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unitree_SDK/include/ddscxx/dds/pub/discovery.hpp
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unitree_SDK/include/ddscxx/dds/pub/discovery.hpp
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#ifndef OMG_DDS_PUB_DISCOVERY_HPP_
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#define OMG_DDS_PUB_DISCOVERY_HPP_
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/* Copyright 2010, Object Management Group, Inc.
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* Copyright 2010, PrismTech, Corp.
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* Copyright 2010, Real-Time Innovations, Inc.
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* All rights reserved.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <dds/domain/DomainParticipant.hpp>
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#include <dds/pub/DataWriter.hpp>
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#include <dds/topic/BuiltinTopic.hpp>
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#include <dds/pub/detail/discovery.hpp>
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namespace dds
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{
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namespace pub
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{
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/**
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* Ignore publications.
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*
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* <b><i>This operation is not yet implemented. It is scheduled for a future release.</i></b>
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*
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* @param dp the DomainParticipant for which the remote
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* entity will be ignored
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* @param handle the InstanceHandle of the remote entity that
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* has to be ignored
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*/
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void OMG_DDS_API ignore(const dds::domain::DomainParticipant& dp,
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const dds::core::InstanceHandle& handle);
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/**
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* Ignore publications.
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*
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* <b><i>This operation is not yet implemented. It is scheduled for a future release.</i></b>
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*
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* @param dp the DomainParticipant for which the remote
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* entity will be ignored
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* @param begin an iterator indicating the beginning of a
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* sequence of InstanceHandles of the remote
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* Entity that has to be ignored
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* @param end an iterator indicating the end of a
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* sequence of InstanceHandles of the remote
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* Entity that has to be ignored
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*/
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template <typename FwdIterator>
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void ignore(const dds::domain::DomainParticipant& dp, FwdIterator begin, FwdIterator end);
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/**
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* This operation retrieves the list of subscriptions currently “associated” with the
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* DataWriter. That is, subscriptions that have a matching Topic and compatible
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* QoS that the application has not indicated should be “ignored” by means of the
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* dds::sub::ignore operation on the DomainParticipant class.
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*
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* The handles returned in the dds::core::InstanceHandleSeq are the ones that
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* are used by the DDS implementation to locally identify the corresponding matched
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* DataReader entities. You can access more detailed information about a particular
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* subscription by passing its subscription_handle to either the
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* dds::pub::matched_subscription_data operation or to the read with instance
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* operation on the built-in reader for the “DCPSSubscription” topic.
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*
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* See @ref DCPS_Builtin_Topics "Builtin Topics" for more information.
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*
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* @param dw the DataWriter
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* @return a sequence of handles
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* @throws dds::core::Error
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* An internal error has occurred.
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* @throws dds::core::NullReferenceError
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* The entity was not properly created and references to dds::core::null.
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* @throws dds::core::AlreadyClosedError
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* The entity has already been closed.
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* @throws dds::core::NotEnabledError
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* The DataWriter has not yet been enabled.
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* @throws dds::core::UnsupportedError
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* OpenSplice is configured not to maintain the
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* information about “associated” subscriptions.
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* @throws dds::core::OutOfResourcesError
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* The Data Distribution Service ran out of resources to
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* complete this operation.
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*/
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template <typename T>
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::dds::core::InstanceHandleSeq
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matched_subscriptions(const dds::pub::DataWriter<T>& dw);
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/**
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* This operation retrieves the list of subscriptions currently “associated” with the
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* DataWriter. That is, subscriptions that have a matching Topic and compatible
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* QoS that the application has not indicated should be “ignored” by means of the
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* dds::sub::ignore operation on the DomainParticipant class.
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*
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* The handles returned in the dds::core::InstanceHandleSeq are the ones that
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* are used by the DDS implementation to locally identify the corresponding matched
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* DataReader entities. You can access more detailed information about a particular
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* subscription by passing its subscription_handle to either the
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* dds::pub::matched_subscription_data operation or to the read with instance
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* operation on the built-in reader for the “DCPSSubscription” topic.
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*
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* See @ref DCPS_Builtin_Topics "Builtin Topics" for more information.
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*
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* @param dw the DataWriter
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* @param begin an iterator indicating the beginning of a sequence of
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* instance handles in which to put the matched subscriptions
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* @param max_size the maximum number of matched subscriptions to return
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* @return the number of matched subscriptions returned
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* @throws dds::core::Error
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* An internal error has occurred.
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* @throws dds::core::NullReferenceError
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* The entity was not properly created and references to dds::core::null.
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* @throws dds::core::AlreadyClosedError
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* The entity has already been closed.
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* @throws dds::core::NotEnabledError
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* The DataWriter has not yet been enabled.
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* @throws dds::core::UnsupportedError
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* OpenSplice is configured not to maintain the
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* information about “associated” subscriptions.
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* @throws dds::core::OutOfResourcesError
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* The Data Distribution Service ran out of resources to
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* complete this operation.
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*/
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template <typename T, typename FwdIterator>
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uint32_t
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matched_subscriptions(const dds::pub::DataWriter<T>& dw,
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FwdIterator begin, uint32_t max_size);
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/**
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* This operation retrieves information on the specified subscription that is currently
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* “associated” with the DataWriter. That is, a subscription with a matching Topic
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* and compatible QoS that the application has not indicated should be “ignored” by
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* means of the dds::sub::ignore operation on the DomainParticipant
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* class.
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*
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* The subscription_handle must correspond to a subscription currently
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* associated with the DataWriter, otherwise the operation will fail and throw
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* InvalidArgumentError. The operation dds::pub::matched_subscriptions can
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* be used to find the subscriptions that are currently matched with the DataWriter.
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*
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* The operation may fail if the infrastructure does not locally maintain the
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* connectivity information. This is the case when OpenSplice is configured not to
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* maintain discovery information in the Networking Service. (See the description for
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* the NetworkingService/Discovery/enabled property in the Deployment
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* Manual for more information about this subject.) In such cases the operation will
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* throw UnsupportedError.
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*
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* See also @ref DCPS_Builtin_Topics and @ref DCPS_Builtin_Topics_SubscriptionData.
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*
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* @param dw the DataWriter
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* @param h the InstanceHandle
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* @return the SubscriptionBuiltinTopicData
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* @throws dds::core::Error
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* An internal error has occurred.
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* @throws dds::core::NullReferenceError
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* The entity was not properly created and references to dds::core::null.
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* @throws dds::core::AlreadyClosedError
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* The entity has already been closed.
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* @throws dds::core::NotEnabledError
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* The DataWriter has not yet been enabled.
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* @throws dds::core::UnsupportedError
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* OpenSplice is configured not to maintain the
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* information about “associated” subscriptions.
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* @throws dds::core::InvalidArgumentError
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* Subscription not associated with the DataWriter.
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* @throws dds::core::OutOfResourcesError
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* The Data Distribution Service ran out of resources to
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* complete this operation.
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*/
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template <typename T>
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const dds::topic::SubscriptionBuiltinTopicData
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matched_subscription_data(const dds::pub::DataWriter<T>& dw,
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const ::dds::core::InstanceHandle& h);
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}
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}
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#endif /* OMG_DDS_PUB_DISCOVERY_HPP_ */
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