TeleKyb.cpp

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/*
 * TeleKyb.cpp
 *
 *  Created on: Oct 17, 2011
 *      Author: mriedel
 */

#include <telekyb_base/TeleKyb.hpp>
#include <telekyb_base/Options/RawOptionsContainer.hpp>
#include <telekyb_base/Options/CommonOptions.hpp>
#include <telekyb_base/ROS/ROSOptionController.hpp>
#include <telekyb_base/ROS/ROSModule.hpp>

#include <telekyb_base/Base/BaseSingleton.hpp>

#include <ros/init.h>
#include <ros/console.h>

// boost
#include <boost/lexical_cast.hpp>

namespace TELEKYB_NAMESPACE {

bool TeleKyb::initialized = false;

void TeleKyb::init(int argc, char* argv[], const std::string& name, uint32_t options)
{
        // all calls from here on need ros::init.
        ros::init(argc, argv, name, options);

        // if we wanted to parse out ros
        //std::vector<std::string> commandLineArgs;
        //ros::removeROSArgs(argc,argv,commandLineArgs);

        //ros::start();
        telekyb::RawOptionsContainer::parseCommandLine(argc, argv, true);
        // init Common options.
        CommonOptions& co = CommonOptions::Instance();
        // set the non-anonymous nodeName.
        co.setNodeName(name);

        // read ConfigFile
        if (!co.tConfigFile->isOnInitialValue()) {
                telekyb::RawOptionsContainer::parseFile(co.tConfigFile->getValue(), false);
        }

        // read CommonOptions again. // only update Initial Values
        co.updateFromRawOptions(true);

        // Intital Options are all read

        // print Options?
        if (co.tPrintOptions->getValue()) {
                BaseOption::printOptions = true;
                co.printOptions();
        }


        // Create ROSModule Singleton
        if (ROSModule::HasInstance()) {
                ROS_FATAL("Trying to create Singleton ROSModule, but it already exits!");
                //ROS_BREAK();
                ros::shutdown();
        }

        // we already checked that tRobotID has been set!
        ROSModule::Instance();


        // Create ROSOptionController Singleton
        ROSOptionController::Instance();

        // set initalized
        initialized = true;
}

bool TeleKyb::isInitialized()
{
        // Initialized.
        return initialized;
}

void TeleKyb::shutdown()
{
        //ROSOptionController& oc = ROSOptionController::Instance();
        //oc.deleteAllFromParameterServer();

        //Options and Classes with Options have to be shutdown first
        CommonOptions::ShutDownInstance();
        ROSModule::ShutDownInstance();

        ROSOptionController::ShutDownInstance();

        // delete all Singletons -> above Singletons should be move to new class.
        BaseSingleton::deleteAllSingletons();

        initialized = false;
}

} /* namespace telekyb */