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

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+#ifndef OMG_TDDS_PUB_SUSPENDED_PUBLICATION_HPP_
+#define OMG_TDDS_PUB_SUSPENDED_PUBLICATION_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 TSuspendedPublication;
+}
+}
+
+/**
+ * @brief
+ * Class for RAII way of suspending/resuming publication.
+ *
+ * Suspended publication indicates to the Service that the application is about
+ * to make multiple modifications using DataWriter objects belonging to
+ * the Publisher.
+ *
+ * It is a hint to the Service so it can optimize its performance by,
+ * e.g., holding the dissemination of the modifications and then batching
+ * them. It is not required that the Service use this hint in any way.
+ *
+ * When a Suspended publication is started, it must be matched by
+ * a corresponding call to SuspendedPublication::resume() or the destruction
+ * of the SuspendedPublication object (which is an implicit resume),
+ * indicating that the set of modifications has
+ * completed. If the Publisher is deleted before the resume,
+ * any suspended updates yet to be published will be discarded.
+ *
+ * This object suspends the publication of all DataWriter objects contained by
+ * the given Publisher. The data written, disposed or unregistered by a DataWriter is
+ * stored in the history buffer of the DataWriter and therefore, depending on its QoS
+ * settings, the following operations may block (see the operation descriptions for
+ * more information):
+ * - dds::pub::DataWriter.write (and its overloaded counterparts).
+ * - dds::pub::DataWriter.operator<< (and its overloaded counterparts).
+ * - dds::pub::DataWriter.unregister_instance (and its overloaded counterparts).
+ * - dds::pub::DataWriter.dispose_instance (and its overloaded counterparts).
+ *
+ * @see for more information: @ref DCPS_Modules_Publication "Publication"
+ * @see dds::pub::Publisher
+ */
+template <typename DELEGATE>
+class dds::pub::TSuspendedPublication : public dds::core::Value<DELEGATE>
+{
+public:
+    /**
+     * Creating a SuspendedPublication object, which will suspend the
+     * dissemination of the publications by all contained DataWriter objects
+     * of the given Publisher.
+     *
+     * @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.
+     */
+    explicit TSuspendedPublication(const dds::pub::Publisher& pub);
+
+public:
+    /**
+     * This operation will explicitly resume the publication of all
+     * DataWriter objects contained by the given Publisher at construction.
+     *
+     * All data held in the history
+     * buffer of the DataWriter's is actively published to the consumers. When the
+     * operation returns all DataWriter's have resumed the publication of suspended
+     * updates.
+     *
+     * If the Publisher already resumed its publication (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::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.
+     */
+    void resume();
+
+public:
+    /**
+     * The destruction of the SuspendedPublication will implicitly resume
+     * the publication if not already resumed by a call to resume().
+     *
+     * All data held in the history
+     * buffer of the DataWriter's is actively published to the consumers. When the
+     * operation returns all DataWriter's have resumed the publication of suspended
+     * updates.
+     *
+     * When there is a problem with which resume() would normally throw an exception,
+     * then that exception is swallowed. Errors can be found in the logs.
+     */
+    ~TSuspendedPublication();
+};
+
+
+#endif /* OMG_TDDS_PUB_SUSPENDED_PUBLICATION_HPP_ */