EthercatMaster.cpp

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/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public 
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * 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 Hochschule Bonn-Rhein-Sieg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
 * License, or (at your option) any later version or the BSD license.
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 * This program is distributed in the hope that it will be useful,
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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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#include "youbot_driver/youbot/EthercatMaster.hpp"
#include "youbot_driver/youbot/EthercatMasterWithoutThread.hpp"
#include "youbot_driver/youbot/EthercatMasterWithThread.hpp"

namespace youbot {

EthercatMasterInterface* EthercatMaster::instance = 0;
EthercatMasterInterface& EthercatMaster::getInstance(const std::string configFile, const std::string configFilePath, const bool ethercatMasterWithThread)
{
  // Bouml preserved body begin 000E61F1
    if (instance == 0) {
      if(ethercatMasterWithThread){
        instance = new EthercatMasterWithThread(configFile, configFilePath);
      }else{
        instance = new EthercatMasterWithoutThread(configFile, configFilePath);
      }
    }
    return *instance;
  // Bouml preserved body end 000E61F1
}

void EthercatMaster::destroy()
{
  // Bouml preserved body begin 000E6271
                if(instance != 0){
                        delete instance;
                        instance = 0;
                }
  // Bouml preserved body end 000E6271
}


} // namespace youbot