void setSimpleState(SimpleGoalState next_state)
{
ROS.Debug("actionlib", "Transitioning SimpleState from [%s] to [%s]",
goalState.toString(),
next_state.toString());
goalState = next_state;
}
void handleTransition(ClientGoalHandle <ActionSpec> gh)
{
CommState commState = gh.getCommState();
switch (commState.state)
{
case CommState.StateEnum.WAITING_FOR_GOAL_ACK:
ROS.Error("actionlib", "BUG: Shouldn't ever get a transition callback for WAITING_FOR_GOAL_ACK");
break;
case CommState.StateEnum.PENDING:
if (goalState != SimpleGoalState.StateEnum.PENDING)
{
ROS.Error("BUG: Got a transition to CommState [%s] when our in SimpleGoalState [%s]",
commState.toString(), goalState.toString());
}
break;
case CommState.StateEnum.ACTIVE:
switch (goalState.state)
{
case SimpleGoalState.StateEnum.PENDING:
setSimpleState(SimpleGoalState.StateEnum.ACTIVE);
if (activeCallback != null)
{
activeCallback();
}
break;
case SimpleGoalState.StateEnum.ACTIVE:
break;
case SimpleGoalState.StateEnum.DONE:
ROS.Error("actionlib", "BUG: Got a transition to CommState [%s] when in SimpleGoalState [%s]",
commState.ToString(), goalState.ToString());
break;
default:
ROS.Error("Unknown SimpleGoalState %u", goalState.state);
return;
break;
}
break;
case CommState.StateEnum.WAITING_FOR_RESULT:
break;
case CommState.StateEnum.WAITING_FOR_CANCEL_ACK:
break;
case CommState.StateEnum.RECALLING:
if (goalState != SimpleGoalState.StateEnum.PENDING)
{
ROS.Error("BUG: Got a transition to CommState [%s] when our in SimpleGoalState [%s]",
commState.ToString(), goalState.ToString());
}
break;
case CommState.StateEnum.PREEMPTING:
switch (goalState.state)
{
case SimpleGoalState.StateEnum.PENDING:
setSimpleState(SimpleGoalState.StateEnum.ACTIVE);
if (activeCallback != null)
{
activeCallback();
}
break;
case SimpleGoalState.StateEnum.ACTIVE:
break;
case SimpleGoalState.StateEnum.DONE:
ROS.Error("actionlib", "BUG: Got a transition to CommState [%s] when in SimpleGoalState [%s]",
commState.ToString(), goalState.ToString());
break;
default:
ROS.Error("Unknown SimpleGoalState %u", goalState.state);
return;
break;
}
break;
case CommState.StateEnum.DONE:
switch (goalState.state)
{
case SimpleGoalState.StateEnum.PENDING:
case SimpleGoalState.StateEnum.ACTIVE:
lock ( doneMutex )
{
setSimpleState(SimpleGoalState.StateEnum.DONE);
}
if (doneCallback != null)
{
doneCallback(getState(), gh.getResult());
}
doneCondition.Set();
// doneCondition.notify_all();
break;
case SimpleGoalState.StateEnum.DONE:
ROS.Error("actionlib", "BUG: Got a second transition to DONE");
break;
default:
ROS.Error("Unknown SimpleGoalState %u", goalState.state);
return;
break;
}
break;
default:
ROS.Error("actionlib", "Unknown CommState received [%u]", commState.state);
break;
}
}