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unitreeApp/unitree_SDK/include/ddscxx/dds/sub/cond/detail/TReadConditionImpl.hpp

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/*
* Copyright(c) 2006 to 2021 ZettaScale Technology and others
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License v. 2.0 which is available at
* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
* v. 1.0 which is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
*/
#ifndef CYCLONEDDS_DDS_CORE_COND_TREADCONDITION_IMPL_HPP_
#define CYCLONEDDS_DDS_CORE_COND_TREADCONDITION_IMPL_HPP_
/**
* @file
*/
/*
* OMG PSM class declaration
*/
#include <dds/sub/cond/TReadCondition.hpp>
#include <org/eclipse/cyclonedds/sub/cond/ReadConditionDelegate.hpp>
// Implementation
namespace dds
{
namespace sub
{
namespace cond
{
template <typename DELEGATE>
TReadCondition<DELEGATE>::TReadCondition(
const dds::sub::AnyDataReader& dr,
const dds::sub::status::DataState& status)
{
this->set_ref(new DELEGATE(dr, status));
this->delegate()->init(this->impl_);
}
template <typename DELEGATE>
template <typename FUN>
TReadCondition<DELEGATE>::TReadCondition(
const dds::sub::AnyDataReader& dr,
const dds::sub::status::DataState& status,
FUN functor)
{
this->set_ref(new DELEGATE(dr, status));
this->delegate()->init(this->impl_);
this->delegate()->set_handler(functor);
}
template <typename DELEGATE>
const dds::sub::status::DataState TReadCondition<DELEGATE>::state_filter() const
{
return this->delegate()->state_filter();
}
template <typename DELEGATE>
const AnyDataReader& TReadCondition<DELEGATE>::data_reader() const
{
return this->delegate()->data_reader();
}
}
}
namespace core
{
namespace cond
{
template <typename DELEGATE>
TCondition<DELEGATE>::TCondition(const dds::sub::cond::TReadCondition<org::eclipse::cyclonedds::sub::cond::ReadConditionDelegate>& h)
{
if (h.is_nil()) {
/* We got a null object and are not really able to do a typecheck here. */
/* So, just set a null object. */
*this = dds::core::null;
} else {
this->::dds::core::Reference<DELEGATE>::impl_ = ::std::dynamic_pointer_cast<DELEGATE_T>(h.delegate());
if (h.delegate() != this->::dds::core::Reference<DELEGATE>::impl_) {
throw dds::core::IllegalOperationError(std::string("Attempted invalid cast: ") + typeid(h).name() + " to " + typeid(*this).name());
}
}
}
template <typename DELEGATE>
TCondition<DELEGATE>&
TCondition<DELEGATE>::operator=(const dds::sub::cond::TReadCondition<org::eclipse::cyclonedds::sub::cond::ReadConditionDelegate>& rhs)
{
const TCondition<DELEGATE> &t = rhs;
if (this != &t) {
if (rhs.is_nil()) {
/* We got a null object and are not really able to do a typecheck here. */
/* So, just set a null object. */
*this = dds::core::null;
} else {
TCondition other(rhs);
/* Dont have to copy when the delegate is the same. */
if (other.delegate() != this->::dds::core::Reference<DELEGATE>::impl_) {
*this = other;
}
}
}
return *this;
}
}
}
}
// End of implementation
#endif /* CYCLONEDDS_DDS_CORE_COND_TREADCONDITION_IMPL_HPP_ */