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/* 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.
*/
#ifndef OMG_DDS_SUB_QOS_DATA_READER_QOS_HPP_
#define OMG_DDS_SUB_QOS_DATA_READER_QOS_HPP_
#include <dds/sub/qos/detail/DataReaderQos.hpp>
namespace dds
{
namespace sub
{
namespace qos
{
typedef dds::sub::qos::detail::DataReaderQos DataReaderQos;
}
}
}
#endif /* OMG_DDS_SUB_QOS_DATA_READER_QOS_HPP_ */

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unitree_SDK/include/ddscxx/dds/sub/qos/SubscriberQos.hpp Normal file
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#ifndef OMG_DDS_SUB_QOS_SUBSCRIBER_QOS_HPP_
#define OMG_DDS_SUB_QOS_SUBSCRIBER_QOS_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/sub/qos/detail/SubscriberQos.hpp>
namespace dds
{
namespace sub
{
namespace qos
{
typedef dds::sub::qos::detail::SubscriberQos SubscriberQos;
}
}
}
#endif /* OMG_DDS_SUB_QOS_SUBSCRIBER_QOS_HPP_ */

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unitree_SDK/include/ddscxx/dds/sub/qos/detail/DataReaderQos.hpp Normal file
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#ifndef OMG_DDS_SUB_QOS_DETAIL_DATA_READER_QOS_HPP_
#define OMG_DDS_SUB_QOS_DETAIL_DATA_READER_QOS_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/detail/TEntityQosImpl.hpp>
#include <org/eclipse/cyclonedds/sub/qos/DataReaderQosDelegate.hpp>
#ifdef DOXYGEN_FOR_ISOCPP
/* The above macro is never (and must never) be defined in normal compilation.
*
* The class below is just used to create informative API documentation.
* The predoxygen.py script will copy this over the QoS API header file.
*/
/**
* @brief
* This class provides the basic mechanism for an application to specify Quality of
* Service attributes for a DataReader.
*
* @par Attributes
* @anchor anchor_dds_sub_datareader_qos_defaults
* QosPolicy | Desciption | Default Value
* ---------------------------------------------- | ----------------------------------------------------------------------------------- | --------------------
* dds::core::policy::Durability | Data storage settings for late joiners (@ref DCPS_QoS_Durability "info") | Durability::Volatile()
* dds::core::policy::Deadline | Period in which new sample is written (@ref DCPS_QoS_Deadline "info") | Deadline::Deadline(infinite)
* dds::core::policy::LatencyBudget | Used for optimization (@ref DCPS_QoS_LatencyBudget "info") | LatencyBudget::LatencyBudget(zero)
* dds::core::policy::Liveliness | Liveliness assertion mechanism (@ref DCPS_QoS_Liveliness "info") | Liveliness::Automatic()
* dds::core::policy::Reliability | Reliability settings (@ref DCPS_QoS_Reliability "info") | Reliability::BestEffort()
* dds::core::policy::DestinationOrder | DataReader data order settings (@ref DCPS_QoS_DestinationOrder "info") | DestinationOrder::ReceptionTimestamp()
* dds::core::policy::History | Data storage settings (@ref DCPS_QoS_History "info") | History::KeepLast(depth 1)
* dds::core::policy::ResourceLimits | Maximum resource settings (@ref DCPS_QoS_ResourceLimits "info") | ResourceLimits::ResourceLimits(all unlimited)
* dds::core::policy::UserData | Additional information (@ref DCPS_QoS_UserData "info") | UserData::UserData(empty)
* dds::core::policy::Ownership | Exclusive ownership or not (@ref DCPS_QoS_Ownership "info") | Ownership::Shared()
* dds::core::policy::TimeBasedFilter | Maximum data rate (@ref DCPS_QoS_TimeBasedFilter "info") | TimeBasedFilter::TimeBasedFilter(0)
* dds::core::policy::ReaderDataLifecycle | Instance state changes and notifications (@ref DCPS_QoS_ReaderDataLifecycle "info") | ReaderDataLifecycle::NoAutoPurgeDisposedSamples()
* dds::core::policy::DataRepresentation | Supported data representation kinds (@ref DCPS_QoS_DataRepresentation "info") | DataRepresentation::DataRepresentation(dds::core::policy::DataRepresentationId::XCDR1)
* dds::core::policy::TypeConsistencyEnforcement | Type consistency enforcement policies (@ref DCPS_QoS_TypeConsistencyEnforcement "info") | dds::core::policy::TypeConsistencyKind::DISALLOW_TYPE_COERCION
*
* A QosPolicy can be set when the DataReader is created or modified with the set
* qos operation.
* Both operations take the DataReaderQos object as a parameter. There may be cases
* where several policies are in conflict. Consistency checking is performed each time
* the policies are modified when they are being created and, in case they are already
* enabled, via the set qos operation.
*
* Some QosPolicy have "immutable" semantics meaning that they can only be
* specified either at DataReader creation time or prior to calling the enable
* operation on the DataReader.
*
* @see for more information: @ref DCPS_QoS
*/
class dds::sub::qos::DataReaderQos : public ::dds::core::EntityQos<org::eclipse::cyclonedds::sub::qos::DataReaderQosDelegate>
{
public:
/**
* Create a @ref anchor_dds_sub_datareader_qos_defaults "default" QoS.
*/
DataReaderQos() {}
/**
* Create copied QoS.
*
* @param qos the QoS to copy policies from.
*/
DataReaderQos(const DataReaderQos& qos);
/**
* Create a DataReader QoS from a TopicQos.
*
* This operation will copy the QosPolicy settings from the TopicQos to the
* corresponding QosPolicy settings in the DataReaderQos. The related value
* in DataReaderQos will be repliced, while the other policies will get the
* @ref anchor_dds_sub_datareader_qos_defaults "default" QoS policies.
*
* This is a "convenience" operation. It can be used to merge
* @ref anchor_dds_sub_datareader_qos_defaults "default" DataReader
* QosPolicy settings with the corresponding ones on the Topic. The resulting
* DataReaderQos can then be used to create a new DataReader, or set its
* DataReaderQos.
* @code{.cpp}
* dds::topic::qos::TopicQos topicQos = topic.qos();
* dds::sub::qos::DataReaderQos readerQos(topicQos);
* // Policies of the DataReaderQos that are not present in the TopicQos
* // have the default value.
* @endcode
*
* This operation does not check the resulting DataReaderQos for self
* consistency. This is because the "merged" DataReaderQos may not be the
* final one, as the application can still modify some QosPolicy settings prior to
* applying the DataReaderQos to the DataReader.
*
* @param qos the QoS to copy policies from.
*/
DataReaderQos(const dds::topic::qos::TopicQos& qos);
/**
* Assign dds::topic::qos::TopicQos policies to the DataReaderQos.
*
* This operation will copy the QosPolicy settings from the TopicQos to the
* corresponding QosPolicy settings in the DataReaderQos (replacing the values,
* if present).
*
* This is a "convenience" operation, useful in combination with the operations
* Subscriber::default_datareader_qos() and dds::topic::Topic::qos().
* This operation can be used to merge the DataReader
* QosPolicy settings with the corresponding ones on the Topic. The resulting
* DataReaderQos can then be used to create a new DataReader, or set its
* DataReaderQos.
* @code{.cpp}
* dds::topic::qos::TopicQos topicQos = topic.qos();
* dds::sub::qos::DataReaderQos readerQos = subscriber.default_datareader_qos();
* readerQos = topicQos;
* // Policies of the DataReaderQos that are not present in the TopicQos are untouched.
* @endcode
*
* This operation does not check the resulting DataReaderQos for self
* consistency. This is because the "merged" DataReaderQos may not be the
* final one, as the application can still modify some QosPolicy settings prior to
* applying the DataReaderQos to the DataReader.
*
* @param qos the QoS to copy policies from.
*/
DataReaderQos& operator= (const dds::topic::qos::TopicQos& other);
};
#else /* DOXYGEN_FOR_ISOCPP */
namespace dds { namespace sub { namespace qos { namespace detail {
typedef ::dds::core::TEntityQos< ::org::eclipse::cyclonedds::sub::qos::DataReaderQosDelegate > DataReaderQos;
} } } }
#endif /* DOXYGEN_FOR_ISOCPP */
#endif /* OMG_DDS_SUB_QOS_DETAIL_DATA_READER_QOS_HPP_ */

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#ifndef OMG_DDS_SUB_QOS_DETAIL_SUBSCRIBER_QOS_HPP_
#define OMG_DDS_SUB_QOS_DETAIL_SUBSCRIBER_QOS_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/detail/TEntityQosImpl.hpp>
#include <org/eclipse/cyclonedds/sub/qos/SubscriberQosDelegate.hpp>
#ifdef DOXYGEN_FOR_ISOCPP
/* The above macro is never (and must never) be defined in normal compilation.
*
* The class below is just used to create informative API documentation.
* The predoxygen.py script will copy this over the QoS API header file.
*/
/**
* @brief
* This class provides the basic mechanism for an application to specify Quality of
* Service attributes for a Subscriber.
*
* @par Attributes
* @anchor anchor_dds_sub_subscriber_qos_defaults
* QosPolicy | Desciption | Default Value
* ------------------------------------ | --------------------------------------------------------------------- | --------------------
* dds::core::policy::Presentation | Data-instance change dependencies (@ref DCPS_QoS_Presentation "info") | Presentation::InstanceAccessScope(coherent=false, ordered=false)
* dds::core::policy::Partition | Active partitions (@ref DCPS_QoS_Partition "info") | Partition::Partition(empty)
* dds::core::policy::GroupData | Additional information (@ref DCPS_QoS_GroupData "info") | GroupData::GroupData(empty)
* dds::core::policy::EntityFactory | Create enabled (@ref DCPS_QoS_EntityFactory "info") | EntityFactory::AutoEnable()
*
* A QosPolicy can be set when the Subscriber is created or modified with the set qos
* operation.
* Both operations take the SubscriberQos object as a parameter. There may be cases where
* several policies are in conflict. Consistency checking is performed each time the
* policies are modified when they are being created and, in case they are already
* enabled, via the set qos operation.
*
* Some QosPolicy have "immutable" semantics meaning that they can only be
* specified either at Subscriber creation time or prior to calling the enable operation
* on the Subscriber.
*
* @see for more information: @ref DCPS_QoS
*/
class dds::sub::qos::SubscriberQos : public ::dds::core::EntityQos<org::eclipse::cyclonedds::sub::qos::SubscriberQosDelegate>
{
public:
/**
* Create @ref anchor_dds_sub_subscriber_qos_defaults "default" QoS.
*/
SubscriberQos() {}
/**
* Create copied QoS type.
*
* @param qos the QoS to copy policies from.
*/
SubscriberQos(const SubscriberQos& qos);
};
#else /* DOXYGEN_FOR_ISOCPP */
namespace dds { namespace sub { namespace qos { namespace detail {
typedef ::dds::core::TEntityQos< ::org::eclipse::cyclonedds::sub::qos::SubscriberQosDelegate> SubscriberQos;
} } } }
#endif /* DOXYGEN_FOR_ISOCPP */
#endif /* OMG_DDS_SUB_QOS_DETAIL_SUBSCRIBER_QOS_HPP_ */