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unitree_SDK/include/ddscxx/dds/pub/detail/find.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
+ */
+
+
+/**
+ * @file
+ */
+
+#ifndef CYCLONEDDS_DDS_PUB_DETAIL_FIND_HPP_
+#define CYCLONEDDS_DDS_PUB_DETAIL_FIND_HPP_
+
+#include <string>
+
+#include <dds/pub/DataWriter.hpp>
+#include <dds/pub/Publisher.hpp>
+#include <org/eclipse/cyclonedds/pub/PublisherDelegate.hpp>
+#include <org/eclipse/cyclonedds/pub/AnyDataWriterDelegate.hpp>
+
+namespace dds
+{
+namespace pub
+{
+
+template <typename WRITER, typename FwdIterator>
+uint32_t
+find(const dds::pub::Publisher& pub, const std::string& topic_name,
+     FwdIterator begin, uint32_t max_size)
+{
+    if(max_size > 0) {
+        org::eclipse::cyclonedds::pub::AnyDataWriterDelegate::ref_type writer_base = pub.delegate()->find_datawriter(topic_name);
+        if (writer_base) {
+            /* Cast base writer to typed delegate: */
+            typename WRITER::DELEGATE_REF_T writer_typed =
+                    ::std::dynamic_pointer_cast<typename WRITER::DELEGATE_T>(writer_base);
+            WRITER dw(writer_typed);
+            if(dw != dds::core::null)
+            {
+                *begin = dw;
+                return 1;
+            }
+        }
+    }
+    return 0;
+}
+
+
+template <typename WRITER, typename BinIterator>
+uint32_t
+find(const dds::pub::Publisher& pub,
+     const std::string& topic_name,
+     BinIterator begin)
+{
+    org::eclipse::cyclonedds::pub::AnyDataWriterDelegate::ref_type writer_base = pub.delegate()->find_datawriter(topic_name);
+    if (writer_base) {
+        /* Cast base writer to typed delegate: */
+        typename WRITER::DELEGATE_REF_T writer_typed =
+                ::std::dynamic_pointer_cast<typename WRITER::DELEGATE_T>(writer_base);
+        WRITER dw(writer_typed);
+        if(dw != dds::core::null)
+        {
+            *begin = dw;
+            return 1;
+        }
+    }
+    return 0;
+}
+
+
+}
+}
+
+#endif /* CYCLONEDDS_DDS_PUB_DETAIL_FIND_HPP_ */