allwpilib/wpilibc/wpilibC++Sim/include/simulation/MainNode.h

#ifndef _SIM_MAIN_NODE_H
#define _SIM_MAIN_NODE_H

#include <gazebo/transport/transport.hh>
#include "simulation/msgs/msgs.h"

using namespace gazebo;

class MainNode {
public:
	static MainNode* GetInstance() {
        if (instance == NULL) {
			instance = new MainNode();
		}
		return instance;
	}

  
    template<typename M>
    static transport::PublisherPtr Advertise(const std::string &topic,
                                             unsigned int _queueLimit = 10,
                                             bool _latch = false) {
        return GetInstance()->main->Advertise<M>(topic, _queueLimit, _latch);
	}

    template<typename M, typename T>
    static transport::SubscriberPtr Subscribe(const std::string &topic,
                            void(T::*fp)(const boost::shared_ptr<M const> &), T *obj,
                            bool _latching = false) {
      return GetInstance()->main->Subscribe(topic, fp, obj, _latching);
	}

    template<typename M>
    static transport::SubscriberPtr Subscribe(const std::string &topic,
                            void(*fp)(const boost::shared_ptr<M const> &),
                            bool _latching = false) {
        return GetInstance()->main->Subscribe(topic, fp, _latching);
    }
  
    transport::NodePtr main;
private:
  	static MainNode* instance;

	MainNode() {
        gazebo::transport::init();
        main = transport::NodePtr(new transport::Node());
        main->Init("frc");
        gazebo::transport::run();
	}
};

#endif