log_key_state.py

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#!/usr/bin/env python

from flexbe_core import EventState, Logger

'''
Created on 09.12.2013

@author: Philipp Schillinger
'''

class LogKeyState(EventState):
        '''
        A state that can log a predefined message including an input key to precisely inform the operator about what happened to the behavior.
        
        -- text         string  The message to be logged to the terminal Example:  'Counter value:  {}'.
        -- severity uint8       Type of logging (Logger.REPORT_INFO / WARN / HINT / ERROR)

        #> data         object          The data provided to be printed in the message. The exact type depends on the request.

        <= done                         Indicates that the message has been logged.
        
        '''
        
        def __init__(self, text, severity = Logger.REPORT_HINT):
                '''Constructor'''
                super(LogKeyState, self).__init__(
                                                                                        outcomes=['done'],
                                                                                        input_keys=['data'])
                
                self._text = text
                self._severity = severity

                
        def execute(self, userdata):
                '''Execute this state'''
                
                # Already logged. No need to wait for anything.
                return 'done'

        
        def on_enter(self, userdata):
                '''Log upon entering the state.'''

                Logger.log(self._text.format(userdata.data), self._severity)