r2r/
action_common.rs

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1/// The status of a goal.
2#[derive(Debug, Copy, Clone, PartialEq, Eq)]
3pub enum GoalStatus {
4    Unknown,
5    Accepted,
6    Executing,
7    Canceling,
8    Succeeded,
9    Canceled,
10    Aborted,
11}
12
13impl GoalStatus {
14    #[allow(dead_code)]
15    pub fn to_rcl(&self) -> i8 {
16        match self {
17            GoalStatus::Unknown => crate::action_msgs::msg::GoalStatus::STATUS_UNKNOWN as i8,
18            GoalStatus::Accepted => crate::action_msgs::msg::GoalStatus::STATUS_ACCEPTED as i8,
19            GoalStatus::Executing => crate::action_msgs::msg::GoalStatus::STATUS_EXECUTING as i8,
20            GoalStatus::Canceling => crate::action_msgs::msg::GoalStatus::STATUS_CANCELING as i8,
21            GoalStatus::Succeeded => crate::action_msgs::msg::GoalStatus::STATUS_SUCCEEDED as i8,
22            GoalStatus::Canceled => crate::action_msgs::msg::GoalStatus::STATUS_CANCELED as i8,
23            GoalStatus::Aborted => crate::action_msgs::msg::GoalStatus::STATUS_ABORTED as i8,
24        }
25    }
26
27    pub fn from_rcl(s: i8) -> Self {
28        match s {
29            s if s == crate::action_msgs::msg::GoalStatus::STATUS_UNKNOWN as i8 => {
30                GoalStatus::Unknown
31            }
32            s if s == crate::action_msgs::msg::GoalStatus::STATUS_ACCEPTED as i8 => {
33                GoalStatus::Accepted
34            }
35            s if s == crate::action_msgs::msg::GoalStatus::STATUS_EXECUTING as i8 => {
36                GoalStatus::Executing
37            }
38            s if s == crate::action_msgs::msg::GoalStatus::STATUS_CANCELING as i8 => {
39                GoalStatus::Canceling
40            }
41            s if s == crate::action_msgs::msg::GoalStatus::STATUS_SUCCEEDED as i8 => {
42                GoalStatus::Succeeded
43            }
44            s if s == crate::action_msgs::msg::GoalStatus::STATUS_CANCELED as i8 => {
45                GoalStatus::Canceled
46            }
47            s if s == crate::action_msgs::msg::GoalStatus::STATUS_ABORTED as i8 => {
48                GoalStatus::Aborted
49            }
50            _ => panic!("unknown action status: {}", s),
51        }
52    }
53}
54
55impl std::fmt::Display for GoalStatus {
56    fn fmt(&self, fmtr: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
57        let s = match self {
58            GoalStatus::Unknown => "unknown",
59            GoalStatus::Accepted => "accepted",
60            GoalStatus::Executing => "executing",
61            GoalStatus::Canceling => "canceling",
62            GoalStatus::Succeeded => "succeeded",
63            GoalStatus::Canceled => "canceled",
64            GoalStatus::Aborted => "aborted",
65        };
66
67        write!(fmtr, "{}", s)
68    }
69}
r2r/action_common.rs

r2r/
action_common.rs
