client_goal_status.h

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#ifndef ACTIONLIB__CLIENT_GOAL_STATUS_H_
#define ACTIONLIB__CLIENT_GOAL_STATUS_H_

#include <string>

#include "actionlib/GoalStatus.h"
#include "ros/console.h"

namespace actionlib
{

class ClientGoalStatus
{
public:
  enum StateEnum
  {
    PENDING,    
    ACTIVE,     
    PREEMPTED,  
    SUCCEEDED,  
    ABORTED,    
    REJECTED,   
    LOST        
  };

  ClientGoalStatus(StateEnum state)
  {
    state_ = state;
  }

  ClientGoalStatus(const GoalStatus & goal_status)
  {
    fromGoalStatus(goal_status);
  }

  inline bool isDone() const
  {
    if (state_ == PENDING || state_ == ACTIVE) {
      return false;
    }
    return true;
  }

  inline const StateEnum & operator=(const StateEnum & state)
  {
    state_ = state;
    return state;
  }

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

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

  void fromGoalStatus(const GoalStatus & goal_status)
  {
    switch (goal_status.status) {
      case GoalStatus::PREEMPTED:
        state_ = ClientGoalStatus::PREEMPTED; break;
      case GoalStatus::SUCCEEDED:
        state_ = ClientGoalStatus::SUCCEEDED; break;
      case GoalStatus::ABORTED:
        state_ = ClientGoalStatus::ABORTED; break;
      case GoalStatus::REJECTED:
        state_ = ClientGoalStatus::REJECTED; break;
      default:
        state_ = ClientGoalStatus::LOST;
        ROS_ERROR_NAMED("actionlib", "Cannot convert GoalStatus %u to ClientGoalState",
          goal_status.status); break;
    }
  }

  std::string toString() const
  {
    switch (state_) {
      case PENDING:
        return "PENDING";
      case ACTIVE:
        return "ACTIVE";
      case PREEMPTED:
        return "PREEMPTED";
      case SUCCEEDED:
        return "SUCCEEDED";
      case ABORTED:
        return "ABORTED";
      case REJECTED:
        return "REJECTED";
      case LOST:
        return "LOST";
      default:
        ROS_ERROR_NAMED("actionlib", "BUG: Unhandled ClientGoalStatus");
        break;
    }
    return "BUG-UNKNOWN";
  }

private:
  StateEnum state_;
  ClientGoalStatus();  
};

}  // namespace actionlib

#endif  // ACTIONLIB__CLIENT_GOAL_STATUS_H_