init.cpp

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#include <rosrt/detail/publisher_manager.h>
#include <rosrt/detail/subscriber_manager.h>
#include <rosrt/detail/simple_gc.h>

#include <boost/thread.hpp>

namespace rosrt
{

namespace detail
{

class Managers
{
public:
  Managers(const InitOptions& ops);
  ~Managers();

  PublisherManager* getPublisherManager() { return pub_manager_; }
  SubscriberManager* getSubscriberManager() { return sub_manager_; }
  SimpleGC* getGC() { return gc_; }

private:

  PublisherManager* pub_manager_;
  SubscriberManager* sub_manager_;
  SimpleGC* gc_;
};
typedef boost::shared_ptr<Managers> ManagersPtr;

static ManagersPtr g_managers;

Managers::Managers(const InitOptions& ops)
{
  pub_manager_ = new PublisherManager(ops);
  sub_manager_ = new SubscriberManager;
  gc_ = new SimpleGC(ops);
}

Managers::~Managers()
{
  delete pub_manager_;
  delete sub_manager_;
  delete gc_;
}

PublisherManager* getPublisherManager()
{
  ROS_ASSERT(g_managers);
  return g_managers->getPublisherManager();
}

SubscriberManager* getSubscriberManager()
{
  ROS_ASSERT(g_managers);
  return g_managers->getSubscriberManager();
}

SimpleGC* getGC()
{
  ROS_ASSERT(g_managers);
  return g_managers->getGC();
}

} // namespace detail

static bool g_initialized = false;

void init(const InitOptions& ops)
{
  if (!g_initialized)
  {
    ROS_ASSERT(!detail::g_managers);
    detail::g_managers.reset(new detail::Managers(ops));

    g_initialized = true;
  }
}

void shutdown()
{
  detail::g_managers.reset();
}

} // namespace rosrt