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unitree_SDK/include/ddscxx/dds/sub/detail/find.hpp

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+/*
+ * Copyright(c) 2006 to 2020 ZettaScale Technology and others
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License v. 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+ * v. 1.0 which is available at
+ * http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+ */
+#ifndef CYCLONEDDS_DDS_SUB_DETAIL_FIND_HPP_
+#define CYCLONEDDS_DDS_SUB_DETAIL_FIND_HPP_
+
+/**
+ * @file
+ */
+
+// Implementation
+#include <string>
+#include <vector>
+
+#include <dds/sub/DataReader.hpp>
+#include <dds/sub/Subscriber.hpp>
+#include <dds/sub/status/DataState.hpp>
+#include <dds/topic/TopicDescription.hpp>
+
+#include <org/eclipse/cyclonedds/sub/SubscriberDelegate.hpp>
+#include <org/eclipse/cyclonedds/sub/BuiltinSubscriberDelegate.hpp>
+#include <org/eclipse/cyclonedds/sub/AnyDataReaderDelegate.hpp>
+
+namespace dds
+{
+namespace sub
+{
+
+
+
+namespace detail
+{
+
+
+/*********************************************************************
+ * To be able to properly copy found readers into the given iterators
+ * (which are related to typed DataReaders or AnyDataReaders), we have
+ * to specialize the find() template functions.
+ * But template functions specialization is not supported by C++. So,
+ * we have to use these helper classes to get the specialization.
+ *********************************************************************/
+
+typedef std::vector<org::eclipse::cyclonedds::sub::AnyDataReaderDelegate::ref_type> base_readers_vector;
+typedef std::vector<org::eclipse::cyclonedds::sub::AnyDataReaderDelegate::ref_type>::iterator base_readers_iterator;
+
+/*
+ * Copy helper class for typed readers.
+ */
+template <typename READER, typename ITERATOR>
+class ReadersCopySpecialization
+{
+public:
+    static
+    bool copy(base_readers_iterator base_iter, ITERATOR typed_iter) {
+        bool copied = false;
+        try {
+            /* Cast base reader to typed delegate: */
+            typename READER::DELEGATE_REF_T reader_typed =
+                    ::std::dynamic_pointer_cast<typename READER::DELEGATE_T>(*base_iter);
+            READER dr(reader_typed);
+            if(dr != dds::core::null)
+            {
+                *typed_iter = dr;
+                copied = true;
+            }
+        } catch (...) {
+            /* Ignore, because subscriber can have returned readers that are of
+             * different types. */
+        }
+        return copied;
+    }
+};
+
+/*
+ * Copy helper class for any readers.
+ */
+template <typename ITERATOR>
+class ReadersCopySpecialization<dds::sub::AnyDataReader, ITERATOR>
+{
+public:
+    static
+    bool copy(base_readers_iterator base_iter, ITERATOR any_iter) {
+        *any_iter = (*base_iter)->wrapper_to_any();
+        return true;
+    }
+};
+
+
+/*
+ * Copy helper class for list of readers.
+ */
+template <typename READER, typename ITERATOR>
+class ReadersCopy
+{
+public:
+    static
+    uint32_t copy(base_readers_vector base_readers,
+                  ITERATOR begin,
+                  uint32_t max_size)
+    {
+        uint32_t size = 0;
+        base_readers_iterator iter;
+        for (iter = base_readers.begin(); (size < max_size) && (iter != base_readers.end()); ++iter) {
+            if (ReadersCopySpecialization<READER, ITERATOR>::copy(iter, begin)) {
+                begin++;
+                size++;
+            }
+        }
+        return size;
+    }
+
+    static
+    uint32_t copy(base_readers_vector base_readers,
+                  ITERATOR begin)
+    {
+        uint32_t size = 0;
+        base_readers_iterator iter;
+        for (iter = base_readers.begin(); iter != base_readers.end(); ++iter) {
+            if (ReadersCopySpecialization<READER, ITERATOR>::copy(iter, begin)) {
+                begin++;
+                size++;
+            }
+        }
+        return size;
+    }
+};
+
+} /* namespace detail */
+
+
+
+template <typename READER, typename FwdIterator>
+uint32_t
+find(const dds::sub::Subscriber& sub,
+     const std::string &topic_name,
+     FwdIterator begin, uint32_t max_size)
+{
+    uint32_t size = 0;
+    if (max_size > 0) {
+        detail::base_readers_vector base_readers;
+        base_readers = sub.delegate()->find_datareaders(topic_name);
+        size = detail::ReadersCopy<READER, FwdIterator>::copy(base_readers, begin, max_size);
+    }
+    return size;
+}
+
+template <typename READER, typename BinIterator>
+uint32_t
+find(const dds::sub::Subscriber& sub,
+     const std::string &topic_name,
+     BinIterator begin)
+{
+    uint32_t size = 0;
+    detail::base_readers_vector base_readers;
+    base_readers = sub.delegate()->find_datareaders(topic_name);
+    size = detail::ReadersCopy<READER, BinIterator>::copy(base_readers, begin);
+    return size;
+}
+
+template <typename READER, typename T, typename FwdIterator>
+uint32_t
+find(const dds::sub::Subscriber& sub,
+     const dds::topic::TopicDescription& topic_description,
+     FwdIterator begin, uint32_t max_size)
+{
+    return find<READER, FwdIterator>(sub, topic_description.name(), begin, max_size);
+}
+
+template <typename READER, typename T, typename BinIterator>
+uint32_t
+find(const dds::sub::Subscriber& sub,
+     const dds::topic::TopicDescription& topic_description,
+     BinIterator begin)
+{
+    return find<READER, BinIterator>(sub, topic_description.name(), begin);
+}
+
+template <typename READER, typename FwdIterator>
+uint32_t
+find(const dds::sub::Subscriber& sub,
+     const dds::sub::status::DataState& rs,
+     FwdIterator begin, uint32_t max_size)
+{
+    uint32_t size = 0;
+    if (max_size > 0) {
+        detail::base_readers_vector base_readers;
+        base_readers = sub.delegate()->get_datareaders(rs);
+        size = detail::ReadersCopy<READER, FwdIterator>::copy(base_readers, begin, max_size);
+    }
+    return size;
+}
+
+template <typename READER, typename BinIterator>
+uint32_t
+find(const dds::sub::Subscriber& sub,
+     const dds::sub::status::DataState& rs,
+     BinIterator begin)
+{
+    uint32_t size = 0;
+    detail::base_readers_vector base_readers;
+    base_readers = sub.delegate()->get_datareaders(rs);
+    size = detail::ReadersCopy<READER, BinIterator>::copy(base_readers, begin);
+    return size;
+}
+
+}
+}
+
+#endif /* CYCLONEDDS_DDS_SUB_DETAIL_FIND_HPP_ */
+