def getControllerStatus(self):
        '''
        Returns the current controller status as a string.  The possible string
        values are the values of the dict returned by getControllerStatusMap().
        None is returned if no controller status message has been received or
        the status is not among those handled by this driver.
        '''
        if not self.lastControllerStatusMessage:
            return None

        statusMap = self.getControllerStatusMap()
        state = self.lastControllerStatusMessage.plan_type
        assert state in statusMap
        return statusMap[state]
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/atlasdriver.py/AtlasDriver.getControllerStatus/original