lifecycle_msgs.msg.dds.Transition Maven / Gradle / Ivy

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package lifecycle_msgs.msg.dds;

import us.ihmc.communication.packets.Packet;
import us.ihmc.euclid.interfaces.Settable;
import us.ihmc.euclid.interfaces.EpsilonComparable;
import java.util.function.Supplier;
import us.ihmc.pubsub.TopicDataType;

/**
       * Default values for transitions
       * as described on
       * http://design.ros2.org/articles/node_lifecycle.html
       */
public class Transition extends Packet implements Settable, EpsilonComparable
{
   /**
          * Externally available transitions.
          * When a node is in one of these primary states,
          * these transitions can be invoked.
          */
   public static final byte TRANSITION_CREATE = (byte) 0;
   public static final byte TRANSITION_CONFIGURE = (byte) 1;
   public static final byte TRANSITION_CLEANUP = (byte) 2;
   public static final byte TRANSITION_ACTIVATE = (byte) 3;
   public static final byte TRANSITION_DEACTIVATE = (byte) 4;
   public static final byte TRANSITION_UNCONFIGURED_SHUTDOWN = (byte) 5;
   public static final byte TRANSITION_INACTIVE_SHUTDOWN = (byte) 6;
   public static final byte TRANSITION_ACTIVE_SHUTDOWN = (byte) 7;
   public static final byte TRANSITION_DESTROY = (byte) 8;
   /**
          * These transitions are not publically
          * available and cannot be invoked by a user.
          * The following transitions are implicitly
          * invoked based on the callback feedback
          * of the intermediate transition states.
          */
   public static final byte TRANSITION_ON_CONFIGURE_SUCCESS = (byte) 10;
   public static final byte TRANSITION_ON_CONFIGURE_FAILURE = (byte) 11;
   public static final byte TRANSITION_ON_CONFIGURE_ERROR = (byte) 12;
   public static final byte TRANSITION_ON_CLEANUP_SUCCESS = (byte) 20;
   public static final byte TRANSITION_ON_CLEANUP_FAILURE = (byte) 21;
   public static final byte TRANSITION_ON_CLEANUP_ERROR = (byte) 22;
   public static final byte TRANSITION_ON_ACTIVATE_SUCCESS = (byte) 30;
   public static final byte TRANSITION_ON_ACTIVATE_FAILURE = (byte) 31;
   public static final byte TRANSITION_ON_ACTIVATE_ERROR = (byte) 32;
   public static final byte TRANSITION_ON_DEACTIVATE_SUCCESS = (byte) 40;
   public static final byte TRANSITION_ON_DEACTIVATE_FAILURE = (byte) 41;
   public static final byte TRANSITION_ON_DEACTIVATE_ERROR = (byte) 42;
   public static final byte TRANSITION_ON_SHUTDOWN_SUCCESS = (byte) 50;
   public static final byte TRANSITION_ON_SHUTDOWN_FAILURE = (byte) 51;
   public static final byte TRANSITION_ON_SHUTDOWN_ERROR = (byte) 52;
   public static final byte TRANSITION_ON_ERROR_SUCCESS = (byte) 60;
   public static final byte TRANSITION_ON_ERROR_FAILURE = (byte) 61;
   public static final byte TRANSITION_ON_ERROR_ERROR = (byte) 62;
   /**
          * These return values ought to be set
          * as a return value for each callback.
          * Depending on which return value,
          * the transition will be executed correctly
          * or fallback/error callbacks will be triggered.
          */
   public static final byte TRANSITION_CALLBACK_SUCCESS = (byte) 97;
   public static final byte TRANSITION_CALLBACK_FAILURE = (byte) 98;
   public static final byte TRANSITION_CALLBACK_ERROR = (byte) 99;
   public byte id_;
   public java.lang.StringBuilder label_;

   public Transition()
   {
      label_ = new java.lang.StringBuilder(255);
   }

   public Transition(Transition other)
   {
      this();
      set(other);
   }

   public void set(Transition other)
   {
      id_ = other.id_;

      label_.setLength(0);
      label_.append(other.label_);

   }

   public void setId(byte id)
   {
      id_ = id;
   }
   public byte getId()
   {
      return id_;
   }

   public void setLabel(java.lang.String label)
   {
      label_.setLength(0);
      label_.append(label);
   }

   public java.lang.String getLabelAsString()
   {
      return getLabel().toString();
   }
   public java.lang.StringBuilder getLabel()
   {
      return label_;
   }


   public static Supplier getPubSubType()
   {
      return TransitionPubSubType::new;
   }

   @Override
   public Supplier getPubSubTypePacket()
   {
      return TransitionPubSubType::new;
   }

   @Override
   public boolean epsilonEquals(Transition other, double epsilon)
   {
      if(other == null) return false;
      if(other == this) return true;

      if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.id_, other.id_, epsilon)) return false;

      if (!us.ihmc.idl.IDLTools.epsilonEqualsStringBuilder(this.label_, other.label_, epsilon)) return false;


      return true;
   }

   @Override
   public boolean equals(Object other)
   {
      if(other == null) return false;
      if(other == this) return true;
      if(!(other instanceof Transition)) return false;

      Transition otherMyClass = (Transition) other;

      if(this.id_ != otherMyClass.id_) return false;

      if (!us.ihmc.idl.IDLTools.equals(this.label_, otherMyClass.label_)) return false;


      return true;
   }

   @Override
   public java.lang.String toString()
   {
      StringBuilder builder = new StringBuilder();

      builder.append("Transition {");
      builder.append("id=");
      builder.append(this.id_);      builder.append(", ");
      builder.append("label=");
      builder.append(this.label_);
      builder.append("}");
      return builder.toString();
   }
}