102 lines
2.8 KiB
C++
102 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 <sdf/sdf.hh>
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#include "gazebo/transport/TransportIface.hh"
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/common/CommonIface.hh"
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#include "gazebo/common/ModelDatabase.hh"
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#include "gazebo/gazebo_config.h"
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#include "gazebo_shared.hh"
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/////////////////////////////////////////////////
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void gazebo_shared::printVersion()
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{
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fprintf(stderr, "%s", GAZEBO_VERSION_HEADER);
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}
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/////////////////////////////////////////////////
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void gazebo_shared::addPlugin(const std::string &_filename,
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std::vector<gazebo::SystemPluginPtr> &_plugins)
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{
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if (_filename.empty())
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return;
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gazebo::SystemPluginPtr plugin =
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gazebo::SystemPlugin::Create(_filename, _filename);
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if (plugin)
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{
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if (plugin->GetType() != gazebo::SYSTEM_PLUGIN)
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{
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gzerr << "System is attempting to load "
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<< "a plugin, but detected an incorrect plugin type. "
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<< "Plugin filename[" << _filename << "].\n";
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return;
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}
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_plugins.push_back(plugin);
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}
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}
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/////////////////////////////////////////////////
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bool gazebo_shared::setup(const std::string &_prefix, int _argc, char **_argv,
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std::vector<gazebo::SystemPluginPtr> &_plugins)
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{
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gazebo::common::load();
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// The SDF find file callback.
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sdf::setFindCallback(boost::bind(&gazebo::common::find_file, _1));
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// Initialize the informational logger. This will log warnings, and
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// errors.
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gzLogInit(_prefix, "default.log");
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// Load all the system plugins
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for (std::vector<gazebo::SystemPluginPtr>::iterator iter =
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_plugins.begin(); iter != _plugins.end(); ++iter)
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{
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(*iter)->Load(_argc, _argv);
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}
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if (!gazebo::transport::init())
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{
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gzerr << "Unable to initialize transport.\n";
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return false;
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}
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// Make sure the model database has started.
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gazebo::common::ModelDatabase::Instance()->Start();
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// Run transport loop. Starts a thread
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gazebo::transport::run();
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// Init all system plugins
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for (std::vector<gazebo::SystemPluginPtr>::iterator iter = _plugins.begin();
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iter != _plugins.end(); ++iter)
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{
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(*iter)->Init();
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}
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return true;
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}
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