TeleKybCore.cpp

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/*
 * TeleKybCore.cpp
 *
 *  Created on: Nov 3, 2011
 *      Author: mriedel
 */

#include <telekyb_core/TeleKybCore.hpp>

#include <telekyb_base/Messages.hpp>

namespace TELEKYB_NAMESPACE {

TeleKybCore::TeleKybCore()
        : interface(NULL)
{
        // Cancel Initialization if ros::shutdown.
        //if (!ros::ok()) return;

        // no dependecy. has to be loaded first
        StateEstimatorController::Instance();

        // depends on StateEstimator
        TrajectoryController::Instance();

        // depends on StateEstimator && TrajectoryController
        TrajectoryProcessorController::Instance();

        // depends on StateEstimator && TrajectoryController && TrajectoryProcessor
        BehaviorController::Instance();

        interface = new TeleKybCoreInterface(options.tRobotID->getValue());
}

TeleKybCore::~TeleKybCore()
{
//      std::cout << "Shutting down TeleKybCoreInterface!" << std::endl;
        if (interface) { delete interface; }
//      std::cout << "Shutting down TeleKybCoreInterface!" << std::endl;
//
//      std::cout << "Shutting down BehaviorController!" << std::endl;
        BehaviorController::ShutDownInstance();
//      std::cout << "Done Shutting down BehaviorController!" << std::endl;
//
//      std::cout << "Shutting down TrajectoryProcessorController!" << std::endl;
        TrajectoryProcessorController::ShutDownInstance();
//      std::cout << "Done Shutting down TrajectoryProcessorController!" << std::endl;
//
//      std::cout << "Shutting down TrajectoryController!" << std::endl;
        TrajectoryController::ShutDownInstance();
//      std::cout << "Done Shutting down TrajectoryController!" << std::endl;
//
//      std::cout << "Shutting down StateEstimatorController!" << std::endl;
        StateEstimatorController::ShutDownInstance();
//      std::cout << "Done Shutting down StateEstimatorController!" << std::endl;
}

}