00001 /* 00002 * Copyright (c) 2012, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 * 00029 * Author: David Gossow 00030 */ 00031 /* 00032 * state_machine.h 00033 * 00034 * Created on: Jul 17, 2012 00035 * Author: gossow 00036 */ 00037 00038 #ifndef INTERACTIVE_MARKERS_STATE_MACHINE_H_ 00039 #define INTERACTIVE_MARKERS_STATE_MACHINE_H_ 00040 00041 #include <ros/ros.h> 00042 00043 namespace interactive_markers 00044 { 00045 00046 // Helper class for state management 00047 template<class StateT> 00048 class StateMachine 00049 { 00050 public: 00051 StateMachine( std::string name, StateT init_state ); 00052 StateMachine& operator=( StateT state ); 00053 operator StateT(); 00054 ros::Duration getDuration(); 00055 private: 00056 StateT state_; 00057 ros::Time chg_time_; 00058 std::string name_; 00059 }; 00060 00061 template<class StateT> 00062 StateMachine<StateT>::StateMachine( std::string name, StateT init_state ) 00063 : name_(name) 00064 { 00065 operator=(init_state); 00066 }; 00067 00068 template<class StateT> 00069 StateMachine<StateT>& StateMachine<StateT>::operator=( StateT state ) 00070 { 00071 if ( state_ != state ) 00072 { 00073 ROS_DEBUG( "Setting state of %s to %lu", name_.c_str(), (int64_t)state ); 00074 state_ = state; 00075 chg_time_=ros::Time::now(); 00076 } 00077 return *this; 00078 } 00079 00080 template<class StateT> 00081 ros::Duration StateMachine<StateT>::getDuration() 00082 { 00083 return ros::Time::now()-chg_time_; 00084 } 00085 00086 template<class StateT> 00087 StateMachine<StateT>::operator StateT() 00088 { 00089 return state_; 00090 } 00091 00092 } 00093 00094 #endif /* STATE_MACHINE_H_ */