MappingDummyState.cpp

Go to the documentation of this file.

#include <rsm_additions/MappingDummyState.h>

namespace rsm {

MappingDummyState::MappingDummyState() {
}

MappingDummyState::~MappingDummyState() {
}

void MappingDummyState::onSetup() {
        ros::NodeHandle nh("rsm");
        _navigation_goal_completed_service = nh.serviceClient<
                        rsm_msgs::GoalCompleted>("navigationGoalCompleted");
        _name = "E: Mapping Dummy";
        _navigation_completed_status = rsm_msgs::GoalStatus::ABORTED;
}

void MappingDummyState::onEntry() {
}

void MappingDummyState::onActive() {
        //do mapping stuff
        if (!_interrupt_occured) {
                _navigation_completed_status = rsm_msgs::GoalStatus::REACHED;
                _stateinterface->transitionToVolatileState(
                                _stateinterface->getPluginState(CALCULATEGOAL_STATE));
        }
}

void MappingDummyState::onExit() {
        rsm_msgs::GoalCompleted srv;
        srv.request.status.goal_status = _navigation_completed_status;
        if (!_navigation_goal_completed_service.call(srv)) {
                ROS_ERROR("Failed to call Complete Navigation Goal service");
        }
}

void MappingDummyState::onExplorationStart(bool &success,
                std::string &message) {
        success = false;
        message = "Exploration running";
}

void MappingDummyState::onExplorationStop(bool &success, std::string &message) {
        success = true;
        message = "Exploration stopped";
        _stateinterface->transitionToVolatileState(boost::make_shared<IdleState>());
}

void MappingDummyState::onWaypointFollowingStart(bool &success,
                std::string &message) {
        success = false;
        message = "Exploration running";
}

void MappingDummyState::onWaypointFollowingStop(bool &success,
                std::string &message) {
        success = false;
        message = "Exploration running";
}

void MappingDummyState::onInterrupt(int interrupt) {
        switch (interrupt) {
        case EMERGENCY_STOP_INTERRUPT:
                _stateinterface->transitionToVolatileState(
                                boost::make_shared<EmergencyStopState>());
                _interrupt_occured = true;
                break;
        case TELEOPERATION_INTERRUPT:
                _stateinterface->transitionToVolatileState(
                                boost::make_shared<TeleoperationState>());
                _interrupt_occured = true;
                break;
        case SIMPLE_GOAL_INTERRUPT:
                _stateinterface->transitionToVolatileState(
                                _stateinterface->getPluginState(NAVIGATION_STATE));
                _interrupt_occured = true;
                break;
        }
}

}

PLUGINLIB_EXPORT_CLASS(rsm::MappingDummyState, rsm::BaseState)