Start looking into the server thread functionalities

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

scxml_converter/src/scxml_converter/scxml_entries/scxml_root.py

@@ -27,7 +27,8 @@
     RosTimeRate, RosTopicPublisher, RosTopicSubscriber, ScxmlBase, ScxmlDataModel,
     ScxmlRosDeclarations, ScxmlRosDeclarationsContainer, ScxmlState)
 
-from scxml_converter.scxml_entries.xml_utils import get_children_as_scxml
+from scxml_converter.scxml_entries.xml_utils import (
+    assert_xml_tag_ok, get_children_as_scxml, get_xml_argument)
 
 from scxml_converter.scxml_entries.scxml_bt import BtPortDeclarations
 from scxml_converter.scxml_entries.bt_utils import BtPortsHandler
@@ -44,15 +45,15 @@ def get_tag_name() -> str:
     def from_xml_tree(xml_tree: ET.Element) -> "ScxmlRoot":
         """Create a ScxmlRoot object from an XML tree."""
         # --- Get the ElementTree objects
-        assert xml_tree.tag == ScxmlRoot.get_tag_name(), \
-            f"Error: SCXML root: XML root tag {xml_tree.tag} is not {ScxmlRoot.get_tag_name()}."
-        assert "name" in xml_tree.attrib, \
-            "Error: SCXML root: 'name' attribute not found in input xml."
-        assert "version" in xml_tree.attrib and xml_tree.attrib["version"] == "1.0", \
-            "Error: SCXML root: 'version' attribute not found or invalid in input xml."
+        assert_xml_tag_ok(ScxmlRoot, xml_tree)
+        scxml_name = get_xml_argument(ScxmlRoot, xml_tree, "name")
+        scxml_version = get_xml_argument(ScxmlRoot, xml_tree, "version")
+        assert scxml_version == "1.0", \
+            f"Error: SCXML root: expected version 1.0, found {scxml_version}."
+        scxml_init_state = get_xml_argument(ScxmlRoot, xml_tree, "initial")
         # Data Model
-        datamodel_elements = xml_tree.findall(ScxmlDataModel.get_tag_name())
-        assert datamodel_elements is None or len(datamodel_elements) <= 1, \
+        datamodel_elements = get_children_as_scxml(xml_tree, (ScxmlDataModel,))
+        assert len(datamodel_elements) <= 1, \
             f"Error: SCXML root: {len(datamodel_elements)} datamodels found, max 1 allowed."
         # ROS Declarations
         ros_declarations: List[ScxmlRosDeclarations] = get_children_as_scxml(
@@ -61,26 +62,21 @@ def from_xml_tree(xml_tree: ET.Element) -> "ScxmlRoot":
         bt_port_declarations: List[BtPortDeclarations] = get_children_as_scxml(
             xml_tree, get_args(BtPortDeclarations))
         # States
-        assert "initial" in xml_tree.attrib, \
-            "Error: SCXML root: 'initial' attribute not found in input xml."
-        initial_state = xml_tree.attrib["initial"]
-        state_elements = xml_tree.findall(ScxmlState.get_tag_name())
-        assert state_elements is not None and len(state_elements) > 0, \
-            "Error: SCXML root: no state found in input xml."
+        scxml_states: List[ScxmlState] = get_children_as_scxml(xml_tree, (ScxmlState,))
+        assert len(scxml_states) > 0, "Error: SCXML root: no state found in input xml."
         # --- Fill Data in the ScxmlRoot object
-        scxml_root = ScxmlRoot(xml_tree.attrib["name"])
+        scxml_root = ScxmlRoot(scxml_name)
         # Data Model
-        if datamodel_elements is not None and len(datamodel_elements) > 0:
-            scxml_root.set_data_model(ScxmlDataModel.from_xml_tree(datamodel_elements[0]))
+        if len(datamodel_elements) > 0:
+            scxml_root.set_data_model(datamodel_elements[0])
         # ROS Declarations
         scxml_root._ros_declarations = ros_declarations
         # BT Declarations
         for bt_port_declaration in bt_port_declarations:
             scxml_root.add_bt_port_declaration(bt_port_declaration)
         # States
-        for state_element in state_elements:
-            scxml_state = ScxmlState.from_xml_tree(state_element)
-            is_initial = scxml_state.get_id() == initial_state
+        for scxml_state in scxml_states:
+            is_initial = scxml_state.get_id() == scxml_init_state
             scxml_root.add_state(scxml_state, initial=is_initial)
         return scxml_root
 

scxml_converter/src/scxml_converter/scxml_entries/scxml_ros_action_server_thread.py

@@ -23,15 +23,15 @@
 from xml.etree import ElementTree as ET
 
 from scxml_converter.scxml_entries import (
-    RosField, ScxmlRoot, ScxmlExecutionBody, ScxmlSend, ScxmlTransition, BtGetValueInputPort,
+    ScxmlRoot, ScxmlDataModel, ScxmlExecutionBody, ScxmlSend, ScxmlTransition, BtGetValueInputPort,
     as_plain_execution_body, execution_body_from_xml, valid_execution_body,
     ScxmlRosDeclarationsContainer)
 
 from scxml_converter.scxml_entries.bt_utils import BtPortsHandler
 from scxml_converter.scxml_entries.ros_utils import (
     is_action_type_known)
 from scxml_converter.scxml_entries.xml_utils import (
-    assert_xml_tag_ok, get_xml_argument, read_value_from_xml_arg_or_child)
+    assert_xml_tag_ok, get_xml_argument, read_value_from_xml_arg_or_child, get_children_as_scxml)
 from scxml_converter.scxml_entries.utils import is_non_empty_string
 
 
@@ -42,13 +42,20 @@ class RosActionThread(ScxmlRoot):
 
     @staticmethod
     def get_tag_name() -> str:
-        return "ros_action_client"
+        return "ros_action_thread"
 
     @staticmethod
     def from_xml_tree(xml_tree: ET.Element) -> "RosActionThread":
         """Create a RosActionThread object from an XML tree."""
         assert_xml_tag_ok(RosActionThread, xml_tree)
-        action_alias = get_xml_argument(RosActionThread, xml_tree, "name", none_allowed=True)
+        action_alias = get_xml_argument(RosActionThread, xml_tree, "name")
+        n_threads = get_xml_argument(RosActionThread, xml_tree, "n_threads")
+        initial_state = get_xml_argument(RosActionThread, xml_tree, "initial_state")
+        datamodel = get_children_as_scxml(xml_tree, (ScxmlDataModel,))
+        ros_declarations: List[ScxmlRosDeclarations] = get_children_as_scxml(
+            xml_tree, get_args(ScxmlRosDeclarations))
+        # TODO: Append the action server to the ROS declarations in the thread, somehow
+
         action_name = read_value_from_xml_arg_or_child(RosActionThread, xml_tree, "action_name",
                                                        (BtGetValueInputPort, str))
         action_type = get_xml_argument(RosActionClient, xml_tree, "type")