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#ifndef ACTIONLIB_CLIENT_SIMPLE_CLIENT_GOAL_STATE_H_
#define ACTIONLIB_CLIENT_SIMPLE_CLIENT_GOAL_STATE_H_


namespace actionlib
{

class SimpleClientGoalState
{
public:
  //! \brief Defines the various states the goal can be in
  enum StateEnum
  {
    PENDING,
    ACTIVE,
    RECALLED,
    REJECTED,
    PREEMPTED,
    ABORTED,
    SUCCEEDED,
    LOST
  };

  StateEnum state_;
  std::string text_;

  SimpleClientGoalState(const StateEnum& state, const std::string& text = std::string("")) : state_(state), text_(text) { }

  inline bool operator==(const SimpleClientGoalState& rhs) const
  {
    return (state_ == rhs.state_) ;
  }

  inline bool operator==(const SimpleClientGoalState::StateEnum& rhs) const
  {
    return (state_ == rhs);
  }

  inline bool operator!=(const SimpleClientGoalState::StateEnum& rhs) const
  {
    return !(*this == rhs);
  }

  inline bool operator!=(const SimpleClientGoalState& rhs) const
  {
    return !(*this == rhs);
  }

  /**
   * \brief Determine if goal is done executing (ie. reached a terminal state)
   * \return True if in RECALLED, REJECTED, PREEMPTED, ABORTED, SUCCEEDED, or LOST. False otherwise
   */
  inline bool isDone() const
  {
    switch(state_)
    {
      case RECALLED:
      case REJECTED:
      case PREEMPTED:
      case ABORTED:
      case SUCCEEDED:
      case LOST:
        return true;
      default:
        return false;
    }
  }

  std::string getText() const
  {
    return text_;
  }

  //! \brief Convert the state to a string. Useful when printing debugging information
  std::string toString() const
  {
    switch(state_)
    {
      case PENDING:
        return "PENDING";
      case ACTIVE:
        return "ACTIVE";
      case RECALLED:
        return "RECALLED";
      case REJECTED:
        return "REJECTED";
      case PREEMPTED:
        return "PREEMPTED";
      case ABORTED:
        return "ABORTED";
      case SUCCEEDED:
        return "SUCCEEDED";
      case LOST:
        return "LOST";
      default:
        ROS_ERROR("BUG: Unhandled SimpleGoalState: %u", state_);
        break;
    }
    return "BUG-UNKNOWN";
  }

};

}

#endif // ACTIONLIB_CLIENT_SIMPLE_CLIENT_GOAL_STATE_H_
