terminal_state.h

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#ifndef ACTIONLIB__CLIENT__TERMINAL_STATE_H_
#define ACTIONLIB__CLIENT__TERMINAL_STATE_H_

#include <string>
#include "ros/console.h"

namespace actionlib
{

class TerminalState
{
public:
  enum StateEnum
  {
    RECALLED,
    REJECTED,
    PREEMPTED,
    ABORTED,
    SUCCEEDED,
    LOST
  };

  TerminalState(const StateEnum & state, const std::string & text = std::string(""))
  : state_(state), text_(text) {}

  inline bool operator==(const TerminalState & rhs) const
  {
    return state_ == rhs.state_;
  }

  inline bool operator==(const TerminalState::StateEnum & rhs) const
  {
    return state_ == rhs;
  }

  inline bool operator!=(const TerminalState::StateEnum & rhs) const
  {
    return !(*this == rhs);
  }

  inline bool operator!=(const TerminalState & rhs) const
  {
    return !(*this == rhs);
  }

  std::string getText() const
  {
    return text_;
  }

  std::string toString() const
  {
    switch (state_) {
      case RECALLED:
        return "RECALLED";
      case REJECTED:
        return "REJECTED";
      case PREEMPTED:
        return "PREEMPTED";
      case ABORTED:
        return "ABORTED";
      case SUCCEEDED:
        return "SUCCEEDED";
      case LOST:
        return "LOST";

      default:
        ROS_ERROR_NAMED("actionlib", "BUG: Unhandled TerminalState: %u", state_);
        break;
    }
    return "BUG-UNKNOWN";
  }

  StateEnum state_;
  std::string text_;

private:
  TerminalState();
};

}  // namespace actionlib

#endif  // ACTIONLIB__CLIENT__TERMINAL_STATE_H_