BootState.cpp

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#include <rsm_core/BootState.h>

namespace rsm {

BootState::BootState() {
}

BootState::~BootState() {
}

void BootState::onSetup() {
        //initialize services, publisher and subscriber
        ros::NodeHandle nh("rsm");
        _bootupClient = nh.serviceClient<std_srvs::SetBool>("bootUpFinished");
        //initialize variables
        _name = "Boot";
}

void BootState::onEntry() {
}

void BootState::onActive() {
        //Request if boot was finished
        std_srvs::SetBool srv;
        srv.request.data = true;
        if (_bootupClient.call(srv)) {
                if (srv.response.success) {
                        _stateinterface->transitionToVolatileState(
                                        boost::make_shared<IdleState>());
                }
        } else {
                ROS_ERROR("Failed to call service Bootup Finished");
        }
}

void BootState::onExit() {
}

void BootState::onExplorationStart(bool &success, std::string &message) {
        success = false;
        message = "Still booting";
}

void BootState::onExplorationStop(bool &success, std::string &message) {
        success = false;
        message = "Still booting";
}

void BootState::onWaypointFollowingStartStop(bool &success,
                std::string &message) {
        success = false;
        message = "Still booting";
}

void BootState::onInterrupt(int interrupt) {
        if (interrupt == EMERGENCY_STOP_INTERRUPT) {
                _stateinterface->transitionToVolatileState(
                                boost::make_shared<EmergencyStopState>());
                _interrupt_occured = true;
        }
}

}