WIP

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

scxml_converter/src/scxml_converter/scxml_entries/__init__.py

@@ -2,10 +2,10 @@
 from .scxml_param import ScxmlParam  # noqa: F401
 from .scxml_executable_entries import ScxmlAssign, ScxmlIf, ScxmlSend  # noqa: F401
 from .scxml_executable_entries import ScxmlExecutableEntry, ScxmlExecutionBody  # noqa: F401
-from .scxml_executable_entries import valid_execution_body  # noqa: F401
 from .scxml_transition import ScxmlTransition  # noqa: F401
 from .scxml_ros_entries import (RosTimeRate, RosTopicPublisher, RosTopicSubscriber,  # noqa: F401
                                 RosRateCallback, RosTopicCallback, RosTopicPublish,  # noqa: F401
                                 RosField, ScxmlRosDeclarations)  # noqa: F401
+from .utils import execution_body_from_xml, valid_execution_body  # noqa: F401
 from .scxml_state import ScxmlState  # noqa: F401
 from .scxml_root import ScxmlRoot  # noqa: F401

scxml_converter/src/scxml_converter/scxml_entries/scxml_executable_entries.py

@@ -140,35 +140,3 @@ def check_validity(self) -> bool:
     def as_xml(self) -> ET.Element:
         assert self.check_validity(), "SCXML: found invalid assign object."
         return ET.Element('assign', {"location": self.name, "expr": self.expr})
-
-
-# Get the resolved types from the forward references in ScxmlExecutableEntry
-_ResolvedScxmlExecutableEntry = \
-    tuple(entry._evaluate(globals(), locals(), frozenset())
-          for entry in get_args(ScxmlExecutableEntry))
-
-
-print(_ResolvedScxmlExecutableEntry)
-
-
-def valid_execution_body(execution_body: ScxmlExecutionBody) -> bool:
-    """
-    Check if an execution body is valid.
-
-    :param execution_body: The execution body to check
-    :return: True if the execution body is valid, False otherwise
-    """
-    valid = isinstance(execution_body, list)
-    if not valid:
-        print("Error: SCXML execution body: invalid type found: expected a list.")
-    for entry in execution_body:
-        if not isinstance(entry, _ResolvedScxmlExecutableEntry):
-            valid = False
-            print(f"Error: SCXML execution body: entry type {type(entry)} not in valid set "
-                  f" {_ResolvedScxmlExecutableEntry}.")
-            break
-        if not entry.check_validity():
-            valid = False
-            print("Error: SCXML execution body: invalid entry content found.")
-            break
-    return valid

scxml_converter/src/scxml_converter/scxml_entries/scxml_root.py

@@ -50,7 +50,7 @@ def from_xml_tree(xml_tree: ET.Element) -> "ScxmlRoot":
         # Data Model
         datamodel_elements = xml_tree.findall(ScxmlDataModel.get_tag_name())
         assert datamodel_elements is None or len(datamodel_elements) == 1, \
-            "Error: SCXML root: multiple datamodels found in input xml."
+            "Error: SCXML root: multiple datamodels found in input xml, up to 1 are allowed."
         # ROS Declaration
         ros_time_rates = xml_tree.findall(RosTimeRate.get_tag_name())
         ros_topic_subs = xml_tree.findall(RosTopicSubscriber.get_tag_name())

scxml_converter/src/scxml_converter/scxml_entries/scxml_state.py

@@ -20,8 +20,8 @@
 from typing import List, Optional
 from xml.etree import ElementTree as ET
 
-from scxml_converter.scxml_entries import (ScxmlExecutableEntry,
-                                           ScxmlExecutionBody, ScxmlTransition,
+from scxml_converter.scxml_entries import (ScxmlExecutableEntry, ScxmlExecutionBody,
+                                           ScxmlTransition, execution_body_from_xml,
                                            valid_execution_body)
 
 
@@ -44,7 +44,28 @@ def from_xml_tree(xml_tree: ET.Element) -> "ScxmlState":
         """Create a ScxmlState object from an XML tree."""
         assert xml_tree.tag == ScxmlState.get_tag_name(), \
             f"Error: SCXML state: XML tag name is not {ScxmlState.get_tag_name()}."
-        # TODO
+        id = xml_tree.attrib.get("id")
+        assert id is not None and len(id) > 0, "Error: SCXML state: id is not valid."
+        scxml_state = ScxmlState(id)
+        # Get the onentry and onexit execution bodies
+        on_entry = xml_tree.findall("onentry")
+        assert on_entry is None or len(on_entry) == 1, \
+            "Error: SCXML state: multiple onentry tags found, up to 1 allowed."
+        on_exit = xml_tree.findall("onexit")
+        assert on_exit is None or len(on_exit) == 1, \
+            "Error: SCXML state: multiple onexit tags found, up to 1 allowed."
+        if on_entry is not None:
+            for exec_entry in execution_body_from_xml(on_entry[0]):
+                scxml_state.append_on_entry(exec_entry)
+        if on_exit is not None:
+            for exec_entry in execution_body_from_xml(on_exit[0]):
+                scxml_state.append_on_exit(exec_entry)
+        # Get the transitions in the state body
+        transitions_xml = xml_tree.findall(ScxmlTransition.get_tag_name())
+        if transitions_xml is not None:
+            for transition_xml in transitions_xml:
+                scxml_state.add_transition(ScxmlTransition.from_xml_tree(transition_xml))
+        return scxml_state
 
     def get_id(self) -> str:
         return self._id

scxml_converter/src/scxml_converter/scxml_entries/scxml_transition.py

@@ -52,6 +52,12 @@ def __init__(self,
         self._events = events
         self._condition = condition
 
+    def get_tag_name() -> str:
+        return "transition"
+
+    def from_xml_tree(xml_tree: ET.Element) -> "ScxmlTransition":
+        raise NotImplementedError("Not implemented yet.")
+
     def add_event(self, event: str):
         if self._events is None:
             self._events = []
@@ -85,7 +91,7 @@ def check_validity(self) -> bool:
 
     def as_xml(self) -> ET.Element:
         assert self.check_validity(), "SCXML: found invalid transition."
-        xml_transition = ET.Element('transition', {"target": self._target})
+        xml_transition = ET.Element(ScxmlTransition.get_tag_name(), {"target": self._target})
         if self._events is not None:
             xml_transition.set("event", " ".join(self._events))
         if self._condition is not None:

scxml_converter/src/scxml_converter/scxml_entries/utils.py

@@ -0,0 +1,37 @@
+# Get the resolved types from the forward references in ScxmlExecutableEntry
+_ResolvedScxmlExecutableEntry = \
+    tuple(entry._evaluate(globals(), locals(), frozenset())
+          for entry in get_args(ScxmlExecutableEntry))
+
+
+def valid_execution_body(execution_body: ScxmlExecutionBody) -> bool:
+    """
+    Check if an execution body is valid.
+
+    :param execution_body: The execution body to check
+    :return: True if the execution body is valid, False otherwise
+    """
+    valid = isinstance(execution_body, list)
+    if not valid:
+        print("Error: SCXML execution body: invalid type found: expected a list.")
+    for entry in execution_body:
+        if not isinstance(entry, _ResolvedScxmlExecutableEntry):
+            valid = False
+            print(f"Error: SCXML execution body: entry type {type(entry)} not in valid set "
+                  f" {_ResolvedScxmlExecutableEntry}.")
+            break
+        if not entry.check_validity():
+            valid = False
+            print("Error: SCXML execution body: invalid entry content found.")
+            break
+    return valid
+
+
+def execution_body_from_xml(xml_tree: ET.ElementTree) -> ScxmlExecutionBody:
+    """
+    Create an execution body from an XML tree.
+
+    :param xml_tree: The XML tree to create the execution body from
+    :return: The execution body
+    """
+    raise NotImplementedError("Not implemented yet.")