Class BridgeRequestMsgBuilder

• Defined in File agnocast_bridge_utils.hpp

Class Documentation

class BridgeRequestMsgBuilder

A builder class for creating bridge request messages.

It handles errors such as setting non-existent fields or invalid values for each field, and the build_* member functions return an error reason. However, it does not check whether the computed message as a whole is valid. It’s the caller’s responsibility to invoke a correct set of setters to build a valid message.

Public Types

enum class Mode

Values:

enumerator Standard

enumerator Performance

Public Functions

explicit BridgeRequestMsgBuilder(Mode mode, const rclcpp::Logger &logger)

BridgeRequestMsgBuilder &set_direction(BridgeDirection direction)

BridgeRequestMsgBuilder &set_is_service(bool is_service)

BridgeRequestMsgBuilder &set_factory(uintptr_t fn_r2a, uintptr_t fn_a2r)

BridgeRequestMsgBuilder &set_message_type(const char *message_type)

BridgeRequestMsgBuilder &set_topic_name(const char *topic_name)

BridgeRequestMsgBuilder &set_pubsub_target_id(topic_local_id_t target_id)

BridgeRequestMsgBuilder &set_service_type(const char *service_type)

BridgeRequestMsgBuilder &set_service_name(const char *service_name)

BridgeRequestMsgBuilder &set_shadow_node_identity(const std::optional<std::pair<std::string, std::string>> &shadow_node_identity)

std::pair<MqMsgBridge, std::string> build_standard_message()

std::pair<MqMsgPerformanceBridge, std::string> build_performance_message()