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

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+#ifndef OMG_DDS_SUB_TSAMPLE_HPP_
+#define OMG_DDS_SUB_TSAMPLE_HPP_
+
+/* 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.
+ */
+
+#include <dds/core/Value.hpp>
+#include <dds/sub/SampleInfo.hpp>
+
+namespace dds
+{
+namespace sub
+{
+template <typename T, template <typename Q> class DELEGATE>
+class Sample;
+}
+}
+
+/**
+ * @brief
+ * This class encapsulates the data and info meta-data associated with
+ * DDS samples.
+ *
+ * It is normally used with dds::sub::LoanedSamples:
+ * @code{.cpp}
+ * dds::sub::LoanedSamples<Foo::Bar> samples = reader.read();
+ * dds::sub::LoanedSamples<Foo::Bar>::const_iterator it;
+ * for (it = samples.begin(); it != samples.end(); ++it) {
+ *     const dds::sub::Sample<Foo::Bar>& sample = *it;
+ *     const Foo::Bar& data = sample.data();
+ *     const dds::sub::SampleInfo& info = sample.info();
+ *     // Use sample data and meta information.
+ * }
+ * @endcode
+ * Or more implicitly:
+ * @code{.cpp}
+ * dds::sub::LoanedSamples<Foo::Bar> samples = reader.read();
+ * dds::sub::LoanedSamples<Foo::Bar>::const_iterator it;
+ * for (it = samples.begin(); it != samples.end(); ++it) {
+ *     const Foo::Bar& data = it->data();
+ *     const dds::sub::SampleInfo& info = it->info();
+ *     // Use sample data and meta information.
+ * }
+ * @endcode
+ *
+ * @see for more information: @ref DCPS_Modules_Subscription_DataSample "DataSample"
+ * @see for more information: @ref DCPS_Modules_Subscription_SampleInfo "SampleInfo"
+ * @see for more information: @ref DCPS_Modules_Subscription "Subscription"
+ */
+template <typename T, template <typename Q> class DELEGATE>
+class dds::sub::Sample : public dds::core::Value< DELEGATE<T> >
+{
+public:
+    /**
+     * Convenience typedef for the type of the data sample.
+     */
+    typedef T DataType;
+
+public:
+    /**
+     * Create a sample with invalid data.
+     */
+    Sample();
+
+    /**
+     * Creates a Sample instance.
+     *
+     * @param data the data
+     * @param info the sample info
+     */
+    Sample(const T& data, const SampleInfo& info);
+
+    /**
+     * Copies a sample instance.
+     *
+     * @param other the sample instance to copy
+     */
+    Sample(const Sample& other);
+
+    /**
+     * Gets the data.
+     *
+     * @return the data
+     */
+    const DataType& data() const;
+
+    /**
+     * Sets the data.
+     *
+     * @param data the data
+     */
+    void data(const DataType& data);
+
+    /**
+     * Gets the info.
+     *
+     * @return the info
+     */
+    const SampleInfo& info() const;
+
+    /**
+     * Sets the info.
+     *
+     * @param info the info
+     */
+    void info(const SampleInfo& info);
+};
+
+#endif /* OMG_DDS_SUB_TSAMPLE_HPP_ */