Class HandlerRegistry

• Defined in File handler_registry.hpp

Class Documentation

class HandlerRegistry

Registry for topic handler factories.

The registry manages handler factories and creates handler instances. Teams can register custom handlers for specific topic types.

Built-in handlers:

• ”camera_data”: Image scaling, JPEG compression, protobuf conversion

For simple topic forwarding (without custom processing), use the gateway with explicit_topics instead of creating a handler.

Usage:

// Register a custom handler
HandlerRegistry::instance().registerHandler("my_sensor",
    [](rclcpp::Node* n, const HandlerConfig& c, FoxgloveLogger* l) {
      return std::make_unique<MySensorHandler>(n, c, l);
    });

// Create a handler for a topic
auto handler = registry.createHandler("my_sensor", node, config, logger);

Public Functions

inline void registerHandler(const std::string &type_name, HandlerFactory factory)

Register a handler factory.

Parameters:

• type_name – Unique name for this handler type

• factory – Factory function to create handler instances

inline std::unique_ptr<TopicHandler> createHandler(const std::string &type_name, rclcpp::Node *node, const HandlerConfig &config, FoxgloveLogger *logger)

Create a handler instance.

Parameters:

• type_name – Handler type (must be registered)

• node – ROS node for subscriptions/publishers

• config – Handler configuration

• logger – Foxglove logger for publishing

Returns:

Handler instance, or nullptr if type not found

inline bool hasHandler(const std::string &type_name) const

Check if a handler type is registered.

inline std::vector<std::string> getRegisteredTypes() const

Get list of registered handler types.

Public Static Functions

static inline HandlerRegistry &instance()

Get the singleton registry instance.