common.h

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/*
 * Software License Agreement (Apache License)
 *
 * Copyright (c) 2018 Plus One Robotics
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef COMMON_H
#define COMMON_H

#include <iostream>

namespace packml_sm
{
// This magic function allows iostream (i.e. ROS_##_STREAM) macros to print out
// enumerations
// see: http://stackoverflow.com/questions/11421432/how-can-i-output-the-value-of-an-enum-class-in-c11
template <typename T>
std::ostream& operator<<(typename std::enable_if<std::is_enum<T>::value, std::ostream>::type& stream, const T& e)
{
  return stream << static_cast<typename std::underlying_type<T>::type>(e);
}

enum class StatesEnum
{
  UNDEFINED = 0,
  OFF = 1,
  STOPPED = 2,
  STARTING = 3,
  IDLE = 4,
  SUSPENDED = 5,
  EXECUTE = 6,
  STOPPING = 7,
  ABORTING = 8,
  ABORTED = 9,
  HOLDING = 10,
  HELD = 11,

  RESETTING = 100,
  SUSPENDING = 101,
  UNSUSPENDING = 102,
  CLEARING = 103,
  UNHOLDING = 104,
  COMPLETING = 105,
  COMPLETE = 106,

  // Super states that encapsulate multiple substates with a common transition
  // Not explicitly used in the standard but helpful for consutrcting the state
  // machine.
  ABORTABLE = 200,
  STOPPABLE = 201
};

enum class ModeEnum
{
  UNDEFINED = 0,
  AUTOMATIC = 1,
  SEMI_AUTOMATIC = 2,
  MANUAL = 3,
  IDLE = 4,
  SETUP = 11
};

enum class CmdEnum
{
  UNDEFINED = 0,
  CLEAR = 1,
  START = 2,
  STOP = 3,
  HOLD = 4,
  ABORT = 5,
  RESET = 6,
  ESTOP = 7,

  SUSPEND = 100,
  UNSUSPEND = 101,
  UNHOLD = 102
};
}

#endif  // COMMON_H