Keep Serialization, Behavior Trees, EPICS unentwined in code

[joshc-slac]

Current Behavior

Fundamental to where we want to take this library we cannot be limited by only facilitating EPICS level commands. This is relatively well captured but it is easy within the current paradigm to allow EPICS things to creep into a place where they should not be.

Case and point:

BEAMS/beams/behavior_tree/ActionWorker.py

Line 37 in ac37dff

proc_type=CAProcess,

ActionWorker should default to spawning a Process and take as argument from its ActionNode parent what type of process this is.:

BEAMS/beams/behavior_tree/ActionNode.py

Lines 83 to 90 in ac37dff

	self.worker = ActionWorker(
	proc_name=name,
	volatile_status=self.volatile_status,
	work_gate=self.work_gate,
	work_func=self.work_func,
	comp_cond=completion_condition,
	stop_func=None
	) # TODO: some standard notion of stop function could be valuable

Possible Solution

This may require making an enum that we gets set by the results of the type of node specified in the config json file and parsed by tree_config.py that gets passed the action node, there are other alternatives as well.

[joshc-slac]

Another location, this one I would argue is a more serious infringement of the conceptual distance between BTs / Serialization / EPICS

BEAMS/beams/tree_config.py

Lines 135 to 148 in 3b8b95b

	class ConditionItem(BaseItem):
	pv: str = ""
	value: Any = 1
	operator: ConditionOperator = ConditionOperator.equal
	def get_tree(self) -> ConditionNode:
	cond_func = self.get_condition_function()
	return ConditionNode(self.name, cond_func)
	def get_condition_function(self) -> Callable[[], bool]:
	op = getattr(operator, self.operator.value)
	def cond_func():
	val = caget(self.pv)

[joshc-slac]

This was pretty well addressed by #67; I think theres probably more creep, going to keep this open