add more typecheck, use rospy.loginfo for message

jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py

@@ -33,18 +33,27 @@ def _status_cb(self, msg):
         '''
         Recording starts when smach_state becomes start.
         '''
+        rospy.loginfo("Received SMACH status")
         if len(msg.active_states) == 0:
             return
         file_path = None
         status_str = ', '.join(msg.active_states);
         local_data_str = pickle.loads(msg.local_data)
         info_str = msg.info
-        print("status -> {}".format(status_str))
-        print("description_str -> {}".format(local_data_str['DESCRIPTION']))
+        if not type(local_data_str) is dict:
+            rospy.logerr("local_data_str:({}) is not dictionary".format(local_data_str))
+            rospy.logerr("May be you forget to pass user data in exec-state-machine ?")
+            rospy.logerr("please check your program execute smach with (exec-state-machine (sm) '((description . "")(image . "")))")
+
+        rospy.loginfo("- status -> {}".format(status_str))
+        if local_data_str.has_key('DESCRIPTION'):
+            rospy.loginfo("- description_str -> {}".format(local_data_str['DESCRIPTION']))
+        else:
+            rospy.logwarn("smach does not have DESCRIPTION, see https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_robot_common/jsk_robot_startup#smach_to_mailpy for more info")
 
         if status_str == "START" or "INIT":
             self.smach_state_list = []
-        if local_data_str['IMAGE']:
+        if local_data_str.has_key('IMAGE') and local_data_str['IMAGE']:
             imgmsg = CompressedImage()
             imgmsg.deserialize(base64.b64decode(local_data_str['IMAGE']))
             cv_image = self.bridge.compressed_imgmsg_to_cv2(imgmsg, "bgr8")
@@ -54,7 +63,7 @@ def _status_cb(self, msg):
 
             file_path = "/tmp/{}_{}.jpg".format(
                 status_str.lower(), dt_now.strftime('%y%m%d%H%M%S'))
-            rospy.loginfo("filepath:{}".format(file_path))
+            rospy.loginfo("- filepath:{}".format(file_path))
             # if (next((x for x in self.smach_state_list if x["IMAGE"] == file_path), None)):
             #     rospy.loginfo("same file name!!!!")
             # else:
@@ -65,13 +74,16 @@ def _status_cb(self, msg):
         else:
             file_path = ""
 
-        status_dict = {'DESCRIPTION': local_data_str['DESCRIPTION'],
-                       'IMAGE': file_path}  # dict is complicated?
+        status_dict = {}
+        if local_data_str.has_key('DESCRIPTION'):
+            status_dict.update({'DESCRIPTION': local_data_str['DESCRIPTION']})
+        if file_path != "":
+            status_dict.update({'IMAGE': file_path})  # dict is complicated?
+
         self.smach_state_list.append(status_dict)
-        print(self.smach_state_list)
-        print("info_str -> {}".format(info_str))
+        rospy.loginfo("- info_str -> {}".format(info_str))
 
-        if status_str == "END" or "FINISH":
+        if status_str in ["END", "FINISH"]:
             rospy.loginfo("END!!")
             self._send_mail()
 
@@ -85,10 +97,11 @@ def _send_mail(self):
             description = EmailBody()
             image = EmailBody()
             description.type = 'text'
-            description.message = x['DESCRIPTION']
+            if x.has_key('DESCRIPTION'):
+                description.message = x['DESCRIPTION']
             email_msg.body.append(description)
             email_msg.body.append(changeline)
-            if x['IMAGE']:
+            if x.has_key('IMAGE') and x['IMAGE']:
                 image.type = 'img'
                 image.img_size = 50
                 image.file_path = x['IMAGE']