PilotTypes.h

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#ifndef DEFINED_PilotTypes_h_
#define DEFINED_PilotTypes_h_

namespace DualCoding{
  namespace PilotTypes {

  //! What we're asking the Pilot to do
  enum RequestType_t {
    localize, //!< Localize using the available landmarks
    walk, //!< Walk the distance specified by @a dx / @a dy / @a da
    waypointWalk, //!< Execute the trajectory in @a waypointlist
    setVelocity, //!< Set velocity for continuous walking
    goToShape, //!< Plan a path to @a targetShape
    pushObject, //!< Push @a objectSjape to @a targetShape
    visualSearch, //!< Turn until search predicate returns true
    noRequest, //!< Dummy case
    numRequestTypes
  };

  extern const char* RequestTypeNames[numRequestTypes];

  //! What error the Pilot is going to return
  enum ErrorType_t {
    noError = 0,        //!< Request completed without error
    someError,          //!< Generic error will match anything but noError in a PiotTrans
    invalidRequest,     //!< Ill-formed PilotRequest, such as mssing parameters
    abort,              //!< Request was aborted
    cantLocalize,       //!< Localization failed
    startCollides,      //!< Start state would be in collision
    endCollides,        //!< End state would be in collision
    noPath,             //!< Path planning failed
    collisionDetected,  //!< The robot hit something
    searchFailed,       //!< Visual search gave up
    numErrorTypes
  };

  extern const char* ErrorTypeNames[numErrorTypes];

  //! Options for handling collisions
  enum CollisionAction_t {
    collisionIgnore = 0,     //!< Don't check for collisions
    collisionReport,         //!< Report the collision in a PilotEvent, but continue
    collisionStop,           //!< Stop the robot and terminate the request
    collisionReplan          //!< Try to recover and proceed
  };

  static const unsigned int invalid_Pilot_ID = -1U;

} } // end of namespaces

#endif