managed_resource.cpp
Go to the documentation of this file.
1 /*********************************************************************
2  *
3  * Software License Agreement (BSD License)
4  *
5  * Copyright (c) 2018, University of Luxembourg
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of University of Luxembourg nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  *
35  * Author: Maciej Zurad
36  *********************************************************************/
38 
39 namespace robot_activity
40 {
41 namespace resource
42 {
43 
44 template<class Specialization, class Resource>
46 {
47  ROS_DEBUG("Managed::dtor");
48 }
49 
50 template<class Specialization, class Resource>
52 {
53  ROS_DEBUG("Managed::acquire executed!");
54  if (acquired_)
55  {
56  ROS_DEBUG("Already acquired!");
57  return;
58  }
59 
60  ROS_DEBUG("Subscribing...");
61  resource_ = lazy_acquirer_(node_handle);
62  acquired_ = true;
63 }
64 
65 template<class Specialization, class Resource>
67 {
68  ROS_DEBUG("Managed::release executed!");
69  if (acquired_)
70  {
71  ROS_DEBUG("Releasing...");
72  resource_.shutdown();
73  acquired_ = false;
74  }
75  else
76  {
77  ROS_DEBUG("Cannot release ");
78  }
79 }
80 
81 template<class Specialization, class Resource>
83 {
84  ROS_DEBUG("Managed::pause executed!");
85  paused_ = true;
86 }
87 
88 template<class Specialization, class Resource>
90 {
91  ROS_DEBUG("Managed::resume executed!");
92  paused_ = false;
93 }
94 
97 
98 } // namespace resource
99 } // namespace robot_activity
void resume()
Resumes the resource.
void release()
Releases the resource if it&#39;s already acquired. shutdown() method in case of ros::Subscriber and ros:...
void pause()
Pauses the resource.
void acquire(const ros::NodeHandlePtr &node_handle)
Acquires the resource if it&#39;s not already acquired.
Managed<Derived,R> class implements a base class which manages ROS resources, such as ros::Subscriber...
#define ROS_DEBUG(...)


robot_activity
Author(s): Maciej ZURAD
autogenerated on Thu Jun 6 2019 19:32:17