ROSModule.cpp

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/*
 * ROSModule.cpp
 *
 *  Created on: Oct 18, 2011
 *      Author: mriedel
 */

#include <telekyb_base/ROS/ROSModule.hpp>

#include <telekyb_base/Options/OptionContainer.hpp>

#include <boost/lexical_cast.hpp>

#include <telekyb_base/Options/CommonOptions.hpp>

namespace TELEKYB_NAMESPACE
{

class ROSModuleOptions : public OptionContainer
{
public:
        BoundsOption<int>* tRosNrSpinnerThreads;
        Option<std::string>* tRosMainHandleSuffix;

        ROSModuleOptions()
                : OptionContainer("ROSModule")
        {
                tRosNrSpinnerThreads = addBoundsOption<int>("tRosNrSpinnerThreads",
                                "# of Threads create by the ros::AsyncSpinner. 0 uses # of cores. -1 disables", 2, -1, 8, false, true);
                tRosMainHandleSuffix = addOption<std::string>("tRosMainHandleSuffix",
                                "Specifiy an alternative NodeHandle Suffix", ros::this_node::getName(), false, true);
        }
};

ROSModule::ROSModule()
{
        options = new ROSModuleOptions();
//      if (!options->tRosMainHandleSuffix->isOnInitialValue()) {
//              // Use User Nodename
//              nodeHandleSuffix_ = options->tRosMainHandleSuffix->getValue();
//      }

        baseNodeHandle = ros::NodeHandle(std::string(TELEKYB_BASENAME));
        mainNodeHandle = ros::NodeHandle(std::string(TELEKYB_BASENAME) + "/" + options->tRosMainHandleSuffix->getValue() );
        nodeNameNodeHandle = ros::NodeHandle(std::string(TELEKYB_BASENAME) + "/" + CommonOptions::Instance().getNodeName() );

        if ( options->tRosNrSpinnerThreads->getValue() < 0) {
                spinner = NULL;
        } else {
                spinner = new ros::AsyncSpinner( options->tRosNrSpinnerThreads->getValue() );
                spinner->start();
        }
}

ROSModule::~ROSModule()
{
        if (spinner) {
                spinner->stop();
                delete spinner;
        }
        delete options;
}

const ros::NodeHandle& ROSModule::getMainNodeHandle() const
{
        return mainNodeHandle;
}
const ros::NodeHandle& ROSModule::getBaseNodeHandle() const
{
        return baseNodeHandle;
}
const ros::NodeHandle& ROSModule::getNodeNameNodeHandle() const
{
        return nodeNameNodeHandle;
}


std::string ROSModule::getNodeName() const
{
        return ros::this_node::getName();
}


// Singleton Stuff
ROSModule* ROSModule::instance = NULL;

ROSModule& ROSModule::Instance() {
        if (!instance) {
                instance = new ROSModule();
        }
        return *instance;
}

const ROSModule* ROSModule::InstancePtr() {
        if (!instance) {
                instance = new ROSModule();
        }

        return instance;
}

bool ROSModule::HasInstance()
{
        return (instance != NULL);
}

void ROSModule::ShutDownInstance() {
        if (instance) {
                delete instance;
        }

        instance = NULL;
}

}