BaseState.h

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#ifndef BASESTATE_H
#define BASESTATE_H

#include <stddef.h>
#include <ros/ros.h>
#include <ros/console.h>

namespace rsm {

#define INTERRUPT_END 0
#define EMERGENCY_STOP_INTERRUPT 1
#define TELEOPERATION_INTERRUPT 2
#define SIMPLE_GOAL_INTERRUPT 3
#define SIMPLE_GOAL_STOP_INTERRUPT 4

#define EXPLORATION 0
#define WAYPOINT_FOLLOWING 1
#define SIMPLE_GOAL 2

class StateInterface;

class BaseState {
public:

        BaseState();

        virtual ~BaseState();

        void setStateInterface(StateInterface* stateinterface);

        StateInterface* getStateInterface();

        virtual void onSetup() {
        }
        ;

        virtual void onEntry() {
        }
        ;

        virtual void onActive() = 0;

        virtual void onExit() {
        }
        ;

        virtual void onExplorationStart(bool &success,
                        std::string &message) {
        }
        ;

        virtual void onExplorationStop(bool &success, std::string &message) {
        }
        ;

        virtual void onWaypointFollowingStart(bool &success, std::string &message) {
        }
        ;

        virtual void onWaypointFollowingStop(bool &success, std::string &message) {
        }
        ;

        virtual void onInterrupt(int interrupt) {
        }
        ;

        std::string getName();

protected:

        StateInterface* _stateinterface;
        bool _interrupt_occured;
        std::string _name;
};

}

#endif