init

2025-09-24 10:53:28 +08:00
commit f8e4df77fb
856 changed files with 140098 additions and 0 deletions
--- a/unitree_SDK/include/ddscxx/dds/sub/SharedSamples.hpp
+++ b/unitree_SDK/include/ddscxx/dds/sub/SharedSamples.hpp
@@ -0,0 +1,126 @@
+/* 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.
+*/
+#ifndef OMG_DDS_SUB_SHARED_SAMPLES_HPP_
+#define OMG_DDS_SUB_SHARED_SAMPLES_HPP_
+
+
+#include <dds/core/Reference.hpp>
+#include <dds/sub/Sample.hpp>
+#include <dds/sub/LoanedSamples.hpp>
+#include <dds/sub/detail/SharedSamples.hpp>
+
+/** @cond */
+namespace dds
+{
+namespace sub
+{
+template <typename T,
+          template <typename Q> class DELEGATE = detail::SharedSamples>
+class SharedSamples;
+}
+}
+/** @endcond */
+
+/**
+ * @brief
+ * This class encapsulates and automates the management of loaned samples.
+ *
+ * @note The specification of this class is not yet finished. It will possibly
+ *       change in the future. Anyway, this class is basically a copy of LoanedSamples
+ *       when considering its functionality. So, anything you would want to do with this
+ *       class can also be done by the LoanedSamples.
+ */
+template <typename T, template <typename Q> class DELEGATE>
+class dds::sub::SharedSamples
+{
+public:
+    typedef T                     DataType;
+    typedef typename DELEGATE<T>::const_iterator        const_iterator;
+
+    typedef typename dds::core::smart_ptr_traits< DELEGATE<T> >::ref_type DELEGATE_REF_T;
+
+public:
+    /**
+     * Constructs a SharedSamples instance.
+     */
+    SharedSamples();
+
+    /**
+     * Constructs an instance of SharedSamples and
+     * removes the ownership of the loan from the LoanedSamples.
+     * As a result the destruction of the LoanedSamples object
+     * will have no effect on loaned data. Loaned data will be returned
+     * automatically once the delegate of this reference type will have a
+     * zero reference count.
+     *
+     * @param ls the loaned samples
+     *
+     */
+    SharedSamples(dds::sub::LoanedSamples<T> ls);
+
+    /**
+     * Copies a SharedSamples instance.
+     */
+    SharedSamples(const SharedSamples& other);
+
+    ~SharedSamples();
+
+
+public:
+    /**
+     * Gets an iterator pointing to the beginning of the samples.
+     *
+     * @return an iterator pointing to the beginning of the samples
+     */
+    const_iterator begin() const;
+
+    /**
+     * Gets an iterator pointing to the beginning of the samples.
+     *
+     * @return an iterator pointing to the beginning of the samples
+     */
+    const_iterator  end() const;
+
+    /**
+     * Gets the delegate.
+     *
+     * @return the delegate
+     */
+    const DELEGATE_REF_T& delegate() const;
+
+    /**
+     * Gets the delegate.
+     *
+     * @return the delegate
+     */
+    DELEGATE_REF_T& delegate();
+
+    /**
+     * Returns the number of samples.
+     *
+     * @return the number of samples
+     */
+    uint32_t length() const;
+
+private:
+    DELEGATE_REF_T delegate_;
+};
+
+#include <dds/sub/detail/SharedSamplesImpl.hpp>
+
+#endif /* OMG_DDS_SUB_SHARED_SAMPLES_HPP_ */