# Copyright 2018 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""Module for the LogInfo action."""
from typing import List
import launch.logging
from ..action import Action
from ..frontend import Entity
from ..frontend import expose_action
from ..frontend import Parser # noqa: F401
from ..launch_context import LaunchContext
from ..some_substitutions_type import SomeSubstitutionsType
from ..substitution import Substitution
from ..utilities import normalize_to_list_of_substitutions
[docs]
@expose_action('log')
class LogInfo(Action):
"""Action that logs a message when executed."""
[docs]
def __init__(self, *, msg: SomeSubstitutionsType, **kwargs):
"""Create a LogInfo action."""
super().__init__(**kwargs)
self.__msg = normalize_to_list_of_substitutions(msg)
self.__logger = launch.logging.get_logger('launch.user')
[docs]
@classmethod
def parse(
cls,
entity: Entity,
parser: 'Parser'
):
"""Parse `log` tag."""
_, kwargs = super().parse(entity, parser)
kwargs['msg'] = parser.parse_substitution(entity.get_attr('message'))
return cls, kwargs
@property
def msg(self) -> List[Substitution]:
"""Getter for self.__msg."""
return self.__msg
[docs]
def execute(self, context: LaunchContext) -> None:
"""Execute the action."""
self.__logger.info(
''.join([context.perform_substitution(sub) for sub in self.msg])
)
return None