Managed RobotProcess class, which adds further functionality to the RobotProcess class. More...

#include <managed_robot_process.h>

Inheritance diagram for robot_process::ManagedRobotProcess:

Public Member Functions
virtual	~ManagedRobotProcess ()
	Virtual destructor.
Protected Attributes
resource::ServiceServerManager	service_manager
	Manager for advertising ROS services.
resource::SubscriberManager	subscriber_manager
	Manager for subscribing to ROS topics.
Private Member Functions
void	onConfigure () final
	Overriden onConfigure, which calls onManagedConfigure. Cannot be overriden further by the child class of ManagedRobotProcess.
void	onCreate () final
	Overriden onCreate, which calls onManagedCreate. Cannot be overriden further by the child class of ManagedRobotProcess.
virtual void	onManagedConfigure ()=0
	User-defined function that's called at the end of transition from UNCONFIGURED to STOPPED state.
virtual void	onManagedCreate ()=0
	User-defined function that's called at the end of transition from LAUNCHING to UNCONFIGURED state.
virtual void	onManagedPause ()=0
	User-defined function that's called at the end of transition from RUNNING to PAUSED state.
virtual void	onManagedResume ()=0
	User-defined function that's called at the end of transition from PAUSED to RUNNING state.
virtual void	onManagedStart ()=0
	User-defined function that's called at the end of transition from STOPPED to PAUSED state.
virtual void	onManagedStop ()=0
	User-defined function that's called at the end of transition from PAUSED to STOPPED state.
virtual void	onManagedTerminate ()=0
	User-defined function that's called at the end of transition from UNCONFIGURED to TERMINATED state.
virtual void	onManagedUnconfigure ()=0
	User-defined function that's called at the end of transition from STOPPED to UNCONFIGURED state.
void	onPause () final
	Overriden onPause, which calls onManagedPause. Cannot be overriden further by the child class of ManagedRobotProcess. It pauses all ROS topics and services that were subscribed and advertised with subscription_manager and service_manager before calling onManagedStart.
void	onResume () final
	Overriden onResume, which calls onManagedResume. Cannot be overriden further by the child class of ManagedRobotProcess. It resumes all ROS topics and services that were subscribed and advertised with subscription_manager and service_manager before calling onManagedStart.
void	onStart () final
	Overriden onStart, which calls onManagedStart. Cannot be overriden further by the child class of ManagedRobotProcess. It subscribes and adverties all ROS topics and services that were subscribed and advertised with subscription_manager and service_manager before calling onManagedStart.
void	onStop () final
	Overriden onStop, which calls onManagedStop. Cannot be overriden further by the child class of ManagedRobotProcess. It shutdowns all ROS topics and services that were subscribed and advertised with subscription_manager and service_manager before calling onManagedStart.
void	onTerminate () final
	Overriden onTerminate, which calls onManagedTerminate. Cannot be overriden further by the child class of ManagedRobotProcess.
void	onUnconfigure () final
	Overriden onUnconfigure, which calls onManagedUnconfigure. Cannot be overriden further by the child class of ManagedRobotProcess.

Detailed Description

Managed RobotProcess class, which adds further functionality to the RobotProcess class.

ManagedRobotProcess manages ROS Subscribers and ServiceServers. It automatically pauses all Subscribers and ServiceServers during PAUSED state and resumes them when transitioning to the RUNNING state. It also shutdowns them in STOPPED state and re-acquires them (by re-subscribing or re-advertising) when transitioning from STOPPED to PAUSED.

Definition at line 71 of file managed_robot_process.h.

Constructor & Destructor Documentation

robot_process::ManagedRobotProcess::~ManagedRobotProcess ( ) [virtual]

Virtual destructor.

Definition at line 42 of file managed_robot_process.cpp.

Member Function Documentation

void robot_process::ManagedRobotProcess::onConfigure ( ) [private, virtual]

Overriden onConfigure, which calls onManagedConfigure. Cannot be overriden further by the child class of ManagedRobotProcess.

Implements robot_process::RobotProcess.

Definition at line 59 of file managed_robot_process.cpp.

void robot_process::ManagedRobotProcess::onCreate ( ) [private, virtual]

Overriden onCreate, which calls onManagedCreate. Cannot be overriden further by the child class of ManagedRobotProcess.

Implements robot_process::RobotProcess.

Definition at line 47 of file managed_robot_process.cpp.

virtual void robot_process::ManagedRobotProcess::onManagedConfigure ( ) [private, pure virtual]

User-defined function that's called at the end of transition from UNCONFIGURED to STOPPED state.

virtual void robot_process::ManagedRobotProcess::onManagedCreate ( ) [private, pure virtual]

User-defined function that's called at the end of transition from LAUNCHING to UNCONFIGURED state.

virtual void robot_process::ManagedRobotProcess::onManagedPause ( ) [private, pure virtual]

User-defined function that's called at the end of transition from RUNNING to PAUSED state.

virtual void robot_process::ManagedRobotProcess::onManagedResume ( ) [private, pure virtual]

User-defined function that's called at the end of transition from PAUSED to RUNNING state.

virtual void robot_process::ManagedRobotProcess::onManagedStart ( ) [private, pure virtual]

User-defined function that's called at the end of transition from STOPPED to PAUSED state.

virtual void robot_process::ManagedRobotProcess::onManagedStop ( ) [private, pure virtual]

User-defined function that's called at the end of transition from PAUSED to STOPPED state.

virtual void robot_process::ManagedRobotProcess::onManagedTerminate ( ) [private, pure virtual]

User-defined function that's called at the end of transition from UNCONFIGURED to TERMINATED state.

virtual void robot_process::ManagedRobotProcess::onManagedUnconfigure ( ) [private, pure virtual]

User-defined function that's called at the end of transition from STOPPED to UNCONFIGURED state.

void robot_process::ManagedRobotProcess::onPause ( ) [private, virtual]

Overriden onPause, which calls onManagedPause. Cannot be overriden further by the child class of ManagedRobotProcess. It pauses all ROS topics and services that were subscribed and advertised with subscription_manager and service_manager before calling onManagedStart.

Implements robot_process::RobotProcess.

Definition at line 87 of file managed_robot_process.cpp.

void robot_process::ManagedRobotProcess::onResume ( ) [private, virtual]

Overriden onResume, which calls onManagedResume. Cannot be overriden further by the child class of ManagedRobotProcess. It resumes all ROS topics and services that were subscribed and advertised with subscription_manager and service_manager before calling onManagedStart.

Implements robot_process::RobotProcess.

Definition at line 95 of file managed_robot_process.cpp.

void robot_process::ManagedRobotProcess::onStart ( ) [private, virtual]

Overriden onStart, which calls onManagedStart. Cannot be overriden further by the child class of ManagedRobotProcess. It subscribes and adverties all ROS topics and services that were subscribed and advertised with subscription_manager and service_manager before calling onManagedStart.

Implements robot_process::RobotProcess.

Definition at line 71 of file managed_robot_process.cpp.

void robot_process::ManagedRobotProcess::onStop ( ) [private, virtual]

Overriden onStop, which calls onManagedStop. Cannot be overriden further by the child class of ManagedRobotProcess. It shutdowns all ROS topics and services that were subscribed and advertised with subscription_manager and service_manager before calling onManagedStart.

Implements robot_process::RobotProcess.

Definition at line 79 of file managed_robot_process.cpp.

void robot_process::ManagedRobotProcess::onTerminate ( ) [private, virtual]

Overriden onTerminate, which calls onManagedTerminate. Cannot be overriden further by the child class of ManagedRobotProcess.

Implements robot_process::RobotProcess.

Definition at line 53 of file managed_robot_process.cpp.

void robot_process::ManagedRobotProcess::onUnconfigure ( ) [private, virtual]

Overriden onUnconfigure, which calls onManagedUnconfigure. Cannot be overriden further by the child class of ManagedRobotProcess.

Implements robot_process::RobotProcess.

Definition at line 65 of file managed_robot_process.cpp.