00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2018, University of Luxembourg 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of University of Luxembourg nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Maciej Zurad 00036 *********************************************************************/ 00037 #include <robot_process/managed_robot_process.h> 00038 00039 namespace robot_process 00040 { 00041 00042 ManagedRobotProcess::~ManagedRobotProcess() 00043 { 00044 ROS_DEBUG_STREAM("ManagedRobotProcess dtor [" << getNamespace() << "]"); 00045 } 00046 00047 void ManagedRobotProcess::onCreate() 00048 { 00049 ROS_DEBUG("onCreate"); 00050 onManagedCreate(); 00051 } 00052 00053 void ManagedRobotProcess::onTerminate() 00054 { 00055 ROS_DEBUG("onTerminate"); 00056 onManagedTerminate(); 00057 } 00058 00059 void ManagedRobotProcess::onConfigure() 00060 { 00061 ROS_DEBUG("onConfigure"); 00062 onManagedConfigure(); 00063 } 00064 00065 void ManagedRobotProcess::onUnconfigure() 00066 { 00067 ROS_DEBUG("onUnconfigure"); 00068 onManagedUnconfigure(); 00069 } 00070 00071 void ManagedRobotProcess::onStart() 00072 { 00073 ROS_DEBUG("onStart"); 00074 service_manager.acquireAll(node_handle_private_); 00075 subscriber_manager.acquireAll(node_handle_private_); 00076 onManagedStart(); 00077 } 00078 00079 void ManagedRobotProcess::onStop() 00080 { 00081 ROS_DEBUG("onStop"); 00082 service_manager.releaseAll(); 00083 subscriber_manager.releaseAll(); 00084 onManagedStop(); 00085 } 00086 00087 void ManagedRobotProcess::onPause() 00088 { 00089 ROS_DEBUG("onPause"); 00090 service_manager.pauseAll(); 00091 subscriber_manager.pauseAll(); 00092 onManagedPause(); 00093 } 00094 00095 void ManagedRobotProcess::onResume() 00096 { 00097 ROS_DEBUG("onResume"); 00098 service_manager.resumeAll(); 00099 subscriber_manager.resumeAll(); 00100 onManagedResume(); 00101 } 00102 00103 } // namespace robot_process