mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
29d029fa61
verified to work on real robots adds sim eclipse plugins, fixed JavaGazebo, made wpilibC++Sim build on windows - Java and C++ simulation robot programs run on windows - simulation eclipse plugin delivers models and gazebo plugins - Java Gazebo now respects GAZEBO_IP variables and can work across networks - hal and network tables win32 hacked to work on windows - smart dashboard broken on windows due to network tables hacks - wpilibC++Sim, gz_msgs, and frcsim_gazebo_plugins build with CMake - removed constexpr for cross platform compatibility - msgs generated using .protos as a part of build process - some spare and unused cmake/pom files deleted - simulation ubuntu debians removed entirely - refactored CMake project flags and macros - updated to match non-sim C++ API - fixed and updated documentation - servo added to simulation Change-Id: Ia702ff0f1fee10d77f543810ad88f56696443b05
50 lines
1.4 KiB
C++
50 lines
1.4 KiB
C++
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#ifndef _SIM_MAIN_NODE_H
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#define _SIM_MAIN_NODE_H
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#include "simulation/gz_msgs/msgs.h"
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#include <gazebo/transport/transport.hh>
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#include <gazebo/gazebo_client.hh>
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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(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(const std::string &topic,
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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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gazebo::client::setup();
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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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}
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};
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#endif
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