"""
Gazebo adapter factory.
Creates appropriate Gazebo adapter based on configuration.
"""
from .config import GazeboConfig, GazeboBackend
from .detection import GazeboDetector
from .gazebo_interface import GazeboInterface
from .adapters.classic_adapter import ClassicGazeboAdapter
from .adapters.modern_adapter import ModernGazeboAdapter
class GazeboAdapterFactory:
"""
Factory for creating appropriate Gazebo adapter.
Encapsulates adapter creation logic and backend selection.
"""
def __init__(self, node, config: GazeboConfig):
"""
Initialize factory.
Args:
node: ROS2 node for adapter creation
config: Gazebo configuration
"""
self.node = node
self.config = config
self.detector = GazeboDetector(node)
def create_adapter(self) -> GazeboInterface:
"""
Create appropriate Gazebo adapter.
Logic:
1. If backend explicitly set in config, use that
2. If AUTO, detect running Gazebo version
3. Create corresponding adapter
4. Return via GazeboInterface (polymorphism)
Returns:
GazeboInterface implementation (Classic or Modern)
Raises:
RuntimeError: If auto-detection fails
NotImplementedError: If Modern selected but not implemented yet
"""
# Determine backend
if self.config.backend == GazeboBackend.AUTO:
backend = self.detector.detect()
self.node.get_logger().info(
f"Auto-detected Gazebo backend: {backend.value}"
)
else:
backend = self.config.backend
self.node.get_logger().info(
f"Using configured backend: {backend.value}"
)
# Create adapter
if backend == GazeboBackend.CLASSIC:
return ClassicGazeboAdapter(
self.node,
timeout=self.config.timeout
)
elif backend == GazeboBackend.MODERN:
return ModernGazeboAdapter(
self.node,
default_world=self.config.world_name,
timeout=self.config.timeout
)
else:
raise ValueError(f"Unknown backend: {backend}")
