00001 //================================================================================================= 00002 // Copyright (c) 2011, Johannes Meyer, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Flight Systems and Automatic Control group, 00013 // TU Darmstadt, nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #include <hector_pose_estimation/types.h> 00030 00031 namespace hector_pose_estimation { 00032 00033 std::string getSystemStatusString(const SystemStatus& status, const SystemStatus& asterisk_status) { 00034 std::string result; 00035 static const char* const str[] = { 00036 "ALIGNMENT", "DEGRADED", "READY", 0, 00037 "ROLLPITCH", "YAW", "PSEUDO_ROLLPITCH", "PSEUDO_YAW", 00038 "RATE_XY", "RATE_Z", "PSEUDO_RATE_XY", "PSEUDO_RATE_Z", 00039 "VELOCITY_XY", "VELOCITY_Z", "PSEUDO_VELOCITY_XY", "PSEUDO_VELOCITY_Z", 00040 "POSITION_XY", "POSITION_Z", "PSEUDO_POSITION_XY", "PSEUDO_POSITION_Z", 00041 }; 00042 00043 if (asterisk_status) { 00044 for(unsigned int i = 0; i < sizeof(str)/sizeof(*str); ++i) { 00045 if (asterisk_status & (1 << i)) { 00046 result += "*" + std::string(str[i]) + " "; 00047 } 00048 } 00049 00050 if (asterisk_status != status) result += "("; 00051 } 00052 00053 for(unsigned int i = 0; i < sizeof(str)/sizeof(*str); ++i) { 00054 if (status & (1 << i)) { 00055 if (asterisk_status & (1 << i)) continue; 00056 result += std::string(str[i]) + " "; 00057 } 00058 } 00059 if (result.size() > 0) result.resize(result.size() - 1); 00060 00061 if (asterisk_status && (asterisk_status != status)) { 00062 result += ")"; 00063 } 00064 00065 return result; 00066 } 00067 00068 } // namespace hector_pose_estimation