NavEstopEvent.h
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00001 /* -*- mode: C++ -*-
00002  *
00003  *  Navigator E-stop finite state machine events
00004  *
00005  *  Copyright (C) 2007, 2010, Austin Robot Technology
00006  *
00007  *  License: Modified BSD Software License Agreement
00008  *
00009  *  $Id: NavEstopEvent.h 1027 2011-03-06 16:19:07Z jack.oquin $
00010  */
00011 
00012 #ifndef __NAV_ESTOP_EVENT_HH__
00013 #define __NAV_ESTOP_EVENT_HH__
00014 
00015 #include <art_nav/FSMevent.h>
00016 
00017 class NavEstopEvent: FSMevent
00018 {
00019 public:
00020 
00021   // navigator E-stop control events
00022   typedef enum
00023     {
00024       Abort,                            // E-stop disable
00025       Pause,                            // E-stop pause
00026       Quit,                             // run finished normally
00027       Run,                              // E-stop run enabled
00028       Suspend,                          // suspend autonomous operation
00029       None,                             // no E-stop event this cycle
00030       N_events
00031     } event_t;
00032 
00033   // return event name as a C string
00034   const char *Name(void)
00035   {
00036     static const char *event_name[N_events] =
00037       {
00038         "Abort",
00039         "Pause",
00040         "Quit",
00041         "Run",
00042         "Suspend",
00043         "None",
00044       };
00045     return event_name[this->event];
00046   }
00047 
00048   NavEstopEvent()
00049   {
00050     this->event = Pause;
00051   }
00052 
00053   NavEstopEvent(event_t ievent)
00054   {
00055     this->event = ievent;
00056   }
00057 
00058   ~NavEstopEvent() {};
00059 
00060   event_t Value(void)
00061   {
00062     return this->event;
00063   }
00064 
00065   void operator=(const NavEstopEvent::event_t &newevent)
00066   {
00067     this->event = newevent;
00068   }
00069 
00070   bool operator==(const event_t &compare)
00071   {
00072     return this->event == compare;
00073   }
00074 
00075   bool operator!=(const event_t &compare)
00076   {
00077     return this->event != compare;
00078   }
00079 
00080 private:
00081   event_t event;
00082 };
00083 
00084 #endif // __NAV_ESTOP_EVENT_HH__
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art_nav
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Tue Sep 24 2013 10:42:11