state_tracker.cpp

/* state_tracker.cpp
 *
 * Copyright (c) 2011, 2012 Chantilly Robotics <chantilly612@gmail.com>
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 */

/*
 * Implements state_tracker to provide functionality for the robot.
 */
 
#include <iostream>
#include <algorithm>
#include "612.h"
#include "state_tracker.h"

state_tracker::state_tracker():
    state(0),
    callbacks()
{
}

state_tracker::state_tracker(state_t initial_state) {
    state = initial_state;
}

void state_tracker::set_state(state_t new_state) {
    state = new_state;
}

state_t state_tracker::get_state() {
    return state;
}

void state_tracker::register_func(state_t set_state, state_func callback) {
    callbacks[set_state] = callback;
}

void state_tracker::unregister_func(state_t set_state) {
    callbacks.erase(set_state);
}

void state_tracker::run_state() {
    callbacks[state]();
}

state_tracker global_state;