init
This commit is contained in:
186
unitree_SDK/include/ddscxx/dds/sub/discovery.hpp
Normal file
186
unitree_SDK/include/ddscxx/dds/sub/discovery.hpp
Normal file
@@ -0,0 +1,186 @@
|
||||
#ifndef OMG_DDS_SUB_DISCOVERY_HPP_
|
||||
#define OMG_DDS_SUB_DISCOVERY_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/domain/DomainParticipant.hpp>
|
||||
#include <dds/sub/DataReader.hpp>
|
||||
#include <dds/topic/BuiltinTopic.hpp>
|
||||
#include <dds/sub/detail/discovery.hpp>
|
||||
|
||||
namespace dds
|
||||
{
|
||||
namespace sub
|
||||
{
|
||||
|
||||
/**
|
||||
* Ignore subscriptions.
|
||||
*
|
||||
* <b><i>This operation is not yet implemented. It is scheduled for a future release.</i></b>
|
||||
*
|
||||
* @param dp the DomainParticipant for which the remote
|
||||
* entity will be ignored
|
||||
*
|
||||
* @param handle the InstanceHandle of the remote entity that
|
||||
* has to be ignored
|
||||
*/
|
||||
void OMG_DDS_API ignore(const dds::domain::DomainParticipant& dp,
|
||||
const dds::core::InstanceHandle& handle);
|
||||
|
||||
/**
|
||||
* Ignore subscriptions.
|
||||
*
|
||||
* <b><i>This operation is not yet implemented. It is scheduled for a future release.</i></b>
|
||||
*
|
||||
* @param dp the DomainParticipant for which the remote
|
||||
* entity will be ignored
|
||||
*
|
||||
* @param begin the start of the range to be ignored
|
||||
*
|
||||
* @param end the end of the range to be ignored
|
||||
*/
|
||||
template <typename FwdIterator>
|
||||
void ignore(const dds::domain::DomainParticipant& dp, FwdIterator begin, FwdIterator end);
|
||||
|
||||
|
||||
//==========================================================================
|
||||
//== Discovery Management
|
||||
/**
|
||||
* This operation retrieves the list of publications currently "associated" with the
|
||||
* DataReader. That is, subscriptions that have a matching Topic and compatible
|
||||
* QoS that the application has not indicated should be “ignored” by means of the
|
||||
* ignore_publication operation on the DomainParticipant.
|
||||
*
|
||||
* The handles returned in the dds::core::InstanceHandleSeq are the ones that are
|
||||
* used by the DDS implementation to locally identify the corresponding matched
|
||||
* DataWriter entities. You can access more detailed information about a particular
|
||||
* publication by passing its publication_handle to either the
|
||||
* dds::sub::matched_publication_data operation or to the read with instance
|
||||
* operation on the built-in reader for the “DCPSPublication” topic.
|
||||
*
|
||||
* See @ref DCPS_Builtin_Topics "Builtin Topics" for more information.
|
||||
*
|
||||
* @param dr the DataReader
|
||||
* @return a sequence of handles
|
||||
* @throws dds::core::Error
|
||||
* An internal error has occurred.
|
||||
* @throws dds::core::NullReferenceError
|
||||
* The entity was not properly created and references to dds::core::null.
|
||||
* @throws dds::core::AlreadyClosedError
|
||||
* The entity has already been closed.
|
||||
* @throws dds::core::NotEnabledError
|
||||
* The DataReader has not yet been enabled.
|
||||
* @throws dds::core::UnsupportedError
|
||||
* OpenSplice is configured not to maintain the
|
||||
* information about “associated” subscriptions.
|
||||
* @throws dds::core::OutOfResourcesError
|
||||
* The Data Distribution Service ran out of resources to
|
||||
* complete this operation.
|
||||
*/
|
||||
template <typename T>
|
||||
::dds::core::InstanceHandleSeq
|
||||
matched_publications(const dds::sub::DataReader<T>& dr);
|
||||
|
||||
/**
|
||||
* This operation retrieves the list of publications currently "associated" with the
|
||||
* DataReader. That is, subscriptions that have a matching Topic and compatible
|
||||
* QoS that the application has not indicated should be “ignored” by means of the
|
||||
* ignore_publication operation on the DomainParticipant.
|
||||
*
|
||||
* The handles returned in the dds::core::InstanceHandleSeq are the ones that are
|
||||
* used by the DDS implementation to locally identify the corresponding matched
|
||||
* DataWriter entities. You can access more detailed information about a particular
|
||||
* publication by passing its publication_handle to either the
|
||||
* dds::sub::matched_publication_data operation or to the read with instance
|
||||
* operation on the built-in reader for the “DCPSPublication” topic.
|
||||
*
|
||||
* See @ref DCPS_Builtin_Topics "Builtin Topics" for more information.
|
||||
*
|
||||
* @param dr the DataReader
|
||||
* @param begin an iterator indicating the beginning of a sequence of
|
||||
* instance handles in which to put the matched subscriptions
|
||||
* @param max_size the maximum number of matched subscriptions to return
|
||||
* @return the number of matched subscriptions returned
|
||||
* @throws dds::core::Error
|
||||
* An internal error has occurred.
|
||||
* @throws dds::core::NullReferenceError
|
||||
* The entity was not properly created and references to dds::core::null.
|
||||
* @throws dds::core::AlreadyClosedError
|
||||
* The entity has already been closed.
|
||||
* @throws dds::core::NotEnabledError
|
||||
* The DataReader has not yet been enabled.
|
||||
* @throws dds::core::UnsupportedError
|
||||
* OpenSplice is configured not to maintain the
|
||||
* information about “associated” subscriptions.
|
||||
* @throws dds::core::OutOfResourcesError
|
||||
* The Data Distribution Service ran out of resources to
|
||||
* complete this operation.
|
||||
*/
|
||||
template <typename T, typename FwdIterator>
|
||||
uint32_t
|
||||
matched_publications(const dds::sub::DataReader<T>& dr,
|
||||
FwdIterator begin, uint32_t max_size);
|
||||
|
||||
/**
|
||||
* This operation retrieves information on the specified publication that is currently
|
||||
* “associated” with the DataReader. That is, a publication with a matching Topic
|
||||
* and compatible QoS that the application has not indicated should be “ignored” by
|
||||
* means of the ignore_publication operation on the DomainParticipant.
|
||||
* The publication_handle must correspond to a publication currently associated
|
||||
* with the DataReader, otherwise the operation will fail and throw
|
||||
* InvalidArgumentError. The operation dds::sub::matched_publications can
|
||||
* be used to find the publications that are currently matched with the DataReader.
|
||||
*
|
||||
* The operation may fail if the infrastructure does not locally maintain the
|
||||
* connectivity information. This is the case when OpenSplice is configured not to
|
||||
* maintain discovery information in the Networking Service. (See the description for
|
||||
* the NetworkingService/Discovery/enabled property in the Deployment
|
||||
* Manual for more information about this subject.) In such cases the operation will
|
||||
* throw UnsupportedError.
|
||||
*
|
||||
* See also @ref DCPS_Builtin_Topics and @ref DCPS_Builtin_Topics_PublicationData.
|
||||
*
|
||||
* @param dr the DataReader
|
||||
* @param h the InstanceHandle
|
||||
* @return the PublicationBuiltinTopicData
|
||||
* @throws dds::core::Error
|
||||
* An internal error has occurred.
|
||||
* @throws dds::core::NullReferenceError
|
||||
* The entity was not properly created and references to dds::core::null.
|
||||
* @throws dds::core::AlreadyClosedError
|
||||
* The entity has already been closed.
|
||||
* @throws dds::core::NotEnabledError
|
||||
* The DataReader has not yet been enabled.
|
||||
* @throws dds::core::UnsupportedError
|
||||
* OpenSplice is configured not to maintain the
|
||||
* information about “associated” subscriptions.
|
||||
* @throws dds::core::InvalidArgumentError
|
||||
* Publication not associated with the DataReader.
|
||||
* @throws dds::core::OutOfResourcesError
|
||||
* The Data Distribution Service ran out of resources to
|
||||
* complete this operation.
|
||||
*/
|
||||
template <typename T>
|
||||
const dds::topic::PublicationBuiltinTopicData
|
||||
matched_publication_data(const dds::sub::DataReader<T>& dr,
|
||||
const ::dds::core::InstanceHandle& h);
|
||||
|
||||
}
|
||||
}
|
||||
#endif /* OMG_DDS_SUB_DISCOVERY_HPP_ */
|
||||
Reference in New Issue
Block a user