managed_robot_process.h

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#ifndef ROBOT_PROCESS_MANAGED_ROBOT_PROCESS_H
#define ROBOT_PROCESS_MANAGED_ROBOT_PROCESS_H

#include <ros/ros.h>
#include <ros/console.h>
#include <ros/callback_queue.h>

#include <std_srvs/Empty.h>
#include <robot_process_msgs/State.h>
#include <robot_process_msgs/Error.h>

#include <robot_process/robot_process.h>
#include <robot_process/resource/resource_manager.h>

namespace robot_process
{

class ManagedRobotProcess : public RobotProcess
{
public:
  using RobotProcess::RobotProcess;

  virtual ~ManagedRobotProcess();

protected:
  resource::SubscriberManager subscriber_manager;

  resource::ServiceServerManager service_manager;

private:
  void onCreate() final;

  void onTerminate() final;

  void onConfigure() final;

  void onUnconfigure() final;

  void onStart() final;

  void onStop() final;

  void onPause() final;

  void onResume() final;

  virtual void onManagedCreate() = 0;

  virtual void onManagedTerminate() = 0;

  virtual void onManagedConfigure() = 0;

  virtual void onManagedUnconfigure() = 0;

  virtual void onManagedStart() = 0;

  virtual void onManagedStop() = 0;

  virtual void onManagedPause() = 0;

  virtual void onManagedResume() = 0;
};

}  // namespace robot_process

#endif  // ROBOT_PROCESS_MANAGED_ROBOT_PROCESS_H