NavRoadEvent.h

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/* -*- mode: C++ -*-
 *
 *  Navigator road finite state machine events
 *
 *  Copyright (C) 2007, 2010, Austin Robot Technology
 *
 *  License: Modified BSD Software License Agreement
 *
 *  $Id: NavRoadEvent.h 479 2010-08-27 01:16:11Z jack.oquin $
 */

#ifndef __NAV_ROAD_EVENT_HH__
#define __NAV_ROAD_EVENT_HH__

#include <art_nav/FSMevent.h>

class NavRoadEvent: FSMevent
{
public:

  // navigator E-stop control events
  typedef enum
    {
      Block,                            // road blocked
      ChangeLane,                       // change lanes here
      Collision,                        // collision imminent
      FollowLane,                       // follow travel lane
      Merge,                            // intersection merge
      None,                             // no new event
      Pass,                             // pass obstacle in lane
      Perimeter,                        // passed zone perimeter
      StopLine,                         // stopped at line
      Uturn,                            // do U-turn
      WaitPass,                         // wait to pass
      N_events
    } event_t;

  // return event name as a C string
  const char *Name(void)
  {
    static const char *event_name[N_events] =
      {
        "Block",
        "ChangeLane",
        "Collision",
        "FollowLane",
        "Merge",
        "None",
        "Pass",
        "Perimeter",
        "StopLine",
        "Uturn",
        "WaitPass",
      };
    return event_name[this->event];
  }

  NavRoadEvent()
  {
    this->event = None;
  }

  NavRoadEvent(event_t ievent)
  {
    this->event = ievent;
  }

  ~NavRoadEvent() {};

  event_t Value(void)
  {
    return this->event;
  }

  void operator=(const NavRoadEvent &newevent)
  {
    this->event = newevent.event;
  }

  void operator=(const NavRoadEvent::event_t &newevent)
  {
    this->event = newevent;
  }

  bool operator==(const event_t &compare)
  {
    return this->event == compare;
  }

  bool operator!=(const event_t &compare)
  {
    return this->event != compare;
  }

private:
  event_t event;
};

#endif // __NAV_ROAD_EVENT_HH__