SCXML Configuration

How to set Configuration

Bonsai SCXML Statemachine Configuration is done in the datamodel of any scxm file.

Example:

<scxml xmlns="http://www.w3.org/2005/07/scxml" version="1.0" initial="A">
    <datamodel>
        <data id="#_STATE_PREFIX" expr="'de.unibi.citec.clf.bonsai.skills.'"/>
    </datamodel>

Note

Remember Sourced files get copied into the main file. Set Configurations only in the topmost scxml to avoid suprises

Configurations

#_STATE_PREFIX

defaults to: de.unibi.citec.clf.bonsai.skills.

Package prefix for skills:

<state id="Fatal"/>

Results in skill: de.unibi.citec.clf.bonsai.skills.Fatal being executed.

#_DISABLE_DEFAULT_SLOT_WARNINGS

defaults to false

#_ENABLE_SKILL_WARNINGS

defaults to false

#_GENERATE_DEFAULT_SLOTS

defaults to false

#_CONFIGURE_AND_VALIDATE

defaults to true

#_ENABLE_CONFIG_CACHE

defaults to false

#_FINAL_STATES

defaults to true

Always assume End and Fatal as final states and stop the statemachine.

#_SEND_ALL_TRANSITIONS

defaults to false

If disabled only informs Listeners of transitions from active Skills. (e.g. ROS UI will not display possible transitions defined in Parent States)