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https://github.com/wpilibsuite/allwpilib
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62812faf62
* Replaced include guards with #pragma once * All source files now have exactly one newline appended Some files had either two newlines at the end or none (which isn't POSIX compliant). This patch fixes that.
61 lines
1.9 KiB
C++
61 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <gazebo/gazebo_client.hh>
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#include <gazebo/transport/transport.hh>
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#include "simulation/gz_msgs/msgs.h"
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using namespace gazebo;
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class MainNode {
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public:
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static MainNode* GetInstance() {
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static MainNode instance;
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return &instance;
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}
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template <typename M>
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static transport::PublisherPtr Advertise(const std::string& topic,
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unsigned int _queueLimit = 10,
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bool _latch = false) {
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return GetInstance()->main->Advertise<M>(topic, _queueLimit, _latch);
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}
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template <typename M, typename T>
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static transport::SubscriberPtr Subscribe(
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const std::string& topic,
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void (T::*fp)(const boost::shared_ptr<M const>&), T* obj,
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bool _latching = false) {
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return GetInstance()->main->Subscribe(topic, fp, obj, _latching);
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}
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template <typename M>
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static transport::SubscriberPtr Subscribe(
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const std::string& topic, void (*fp)(const boost::shared_ptr<M const>&),
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bool _latching = false) {
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return GetInstance()->main->Subscribe(topic, fp, _latching);
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}
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transport::NodePtr main;
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private:
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MainNode() {
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bool success = gazebo::client::setup();
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if (success) {
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main = transport::NodePtr(new transport::Node());
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main->Init("frc");
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gazebo::transport::run();
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} else {
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std::cout << "An error has occured setting up gazebo_client!"
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<< std::endl;
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}
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}
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};
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