IdleState.cpp

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#include <rsm_core/IdleState.h>

namespace rsm {

IdleState::IdleState() {
}

IdleState::~IdleState() {
}

void IdleState::onSetup() {
        _name = "Idle";
}

void IdleState::onEntry() {
}

void IdleState::onActive() {
}

void IdleState::onExit() {
}

void IdleState::onExplorationStart(bool &success, std::string &message) {
        success = true;
        message = "Exploration started";
        if (!_interrupt_occured) {
                _stateinterface->transitionToVolatileState(
                                _stateinterface->getPluginState(CALCULATEGOAL_STATE));
        }
}

void IdleState::onExplorationStop(bool &success, std::string &message) {
        success = false;
        message = "Exploration not running";
}

void IdleState::onWaypointFollowingStart(bool &success, std::string &message) {
        success = true;
        message = "Waypoint following started";
        _stateinterface->transitionToVolatileState(
                        boost::make_shared<WaypointFollowingState>());
}

void IdleState::onWaypointFollowingStop(bool &success, std::string &message) {
        success = false;
        message = "Waypoint following not running";
}

void IdleState::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;
        }
}

}