Gazebo Msgs

API Reference

10.3.1
MessageFactory.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef GZ_MSGS_MESSAGE_FACTORY_HH_
18 #define GZ_MSGS_MESSAGE_FACTORY_HH_
19 
20 #include <functional>
21 #include <map>
22 #include <memory>
23 #include <string>
24 #include <vector>
25 
26 #include "gz/msgs/config.hh"
27 #include "gz/msgs/Export.hh"
28 #include "gz/msgs/detail/dynamic_message_cast.hh"
29 #include <gz/utils/ImplPtr.hh>
30 
31 namespace gz::msgs {
33  class DynamicFactory;
34 
35  // Inline bracket to help doxygen filtering.
36  inline namespace GZ_MSGS_VERSION_NAMESPACE {
37 
43  class GZ_MSGS_VISIBLE MessageFactory
44  {
46  public: using Message = google::protobuf::Message;
47 
50 
52  public: using FactoryFn = std::function<MessagePtr(void)>;
53 
56 
58  public: MessageFactory();
59 
61  public: ~MessageFactory();
62 
66  public: void Register(const std::string &_msgType, FactoryFn _factoryFn);
67 
72  public: template<typename T>
74  {
75  return detail::dynamic_message_cast<T>(New(_msgType));
76  }
77 
83  public: template<typename T>
85  const std::string &_args)
86  {
87  return detail::dynamic_message_cast<T>(New(_msgType, _args));
88  }
89 
94  public: MessagePtr New(const std::string &_msgType);
95 
101  public: MessagePtr New(
102  const std::string &_msgType, const std::string &_args);
103 
106  public: void Types(std::vector<std::string> &_types);
107 
111  public: void LoadDescriptors(const std::string &_paths);
112 
114  private: FactoryFnCollection msgMap;
115 
117  GZ_UTILS_UNIQUE_IMPL_PTR_FWD(gz::msgs::DynamicFactory, dynamicFactory)
118  };
119 }
120 } // namespace gz::msgs
121 #endif // GZ_MSGS_MESSAGE_FACTORY_HH_