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https://github.com/wpilibsuite/allwpilib
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faedfa6ed4
C++11 guarantees construction of static variables to be atomic, so this patch takes advantage of that. Change-Id: I4a3db0f19c5fa5461fef3b6b63d7b8fec596c962
49 lines
1.3 KiB
C++
49 lines
1.3 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 <gazebo/transport/transport.hh>
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#include "simulation/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(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::transport::init();
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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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