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unitree_SDK/include/ddscxx/dds/sub/cond/TQueryCondition.hpp
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unitree_SDK/include/ddscxx/dds/sub/cond/TQueryCondition.hpp
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#ifndef OMG_DDS_SUB_TQUERY_CONDITION_HPP_
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#define OMG_DDS_SUB_TQUERY_CONDITION_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/conformance.hpp>
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#include <dds/sub/cond/detail/QueryCondition.hpp>
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#include <dds/sub/cond/TReadCondition.hpp>
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#ifdef OMG_DDS_CONTENT_SUBSCRIPTION_SUPPORT
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namespace dds
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{
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namespace sub
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{
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namespace cond
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{
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template <typename DELEGATE>
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class TQueryCondition;
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}
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}
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}
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/**
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* @brief
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* QueryCondition objects are specialized ReadCondition objects that allow
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* the application to also specify a filter on the locally available data.
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*
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* The query (query_expression) is similar to an SQL WHERE clause can be
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* parameterized by arguments. See dds::sub::Query for more query information.
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*
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* See the @ref anchor_dds_core_cond_waitset_examples "WaitSet examples" for some examples.<br>
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* Although the WaitSet examples use the StatusCondition, the basic usage of this Condition
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* with a WaitSet is the same.
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*
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* @see dds::sub::Query
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* @see dds::core::cond::Condition
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* @see dds::sub::cond::ReadCondition
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* @see for more information: @ref DCPS_Modules_Infrastructure_Waitset "WaitSet concept"
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* @see for more information: @ref DCPS_Modules_Infrastructure_Waitset "Subscription concept"
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* @see for more information: @ref anchor_dds_sub_query_expression "SQL expression info"
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* @see for more information: @ref anchor_dds_core_cond_waitset_examples "WaitSet examples"
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*/
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template <typename DELEGATE>
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class dds::sub::cond::TQueryCondition :
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public dds::sub::cond::TReadCondition<DELEGATE>,
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public dds::sub::TQuery<DELEGATE>
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{
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public:
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OMG_DDS_REF_TYPE_PROTECTED_DC(TQueryCondition, dds::sub::cond::TReadCondition, DELEGATE)
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OMG_DDS_IMPLICIT_REF_BASE(TQueryCondition)
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public:
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// Random access iterators
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/**
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* Iterator for the query expression parameters.
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*/
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typedef typename DELEGATE::iterator iterator;
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/**
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* Iterator for the query expression parameters.
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*/
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typedef typename DELEGATE::const_iterator const_iterator;
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public:
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/**
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* Creates a QueryCondition instance.
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*
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* This will create an QueryCondition that is associated with a dds::sub::Query,
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* which is again associated with a dds::sub::DataReader.
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*
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*
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* @param query The query to filter on the locally available data.
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* @param status A mask, which selects only those samples with the desired
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* sample/view/instance states.
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* @throw dds::core::Exception
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*/
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TQueryCondition(const dds::sub::Query& query,
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const dds::sub::status::DataState& status);
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/**
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* Creates a QueryCondition instance.
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*
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* This will create an QueryCondition that is associated with a dds::sub::Query,
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* which is again associated with a dds::sub::DataReader.
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*
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* The supplied functor will be called when this QueryCondition is triggered
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* and either the inherited dds::core::cond::Condition::dispatch() is called or the
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* dds::core::cond::WaitSet::dispatch() on the WaitSet to which this QueryCondition is
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* attached to.
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*
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* See @ref anchor_dds_sub_query_expression "SQL expression info" <br>
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* See @ref anchor_dds_sub_cond_readcondition_state_mask "State mask info" in ReadCondition.
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*
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* @param query The query to filter on the locally available data.
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* @param status A mask, which selects only those samples with the desired
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* sample/view/instance states.
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* @param functor The functor to be called when the QueryCondition triggers.
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* @throw dds::core::Exception
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*/
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template <typename FUN>
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TQueryCondition(const dds::sub::Query& query,
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const dds::sub::status::DataState& status, FUN functor);
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/**
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* Creates a QueryCondition instance.
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*
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* This will create an QueryCondition that is associated with an dds::sub::AnyDataReader,
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* with parameters that essentially represent a query.
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*
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* See @ref anchor_dds_sub_query_expression "SQL expression info" <br>
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* See @ref anchor_dds_sub_cond_readcondition_state_mask "State mask info" in ReadCondition.
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*
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* @param dr Query associated DataReader.
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* @param expression for more information: @ref anchor_dds_sub_query_expression "Query expression"
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* @param params for more information: @ref anchor_dds_sub_query_expression "Query expression parameters"
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* @param status A mask, which selects only those samples with the desired
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* sample/view/instance states.
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* @throw dds::core::Exception
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*/
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TQueryCondition(const dds::sub::AnyDataReader& dr,
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const std::string& expression,
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const std::vector<std::string>& params,
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const dds::sub::status::DataState& status);
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/**
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* Creates a QueryCondition instance.
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*
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* This will create an QueryCondition that is associated with an dds::sub::AnyDataReader,
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* with parameters that essentially represent a query.
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*
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* See @ref anchor_dds_sub_query_expression "SQL expression info" <br>
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* See @ref anchor_dds_sub_cond_readcondition_state_mask "State mask info" in ReadCondition.
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*
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* @param dr Query associated DataReader.
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* @param status A mask, which selects only those samples with the desired
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* sample/view/instance states.
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* @throw dds::core::Exception
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*/
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TQueryCondition(const dds::sub::AnyDataReader& dr,
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const dds::sub::status::DataState& status);
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/**
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* Creates a QueryCondition instance.
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*
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* This will create an QueryCondition that is associated with an dds::sub::AnyDataReader,
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* with parameters that essentially represent a query.
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*
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* The supplied functor will be called when this QueryCondition is triggered
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* and either the inherited dds::core::cond::Condition::dispatch() is called or the
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* dds::core::cond::WaitSet::dispatch() on the WaitSet to which this QueryCondition is
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* attached to.
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*
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* See @ref anchor_dds_sub_query_expression "SQL expression info" <br>
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* See @ref anchor_dds_sub_cond_readcondition_state_mask "State mask info" in ReadCondition.
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*
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* @param dr Query associated DataReader.
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* @param expression for more information: @ref anchor_dds_sub_query_expression "Query expression"
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* @param params for more information: @ref anchor_dds_sub_query_expression "Query expression parameters"
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* @param status A mask, which selects only those samples with the desired
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* sample/view/instance states.
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* @throw dds::core::Exception
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*/
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template <typename FUN>
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TQueryCondition(const dds::sub::AnyDataReader& dr,
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const std::string& expression,
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const std::vector<std::string>& params,
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const dds::sub::status::DataState& status,
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FUN functor);
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public:
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/**
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* Set the Query expression.
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*
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* @param expr for more information: @ref anchor_dds_sub_query_expression "SQL expression"
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* @throw dds::core::Exception
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*/
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void expression(const std::string& expr);
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/**
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* Get the Query expression.
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*
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* See @ref anchor_dds_sub_query_expression "SQL expression info"
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*
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* @return std::string The query expression
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* @throw dds::core::Exception
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*/
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const std::string& expression();
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/**
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* Provides the beginning iterator of the query parameter list.
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*
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* See @ref anchor_dds_sub_query_expression "SQL expression info"
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*
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* @return dds::sub::cond::TQueryCondition::const_iterator
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* The beginning iterator
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* @throw dds::core::Exception
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*/
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const_iterator begin() const;
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/**
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* Provides the end iterator of the query parameter list.
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*
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* See @ref anchor_dds_sub_query_expression "SQL expression info"
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*
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* @return dds::sub::cond::TQueryCondition::const_iterator
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* The end iterator
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* @throw dds::core::Exception
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*/
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const_iterator end() const;
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/**
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* Provides the beginning iterator of the query parameter list.
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*
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* See @ref anchor_dds_sub_query_expression "SQL expression info"
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*
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* @return dds::sub::cond::TQueryCondition::iterator
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* The beginning iterator
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* @throw dds::core::Exception
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*/
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iterator begin();
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/**
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* Provides the end iterator of the query parameter list.
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*
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* See @ref anchor_dds_sub_query_expression "SQL expression info"
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*
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* @return dds::sub::cond::TQueryCondition::iterator
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* The end iterator
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* @throw dds::core::Exception
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*/
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iterator end();
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/**
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* Sets the query parameters.
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*
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* See @ref anchor_dds_sub_query_expression "SQL expression info"
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*
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* @param begin Iterator pointing to the beginning of the parameters to set
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* @param end Iterator pointing to the end of the parameters to set
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* @throw dds::core::Exception
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*/
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template<typename FWIterator>
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void parameters(const FWIterator& begin, const FWIterator end);
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/**
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* Adds a parameter to the query.
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*
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* See @ref anchor_dds_sub_query_expression "SQL expression info"
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*
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* @param param The parameter to add
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* @throw dds::core::Exception
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*/
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void add_parameter(const std::string& param);
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/**
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* Gets the number of parameters in the query.
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*
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* See @ref anchor_dds_sub_query_expression "SQL expression info"
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*
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* @return uint32_t The number of parameters in the query
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* @throw dds::core::Exception
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*/
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uint32_t parameters_length() const;
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/**
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* This operation returns the DataReader associated with the QueryCondition.
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*
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* Note that there is exactly one DataReader associated with each QueryCondition.
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*
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* @cond
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* Note also that since QueryCondition overrides this call since it inherits
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* two different implementations from its two different parents. Not offering
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* an implementation here would results in an ambiguity.
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* @endcond
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*
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* @return dds::sub::AnyDataReader The associated DataReader
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* @throw dds::core::Exception
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*/
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const dds::sub::AnyDataReader& data_reader() const;
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};
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#endif // OMG_DDS_CONTENT_SUBSCRIPTION_SUPPORT
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#endif /* OMG_DDS_SUB_TQUERY_CONDITION_HPP_ */
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