init.cpp

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

#include <rve_render_server/init.h>
#include <rve_render_server/renderer.h>
#include <rve_render_server/server.h>

#include <ros/ros.h>

namespace rve_render_server
{
Renderer* g_renderer = 0;
Server* g_server = 0;
}

using namespace rve_render_server;

void rve_render_server::init(bool enable_ogre_log, const std::string& ns)
{
  g_renderer = new Renderer(enable_ogre_log);
  g_server = new Server(g_renderer, ros::NodeHandle(ns));

  g_renderer->start();
}

void rve_render_server::shutdown()
{
  g_renderer->stop();

  delete g_server;
  delete g_renderer;
}

Renderer* rve_render_server::getRenderer()
{
  return g_renderer;
}

Server* rve_render_server::getServer()
{
  return g_server;
}