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

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+#ifndef OMG_DDS_SUB_FIND_HPP_
+#define OMG_DDS_SUB_FIND_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 <string>
+
+#include <dds/sub/detail/find.hpp>
+
+namespace dds
+{
+namespace sub
+{
+
+/**
+ * This operation returns the built-in Subscriber associated with the given
+ * given DomainParticipant.
+ *
+ * Each DomainParticipant contains several built-in
+ * Topic objects. The built-in Subscriber contains the corresponding DataReader
+ * objects to access them. All these DataReader objects belong to a single built-in
+ * Subscriber. Note that there is exactly one built-in Subscriber associated with
+ * each DomainParticipant.
+ *
+ * See @ref DCPS_Builtin_Topics "Builtin Topics" for more information.
+ *
+ * @param dp the domain participant
+ * @return the built-in Subscriber
+ */
+const dds::sub::Subscriber OMG_DDS_API
+builtin_subscriber(const dds::domain::DomainParticipant& dp);
+
+/**
+ * This function retrieves a previously-created DataReader
+ * belonging to the Subscriber that is attached to a Topic with a
+ * matching topic_name. If no such DataReader exists, the operation
+ * will return an empty container.
+ *
+ * The use of this
+ * operation on the built-in Subscriber allows access to the
+ * built-in DataReader entities for the built-in topics
+ * (see @ref DCPS_Builtin_Topics "Builtin Topics").
+ *
+ * @param sub the Subscriber for which to find a DataReader
+ * @param topic_name the topic name to find
+ * @param begin a forward iterator pointing to the start of a
+ *        container in which to put the DataReaders
+ * @param max_size the number of DataReaders to return
+ * @return the total number of elements returned. Notice that
+ *        at most max_size will be copied using the provided iterator
+ *
+ */
+template <typename READER, typename FwdIterator>
+uint32_t
+find(const dds::sub::Subscriber& sub,
+     const std::string &topic_name,
+     FwdIterator begin, uint32_t max_size);
+
+/**
+ * This function retrieves a previously-created DataReader
+ * belonging to the Subscriber that is attached to a Topic with a
+ * matching topic_name. If no such DataReader exists, the operation
+ * will return an empty container.
+ *
+ * The use of this
+ * operation on the built-in Subscriber allows access to the
+ * built-in DataReader entities for the built-in topics
+ * (see @ref DCPS_Builtin_Topics "Builtin Topics").
+ *
+ * @param sub the Subscriber for which to find a DataReader
+ * @param topic_name the topic name to find
+ * @param begin a back inserting iterator pointing to the start of a
+ *        container in which to put the DataReaders
+ * @return the total number of elements returned
+ */
+template <typename READER, typename BinIterator>
+uint32_t
+find(const dds::sub::Subscriber& sub,
+     const std::string &topic_name,
+     BinIterator begin);
+
+/**
+ * This function retrieves a previously-created DataReader
+ * belonging to the Subscriber that is attached to a Topic with a
+ * matching topic_name. If no such DataReader exists, the operation
+ * will return an empty container.
+ *
+ * The use of this
+ * operation on the built-in Subscriber allows access to the
+ * built-in DataReader entities for the built-in topics
+ * (see @ref DCPS_Builtin_Topics "Builtin Topics").
+ *
+ * @param sub the Subscriber for which to find a DataReader
+ * @param topic_description the topic description to find
+ * @param begin a forward iterator pointing to the start of a
+ *        container in which to put the DataReaders
+ * @param max_size the number of DataReaders to return
+ * @return the total number of elements returned. Notice that
+ *        at most max_size will be copied using the provided iterator
+ */
+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);
+
+/**
+ * This function retrieves a previously-created DataReader
+ * belonging to the Subscriber that is attached to a Topic with a
+ * matching topic_name. If no such DataReader exists, the operation
+ * will return an empty container.
+ *
+ * The use of this
+ * operation on the built-in Subscriber allows access to the
+ * built-in DataReader entities for the built-in topics
+ * (see @ref DCPS_Builtin_Topics "Builtin Topics").
+ *
+ * @param sub the Subscriber for which to find a DataReader
+ * @param topic_description the topic description to find
+ * @param begin a back inserting iterator pointing to the start of a
+ *        container in which to put the DataReaders
+ * @return the total number of elements returned
+ */
+template <typename READER, typename T, typename BinIterator>
+uint32_t
+find(const dds::sub::Subscriber& sub,
+     const dds::topic::TopicDescription& topic_description,
+     BinIterator begin);
+
+/**
+ * This operation allows the application to access the DataReader objects that contain
+ * samples with the specified sample_states, view_states, and
+ * instance_states.
+ *
+ * If the Presentation QosPolicy of the Subscriber to which the DataReader
+ * belongs has the access_scope set to ‘GROUP’, this operation should only be
+ * invoked inside a begin_access/end_access block. Otherwise it will throw
+ * error PreconditionNotMetError.
+ *
+ * Depending on the setting of the dds::core::policy::Presentation QoSPolicy,
+ * the returned collection of DataReader objects may be:
+ * - a ‘set’ containing each DataReader at most once in no specified order,
+ * - a ‘list’ containing each DataReader one or more times in a specific order.
+ *
+ * This difference is due to the fact that, in the second situation it is required to access
+ * samples belonging to different DataReader objects in a particular order. In this case,
+ * the application should process each DataReader in the same order it appears in the
+ * ‘list’ and read or take exactly one sample from each DataReader. The patterns that
+ * an application should use to access data is fully described in dds::core::policy::Presentation.
+ *
+ * @param sub the Subscriber for which to find a DataReader
+ * @param data_state the data_state to find
+ * @param begin a forward iterator pointing to the start of a
+ *        container in which to put the DataReaders
+ * @param max_size the number of DataReaders to return
+ * @return the total number of elements returned. Notice that
+ *        at most max_size will be copied using the provided iterator
+ */
+template <typename READER, typename FwdIterator>
+uint32_t
+find(const dds::sub::Subscriber& sub,
+     const dds::sub::status::DataState& data_state,
+     FwdIterator begin, uint32_t max_size);
+
+/**
+ * This operation allows the application to access the DataReader objects that contain
+ * samples with the specified sample_states, view_states, and
+ * instance_states.
+ *
+ * If the Presentation QosPolicy of the Subscriber to which the DataReader
+ * belongs has the access_scope set to ‘GROUP’, this operation should only be
+ * invoked inside a begin_access/end_access block. Otherwise it will throw
+ * error PreconditionNotMetError.
+ *
+ * Depending on the setting of the dds::core::policy::Presentation QoSPolicy,
+ * the returned collection of DataReader objects may be:
+ * - a ‘set’ containing each DataReader at most once in no specified order,
+ * - a ‘list’ containing each DataReader one or more times in a specific order.
+ *
+ * This difference is due to the fact that, in the second situation it is required to access
+ * samples belonging to different DataReader objects in a particular order. In this case,
+ * the application should process each DataReader in the same order it appears in the
+ * ‘list’ and read or take exactly one sample from each DataReader. The patterns that
+ * an application should use to access data is fully described in dds::core::policy::Presentation.
+ *
+ * @param sub the Subscriber for which to find a DataReader
+ * @param rs the data_state to find
+ * @param begin a back inserting iterator pointing to the start
+ *        of a container in which to put the DataReaders
+ * @return the total number of elements returned
+ */
+template <typename READER, typename BinIterator>
+uint32_t
+find(const dds::sub::Subscriber& sub,
+     const dds::sub::status::DataState& rs,
+     BinIterator begin);
+
+}
+}
+
+#endif /* OMG_DDS_SUB_FIND_HPP_ */