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unitree_SDK/include/ddscxx/dds/pub/TCoherentSet.hpp

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+#ifndef OMG_TDDS_PUB_COHERENT_SET_HPP_
+#define OMG_TDDS_PUB_COHERENT_SET_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/pub/Publisher.hpp>
+
+namespace dds
+{
+namespace pub
+{
+template <typename DELEGATE>
+class TCoherentSet;
+}
+}
+
+
+/**
+ * @brief
+ * Class for RAII way of beginning/ending coherent publication sets.
+ *
+ * A coherent set is a set of modifications that must be
+ * propagated in such a way that they are interpreted at the
+ * receivers' side as a consistent set of modifications; that
+ * is, the receiver will only be able to access the data after
+ * all the modifications in the set are available at the
+ * receiver end.
+ *
+ * A connectivity change may occur in the middle
+ * of a set of coherent changes; for example, the set of
+ * partitions used by the Publisher or one of its Subscribers
+ * may change, a late-joining DataReader may appear on the
+ * network, or a communication failure may occur. In the event
+ * that such a change prevents an entity from receiving the
+ * entire set of coherent changes, that entity must behave as if
+ * it had received none of the set.
+ *
+ * The support for
+ * coherent changes enables a publishing application to change
+ * the value of several data-instances that could belong to the
+ * same or different topics and have those changes be seen
+ * atomically by the readers. This is useful in cases where
+ * the values are inter-related. For example, if there are two
+ * data instances representing the altitude and velocity
+ * vector of the same aircraft and both are changed, it may be
+ * useful to communicate those values in such a way the reader
+ * can see both together; otherwise, it may, for example,
+ * erroneously interpret that the aircraft is on a collision course.
+ *
+ * @see for more information: @ref DCPS_Modules_Publication "Publication"
+ * @see dds::pub::Publisher
+ */
+template <typename DELEGATE>
+class dds::pub::TCoherentSet : public dds::core::Value<DELEGATE>
+{
+public:
+   /**
+    * Creating a CoherentSet object, which will begin a ‘coherent set’ of
+    * modifications using DataWriter objects attached to this Publisher.
+    *
+    * A precondition for making coherent changes is that the PresentationQos of the
+    * Publisher has its coherent_access attribute set to TRUE. If this is not the case,
+    * the Publisher will not accept any coherent start requests and throw
+    * dds::core::PreconditionNotMetError.
+    *
+    * @param pub The publisher to supsend publications on.
+    * @throws dds::core::Error
+    *                  An internal error has occurred.
+    * @throws dds::core::AlreadyClosedError
+    *                  The Publisher has already been closed.
+    * @throws dds::core::NotEnabledError
+    *                  The Publisher has not yet been enabled.
+    * @throws dds::core::OutOfResourcesError
+    *                  The Data Distribution Service ran out of resources to
+    *                  complete this operation.
+    * @throws dds::core::NullReferenceError
+    *                  The Publisher was not properly created and references to dds::core::null.
+    * @throws dds::core::PreconditionNotMetError
+    *                  The coherent access attribute of the Publisher's PresentationQos is not set to true.
+    */
+    explicit TCoherentSet(const dds::pub::Publisher& pub);
+
+public:
+    /**
+     * This operation will explicitly end the publication of an coherent set.
+     *
+     * If the Publisher already ended its coherent set (by a call to this very
+     * operation), then a call to this operation will have no effect.
+     *
+     * @throws dds::core::Error
+     *                  An internal error has occurred.
+     * @throws dds::core::AlreadyClosedError
+     *                  The Publisher has already been closed.
+     * @throws dds::core::NotEnabledError
+     *                  The Publisher has not yet been enabled.
+     * @throws dds::core::NullReferenceError
+     *                  The Publisher was not properly created and references to dds::core::null.
+     */
+    void end();
+
+public:
+    /**
+     * The destruction of the CoherentSet will implicitly end the publication
+     * of a coheren set if not already ended by a call to end().
+     *
+     * When there is a problem with which end() would normally throw an exception,
+     * then that exception is swallowed. Errors can be found in the logs.
+     */
+    ~TCoherentSet();
+};
+
+
+#endif /* OMG_TDDS_PUB_COHERENT_SET_HPP_ */