comm_state.h
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00034 
00035 #ifndef ACTIONLIB_CLIENT_COMM_STATE_H_
00036 #define ACTIONLIB_CLIENT_COMM_STATE_H_
00037 
00038 #include <string>
00039 #include "ros/console.h"
00040 
00041 namespace actionlib
00042 {
00043 
00047 class CommState
00048 {
00049 public:
00050 
00052   enum StateEnum
00053   {
00054     WAITING_FOR_GOAL_ACK    = 0,
00055     PENDING                 = 1,
00056     ACTIVE                  = 2,
00057     WAITING_FOR_RESULT      = 3,
00058     WAITING_FOR_CANCEL_ACK  = 4,
00059     RECALLING               = 5,
00060     PREEMPTING              = 6,
00061     DONE                    = 7
00062   } ;
00063 
00064   CommState(const StateEnum& state) : state_(state) { }
00065 
00066   inline bool operator==(const CommState& rhs) const
00067   {
00068     return (state_ == rhs.state_) ;
00069   }
00070 
00071   inline bool operator==(const CommState::StateEnum& rhs) const
00072   {
00073     return (state_ == rhs);
00074   }
00075 
00076   inline bool operator!=(const CommState::StateEnum& rhs) const
00077   {
00078     return !(*this == rhs);
00079   }
00080 
00081   inline bool operator!=(const CommState& rhs) const
00082   {
00083     return !(*this == rhs);
00084   }
00085 
00086   std::string toString() const
00087   {
00088     switch(state_)
00089     {
00090       case WAITING_FOR_GOAL_ACK:
00091         return "WAITING_FOR_GOAL_ACK";
00092       case PENDING:
00093         return "PENDING";
00094       case ACTIVE:
00095         return "ACTIVE";
00096       case WAITING_FOR_RESULT:
00097         return "WAITING_FOR_RESULT";
00098       case WAITING_FOR_CANCEL_ACK:
00099         return "WAITING_FOR_CANCEL_ACK";
00100       case RECALLING:
00101         return "RECALLING";
00102       case PREEMPTING:
00103         return "PREEMPTING";
00104       case DONE:
00105         return "DONE";
00106       default:
00107         ROS_ERROR_NAMED("actionlib", "BUG: Unhandled CommState: %u", state_);
00108         break;
00109     }
00110     return "BUG-UNKNOWN";
00111   }
00112 
00113   StateEnum state_;
00114 private:
00115   CommState();
00116 
00117 } ;
00118 
00119 }
00120 
00121 #endif


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Thu Jan 2 2014 11:03:49