diff --git a/src/as2fm/as2fm_common/common.py b/src/as2fm/as2fm_common/common.py
index 19f26ad0..b0b494c1 100644
--- a/src/as2fm/as2fm_common/common.py
+++ b/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("<", "<").replace(">", ">").replace("&", "&")
-
-
def is_comment(element: _Element) -> bool:
"""
Check if an element is a comment.
diff --git a/src/as2fm/as2fm_common/ecmascript_interpretation.py b/src/as2fm/as2fm_common/ecmascript_interpretation.py
index 13f3f479..1437f3db 100644
--- a/src/as2fm/as2fm_common/ecmascript_interpretation.py
+++ b/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)
diff --git a/src/as2fm/jani_generator/scxml_helpers/scxml_expression.py b/src/as2fm/jani_generator/scxml_helpers/scxml_expression.py
index 617f31ee..7e92ccb5 100644
--- a/src/as2fm/jani_generator/scxml_helpers/scxml_expression.py
+++ b/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:
diff --git a/src/as2fm/scxml_converter/scxml_entries/scxml_bt_ticks.py b/src/as2fm/scxml_converter/scxml_entries/scxml_bt_ticks.py
index a9272f97..b625613e 100644
--- a/src/as2fm/scxml_converter/scxml_entries/scxml_bt_ticks.py
+++ b/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}) && "
+ 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)
diff --git a/src/as2fm/scxml_converter/scxml_entries/utils.py b/src/as2fm/scxml_converter/scxml_entries/utils.py
index 38f71f92..b35a7459 100644
--- a/src/as2fm/scxml_converter/scxml_entries/utils.py
+++ b/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