MsgFactory.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef GAZEBO_MSGS_MSGFACTORY_HH_
#define GAZEBO_MSGS_MSGFACTORY_HH_

#include <string>
#include <map>
#include <vector>
#include <google/protobuf/message.h>
#include <boost/shared_ptr.hpp>
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace msgs
  {
    typedef boost::shared_ptr<google::protobuf::Message> (*MsgFactoryFn) ();

    class GAZEBO_VISIBLE MsgFactory
    {
      public: static void RegisterMsg(const std::string &_msgType,
                                      MsgFactoryFn _factoryfn);

      public: static boost::shared_ptr<google::protobuf::Message> NewMsg(
                  const std::string &_msgType);

      public: static void GetMsgTypes(std::vector<std::string> &_types);

      private: static std::map<std::string, MsgFactoryFn> *msgMap;
    };


    #define GZ_REGISTER_STATIC_MSG(_msgtype, _classname) \
    GAZEBO_VISIBLE \
    boost::shared_ptr<google::protobuf::Message> New##_classname() \
    { \
      return boost::shared_ptr<gazebo::msgs::_classname>(\
          new gazebo::msgs::_classname); \
    } \
    class GAZEBO_VISIBLE Msg##_classname \
    { \
      public: Msg##_classname() \
      { \
        gazebo::msgs::MsgFactory::RegisterMsg(_msgtype, New##_classname);\
      } \
    }; \
    static Msg##_classname GzMsgInitializer;

  }
}

#endif