Revert "Add Other Logging Implementations"

launch/launch/actions/__init__.py

@@ -23,11 +23,7 @@
 from .for_loop import ForLoop
 from .group_action import GroupAction
 from .include_launch_description import IncludeLaunchDescription
-from .log import Log
-from .log import LogDebug
-from .log import LogError
-from .log import LogInfo
-from .log import LogWarning
+from .log_info import LogInfo
 from .opaque_coroutine import OpaqueCoroutine
 from .opaque_function import OpaqueFunction
 from .pop_environment import PopEnvironment
@@ -55,11 +51,7 @@
     'ForLoop',
     'GroupAction',
     'IncludeLaunchDescription',
-    'Log',
-    'LogDebug',
-    'LogError',
     'LogInfo',
-    'LogWarning',
     'OpaqueCoroutine',
     'OpaqueFunction',
     'PopEnvironment',

launch/launch/actions/for_loop.py

@@ -91,7 +91,7 @@ def generate_launch_description():
         <launch>
             <arg name="robots" default="{name: 'robotA', id: 1};{name: 'robotB', id: 2}" />
             <for_each values="$(var robots)" >
-                <log_info message="'$(for-var name)' id=$(for-var id)" />
+                <log message="'$(for-var name)' id=$(for-var id)" />
             </for_each>
         </launch>
 
@@ -104,7 +104,7 @@ def generate_launch_description():
             - for_each:
                 iter: $(var robots)
                 children:
-                    - log_info:
+                    - log:
                         message: "'$(for-var name)' id=$(for-var id)"
 
     The above examples would ouput the following log messages by default:
@@ -284,7 +284,7 @@ def generate_launch_description():
         <launch>
             <arg name="num" default="2" />
             <for len="$(var num)" name="i" >
-                <log_info message="i=$(index i)" />
+                <log message="i=$(index i)" />
             </for>
         </launch>
 
@@ -298,7 +298,7 @@ def generate_launch_description():
                 len: $(var num)
                 name: i
                 children:
-                    - log_info:
+                    - log:
                         message: i=$(index i)
 
     The above examples would ouput the following log messages by default:

launch/launch/actions/log_info.py

@@ -14,9 +14,50 @@
 
 """Module for the LogInfo action."""
 
-import warnings
+from typing import List
 
-from .log import LogInfo as LogInfo  # noqa: F401
+import launch.logging
 
-# TODO: Remove log_info.py for Release after L-turtle release
-warnings.warn('importing from log_info.py is deprecated; import LogInfo from log.py instead.')
+from ..action import Action
+from ..frontend import Entity
+from ..frontend import expose_action
+from ..frontend import Parser  # noqa: F401
+from ..launch_context import LaunchContext
+from ..some_substitutions_type import SomeSubstitutionsType
+from ..substitution import Substitution
+from ..utilities import normalize_to_list_of_substitutions
+
+
+@expose_action('log')
+class LogInfo(Action):
+    """Action that logs a message when executed."""
+
+    def __init__(self, *, msg: SomeSubstitutionsType, **kwargs):
+        """Create a LogInfo action."""
+        super().__init__(**kwargs)
+
+        self.__msg = normalize_to_list_of_substitutions(msg)
+        self.__logger = launch.logging.get_logger('launch.user')
+
+    @classmethod
+    def parse(
+        cls,
+        entity: Entity,
+        parser: 'Parser'
+    ):
+        """Parse `log` tag."""
+        _, kwargs = super().parse(entity, parser)
+        kwargs['msg'] = parser.parse_substitution(entity.get_attr('message'))
+        return cls, kwargs
+
+    @property
+    def msg(self) -> List[Substitution]:
+        """Getter for self.__msg."""
+        return self.__msg
+
+    def execute(self, context: LaunchContext) -> None:
+        """Execute the action."""
+        self.__logger.info(
+            ''.join([context.perform_substitution(sub) for sub in self.msg])
+        )
+        return None

launch/test/launch/actions/test_log_info.py

@@ -0,0 +1,47 @@
+# Copyright 2020 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Tests for the LogInfo action class."""
+
+from launch import LaunchContext
+from launch.actions import LogInfo
+from launch.utilities import perform_substitutions
+
+
+def test_log_info_constructors():
+    """Test the constructors for LogInfo class."""
+    LogInfo(msg='')
+    LogInfo(msg='foo')
+    LogInfo(msg=['foo', 'bar', 'baz'])
+
+
+def test_log_info_methods():
+    """Test the methods of the LogInfo class."""
+    launch_context = LaunchContext()
+
+    log_info = LogInfo(msg='')
+    assert perform_substitutions(launch_context, log_info.msg) == ''
+
+    log_info = LogInfo(msg='foo')
+    assert perform_substitutions(launch_context, log_info.msg) == 'foo'
+
+    log_info = LogInfo(msg=['foo', 'bar', 'baz'])
+    assert perform_substitutions(launch_context, log_info.msg) == 'foobarbaz'
+
+
+def test_log_info_execute():
+    """Test the execute (or visit) of the LogInfo class."""
+    log_info = LogInfo(msg='foo')
+    launch_context = LaunchContext()
+    assert log_info.visit(launch_context) is None