From dab8efe18f3a0ac36ee41549a2c1748c994ff46d Mon Sep 17 00:00:00 2001
From: Marco Lampacrescia <marco.lampacrescia@de.bosch.com>
Date: Wed, 9 Oct 2024 17:07:06 +0200
Subject: [PATCH] Check type of BtTickChild id
Signed-off-by: Marco Lampacrescia <marco.lampacrescia@de.bosch.com>
---
.../scxml_converter/scxml_entries/bt_utils.py | 5 +++
.../scxml_entries/scxml_bt_ticks.py | 36 +++++++++++++++++--
.../scxml_entries/scxml_transition.py | 18 +++++-----
3 files changed, 48 insertions(+), 11 deletions(-)
diff --git a/src/as2fm/scxml_converter/scxml_entries/bt_utils.py b/src/as2fm/scxml_converter/scxml_entries/bt_utils.py
index 00fda812..eb4cb222 100644
--- a/src/as2fm/scxml_converter/scxml_entries/bt_utils.py
+++ b/src/as2fm/scxml_converter/scxml_entries/bt_utils.py
@@ -44,6 +44,11 @@ def str_to_int(resp_str: str) -> int:
raise ValueError(f"Error: {resp_str} is an invalid BT Status type.")
+def generate_bt_tick_event(instance_id: str) -> str:
+ """Generate the BT tick event name for a given BT node instance."""
+ return f"bt_{instance_id}_tick"
+
+
def is_bt_event(event_name: str) -> bool:
"""Given an event name, returns whether it is related to a BT event or not."""
bt_events = [f"bt_{suffix}" for suffix in ["tick", "running", "success", "failure"]]
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 1b6b9b85..f2c1b3cb 100644
--- a/src/as2fm/scxml_converter/scxml_entries/scxml_bt_ticks.py
+++ b/src/as2fm/scxml_converter/scxml_entries/scxml_bt_ticks.py
@@ -17,17 +17,20 @@
SCXML entries related to Behavior Tree Ticks and related responses.
"""
-from typing import Optional, Union
+from typing import List, Optional, Union
from lxml import etree as ET
from as2fm.scxml_converter.scxml_entries import (
ScxmlExecutionBody,
+ ScxmlIf,
ScxmlSend,
ScxmlTransition,
execution_body_from_xml,
+ instantiate_exec_body_bt_events,
)
-from as2fm.scxml_converter.scxml_entries.bt_utils import BtResponse
+from as2fm.scxml_converter.scxml_entries.bt_utils import BtResponse, generate_bt_tick_event
+from as2fm.scxml_converter.scxml_entries.utils import is_non_empty_string
from as2fm.scxml_converter.scxml_entries.xml_utils import assert_xml_tag_ok, get_xml_argument
@@ -56,6 +59,14 @@ def __init__(
):
super().__init__(target, ["bt_tick"], condition, body)
+ def check_validity(self) -> bool:
+ return super().check_validity()
+
+ def instantiate_bt_events(self, instance_id: int, children_ids: List[int]) -> ScxmlTransition:
+ self._events = [generate_bt_tick_event(instance_id)]
+ instantiate_exec_body_bt_events(self._body, instance_id, children_ids)
+ return ScxmlTransition(self._target, self._events, self._condition, self._body)
+
def as_xml(self) -> ET.Element:
xml_bt_tick = ET.Element(BtTick.get_tag_name(), {"target": self._target})
if self._condition is not None:
@@ -84,6 +95,27 @@ def __init__(self, child_id: Union[str, int]):
child_id, (str, int)
), f"Error: SCXML BT Tick Child: invalid child id type {type(child_id)}."
self._child = child_id
+ if isinstance(child_id, str):
+ child_id = child_id.strip()
+ try:
+ self._child = int(child_id)
+ except ValueError:
+ self._child = child_id
+ assert is_non_empty_string(BtTickChild, "id", self._child)
+ assert (
+ self._child.isidentifier()
+ ), f"Error: SCXML BT Tick Child: invalid child id '{self._child}'."
+
+ def check_validity(self) -> bool:
+ return True
+
+ def instantiate_bt_events(
+ self, instance_id: int, children_ids: List[int]
+ ) -> Union[ScxmlIf, ScxmlSend]:
+ """
+ Convert the BtTickChild to ScxmlSend if the child id is constant and an ScxmlIf otherwise.
+ """
+ raise NotImplementedError("Error: SCXML BT Tick Child: instantiation not implemented.")
def as_xml(self) -> ET.Element:
xml_bt_tick_child = ET.Element(BtTickChild.get_tag_name(), {"id": str(self._child)})
diff --git a/src/as2fm/scxml_converter/scxml_entries/scxml_transition.py b/src/as2fm/scxml_converter/scxml_entries/scxml_transition.py
index f3613db5..6b65fe86 100644
--- a/src/as2fm/scxml_converter/scxml_entries/scxml_transition.py
+++ b/src/as2fm/scxml_converter/scxml_entries/scxml_transition.py
@@ -39,7 +39,11 @@
valid_execution_body,
valid_execution_body_entry_types,
)
-from as2fm.scxml_converter.scxml_entries.utils import CallbackType, get_plain_expression
+from as2fm.scxml_converter.scxml_entries.utils import (
+ CallbackType,
+ get_plain_expression,
+ is_non_empty_string,
+)
class ScxmlTransition(ScxmlBase):
@@ -145,22 +149,18 @@ def append_body_executable_entry(self, exec_entry: ScxmlExecutableEntry):
), "Error SCXML transition: invalid body entry found after extension."
def check_validity(self) -> bool:
- valid_target = isinstance(self._target, str) and len(self._target) > 0
+ valid_target = is_non_empty_string(type(self), "target", self._target)
+ valid_condition = self._condition is None or (
+ is_non_empty_string(type(self), "condition", self._condition)
+ )
valid_events = self._events is None or (
isinstance(self._events, list) and all(isinstance(ev, str) for ev in self._events)
)
- valid_condition = self._condition is None or (
- isinstance(self._condition, str) and len(self._condition) > 0
- )
valid_body = self._body is None or valid_execution_body(self._body)
- if not valid_target:
- print("Error: SCXML transition: target is not valid.")
if not valid_events:
print("Error: SCXML transition: events are not valid.\nList of events:")
for event in self._events:
print(f"\t-'{event}'.")
- if not valid_condition:
- print("Error: SCXML transition: condition is not valid.")
if not valid_body:
print("Error: SCXML transition: executable content is not valid.")
return valid_target and valid_events and valid_condition and valid_body