NavEstopState.h
Go to the documentation of this file.00001 /* -*- mode: C++ -*- 00002 * 00003 * Navigator E-stop finite state machine states 00004 * 00005 * Copyright (C) 2007, 2010, Austin Robot Technology 00006 * 00007 * License: Modified BSD Software License Agreement 00008 * 00009 * $Id: NavEstopState.h 1539 2011-05-09 04:09:20Z jack.oquin $ 00010 * 00011 * Author: Jack O'Quin 00012 */ 00013 00014 00015 #ifndef __NAV_ESTOP_STATE_H__ 00016 #define __NAV_ESTOP_STATE_H__ 00017 00018 #include <art_msgs/EstopState.h> 00019 #include <art_nav/FSMstate.h> 00020 00021 class NavEstopState: FSMstate 00022 { 00023 public: 00024 00025 // navigator E-stop control states 00026 typedef enum 00027 { 00028 Pause = art_msgs::EstopState::Pause, 00029 Run = art_msgs::EstopState::Run, 00030 Done = art_msgs::EstopState::Done, 00031 Suspend = art_msgs::EstopState::Suspend, 00032 N_states = art_msgs::EstopState::N_states 00033 } state_t; 00034 00035 NavEstopState() 00036 { 00037 this->state = Pause; 00038 } 00039 00040 NavEstopState(state_t &istate) 00041 { 00042 this->state = istate; 00043 } 00044 00045 NavEstopState(const art_msgs::EstopState &estop_msg) 00046 { 00047 this->state = (NavEstopState::state_t) estop_msg.state; 00048 } 00049 00050 ~NavEstopState(); 00051 00052 state_t Value(void) const 00053 { 00054 return this->state; 00055 } 00056 00057 // return state name as a C string 00058 const char *Name(void) const 00059 { 00060 static const char *state_name[N_states] = 00061 { 00062 "Pause", 00063 "Run", 00064 "Done", 00065 "Suspend", 00066 }; 00067 return state_name[this->state]; 00068 } 00069 00070 void operator=(const NavEstopState::state_t &newstate) 00071 { 00072 this->state = newstate; 00073 } 00074 00075 void operator=(uint16_t value) 00076 { 00077 this->state = (NavEstopState::state_t) value; 00078 } 00079 00080 bool operator==(const NavEstopState &compare) const 00081 { 00082 return this->state == compare.state; 00083 } 00084 00085 bool operator==(const state_t &compare) const 00086 { 00087 return this->state == compare; 00088 } 00089 00090 bool operator!=(const NavEstopState &compare) const 00091 { 00092 return this->state != compare.state; 00093 } 00094 00095 bool operator!=(const state_t &compare) const 00096 { 00097 return this->state != compare; 00098 } 00099 00100 private: 00101 state_t state; 00102 }; 00103 00104 #endif // __NAV_ESTOP_STATE_H__