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
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 *     * 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>

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
}

EthercatMasterInterface& EthercatMaster::getInstance()
{
  char* configLocation = getenv("YOUBOT_CONFIG_FOLDER_LOCATION");
  if (configLocation == NULL)
    throw std::runtime_error(
        "EthercatMaster.cpp::getInstance(): Could not find environment variable YOUBOT_CONFIG_FOLDER_LOCATION");
  return EthercatMaster::getInstance("youbot-ethercat.cfg", configLocation);
}

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

} // namespace youbot