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https://github.com/wpilibsuite/allwpilib
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59267da72b
Base.h provides a backwards compatibility shim (enabled unless NAMESPACED_WPILIB is defined) that does a "using namespace frc". However, as some header files do not include Base.h, this may be a breaking change in some corner cases (with an easy fix). Fixes #218.
68 lines
2.0 KiB
C++
68 lines
2.0 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 <string>
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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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namespace frc {
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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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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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} // namespace frc
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