init.cpp
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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 


rosrt
Author(s): Josh Faust
autogenerated on Sat Dec 28 2013 17:34:37