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unitree_SDK/include/ddscxx/dds/topic/TAnyTopic.hpp

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+#ifndef OMG_DDS_TOPIC_TANYTOPIC_HPP_
+#define OMG_DDS_TOPIC_TANYTOPIC_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/conformance.hpp>
+#include <dds/core/types.hpp>
+#include <dds/core/ref_traits.hpp>
+#include <dds/domain/DomainParticipant.hpp>
+#include <dds/topic/qos/TopicQos.hpp>
+#include <dds/topic/TopicDescription.hpp>
+
+
+namespace dds
+{
+namespace topic
+{
+template <typename DELEGATE>
+class TAnyTopic;
+}
+}
+
+
+/**
+ * @brief
+ * Typeless base class for the typed Topic.
+ *
+ * Topics are created type specific (fi Topic<Foo::Bar> topic). However, there
+ * are a few places in the API (and possibly application) where the type can not be known
+ * while still some Topic has to be passed around, stored or even typeless functionality
+ * called.<br>
+ * The main examples in the API that needs typeless Topic is: DomainParticipantListener.
+ *
+ * @see dds::topic::Topic
+ */
+template <typename DELEGATE>
+class dds::topic::TAnyTopic :
+    public ::dds::core::TEntity< DELEGATE >,
+    public ::dds::topic::TTopicDescription< DELEGATE >
+{
+    OMG_DDS_REF_TYPE_PROTECTED_DC(TAnyTopic, ::dds::topic::TTopicDescription, DELEGATE)
+    OMG_DDS_IMPLICIT_REF_BASE(TAnyTopic)
+
+    OMG_DDS_COMPLETE_RULE_OF_FIVE_VIRTUAL_DEFAULT(TAnyTopic)
+
+public:
+
+    //==========================================================================
+    //== QoS Management
+
+    /**
+     * Gets the TopicQos setting for this instance.
+     *
+     * @return the qos
+     * @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::OutOfResourcesError
+     *                  The Data Distribution Service ran out of resources to
+     *                  complete this operation.
+     */
+    dds::topic::qos::TopicQos qos() const;
+
+    /**
+     * This operation replaces the existing set of QosPolicy settings for a Topic.
+     *
+     * The parameter qos contains the object with the QosPolicy settings which is
+     * checked for self-consistency and mutability.
+     *
+     * When the application tries to change a
+     * QosPolicy setting for an enabled Topic, which can only be set before the
+     * Topic is enabled, the operation will fail and a
+     * ImmutablePolicyError is thrown. In other words, the application must
+     * provide the presently set QosPolicy settings in case of the immutable QosPolicy
+     * settings. Only the mutable QosPolicy settings can be changed.
+     *
+     * When the qos contains conflicting QosPolicy settings (not self-consistent),
+     * the operation will fail and an InconsistentPolicyError is thrown.
+     *
+     * @param qos the qos
+     * @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::OutOfResourcesError
+     *                  The Data Distribution Service ran out of resources to
+     *                  complete this operation.
+     * @throws dds::core::ImmutablePolicyError
+     *                  The parameter qos contains an immutable QosPolicy setting with a
+     *                  different value than set during enabling of the DataReader.
+     * @throws dds::core::InconsistentPolicyError
+     *                  The parameter qos contains conflicting QosPolicy settings,
+     */
+    void qos(const dds::topic::qos::TopicQos& qos);
+
+    /** @copydoc dds::topic::TAnyTopic::qos(const dds::topic::qos::TopicQos& qos) */
+    TAnyTopic& operator << (const dds::topic::qos::TopicQos& qos);
+
+    /** @copydoc dds::topic::TAnyTopic::qos() */
+    const TAnyTopic& operator >> (dds::topic::qos::TopicQos& qos) const;
+
+    /**
+     * This operation obtains the InconsistentTopicStatus object of the Topic.
+     *
+     * The InconsistentTopicStatus can also be monitored using a
+     * TopicListener or by using the associated StatusCondition.
+     *
+     * @return the SampleRejectedStatus
+     * @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::OutOfResourcesError
+     *                  The Data Distribution Service ran out of resources to
+     *                  complete this operation.
+     */
+    ::dds::core::status::InconsistentTopicStatus
+    inconsistent_topic_status() const;
+
+};
+
+
+#endif /* OMG_DDS_TOPIC_TANYTOPIC_HPP_ */