NavRoadState.h

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/* -*- mode: C++ -*-
 *
 *  Navigator road finite state machine states 
 *
 *  Copyright (C) 2007, 2010, Austin Robot Technology
 *
 *  License: Modified BSD Software License Agreement
 *
 *  $Id: NavRoadState.h 615 2010-09-24 16:07:50Z jack.oquin $
 *
 *  Author: Jack O'Quin
 */

#ifndef __NAV_ROAD_STATE_H__
#define __NAV_ROAD_STATE_H__

#include <art_nav/FSMstate.h>
#include <art_msgs/RoadState.h>

class NavRoadState: FSMstate
{
public:

  // Navigator road states
  typedef enum
    {
      Init,
      Block,
      Evade,
      Follow,
      Pass,
      Uturn,
      WaitCross,
      WaitLane,
      WaitPass,
      WaitStop,
      Zone,
      N_states
    } state_t;

  // return state name as a C string
  const char *Name(void) const
  {
    static const char *state_name[N_states] =
      {
        "Init",
        "Block",
        "Evade",
        "Follow",
        "Pass",
        "Uturn",
        "WaitCross",
        "WaitLane",
        "WaitPass",
        "WaitStop",
        "Zone",
      };
    return state_name[this->state];
  }

  NavRoadState()
  {
    this->state = Init;
  }

  NavRoadState(state_t &istate)
  {
    this->state = istate;
  }

  NavRoadState(const art_msgs::RoadState &msg)
  {
    this->state = (NavRoadState::state_t) msg.state;
  }

  ~NavRoadState();

  state_t Value(void) const
  {
    return this->state;
  }

  void operator=(const NavRoadState::state_t &newstate)
  {
    this->state = newstate;
  }

  bool operator==(const NavRoadState &compare) const
  {
    return this->state == compare.state;
  }

  bool operator==(const state_t &compare) const
  {
    return this->state == compare;
  }

  bool operator!=(const NavRoadState &compare) const
  {
    return this->state != compare.state;
  }

  bool operator!=(const state_t &compare) const
  {
    return this->state != compare;
  }

private:
  state_t state;
};

#endif // __NAV_ROAD_STATE_H__