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unitree_SDK/include/ddscxx/dds/sub/TRank.hpp

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+/* 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_TRANK_HPP_
+#define OMG_DDS_SUB_TRANK_HPP_
+
+#include <dds/core/Value.hpp>
+
+namespace dds
+{
+namespace sub
+{
+template <typename DELEGATE>
+class TRank;
+}
+}
+
+/**
+ * @brief
+ * Class to hold sample Rank information and is part of dds::sub::SampleInfo.
+ *
+ * The sample_rank and generation_rank available in dds::sub::Rank are
+ * computed based solely on the actual samples in the ordered collection
+ * returned by read or take.
+ * - The sample_rank indicates the number of samples of the same instance
+ *   that follow the current one in the collection.
+ * - The generation_rank indicates the difference
+ *   in 'generations' between the sample (S) and the Most Recent Sample of the
+ *   same instance that appears In the returned Collection (MRSIC). That is, it
+ *   counts the number of times the instance transitioned from not-alive to
+ *   alive in the time from the reception of the S to the reception of MRSIC.
+ *
+ * The generation_rank is computed using the formula:<br>
+ * generation_rank =
+ *      (MRSIC.disposed_generation_count + MRSIC.no_writers_generation_count) -
+ *      (S.disposed_generation_count + S.no_writers_generation_count)
+ *
+ * The absolute_generation_rank indicates the
+ * difference in 'generations' between the sample (S) and the Most Recent
+ * Sample of the same instance that the middleware has received (MRS). That is,
+ * it counts the number of times the instance transitioned from not-alive to
+ * alive in the time from the reception of the S to the time when the read or
+ * take was called.
+ *
+ * The absolute_generation_rank is computed using the formula:<br>
+ * absolute_generation_rank =
+ *      (MRS.disposed_generation_count + MRS.no_writers_generation_count) -
+ *      (S.disposed_generation_count + S.no_writers_generation_count)
+ *
+ * @see for more information: @ref DCPS_Modules_Subscription_SampleInfo "SampleInfo"
+ */
+template <typename DELEGATE>
+class dds::sub::TRank : public dds::core::Value<DELEGATE>
+{
+public:
+    /** @cond
+     * Create an empty Rank.
+     * This constructor is required for containers.
+     * An application would normally not create a Rank itself.
+     * So, do not put the creation in the API documentation for clarity.
+     */
+    TRank();
+
+    /**
+     * Create a Rank instance.
+     * An application would normally not create a Rank itself.
+     * So, do not put the creation in the API documentation for clarity.
+     */
+    TRank(int32_t sample_rank, int32_t generation_rank, int32_t absolute_generation_rank);
+    /** @endcond */
+
+    /**
+     * Gets the absolute_generation_rank.
+     *
+     * The absolute_generation_rank indicates the
+     * difference in 'generations' between the sample (S) and the Most Recent
+     * Sample of the same instance that the middleware has received (MRS). That is,
+     * it counts the number of times the instance transitioned from not-alive to
+     * alive in the time from the reception of the S to the time when the read or
+     * take was called.
+     *
+     * The absolute_generation_rank is computed using the formula:<br>
+     * absolute_generation_rank =
+     *      (MRS.disposed_generation_count + MRS.no_writers_generation_count) -
+     *      (S.disposed_generation_count + S.no_writers_generation_count)
+     *
+     * @return the absolute_generation_rank
+     */
+    int32_t absolute_generation() const;
+
+    /**
+     * Gets the generation_rank.
+     *
+     * The generation_rank indicates the difference
+     * in 'generations' between the sample (S) and the Most Recent Sample of the
+     * same instance that appears In the returned Collection (MRSIC). That is, it
+     * counts the number of times the instance transitioned from not-alive to
+     * alive in the time from the reception of the S to the reception of MRSIC.
+     *
+     * The generation_rank is computed using the formula:<br>
+     * generation_rank =
+     *      (MRSIC.disposed_generation_count + MRSIC.no_writers_generation_count) -
+     *      (S.disposed_generation_count + S.no_writers_generation_count)
+     *
+     * @return the generation_rank
+     */
+    inline int32_t generation() const;
+
+    /**
+     * Gets the sample_rank.
+     *
+     * The sample_rank indicates the number of samples of the same instance
+     * that follow the current one in the collection.
+     *
+     * @return the sample_rank
+     */
+    inline int32_t sample() const;
+};
+
+#endif /* OMG_DDS_SUB_TRANK_HPP_ */