turtlesim.cpp
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2009, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include <wx/app.h> 00031 #include <wx/timer.h> 00032 00033 #include <ros/ros.h> 00034 00035 #include <boost/thread.hpp> 00036 00037 #include "turtlesim/turtle_frame.h" 00038 00039 #ifdef __WXMAC__ 00040 #include <ApplicationServices/ApplicationServices.h> 00041 #endif 00042 00043 class TurtleApp : public wxApp 00044 { 00045 public: 00046 char** local_argv_; 00047 ros::NodeHandlePtr nh_; 00048 00049 TurtleApp() 00050 { 00051 } 00052 00053 bool OnInit() 00054 { 00055 #ifdef __WXMAC__ 00056 ProcessSerialNumber PSN; 00057 GetCurrentProcess(&PSN); 00058 TransformProcessType(&PSN,kProcessTransformToForegroundApplication); 00059 SetFrontProcess(&PSN); 00060 #endif 00061 00062 // create our own copy of argv, with regular char*s. 00063 local_argv_ = new char*[ argc ]; 00064 for ( int i = 0; i < argc; ++i ) 00065 { 00066 local_argv_[ i ] = strdup( wxString( argv[ i ] ).mb_str() ); 00067 } 00068 00069 ros::init(argc, local_argv_, "turtlesim"); 00070 nh_.reset(new ros::NodeHandle); 00071 00072 wxInitAllImageHandlers(); 00073 00074 turtlesim::TurtleFrame* frame = new turtlesim::TurtleFrame(NULL); 00075 00076 SetTopWindow(frame); 00077 frame->Show(); 00078 00079 return true; 00080 } 00081 00082 int OnExit() 00083 { 00084 for ( int i = 0; i < argc; ++i ) 00085 { 00086 free( local_argv_[ i ] ); 00087 } 00088 delete [] local_argv_; 00089 00090 return 0; 00091 } 00092 }; 00093 00094 DECLARE_APP(TurtleApp); 00095 IMPLEMENT_APP(TurtleApp); 00096