00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef ACTIONLIB__CLIENT__TERMINAL_STATE_H_ 00036 #define ACTIONLIB__CLIENT__TERMINAL_STATE_H_ 00037 00038 #include <string> 00039 00040 namespace actionlib 00041 { 00042 00043 class TerminalState 00044 { 00045 public: 00046 enum StateEnum 00047 { 00048 RECALLED, 00049 REJECTED, 00050 PREEMPTED, 00051 ABORTED, 00052 SUCCEEDED, 00053 LOST 00054 }; 00055 00056 TerminalState(const StateEnum & state, const std::string & text = std::string("")) 00057 : state_(state), text_(text) {} 00058 00059 inline bool operator==(const TerminalState & rhs) const 00060 { 00061 return state_ == rhs.state_; 00062 } 00063 00064 inline bool operator==(const TerminalState::StateEnum & rhs) const 00065 { 00066 return state_ == rhs; 00067 } 00068 00069 inline bool operator!=(const TerminalState::StateEnum & rhs) const 00070 { 00071 return !(*this == rhs); 00072 } 00073 00074 inline bool operator!=(const TerminalState & rhs) const 00075 { 00076 return !(*this == rhs); 00077 } 00078 00079 std::string getText() const 00080 { 00081 return text_; 00082 } 00083 00084 std::string toString() const 00085 { 00086 switch (state_) { 00087 case RECALLED: 00088 return "RECALLED"; 00089 case REJECTED: 00090 return "REJECTED"; 00091 case PREEMPTED: 00092 return "PREEMPTED"; 00093 case ABORTED: 00094 return "ABORTED"; 00095 case SUCCEEDED: 00096 return "SUCCEEDED"; 00097 case LOST: 00098 return "LOST"; 00099 00100 default: 00101 ROS_ERROR_NAMED("actionlib", "BUG: Unhandled TerminalState: %u", state_); 00102 break; 00103 } 00104 return "BUG-UNKNOWN"; 00105 } 00106 00107 StateEnum state_; 00108 std::string text_; 00109 00110 private: 00111 TerminalState(); 00112 }; 00113 00114 } // namespace actionlib 00115 00116 #endif // ACTIONLIB__CLIENT__TERMINAL_STATE_H_