ReversingRoutineState.h

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#ifndef REVERSINGROUTINESTATE_H
#define REVERSINGROUTINESTATE_H

#include <pluginlib/class_list_macros.h>
#include <rsm_core/BaseState.h>
#include <rsm_core/IdleState.h>
#include <rsm_core/EmergencyStopState.h>
#include <rsm_core/WaypointFollowingState.h>
#include <rsm_core/TeleoperationState.h>
#include <rsm_core/StateInterface.h>
#include <rsm_msgs/GoalCompleted.h>
#include <std_srvs/SetBool.h>
#include <std_srvs/Trigger.h>
#include <std_srvs/Empty.h>

namespace rsm {

class ReversingRoutineState: public BaseState {

public:

        ReversingRoutineState();

        ~ReversingRoutineState();

        void onSetup();

        void onEntry();

        void onActive();

        void onExit();

        void onExplorationStart(bool &success, std::string &message);

        void onExplorationStop(bool &success, std::string &message);

        void onWaypointFollowingStart(bool &success, std::string &message);

        void onWaypointFollowingStop(bool &success, std::string &message);

        void onInterrupt(int interrupt);

private:
        ros::NodeHandle _nh;
        ros::ServiceClient _set_reverse_moving_service;
        ros::ServiceClient _get_reverse_moving_service;
        ros::ServiceClient _navigation_goal_completed_service;

        bool _reverse_mode_active;
        int _navigation_completed_status;
};

}

#endif