managed_robot_activity.h

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#ifndef ROBOT_ACTIVITY_MANAGED_ROBOT_ACTIVITY_H
#define ROBOT_ACTIVITY_MANAGED_ROBOT_ACTIVITY_H

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

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

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

namespace robot_activity
{

class ManagedRobotActivity : public RobotActivity
{
public:
  using RobotActivity::RobotActivity;

  virtual ~ManagedRobotActivity();

protected:
  resource::SubscriberManager subscriber_manager;

  resource::ServiceServerManager service_manager;

private:
  void onCreate() final;

  void onTerminate() final;

  bool onConfigure() final;

  bool onUnconfigure() final;

  bool onStart() final;

  bool onStop() final;

  bool onPause() final;

  bool onResume() final;

  virtual void onManagedCreate() = 0;

  virtual void onManagedTerminate() = 0;

  virtual bool onManagedConfigure() = 0;

  virtual bool onManagedUnconfigure() = 0;

  virtual bool onManagedStart() = 0;

  virtual bool onManagedStop() = 0;

  virtual bool onManagedPause() = 0;

  virtual bool onManagedResume() = 0;
};

}  // namespace robot_activity

#endif  // ROBOT_ACTIVITY_MANAGED_ROBOT_ACTIVITY_H