91 lines
2.9 KiB
C++
91 lines
2.9 KiB
C++
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/*
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* Copyright (C) 2012 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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#ifndef _MSGFACTORY_HH_
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#define _MSGFACTORY_HH_
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#include <string>
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#include <map>
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#include <vector>
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#include <google/protobuf/message.h>
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#include <boost/shared_ptr.hpp>
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace msgs
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{
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/// \def MsgFactoryFn
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/// \brief Prototype for message factory generation
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typedef boost::shared_ptr<google::protobuf::Message> (*MsgFactoryFn) ();
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/// \addtogroup gazebo_msgs Messages
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/// \{
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/// \class MsgFactory MsgFactory.hh msgs/msgs.hh
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/// \brief A factory that generates protobuf message based on a string
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/// type.
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class GAZEBO_VISIBLE MsgFactory
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{
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/// \brief Register a message.
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/// \param[in] _msgType Type of message to register.
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/// \param[in] _factoryfn Function that generates the message.
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public: static void RegisterMsg(const std::string &_msgType,
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MsgFactoryFn _factoryfn);
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/// \brief Create a new instance of a message.
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/// \param[in] _msgType Type of message to create.
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/// \return Pointer to a google protobuf message. Null if the message
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/// type could not be handled.
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public: static boost::shared_ptr<google::protobuf::Message> NewMsg(
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const std::string &_msgType);
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/// \brief Get all the message types
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/// \param[out] _types Vector of strings of the message types.
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public: static void GetMsgTypes(std::vector<std::string> &_types);
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/// \brief A list of registered message types
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private: static std::map<std::string, MsgFactoryFn> *msgMap;
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};
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/// \brief Static message registration macro
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///
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/// Use this macro to register messages.
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/// \param[in] _msgtype Message type name.
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/// \param[in] _classname Class name for message.
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#define GZ_REGISTER_STATIC_MSG(_msgtype, _classname) \
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GAZEBO_VISIBLE \
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boost::shared_ptr<google::protobuf::Message> New##_classname() \
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{ \
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return boost::shared_ptr<gazebo::msgs::_classname>(\
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new gazebo::msgs::_classname); \
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} \
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class GAZEBO_VISIBLE Msg##_classname \
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{ \
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public: Msg##_classname() \
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{ \
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gazebo::msgs::MsgFactory::RegisterMsg(_msgtype, New##_classname);\
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} \
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}; \
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static Msg##_classname GzMsgInitializer;
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/// \}
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}
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}
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#endif
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