Added log plugin

single_ursim_control/main.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import sys
 from config import Config
-from plugins import SleepPlugin, SyncPlugin, WaitPlugin, URRTDEPlugin
+from plugins import SleepPlugin, SyncPlugin, WaitPlugin, URRTDEPlugin, LogPlugin
 from plugin_repository import PluginRepository
 from program_executor import ProgramExecutor, ProgramExecutorStates
 from http_server import ControllerHTTPServer
@@ -39,6 +39,7 @@ def main() -> int:
     plugin_repo.register_plugin(SyncPlugin)
     plugin_repo.register_plugin(WaitPlugin)
     plugin_repo.register_plugin(URRTDEPlugin)
+    plugin_repo.register_plugin(LogPlugin)
 
     # Download the program
     logging.info("Downloading program...")

single_ursim_control/plugins/__init__.py

@@ -2,4 +2,5 @@ from .abstract_plugin import AbstractCommand, AbstractCommandCompiler, AbstractP
 from .sleep_plugin import SleepPlugin
 from .sync_plugin import SyncPlugin
 from .wait_plugin import WaitPlugin
-from .ur_rtde_plugin import URRTDEPlugin
+from .ur_rtde_plugin import URRTDEPlugin
+from .log_plugin import LogPlugin

single_ursim_control/plugins/log_plugin.py

@@ -0,0 +1,65 @@
+from typing import Dict
+
+from .abstract_plugin import AbstractCommand, AbstractPlugin, AbstractCommandCompiler
+import logging
+
+
+class LogCommand(AbstractCommand):
+    LEVELS = {  # _nameToLevel would be nicer, but we are limiting options here
+        "DEBUG": logging.DEBUG,
+        "INFO": logging.INFO,
+        "WARNING": logging.WARNING
+        # Programs are not allowed to print error level
+    }
+
+    def __init__(self, program_logger: logging.Logger, level: str, message: str):
+
+        self._program_logger = program_logger
+
+        try:
+            self._level = self.LEVELS[level]
+        except KeyError:
+            raise ValueError(f"Unknown or not allowed log level: {level}")
+
+        self._message = message
+
+    def execute(self):
+        self._program_logger.log(self._level, self._message)
+
+    def abort(self):
+        # There is really nothing to abort here
+        pass
+
+    def describe(self) -> dict:
+        return {
+            "command": "log",
+            "params": {
+                "level": logging.getLevelName(self._level),
+                "message": self._message
+            }
+        }
+
+
+class LogCompiler(AbstractCommandCompiler):
+
+    def __init__(self, program_logger: logging.Logger):
+        self._program_logger = program_logger
+
+    def compile(self, level: str, message: str) -> AbstractCommand:
+        return LogCommand(self._program_logger, level, message)
+
+
+class LogPlugin(AbstractPlugin):
+    plugin_name = "log"
+
+    def __init__(self):
+        self._logger = logging.getLogger("plugin").getChild("log")
+        self._program_logger = self._logger.getChild("program")
+
+    def load_compilers(self) -> Dict[str, AbstractCommandCompiler]:
+        return {
+            "log": LogCompiler(self._program_logger)
+        }
+
+    def close(self):
+        pass