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Quella
2025-09-24 10:53:28 +08:00
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unitree_SDK/include/ddscxx/dds/domain/detail/DomainParticipant.hpp Normal file
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#ifndef OMG_DDS_DOMAIN_DETAIL_DOMAINPARTICIPANT_HPP_
#define OMG_DDS_DOMAIN_DETAIL_DOMAINPARTICIPANT_HPP_
/* Copyright 2010, Object Management Group, Inc.
* Copyright 2010, PrismTech, Corp.
* Copyright 2010, Real-Time Innovations, Inc.
* All rights reserved.
*
* 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.
*/
#include <dds/domain/detail/TDomainParticipantImpl.hpp>
//#include <dds/domain/TDomainParticipant.hpp>
//#include <org/eclipse/cyclonedds/domain/DomainParticipantDelegate.hpp>
namespace dds {
namespace domain {
namespace detail {
typedef dds::domain::TDomainParticipant< org::eclipse::cyclonedds::domain::DomainParticipantDelegate >
DomainParticipant;
}
}
}
#endif /* OMG_DDS_DOMAIN_DETAIL_DOMAINPARTICIPANT_HPP_ */

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unitree_SDK/include/ddscxx/dds/domain/detail/TDomainParticipantImpl.hpp Normal file
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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_DOMAIN_TDOMAINPARTICIPANT_IMPL_HPP_
#define CYCLONEDDS_DDS_DOMAIN_TDOMAINPARTICIPANT_IMPL_HPP_
/**
* @file
*/
/*
* OMG PSM class declaration
*/
#include <dds/domain/TDomainParticipant.hpp>
#include <org/eclipse/cyclonedds/domain/DomainParticipantDelegate.hpp>
#include <org/eclipse/cyclonedds/domain/DomainParticipantRegistry.hpp>
#include <org/eclipse/cyclonedds/core/ReportUtils.hpp>
// Implementation
namespace dds
{
namespace domain
{
template <typename DELEGATE>
TDomainParticipant<DELEGATE>::TDomainParticipant(uint32_t did):
::dds::core::Reference<DELEGATE>(
new DELEGATE(did,
org::eclipse::cyclonedds::domain::DomainParticipantDelegate::default_participant_qos(),
NULL,
dds::core::status::StatusMask::none(),
std::string()))
{
this->delegate()->init(this->impl_);
org::eclipse::cyclonedds::domain::DomainParticipantRegistry::insert(*this);
}
template <typename DELEGATE>
TDomainParticipant<DELEGATE>::TDomainParticipant(uint32_t id,
const dds::domain::qos::DomainParticipantQos& qos,
dds::domain::DomainParticipantListener* listener,
const dds::core::status::StatusMask& mask,
const std::string& config) :
::dds::core::Reference<DELEGATE>(new DELEGATE(id, qos, listener, mask, config))
{
this->delegate()->init(this->impl_);
org::eclipse::cyclonedds::domain::DomainParticipantRegistry::insert(*this);
}
template <typename DELEGATE>
TDomainParticipant<DELEGATE>::TDomainParticipant(uint32_t id,
const dds::domain::qos::DomainParticipantQos& qos,
dds::domain::DomainParticipantListener* listener,
const dds::core::status::StatusMask& mask,
const ddsi_config& config) :
::dds::core::Reference<DELEGATE>(new DELEGATE(id, qos, listener, mask, config))
{
this->delegate()->init(this->impl_);
org::eclipse::cyclonedds::domain::DomainParticipantRegistry::insert(*this);
}
template <typename DELEGATE>
void TDomainParticipant<DELEGATE>::listener(Listener* listener,
const ::dds::core::status::StatusMask& event_mask)
{
this->delegate()->listener(listener, event_mask);
}
template <typename DELEGATE>
typename TDomainParticipant<DELEGATE>::Listener* TDomainParticipant<DELEGATE>::listener() const
{
return this->delegate()->listener();
}
template <typename DELEGATE>
const dds::domain::qos::DomainParticipantQos&
TDomainParticipant<DELEGATE>::qos() const
{
return this->delegate()->qos();
}
template <typename DELEGATE>
void TDomainParticipant<DELEGATE>::qos(const dds::domain::qos::DomainParticipantQos& qos)
{
this->delegate()->qos(qos);
}
template <typename DELEGATE>
uint32_t TDomainParticipant<DELEGATE>::domain_id() const
{
return this->delegate()->domain_id();
}
template <typename DELEGATE>
void TDomainParticipant<DELEGATE>::assert_liveliness()
{
this->delegate()->assert_liveliness();
}
template <typename DELEGATE>
bool TDomainParticipant<DELEGATE>::contains_entity(const ::dds::core::InstanceHandle& handle)
{
return this->delegate()->contains_entity(handle);
}
template <typename DELEGATE>
dds::core::Time TDomainParticipant<DELEGATE>::current_time() const
{
return this->delegate()->current_time();
}
template <typename DELEGATE>
dds::domain::qos::DomainParticipantQos TDomainParticipant<DELEGATE>::default_participant_qos()
{
return DELEGATE::default_participant_qos();
}
template <typename DELEGATE>
void TDomainParticipant<DELEGATE>::default_participant_qos(const ::dds::domain::qos::DomainParticipantQos& qos)
{
DELEGATE::default_participant_qos(qos);
}
template <typename DELEGATE>
dds::pub::qos::PublisherQos TDomainParticipant<DELEGATE>::default_publisher_qos() const
{
return this->delegate()->default_publisher_qos();
}
template <typename DELEGATE>
TDomainParticipant<DELEGATE>& TDomainParticipant<DELEGATE>::default_publisher_qos(
const ::dds::pub::qos::PublisherQos& qos)
{
this->delegate()->default_publisher_qos(qos);
return *this;
}
template <typename DELEGATE>
dds::sub::qos::SubscriberQos TDomainParticipant<DELEGATE>::default_subscriber_qos() const
{
return this->delegate()->default_subscriber_qos();
}
template <typename DELEGATE>
TDomainParticipant<DELEGATE>& TDomainParticipant<DELEGATE>::default_subscriber_qos(
const ::dds::sub::qos::SubscriberQos& qos)
{
this->delegate()->default_subscriber_qos(qos);
return *this;
}
template <typename DELEGATE>
dds::topic::qos::TopicQos TDomainParticipant<DELEGATE>::default_topic_qos() const
{
return this->delegate()->default_topic_qos();
}
template <typename DELEGATE>
TDomainParticipant<DELEGATE>& TDomainParticipant<DELEGATE>::default_topic_qos(const dds::topic::qos::TopicQos& qos)
{
this->delegate()->default_topic_qos(qos);
return *this;
}
template <typename DELEGATE>
TDomainParticipant<DELEGATE>& TDomainParticipant<DELEGATE>::operator << (const dds::domain::qos::DomainParticipantQos& qos)
{
this->qos(qos);
return *this;
}
template <typename DELEGATE>
const TDomainParticipant<DELEGATE>& TDomainParticipant<DELEGATE>::operator >> (dds::domain::qos::DomainParticipantQos& qos) const
{
qos = this->qos();
return *this;
}
}
}
// End of implementation
#endif /* CYCLONEDDS_DDS_DOMAIN_TDOMAINPARTICIPANT_IMPL_HPP_ */

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/*
* Copyright(c) 2006 to 2020 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 OMG_DDS_DOMAIN_PACKAGE_DETAIL_INCLUDE_HPP_
#define OMG_DDS_DOMAIN_PACKAGE_DETAIL_INCLUDE_HPP_
/* Nothing to 'post' include. */
#endif /* OMG_DDS_DOMAIN_PACKAGE_DETAIL_INCLUDE_HPP_ */