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unitree_SDK/include/ddscxx/dds/pub/detail/DataWriter.hpp

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+#ifndef OMG_DDS_PUB_DETAIL_DATA_WRITER_HPP_
+#define OMG_DDS_PUB_DETAIL_DATA_WRITER_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/topic/Topic.hpp>
+#include <dds/pub/AnyDataWriter.hpp>
+#include <dds/topic/detail/Topic.hpp>
+#include <org/eclipse/cyclonedds/core/EntityDelegate.hpp>
+#include <org/eclipse/cyclonedds/topic/TopicTraits.hpp>
+#include <org/eclipse/cyclonedds/core/ScopedLock.hpp>
+#include <org/eclipse/cyclonedds/pub/AnyDataWriterDelegate.hpp>
+#include <dds/dds.h>
+
+namespace dds {
+    namespace pub {
+
+        template <typename T>
+        class DataWriterListener;
+
+        namespace detail {
+            template <typename T>
+            class DataWriter;
+        }
+
+        template <typename T, template <typename Q> class DELEGATE>
+        class DataWriter;
+    }
+}
+
+
+
+/***************************************************************************
+ *
+ * dds/pub/detail/DataWriter<> DELEGATE declaration.
+ * Implementation can be found in dds/pub/detail/DataWriterImpl.hpp
+ *
+ ***************************************************************************/
+template <typename T>
+class dds::pub::detail::DataWriter : public ::org::eclipse::cyclonedds::pub::AnyDataWriterDelegate  {
+public:
+
+    typedef typename ::dds::core::smart_ptr_traits< DataWriter<T> >::ref_type ref_type;
+    typedef typename ::dds::core::smart_ptr_traits< DataWriter<T> >::weak_ref_type weak_ref_type;
+
+    DataWriter(const dds::pub::Publisher& pub,
+               const ::dds::topic::Topic<T>& topic,
+               const dds::pub::qos::DataWriterQos& qos,
+               dds::pub::DataWriterListener<T>* listener,
+               const dds::core::status::StatusMask& mask);
+
+    virtual ~DataWriter();
+
+    void init(ObjectDelegate::weak_ref_type weak_ref);
+
+    bool is_loan_supported();
+
+    T& loan_sample();
+
+    void return_loan(T& sample);
+
+    void write_cdr(const org::eclipse::cyclonedds::topic::CDRBlob& sample);
+
+    void write_cdr(const org::eclipse::cyclonedds::topic::CDRBlob& sample, const dds::core::Time& timestamp);
+
+    void dispose_cdr(const org::eclipse::cyclonedds::topic::CDRBlob& sample);
+
+    void dispose_cdr(const org::eclipse::cyclonedds::topic::CDRBlob& sample, const dds::core::Time& timestamp);
+
+    void unregister_instance_cdr(const org::eclipse::cyclonedds::topic::CDRBlob& sample);
+
+    void unregister_instance_cdr(const org::eclipse::cyclonedds::topic::CDRBlob& sample, const dds::core::Time& timestamp);
+
+    void write(const T& sample);
+
+    void write(const T& sample, const dds::core::Time& timestamp);
+
+    void write(const T& sample, const ::dds::core::InstanceHandle& instance);
+
+    void write(const T& sample,
+               const ::dds::core::InstanceHandle& instance,
+               const dds::core::Time& timestamp);
+
+    void write(const dds::topic::TopicInstance<T>& i);
+
+    void write(const dds::topic::TopicInstance<T>& i,
+               const dds::core::Time& timestamp);
+
+    void writedispose(const T& sample);
+
+    void writedispose(const T& sample, const dds::core::Time& timestamp);
+
+    void writedispose(const T& sample, const ::dds::core::InstanceHandle& instance);
+
+    void writedispose(const T& sample,
+            const ::dds::core::InstanceHandle& instance,
+            const dds::core::Time& timestamp);
+
+    void writedispose(const dds::topic::TopicInstance<T>& i);
+
+    void writedispose(const dds::topic::TopicInstance<T>& i,
+                      const dds::core::Time& timestamp);
+
+    template <typename FWIterator>
+    void writedispose(const FWIterator& begin, const FWIterator& end);
+
+    template <typename FWIterator>
+    void writedispose(const FWIterator& begin, const FWIterator& end,
+                      const dds::core::Time& timestamp);
+
+    template <typename SamplesFWIterator, typename HandlesFWIterator>
+    void writedispose(const SamplesFWIterator& data_begin,
+                      const SamplesFWIterator& data_end,
+                      const HandlesFWIterator& handle_begin,
+                      const HandlesFWIterator& handle_end);
+
+    template <typename SamplesFWIterator, typename HandlesFWIterator>
+    void writedispose(const SamplesFWIterator& data_begin,
+                      const SamplesFWIterator& data_end,
+                      const HandlesFWIterator& handle_begin,
+                      const HandlesFWIterator& handle_end,
+                      const dds::core::Time& timestamp);
+
+    const ::dds::core::InstanceHandle register_instance(const T& key,
+                                                        const dds::core::Time& timestamp);
+
+    void unregister_instance(const ::dds::core::InstanceHandle& handle,
+                             const dds::core::Time& timestamp);
+
+    void unregister_instance(const T& sample,
+                             const dds::core::Time& timestamp);
+
+    void dispose_instance(const ::dds::core::InstanceHandle& handle,
+                          const dds::core::Time& timestamp);
+
+    void dispose_instance(const T& sample,
+                          const dds::core::Time& timestamp);
+
+    dds::topic::TopicInstance<T>& key_value(dds::topic::TopicInstance<T>& i,
+                                            const ::dds::core::InstanceHandle& h);
+
+    T& key_value(T& sample, const ::dds::core::InstanceHandle& h);
+
+    dds::core::InstanceHandle lookup_instance(const T& key);
+
+    const dds::topic::Topic<T>& topic() const;
+
+    virtual const dds::pub::Publisher& publisher() const;
+
+    void listener(DataWriterListener<T>* listener,
+                  const ::dds::core::status::StatusMask& mask);
+
+    DataWriterListener<T>* listener() const;
+
+    virtual void close();
+
+    dds::pub::DataWriter<T, dds::pub::detail::DataWriter> wrapper();
+
+    void on_offered_deadline_missed(dds_entity_t,
+          org::eclipse::cyclonedds::core::OfferedDeadlineMissedStatusDelegate &sd);
+
+    void on_offered_incompatible_qos(dds_entity_t,
+          org::eclipse::cyclonedds::core::OfferedIncompatibleQosStatusDelegate &sd);
+
+    void on_liveliness_lost(dds_entity_t,
+          org::eclipse::cyclonedds::core::LivelinessLostStatusDelegate &sd);
+
+    void on_publication_matched(dds_entity_t,
+          org::eclipse::cyclonedds::core::PublicationMatchedStatusDelegate &sd);
+
+private:
+   dds::pub::Publisher                    pub_;
+   dds::topic::Topic<T>                   topic_;
+};
+
+
+
+
+#endif /* OMG_DDS_PUB_DETAIL_DATA_WRITER_HPP_ */