status_codes.h

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/*******************************************************************************
 *      Title     : status_codes.h
 *      Project   : moveit_jog_arm
 *      Created   : 2/25/2019
 *      Author    : Andy Zelenak
 *
 * BSD 3-Clause License
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 * Copyright (c) 2019, Los Alamos National Security, LLC
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#pragma once

#include <string>
#include <unordered_map>

namespace moveit_jog_arm
{
enum StatusCode : int8_t
{
  NO_WARNING = 0,
  DECELERATE_FOR_SINGULARITY = 1,
  HALT_FOR_SINGULARITY = 2,
  DECELERATE_FOR_COLLISION = 3,
  HALT_FOR_COLLISION = 4,
  JOINT_BOUND = 5
};

const std::unordered_map<uint, std::string>
    JOG_ARM_STATUS_CODE_MAP({ { NO_WARNING, "No warnings" },
                              { DECELERATE_FOR_SINGULARITY, "Close to a singularity, decelerating" },
                              { HALT_FOR_SINGULARITY, "Very close to a singularity, emergency stop" },
                              { DECELERATE_FOR_COLLISION, "Close to a collision, decelerating" },
                              { HALT_FOR_COLLISION, "Collision detected, emergency stop" },
                              { JOINT_BOUND, "Close to a joint bound (position or velocity), halting" } });
}  // namespace moveit_jog_arm