104 lines
2.8 KiB
C++
104 lines
2.8 KiB
C++
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include <boost/thread/mutex.hpp>
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#include <sdf/sdf.hh>
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#include "gazebo/transport/transport.hh"
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#include "gazebo/util/LogRecord.hh"
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#include "gazebo/util/system.hh"
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#include "gazebo/gazebo_config.h"
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#include "gazebo/gazebo_shared.hh"
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#include "gazebo/gazebo_client.hh"
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boost::mutex fini_mutex;
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std::vector<gazebo::SystemPluginPtr> g_plugins;
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/////////////////////////////////////////////////
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struct g_vectorStringDup
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{
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char *operator()(const std::string &_s)
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{
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return strdup(_s.c_str());
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}
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};
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/////////////////////////////////////////////////
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void gazebo::client::printVersion()
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{
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gazebo_shared::printVersion();
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}
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/////////////////////////////////////////////////
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void gazebo::client::addPlugin(const std::string &_filename)
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{
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gazebo_shared::addPlugin(_filename, g_plugins);
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}
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/////////////////////////////////////////////////
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bool gazebo::client::setup(int _argc, char **_argv)
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{
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if (!gazebo_shared::setup("client-", _argc, _argv, g_plugins))
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{
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gzerr << "Unable to setup Gazebo\n";
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return false;
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}
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return true;
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}
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/////////////////////////////////////////////////
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bool gazebo::client::setup(const std::vector<std::string> &_args)
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{
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std::vector<char *> pointers(_args.size());
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std::transform(_args.begin(), _args.end(), pointers.begin(),
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g_vectorStringDup());
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pointers.push_back(0);
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bool result = gazebo::client::setup(_args.size(), &pointers[0]);
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// Deallocate memory for the command line arguments alloocated with strdup.
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for (size_t i = 0; i < pointers.size(); ++i)
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free(pointers.at(i));
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return result;
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}
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/////////////////////////////////////////////////
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bool gazebo::client::shutdown()
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{
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// Stop log recording
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util::LogRecord::Instance()->Stop();
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// Stop transport
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gazebo::transport::stop();
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// Make sure to shut everything down.
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boost::mutex::scoped_lock lock(fini_mutex);
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util::LogRecord::Instance()->Fini();
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g_plugins.clear();
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gazebo::transport::fini();
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// Cleanup model database.
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common::ModelDatabase::Instance()->Fini();
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return true;
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}
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