state_logger.py

Go to the documentation of this file.

#!/usr/bin/env python
import rospy
import os
import time
import logging

'''
Created on 02/18/2015

@author: Philipp Schillinger
'''
class StateLogger(object):
        '''
        Realizes logging of active states.
        '''

        LOG_FOLDER = "~/.flexbe_logs"
        enabled = True

        @staticmethod
        def initialize(be_name = None):
                if rospy.has_param("~log_folder"):
                        log_folder = os.path.expanduser(rospy.get_param("~log_folder"))
                else:
                        log_folder = os.path.expanduser(StateLogger.LOG_FOLDER)
                
                if log_folder == "" or not rospy.get_param("~log_enabled", False):
                        StateLogger.enabled = False
                        return
                
                if not os.path.exists(log_folder):
                        os.makedirs(log_folder)

                name = "states"
                if be_name is not None:
                        name = be_name.replace(" ", "_").replace(",", "_").replace(".", "_").replace("/", "_").lower()

                filename = os.path.join(log_folder, name + "_" + time.strftime("%Y-%m-%d-%H_%M_%S") + ".log")

                logger = logging.getLogger('state_logger')
                handler = logging.FileHandler(filename)
                formatter = logging.Formatter('%(message)s')
                handler.setFormatter(formatter)
                logger.addHandler(handler)

                # log starting time for being able to calculate execution time of first state
                logger.info(str(rospy.get_time()) + "," + be_name + ",INIT,INIT,1,1")

                StateLogger._logger = logger
                StateLogger._handler = handler


        @staticmethod
        def log_state_execution(statepath, stateclass, outcome, is_autonomous, is_executed):
                """
                Logs the execution of a state.
                Should be called once when the state returns an outcome.
                """
                if not StateLogger.enabled: return
                StateLogger._logger.info(
                        str(rospy.get_time()) + ","                                     # timestamp in ros time
                        + statepath + ","                                                       # path of the executed state
                        + stateclass + ","                                                      # class of the executed state
                        + outcome + ","                                                         # resulting outcome
                        + ('1' if is_autonomous else '0') + ","         # Outcome triggered by behavior or operator?
                        + ('1' if is_executed else '0')                         # Outcome actually executed or only requested?
                )


        @staticmethod
        def shutdown():
                if not StateLogger.enabled: return
                StateLogger._handler.close()
                StateLogger._logger.removeHandler(StateLogger._handler)