add get_goal_status_text method to proxy_action_client; add user_data…

…_state to flexbe_states

flexbe_core/src/flexbe_core/proxy/proxy_action_client.py

@@ -100,6 +100,23 @@ def get_result(self, topic):
         @param topic: The topic of interest.
         """
         return ProxyActionClient._result.get(topic)
+
+    def get_goal_status_text(self, topic):
+        """
+        Returns the result status text if any.
+
+        @type topic: string
+        @param topic: The topic of interest.
+        """
+
+        if (not topic in ProxyActionClient._clients):
+            return "Failed to get status text: Invalid action topic = [" + topic +"]"
+
+        try:
+            status = ProxyActionClient._clients[topic].get_goal_status_text()
+            return status
+        except:
+            return "Failed to retrieve goal status text for topic = [" + topic +"]"
 
     def remove_result(self, topic):
         """

flexbe_states/src/flexbe_states/user_data_state.py

@@ -0,0 +1,46 @@
+#!/usr/bin/env python
+
+from flexbe_core import EventState, Logger
+
+'''
+Created on 14-Feb-2018
+
+@author: David Conner
+'''
+
+class UserDataState(EventState):
+    '''
+    Implements a state that defines user data
+
+    -- data    type        Data for given user data
+
+    #> data                User data
+
+    <= done                Created the user data
+    '''
+
+
+    def __init__(self, data ):
+        '''
+        Constructor
+        '''
+        super(UserDataState, self).__init__( output_keys=["data"], outcomes=["done"])
+
+        self._my_data = data
+        self._return_code = None
+
+    def execute(self, userdata):
+        '''
+        Execute this state
+        '''
+        return self._return_code
+
+
+    def on_enter(self, userdata):
+
+        try:
+          # Add the user data
+          userdata.data = self._my_data
+          self._return_code = 'done'
+        except:
+            raise ValueError('UserDataState %s - invalid data ' % self.name)

flexbe_states/tests/run_tests.launch

@@ -23,6 +23,7 @@
 		$(arg path)/operator_decision_state_suggested.test
 		$(arg path)/subscriber_state_unavailable.test
 		$(arg path)/subscriber_state_pose.test
+		$(arg path)/user_data_state.test
 		$(arg path)/wait_state_short.test
 
 	" />

flexbe_states/tests/user_data_state.test

@@ -0,0 +1,10 @@
+path: flexbe_states.user_data_state
+class: UserDataState
+
+params:
+    data: "Test data"
+
+output:
+    data: "Test data"
+
+outcome: done