ActiveMiddleware.cpp

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#include "carla/ros2/middleware/ActiveMiddleware.h"
#include "carla/ros2/middleware/MiddlewareFactory.h"
 
namespace carla {
namespace ros2 {
 
bool SetActiveMiddleware(Middleware requested) {
  const auto resolution = MiddlewareFactory::ResolveMiddleware(requested);
  if (resolution.success) {
    MiddlewareFactory::SetMiddleware(resolution.middleware);
  }
  return resolution.success;
}
 
std::string GetAvailableMiddleware() {
  return MiddlewareFactory::GetAvailableMiddlewareString();
}
 
ResolvedDomainId SetActiveDomainId(int domain_id) {
  MiddlewareConfig::SetDomainId(domain_id);
  return MiddlewareConfig::ResolveEffective();
}
 
} // namespace ros2
} // namespace carla