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__COMM_STATE_H_ 00036 #define ACTIONLIB__CLIENT__COMM_STATE_H_ 00037 00038 #include <string> 00039 #include "ros/console.h" 00040 00041 namespace actionlib 00042 { 00043 00047 class CommState 00048 { 00049 public: 00051 enum StateEnum 00052 { 00053 WAITING_FOR_GOAL_ACK = 0, 00054 PENDING = 1, 00055 ACTIVE = 2, 00056 WAITING_FOR_RESULT = 3, 00057 WAITING_FOR_CANCEL_ACK = 4, 00058 RECALLING = 5, 00059 PREEMPTING = 6, 00060 DONE = 7 00061 }; 00062 00063 CommState(const StateEnum & state) 00064 : state_(state) {} 00065 00066 inline bool operator==(const CommState & rhs) const 00067 { 00068 return state_ == rhs.state_; 00069 } 00070 00071 inline bool operator==(const CommState::StateEnum & rhs) const 00072 { 00073 return state_ == rhs; 00074 } 00075 00076 inline bool operator!=(const CommState::StateEnum & rhs) const 00077 { 00078 return !(*this == rhs); 00079 } 00080 00081 inline bool operator!=(const CommState & rhs) const 00082 { 00083 return !(*this == rhs); 00084 } 00085 00086 std::string toString() const 00087 { 00088 switch (state_) { 00089 case WAITING_FOR_GOAL_ACK: 00090 return "WAITING_FOR_GOAL_ACK"; 00091 case PENDING: 00092 return "PENDING"; 00093 case ACTIVE: 00094 return "ACTIVE"; 00095 case WAITING_FOR_RESULT: 00096 return "WAITING_FOR_RESULT"; 00097 case WAITING_FOR_CANCEL_ACK: 00098 return "WAITING_FOR_CANCEL_ACK"; 00099 case RECALLING: 00100 return "RECALLING"; 00101 case PREEMPTING: 00102 return "PREEMPTING"; 00103 case DONE: 00104 return "DONE"; 00105 default: 00106 ROS_ERROR_NAMED("actionlib", "BUG: Unhandled CommState: %u", state_); 00107 break; 00108 } 00109 return "BUG-UNKNOWN"; 00110 } 00111 00112 StateEnum state_; 00113 00114 private: 00115 CommState(); 00116 }; 00117 00118 } // namespace actionlib 00119 00120 #endif // ACTIONLIB__CLIENT__COMM_STATE_H_