EthercatMaster.cpp

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/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public 
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
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 * This program is free software: you can redistribute it and/or modify
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#include "youbot/EthercatMaster.hpp"

namespace youbot {

EthercatMasterInterface* EthercatMaster::instance = 0;
///creates a instance of the singleton EthercatMaster if there is none and returns a reference to it
///@param configFile configuration file name incl. the extension
///@param configFilePath the path where the configuration is located with a / at the end
///@param ethercatMasterWithThread set it to false if you want to deactivate the communication thread
EthercatMasterInterface& EthercatMaster::getInstance(const std::string configFile, const std::string configFilePath, const bool ethercatMasterWithThread)
{
  // Bouml preserved body begin 000E61F1
    if (instance == 0) {
      if(ethercatMasterWithThread){
        instance = new EthercatMasterWithThread(configFile, configFilePath);
      }else{
        instance = new EthercatMasterWithoutThread(configFile, configFilePath);
      }
    }
    return *instance;
  // Bouml preserved body end 000E61F1
}

/// destroy the singleton instance by calling the destructor
void EthercatMaster::destroy()
{
  // Bouml preserved body begin 000E6271
    if(instance != 0){
      delete instance;
      instance = 0;
    }
  // Bouml preserved body end 000E6271
}


} // namespace youbot