log_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 LogState(EventState):
        '''
        A state that can log a predefined message to precisely inform the operator about what happened to the behavior.
        
        -- text         string  The message to be logged to the terminal.
        -- severity uint8       Type of logging (Logger.REPORT_INFO / WARN / HINT / ERROR)

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