Allow the InterfaceManager class to register other InterfaceManagers. #220
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This will make it possible to combine several RobotHW objects into a single one.
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Reopen against kinetic-devel as #235 |
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This will make it possible to combine several RobotHW objects into a single one.
This PR contains the part of #138 that deals with combining interface_managers. (Also partially related to issues discussed in #75 and #151).
To deal with the memory leak mentioned here, I've used a
boost::ptr_vector<ResourceManagerBase>that will deal with the destruction of any combinedResourceManagerwhen the InterfaceManager is destroyed.This approach allows us to keep the signature of
T* get()(not breaking compatibility) but still address the issues that @kphawkins expressed here. This means that any pointer returned byT* get()would stay valid until the InterfaceManager is destroyed, even if a subsequent call toT* get()for the same interface T has generated a new combined interface object. In this case, the user of the old pointer would simply have a shorter list of resources available.