carla::ros2::MiddlewareFactory Class Reference

Factory that creates publisher/subscriber middleware based on the active middleware selection. More...

#include <MiddlewareFactory.h>

Classes
struct	MiddlewareResolution
	Result of middleware resolution — whether resolution succeeded and which middleware to use. More...

Static Public Member Functions
template<typename T >
static std::unique_ptr< IPublisherMiddleware >	CreatePublisher ()
	Create a publisher middleware for traits type T.
template<typename S >
static std::unique_ptr< ISubscriberMiddleware >	CreateSubscriber ()
	Create a subscriber middleware for traits type S.
static std::string	GetAvailableMiddlewareString ()
	Return a readable list of middleware implementations compiled into this binary.
static Middleware	GetMiddleware ()
static bool	IsMiddlewareAvailable (Middleware middleware)
	Check whether a specific middleware was compiled into this binary.
static MiddlewareResolution	ResolveMiddleware (Middleware requested)
	Resolve the requested middleware strictly — no fallback to other middleware.
static void	SetMiddleware (Middleware middleware)
	Select the middleware for all subsequent publisher/subscriber creation.

Static Private Member Functions
static Middleware &	GetActiveMiddleware ()
	Returns reference to the active middleware selection (function-local static for C++11 thread safety).

Detailed Description

Factory that creates publisher/subscriber middleware based on the active middleware selection.

The middleware is set once at startup via SetMiddleware() before any entities are created. After the first entity is created, changing the middleware has undefined behavior.

Definition at line 36 of file MiddlewareFactory.h.

Member Function Documentation

CreatePublisher()

template<typename T >

static std::unique_ptr< IPublisherMiddleware > carla::ros2::MiddlewareFactory::CreatePublisher ( )

inlinestatic

Create a publisher middleware for traits type T.

T must provide: T::msg_type — the message type

Definition at line 99 of file MiddlewareFactory.h.

References carla::ros2::CycloneDDS, carla::ros2::FastDDS, GetActiveMiddleware(), carla::log_error(), and carla::ros2::Zenoh.

CreateSubscriber()

template<typename S >

static std::unique_ptr< ISubscriberMiddleware > carla::ros2::MiddlewareFactory::CreateSubscriber ( )

inlinestatic

Create a subscriber middleware for traits type S.

S must provide: S::msg_type — the message type

Definition at line 130 of file MiddlewareFactory.h.

References carla::ros2::CycloneDDS, carla::ros2::FastDDS, GetActiveMiddleware(), carla::log_error(), and carla::ros2::Zenoh.

GetActiveMiddleware()

static Middleware & carla::ros2::MiddlewareFactory::GetActiveMiddleware ( )

inlinestaticprivate

Returns reference to the active middleware selection (function-local static for C++11 thread safety).

Definition at line 160 of file MiddlewareFactory.h.

References carla::ros2::FastDDS.

Referenced by CreatePublisher(), CreateSubscriber(), GetMiddleware(), and SetMiddleware().

GetAvailableMiddlewareString()

static std::string carla::ros2::MiddlewareFactory::GetAvailableMiddlewareString ( )

inlinestatic

Return a readable list of middleware implementations compiled into this binary.

Delegates to the free function in Middleware.h.

Definition at line 91 of file MiddlewareFactory.h.

References carla::ros2::GetAvailableMiddlewareString().

Referenced by carla::ros2::GetAvailableMiddleware(), and TEST_F().

GetMiddleware()

static Middleware carla::ros2::MiddlewareFactory::GetMiddleware ( )

inlinestatic

Returns

The currently selected middleware.

Definition at line 45 of file MiddlewareFactory.h.

References GetActiveMiddleware().

Referenced by TEST_F(), TEST_F(), TEST_F(), and TEST_F().

IsMiddlewareAvailable()

static bool carla::ros2::MiddlewareFactory::IsMiddlewareAvailable ( Middleware  middleware )

inlinestatic

Check whether a specific middleware was compiled into this binary.

Definition at line 50 of file MiddlewareFactory.h.

References carla::ros2::CycloneDDS, carla::ros2::FastDDS, and carla::ros2::Zenoh.

Referenced by ResolveMiddleware(), TEST(), TEST(), and TEST().

ResolveMiddleware()

static MiddlewareResolution carla::ros2::MiddlewareFactory::ResolveMiddleware ( Middleware  requested )

inlinestatic

Resolve the requested middleware strictly — no fallback to other middleware.

Returns {true, requested} if available, {false, requested} otherwise.

Definition at line 82 of file MiddlewareFactory.h.

References IsMiddlewareAvailable().

Referenced by carla::ros2::SetActiveMiddleware(), TEST_F(), TEST_F(), and TEST_F().

SetMiddleware()

static void carla::ros2::MiddlewareFactory::SetMiddleware ( Middleware  middleware )

inlinestatic

Select the middleware for all subsequent publisher/subscriber creation.

Must be called before any publisher or subscriber is initialized.

Definition at line 40 of file MiddlewareFactory.h.

References GetActiveMiddleware().

Referenced by carla::ros2::SetActiveMiddleware(), MiddlewareFactoryFixture::SetUp(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), and TEST_F().

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The documentation for this class was generated from the following file:

• MiddlewareFactory.h