-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Switch to agreed scxml and bt format (#16)
Signed-off-by: Marco Lampacrescia <[email protected]>
- Loading branch information
1 parent
9bf282c
commit 52b2c06
Showing
28 changed files
with
175 additions
and
65 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,8 +1,8 @@ | ||
| <root BTCPP_format="4"> | ||
| <BehaviorTree> | ||
| <Sequence> | ||
| <TopicCondition name="alarm" /> | ||
| <TopicAction name="charge" /> | ||
| <Condition ID="TopicCondition" name="alarm" /> | ||
| <Action ID="TopicAction" name="charge" /> | ||
| </Sequence> | ||
| </BehaviorTree> | ||
| </root> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
120 changes: 120 additions & 0 deletions
120
scxml_converter/src/scxml_converter/scxml_entries/scxml_data.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,120 @@ | ||
| # Copyright (c) 2024 - for information on the respective copyright owner | ||
| # see the NOTICE file | ||
|
|
||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
|
|
||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
|
|
||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| """ | ||
| Container for a single variable definition in SCXML. In XML, it has the tag `data`. | ||
| """ | ||
|
|
||
| from typing import Any | ||
| from scxml_converter.scxml_entries import ScxmlBase | ||
|
|
||
| from xml.etree import ElementTree as ET | ||
|
|
||
|
|
||
| # TODO: add lower and upper bounds depending on the n. of bits used. | ||
| # TODO: add support to uint | ||
| SCXML_DATA_MAPPING = { | ||
| "bool": bool, | ||
| "float32": float, | ||
| "float64": float, | ||
| "int8": int, | ||
| "int16": int, | ||
| "int32": int, | ||
| "int64": int | ||
| } | ||
|
|
||
|
|
||
| class ScxmlData(ScxmlBase): | ||
| """This class represents the variables defined in the model.""" | ||
|
|
||
| @staticmethod | ||
| def get_tag_name() -> str: | ||
| return "data" | ||
|
|
||
| @staticmethod | ||
| def from_xml_tree(xml_tree: ET.Element) -> "ScxmlData": | ||
| """Create a ScxmlData object from an XML tree.""" | ||
| assert xml_tree.tag == ScxmlData.get_tag_name(), \ | ||
| f"Error: SCXML data: XML tag name is not {ScxmlData.get_tag_name()}." | ||
| data_id = xml_tree.attrib.get("id") | ||
| assert data_id is not None, "Error: SCXML data: 'id' not found." | ||
| data_expr = xml_tree.attrib.get("expr") | ||
| assert data_expr is not None, "Error: SCXML data: 'expr' not found." | ||
| data_type = xml_tree.attrib.get("type") | ||
| assert data_type is not None, "Error: SCXML data: 'type' not found." | ||
| lower_bound = xml_tree.attrib.get("lower_bound_incl", None) | ||
| upper_bound = xml_tree.attrib.get("upper_bound_incl", None) | ||
| return ScxmlData(data_id, data_expr, data_type, lower_bound, upper_bound) | ||
|
|
||
| def __init__( | ||
| self, id: str, expr: str, data_type: str, | ||
| lower_bound: Any = None, upper_bound: Any = None): | ||
| self._id = id | ||
| self._expr = expr | ||
| self._data_type = data_type | ||
| self._lower_bound = lower_bound | ||
| self._upper_bound = upper_bound | ||
|
|
||
| def get_name(self) -> str: | ||
| return self._id | ||
|
|
||
| def get_type(self) -> type: | ||
| return SCXML_DATA_MAPPING[self._data_type] | ||
|
|
||
| def get_expr(self) -> str: | ||
| return self._expr | ||
|
|
||
| def check_validity(self) -> bool: | ||
| validity = True | ||
| # ID | ||
| if not (isinstance(self._id, str) and len(self._id) > 0): | ||
| print(f"Error: SCXML data: 'id' {self._id} is not valid.") | ||
| validity = False | ||
| # Expression | ||
| if not (isinstance(self._expr, str) and len(self._expr) > 0): | ||
| print(f"Error: SCXML data: 'expr' {self._expr} is not valid.") | ||
| validity = False | ||
| # Data type | ||
| if not (isinstance(self._data_type, str) and self._data_type in SCXML_DATA_MAPPING): | ||
| print(f"Error: SCXML data: 'type' {self._data_type} is not valid.") | ||
| validity = False | ||
| type_of_data = SCXML_DATA_MAPPING[self._data_type] | ||
| # Lower bound | ||
| if self._lower_bound is not None: | ||
| if not isinstance(self._lower_bound, type_of_data): | ||
| print(f"Error: SCXML data: 'lower_bound_incl' type {self._lower_bound} is invalid.") | ||
| validity = False | ||
| # Upper bound | ||
| if self._upper_bound is not None: | ||
| if not isinstance(self._upper_bound, type_of_data): | ||
| print(f"Error: SCXML data: 'upper_bound_incl' type {self._upper_bound} is invalid.") | ||
| validity = False | ||
| # Check if lower bound is smaller than upper bound | ||
| if validity and self._upper_bound is not None and self._lower_bound is not None: | ||
| if self._lower_bound >= self._upper_bound: | ||
| print(f"Error: SCXML data: 'lower_bound_incl' {self._lower_bound} is not smaller " | ||
| f"than 'upper_bound_incl' {self._upper_bound}.") | ||
| validity = False | ||
| return validity | ||
|
|
||
| def as_xml(self) -> ET.Element: | ||
| assert self.check_validity(), "SCXML: found invalid data object." | ||
| xml_data = ET.Element(ScxmlData.get_tag_name(), | ||
| {"id": self._id, "expr": self._expr, "type": self._data_type}) | ||
| if self._lower_bound is not None: | ||
| xml_data.set("lower_bound_incl", str(self._lower_bound_incl)) | ||
| if self._upper_bound is not None: | ||
| xml_data.set("upper_bound_incl", str(self._upper_bound)) | ||
| return xml_data |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.