actionlib: client_goal_status.h Source File

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00034 
00035 #ifndef ACTIONLIB_CLIENT_GOAL_STATUS_H_
00036 #define ACTIONLIB_CLIENT_GOAL_STATUS_H_
00037 
00038 #include <string>
00039 
00040 #include "actionlib/GoalStatus.h"
00041 
00042 namespace actionlib
00043 {
00044 
00050 class ClientGoalStatus
00051 {
00052 public:
00054   enum StateEnum
00055   {
00056     PENDING,    
00057     ACTIVE,     
00058     PREEMPTED,  
00059     SUCCEEDED,  
00060     ABORTED,    
00061     REJECTED,   
00062     LOST        
00063   } ;
00064 
00065   ClientGoalStatus(StateEnum state)
00066   {
00067     state_ = state;
00068   }
00069 
00076   ClientGoalStatus(const GoalStatus& goal_status)
00077   {
00078     fromGoalStatus(goal_status);
00079   }
00080 
00085   inline bool isDone() const
00086   {
00087     if (state_ == PENDING || state_ == ACTIVE)
00088       return false;
00089     return true;
00090   }
00091 
00095   inline const StateEnum& operator=(const StateEnum& state)
00096   {
00097     state_ = state;
00098     return state;
00099   }
00100 
00104   inline bool operator==(const ClientGoalStatus& rhs)
00105   {
00106     return state_ == rhs.state_;
00107   }
00108 
00112   inline bool operator!=(const ClientGoalStatus& rhs)
00113   {
00114     return !(state_ == rhs.state_);
00115   }
00116 
00123   void fromGoalStatus(const GoalStatus& goal_status)
00124   {
00125     switch(goal_status.status)
00126     {
00127       case GoalStatus::PREEMPTED:
00128         state_ = ClientGoalStatus::PREEMPTED; break;
00129       case GoalStatus::SUCCEEDED:
00130         state_ = ClientGoalStatus::SUCCEEDED; break;
00131       case GoalStatus::ABORTED:
00132         state_ = ClientGoalStatus::ABORTED; break;
00133       case GoalStatus::REJECTED:
00134         state_ = ClientGoalStatus::REJECTED; break;
00135       default:
00136         state_ = ClientGoalStatus::LOST;
00137         ROS_ERROR("Cannot convert GoalStatus %u to ClientGoalState", goal_status.status); break;
00138     }
00139   }
00140 
00145   std::string toString() const
00146   {
00147     switch(state_)
00148     {
00149       case PENDING:
00150         return "PENDING";
00151       case ACTIVE:
00152         return "ACTIVE";
00153       case PREEMPTED:
00154         return "PREEMPTED";
00155       case SUCCEEDED:
00156         return "SUCCEEDED";
00157       case ABORTED:
00158         return "ABORTED";
00159       case REJECTED:
00160         return "REJECTED";
00161       case LOST:
00162         return "LOST";
00163       default:
00164         ROS_ERROR("BUG: Unhandled ClientGoalStatus");
00165         break;
00166     }
00167     return "BUG-UNKNOWN";
00168   }
00169 
00170 private:
00171   StateEnum state_;
00172   ClientGoalStatus(); 
00173 };
00174 
00175 }
00176 
00177 #endif // ACTION_TOOLS_CLIENT_GOAL_STATE_H_