pGobyMOOSAppTemplate.cpp

// Copyright 2009-2018 Toby Schneider (http://gobysoft.org/index.wt/people/toby)
//                     GobySoft, LLC (2013-)
//                     Massachusetts Institute of Technology (2007-2014)
//
//
// This file is part of the Goby Underwater Autonomy Project Binaries
// ("The Goby Binaries").
//
// The Goby Binaries are free software: you can redistribute them and/or modify
// them under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 2 of the License, or
// (at your option) any later version.
//
// The Goby Binaries are distributed in the hope that they will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with Goby.  If not, see <http://www.gnu.org/licenses/>.

#include "pGobyMOOSAppTemplate.h"

using goby::glog;
using namespace goby::common::logger;
using goby::moos::operator<<;

boost::shared_ptr<GobyMOOSAppTemplateConfig> master_config;
GobyMOOSAppTemplate* GobyMOOSAppTemplate::inst_ = 0;

int main(int argc, char* argv[]) { return goby::moos::run<GobyMOOSAppTemplate>(argc, argv); }

GobyMOOSAppTemplate* GobyMOOSAppTemplate::get_instance()
{
    if (!inst_)
    {
        master_config.reset(new GobyMOOSAppTemplateConfig);
        inst_ = new GobyMOOSAppTemplate(*master_config);
    }
    return inst_;
}

void GobyMOOSAppTemplate::delete_instance() { delete inst_; }

GobyMOOSAppTemplate::GobyMOOSAppTemplate(GobyMOOSAppTemplateConfig& cfg)
    : GobyMOOSApp(&cfg), cfg_(cfg)
{
    // example subscription -
    //    handle_db_time called each time mail from DB_TIME is received
    subscribe("DB_TIME", &GobyMOOSAppTemplate::handle_db_time, this);
}

GobyMOOSAppTemplate::~GobyMOOSAppTemplate() {}

void GobyMOOSAppTemplate::loop()
{
    // example publication
    publish("TEST", MOOSTime());
}

void GobyMOOSAppTemplate::handle_db_time(const CMOOSMsg& msg)
{
    glog.is(VERBOSE) && glog << "Time is: " << std::setprecision(15) << msg.GetDouble()
                             << std::endl;
}