prefixes = CallbackType.get_expected_prefixes(cb_type)
     # pre-check over the expression
     if PLAIN_SCXML_EVENT_PREFIX not in expected_prefixes:
-        assert not _contains_prefixes(msg_expr, [PLAIN_SCXML_EVENT_PREFIX]), (
-            "Error: SCXML ROS conversion: "
-            f"unexpected {PLAIN_SCXML_EVENT_PREFIX} prefix in expr. {msg_expr}"
+        assert not _contains_prefixes(in_expr, [PLAIN_SCXML_EVENT_PREFIX]), (
+            "Error: SCXML-ROS expression conversion: "
+            f"unexpected {PLAIN_SCXML_EVENT_PREFIX} prefix in expr. {in_expr}"
         )
     forbidden_prefixes = ROS_EVENT_PREFIXES.copy()
     if len(expected_prefixes) == 0:
         forbidden_prefixes.append(PLAIN_SCXML_EVENT_PREFIX)
-    new_expr = _replace_ros_interface_expression(msg_expr, expected_prefixes)
-    assert not _contains_prefixes(
-        new_expr, forbidden_prefixes
-    ), f"Error: SCXML ROS conversion: unexpected ROS interface prefixes in expr.: {msg_expr}"
+    new_expr = _replace_ros_interface_expression(in_expr, expected_prefixes)
+    assert not _contains_prefixes(new_expr, forbidden_prefixes), (
+        "Error: SCXML-ROS expression conversion: "
+        f"unexpected ROS interface prefixes in expr.: {in_expr}"
+    )
     return new_expr