00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef ACTIONLIB_CLIENT_TERMINAL_STATE_H_ 00036 #define ACTIONLIB_CLIENT_TERMINAL_STATE_H_ 00037 00038 namespace actionlib 00039 { 00040 00041 class TerminalState 00042 { 00043 public: 00044 enum StateEnum 00045 { 00046 RECALLED, 00047 REJECTED, 00048 PREEMPTED, 00049 ABORTED, 00050 SUCCEEDED, 00051 LOST 00052 } ; 00053 00054 TerminalState(const StateEnum& state, const std::string& text = std::string("")) : state_(state), text_(text) { } 00055 00056 inline bool operator==(const TerminalState& rhs) const 00057 { 00058 return (state_ == rhs.state_) ; 00059 } 00060 00061 inline bool operator==(const TerminalState::StateEnum& rhs) const 00062 { 00063 return (state_ == rhs); 00064 } 00065 00066 inline bool operator!=(const TerminalState::StateEnum& rhs) const 00067 { 00068 return !(*this == rhs); 00069 } 00070 00071 inline bool operator!=(const TerminalState& rhs) const 00072 { 00073 return !(*this == rhs); 00074 } 00075 00076 std::string getText() const 00077 { 00078 return text_; 00079 } 00080 00081 std::string toString() const 00082 { 00083 switch(state_) 00084 { 00085 case RECALLED: 00086 return "RECALLED"; 00087 case REJECTED: 00088 return "REJECTED"; 00089 case PREEMPTED: 00090 return "PREEMPTED"; 00091 case ABORTED: 00092 return "ABORTED"; 00093 case SUCCEEDED: 00094 return "SUCCEEDED"; 00095 case LOST: 00096 return "LOST"; 00097 00098 default: 00099 ROS_ERROR_NAMED("actionlib", "BUG: Unhandled TerminalState: %u", state_); 00100 break; 00101 } 00102 return "BUG-UNKNOWN"; 00103 } 00104 00105 StateEnum state_; 00106 std::string text_; 00107 private: 00108 TerminalState(); 00109 00110 } ; 00111 00112 } 00113 00114 #endif