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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #include <rosrt/detail/publisher_manager.h> 00036 #include <rosrt/detail/subscriber_manager.h> 00037 #include <rosrt/detail/simple_gc.h> 00038 00039 #include <boost/thread.hpp> 00040 00041 namespace rosrt 00042 { 00043 00044 namespace detail 00045 { 00046 00047 class Managers 00048 { 00049 public: 00050 Managers(const InitOptions& ops); 00051 ~Managers(); 00052 00053 PublisherManager* getPublisherManager() { return pub_manager_; } 00054 SubscriberManager* getSubscriberManager() { return sub_manager_; } 00055 SimpleGC* getGC() { return gc_; } 00056 00057 private: 00058 00059 PublisherManager* pub_manager_; 00060 SubscriberManager* sub_manager_; 00061 SimpleGC* gc_; 00062 }; 00063 typedef boost::shared_ptr<Managers> ManagersPtr; 00064 00065 static ManagersPtr g_managers; 00066 00067 Managers::Managers(const InitOptions& ops) 00068 { 00069 pub_manager_ = new PublisherManager(ops); 00070 sub_manager_ = new SubscriberManager; 00071 gc_ = new SimpleGC(ops); 00072 } 00073 00074 Managers::~Managers() 00075 { 00076 delete pub_manager_; 00077 delete sub_manager_; 00078 delete gc_; 00079 } 00080 00081 PublisherManager* getPublisherManager() 00082 { 00083 ROS_ASSERT(g_managers); 00084 return g_managers->getPublisherManager(); 00085 } 00086 00087 SubscriberManager* getSubscriberManager() 00088 { 00089 ROS_ASSERT(g_managers); 00090 return g_managers->getSubscriberManager(); 00091 } 00092 00093 SimpleGC* getGC() 00094 { 00095 ROS_ASSERT(g_managers); 00096 return g_managers->getGC(); 00097 } 00098 00099 } // namespace detail 00100 00101 static bool g_initialized = false; 00102 00103 void init(const InitOptions& ops) 00104 { 00105 if (!g_initialized) 00106 { 00107 ROS_ASSERT(!detail::g_managers); 00108 detail::g_managers.reset(new detail::Managers(ops)); 00109 00110 g_initialized = true; 00111 } 00112 } 00113 00114 void shutdown() 00115 { 00116 detail::g_managers.reset(); 00117 } 00118 00119 } // namespace rosrt 00120 00121