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unitree_SDK/include/ddscxx/dds/pub/qos/detail/DataWriterQos.hpp
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unitree_SDK/include/ddscxx/dds/pub/qos/detail/DataWriterQos.hpp
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#ifndef OMG_DDS_PUB_QOS_DETAIL_DATAWRITER_QOS_HPP_
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#define OMG_DDS_PUB_QOS_DETAIL_DATAWRITER_QOS_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/core/detail/TEntityQosImpl.hpp>
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#include <org/eclipse/cyclonedds/pub/qos/DataWriterQosDelegate.hpp>
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#ifdef DOXYGEN_FOR_ISOCPP
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/* The above macro is never (and must never) be defined in normal compilation.
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*
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* The class below is just used to create informative API documentation.
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* The predoxygen.py script will copy this over the QoS API header file.
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*/
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/**
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* @brief
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* This object provides the basic mechanism for an application to specify Quality of
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* Service attributes for a DataWriter.
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*
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* @par Attributes
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* @anchor anchor_dds_pub_datawriter_qos_defaults
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* QosPolicy | Desciption | Default Value
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* --------------------------------------- | -------------------------------------------------------------------------- | --------------------
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* dds::core::policy::UserData | Additional information (@ref DCPS_QoS_UserData "info") | UserData::UserData(empty)
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* dds::core::policy::Durability | Data storage settings for late joiners (@ref DCPS_QoS_Durability "info") | Durability::Volatile()
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* dds::core::policy::Deadline | Period in which new sample is written (@ref DCPS_QoS_Deadline "info") | Deadline::Deadline(infinite)
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* dds::core::policy::LatencyBudget | Used for optimization (@ref DCPS_QoS_LatencyBudget "info") | LatencyBudget::LatencyBudget(zero)
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* dds::core::policy::Liveliness | Liveliness assertion mechanism (@ref DCPS_QoS_Liveliness "info") | Liveliness::Automatic()
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* dds::core::policy::Reliability | Reliability settings (@ref DCPS_QoS_Reliability "info") | Reliability::Reliable()
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* dds::core::policy::DestinationOrder | DataReader data order settings (@ref DCPS_QoS_DestinationOrder "info") | DestinationOrder::ReceptionTimestamp()
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* dds::core::policy::History | Data storage settings (@ref DCPS_QoS_History "info") | History::KeepLast(depth 1)
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* dds::core::policy::ResourceLimits | Maximum resource settings (@ref DCPS_QoS_ResourceLimits "info") | ResourceLimits::ResourceLimits(all unlimited)
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* dds::core::policy::TransportPriority | Priority hint for transport layer (@ref DCPS_QoS_TransportPriority "info") | TransportPriority::TTransportPriority(0)
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* dds::core::policy::Lifespan | Maximum duration of validity of data (@ref DCPS_QoS_Lifespan "info") | Lifespan::Lifespan(infinite)
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* dds::core::policy::Ownership | Exclusive ownership or not (@ref DCPS_QoS_Ownership "info") | Ownership::Shared()
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* dds::core::policy::OwnershipStrength | Ownership strenght (@ref DCPS_QoS_OwnershipStrength "info") | OwnershipStrength::OwnershipStrength(0)
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* dds::core::policy::WriterDataLifecycle | Dispose with unregister or not (@ref DCPS_QoS_WriterDataLifecycle "info") | WriterDataLifecycle::AutoDisposeUnregisteredInstances()
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* dds::core::policy::DataRepresentation | Supported data representation kinds (@ref DCPS_QoS_DataRepresentation "info") | DataRepresentation::DataRepresentation(dds::core::policy::DataRepresentationId::XCDR1)
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* dds::core::policy::TypeConsistencyEnforcement | Type consistency enforcement policies (@ref DCPS_QoS_TypeConsistencyEnforcement "info") | dds::core::policy::TypeConsistencyKind::DISALLOW_TYPE_COERCION
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*
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* A QosPolicy can be set when the DataWriter is created or modified with the set
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* qos operation.
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* Both operations take the DataWriterQos object as a parameter. There may be cases
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* where several policies are in conflict. Consistency checking is performed each time
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* the policies are modified when they are being created and, in case they are already
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* enabled, via the set qos operation.
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*
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* Some QosPolicy have "immutable" semantics meaning that they can only be
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* specified either at DataWriter creation time or prior to calling the enable
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* operation on the DataWriter.
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*
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* @see for more information: @ref DCPS_QoS
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*/
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class dds::pub::qos::DataWriterQos : public ::dds::core::EntityQos<org::eclipse::cyclonedds::pub::qos::DataWriterQosDelegate>
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{
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public:
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/**
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* Create @ref anchor_dds_pub_datawriter_qos_defaults "default" QoS.
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*/
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DataWriterQos() {}
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/**
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* Create copied QoS type.
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*
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* @param qos the QoS to copy policies from.
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*/
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DataWriterQos(const DataWriterQos& qos);
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/**
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* Create a DataWriter QoS from a TopicQos.
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*
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* This operation will copy the QosPolicy settings from the TopicQos to the
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* corresponding QosPolicy settings in the DataWriterQos. The related value
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* in DataWriterQos will be repliced, while the other policies will get the
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* @ref anchor_dds_pub_datawriter_qos_defaults "default" QoS policies.
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*
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* This is a "convenience" operation. It can be used to merge
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* @ref anchor_dds_pub_datawriter_qos_defaults "default" DataWriter
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* QosPolicy settings with the corresponding ones on the Topic. The resulting
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* DataWriterQos can then be used to create a new DataWriter, or set its
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* DataWriterQos.
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* @code{.cpp}
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* dds::topic::qos::TopicQos topicQos = topic.qos();
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* dds::pub::qos::DataWriterQos writerQos(topicQos);
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* // Policies of the DataWriterQos that are not present in the TopicQos
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* // have the default value.
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* @endcode
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*
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* This operation does not check the resulting DataWriterQos for self
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* consistency. This is because the "merged" DataWriterQos may not be the
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* final one, as the application can still modify some QosPolicy settings prior to
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* applying the DataWriterQos to the DataWriter.
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*
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* @param qos the QoS to copy policies from.
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*/
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DataWriterQos(const dds::topic::qos::TopicQos& qos);
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/**
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* Assign dds::topic::qos::TopicQos policies to the DataWriterQos.
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*
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* This operation will copy the QosPolicy settings from the TopicQos to the
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* corresponding QosPolicy settings in the DataWriterQos (replacing the values,
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* if present).
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*
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* This is a "convenience" operation, useful in combination with the operations
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* Publisher::default_datawriter_qos() and dds::topic::Topic::qos().
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* This operation can be used to merge the DataWriter
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* QosPolicy settings with the corresponding ones on the Topic. The resulting
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* DataWriterQos can then be used to create a new DataWriter, or set its
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* DataWriterQos.
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* @code{.cpp}
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* dds::topic::qos::TopicQos topicQos = topic.qos();
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* dds::pub::qos::DataWriterQos writerQos = publisher.default_datawriter_qos();
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* writerQos = topicQos;
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* // Policies of the DataWriterQos that are not present in the TopicQos are untouched.
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* @endcode
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*
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* This operation does not check the resulting DataWriterQos for self
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* consistency. This is because the "merged" DataWriterQos may not be the
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* final one, as the application can still modify some QosPolicy settings prior to
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* applying the DataWriterQos to the DataWriter.
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*
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* @param qos the QoS to copy policies from.
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*/
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DataWriterQos& operator= (const dds::topic::qos::TopicQos& other);
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};
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#else /* DOXYGEN_FOR_ISOCPP */
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namespace dds { namespace pub { namespace qos { namespace detail {
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typedef dds::core::TEntityQos<org::eclipse::cyclonedds::pub::qos::DataWriterQosDelegate> DataWriterQos;
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} } } }
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#endif /* DOXYGEN_FOR_ISOCPP */
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#endif /* OMG_DDS_PUB_QOS_DETAIL_DATAWRITER_QOS_HPP_ */
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