init
This commit is contained in:
487
unitree_SDK/include/ddscxx/dds/topic/TBuiltinTopic.hpp
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487
unitree_SDK/include/ddscxx/dds/topic/TBuiltinTopic.hpp
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#ifndef OMG_TDDS_TOPIC_BUILT_IN_TOPIC_HPP_
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#define OMG_TDDS_TOPIC_BUILT_IN_TOPIC_HPP_
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/* Copyright 2010, Object Management Group, Inc.
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* Copyright 2010, PrismTech, Corp.
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* Copyright 2010, Real-Time Innovations, Inc.
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* All rights reserved.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <dds/core/detail/conformance.hpp>
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#include <dds/core/Value.hpp>
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#include <dds/core/policy/CorePolicy.hpp>
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#include <dds/topic/BuiltinTopicKey.hpp>
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namespace dds
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{
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namespace topic
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{
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template <typename D>
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class TParticipantBuiltinTopicData;
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template <typename D>
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class TTopicBuiltinTopicData;
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template <typename D>
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class TPublicationBuiltinTopicData;
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template <typename D>
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class TSubscriptionBuiltinTopicData;
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}
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}
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/**
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* @brief
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* Class that contains information about available DomainParticipants within
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* the system.
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*
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* The DCPSParticipant topic communicates the existence of DomainParticipants
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* by means of the ParticipantBuiltinTopicData datatype. Each
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* ParticipantBuiltinTopicData sample in a Domain represents a DomainParticipant
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* that participates in that Domain: a new ParticipantBuiltinTopicData instance
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* is created when a newly-added DomainParticipant is enabled, and it is disposed
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* when that DomainParticipant is deleted. An updated ParticipantBuiltinTopicData
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* sample is written each time the DomainParticipant modifies its UserDataQosPolicy.
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*
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* @code{.cpp}
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* // Get builtin subscriber
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* dds::domain::DomainParticipant participant(org::eclipse::cyclonedds::domain::default_id());
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* dds::sub::Subscriber builtinSubscriber = dds::sub::builtin_subscriber(participant);
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*
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* // Get DCPSParticipant builtin reader (happy flow)
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* string name = "DCPSParticipant";
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* vector<dds::sub::DataReader<dds::topic::ParticipantBuiltinTopicData> > readersVector;
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* dds::sub::find<dds::sub::DataReader<dds::topic::ParticipantBuiltinTopicData>,
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* back_insert_iterator<vector<dds::sub::DataReader<dds::topic::ParticipantBuiltinTopicData> > > >(
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* builtinSubscriber,
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* name,
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* back_inserter<vector<dds::sub::DataReader<dds::topic::ParticipantBuiltinTopicData> > >(readersVector));
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* dds::sub::DataReader<dds::topic::ParticipantBuiltinTopicData> builtinReader = readersVector[0];
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*
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* // The builtinReader can now be used just as a normal dds::sub::DataReader to get
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* // dds::topic::ParticipantBuiltinTopicData samples.
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* @endcode
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*
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* @see for more information: @ref DCPS_Builtin_Topics
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* @see for more information: @ref DCPS_Builtin_Topics_ParticipantData
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*/
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template <typename D>
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class dds::topic::TParticipantBuiltinTopicData : public ::dds::core::Value<D>
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{
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public:
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/**
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* Globally unique identifier of the participant
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*/
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const dds::topic::BuiltinTopicKey& key() const;
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/**
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* User-defined data attached to the participant via a QosPolicy
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*/
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const ::dds::core::policy::UserData& user_data() const;
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};
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/**
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* @brief
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* Class that contains information about available Topics within
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* the system.
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*
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* The DCPSTopic topic communicates the existence of topics by means of the
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* TopicBuiltinTopicData datatype. Each TopicBuiltinTopicData sample in
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* a Domain represents a Topic in that Domain: a new TopicBuiltinTopicData
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* instance is created when a newly-added Topic is enabled. However, the instance is
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* not disposed when a Topic is deleted by its participant because a topic lifecycle
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* is tied to the lifecycle of a Domain, not to the lifecycle of an individual
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* participant. An updated TopicBuiltinTopicData sample is written each time a
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* Topic modifies one or more of its QosPolicy values.
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*
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* @code{.cpp}
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* // Get builtin subscriber
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* dds::domain::DomainParticipant participant(org::eclipse::cyclonedds::domain::default_id());
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* dds::sub::Subscriber builtinSubscriber = dds::sub::builtin_subscriber(participant);
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*
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* // Get DCPSTopic builtin reader (happy flow)
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* string name = "DCPSTopic";
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* vector<dds::sub::DataReader<dds::topic::TopicBuiltinTopicData> > readersVector;
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* dds::sub::find<dds::sub::DataReader<dds::topic::TopicBuiltinTopicData>,
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* back_insert_iterator<vector<dds::sub::DataReader<dds::topic::TopicBuiltinTopicData> > > >(
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* builtinSubscriber,
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* name,
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* back_inserter<vector<dds::sub::DataReader<dds::topic::TopicBuiltinTopicData> > >(readersVector));
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* dds::sub::DataReader<dds::topic::TopicBuiltinTopicData> builtinReader = readersVector[0];
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*
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* // The builtinReader can now be used just as a normal dds::sub::DataReader to get
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* // dds::topic::TopicBuiltinTopicData samples.
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* @endcode
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*
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* @see for more information: @ref DCPS_Builtin_Topics
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* @see for more information: @ref DCPS_Builtin_Topics_TopicData
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*/
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template <typename D>
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class dds::topic::TTopicBuiltinTopicData : public ::dds::core::Value<D>
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{
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public:
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/**
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* Global unique identifier of the Topic
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*/
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const dds::topic::BuiltinTopicKey& key() const;
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/**
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* Name of the Topic
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*/
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const std::string& name() const;
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/**
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* Type name of the Topic (i.e. the fully scoped IDL name)
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*/
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const std::string& type_name() const;
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/**
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* QosPolicy attached to the Topic
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*/
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const ::dds::core::policy::Durability& durability() const;
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#ifdef OMG_DDS_PERSISTENCE_SUPPORT
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/**
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* QosPolicy attached to the Topic
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*/
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const ::dds::core::policy::DurabilityService& durability_service() const;
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#endif // OMG_DDS_PERSISTENCE_SUPPORT
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/**
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* QosPolicy attached to the Topic
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*/
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const ::dds::core::policy::Deadline& deadline() const;
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/**
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* QosPolicy attached to the Topic
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*/
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const ::dds::core::policy::LatencyBudget& latency_budget() const;
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/**
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* QosPolicy attached to the Topic
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*/
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const ::dds::core::policy::Liveliness& liveliness() const;
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/**
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* QosPolicy attached to the Topic
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*/
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const ::dds::core::policy::Reliability& reliability() const;
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/**
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* QosPolicy attached to the Topic
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*/
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const ::dds::core::policy::TransportPriority& transport_priority() const;
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/**
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* QosPolicy attached to the Topic
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*/
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const ::dds::core::policy::Lifespan& lifespan() const;
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/**
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* QosPolicy attached to the Topic
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*/
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const ::dds::core::policy::DestinationOrder& destination_order() const;
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/**
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* QosPolicy attached to the Topic
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*/
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const ::dds::core::policy::History& history() const;
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/**
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* QosPolicy attached to the Topic
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*/
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const ::dds::core::policy::ResourceLimits& resource_limits() const;
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/**
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* QosPolicy attached to the Topic
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*/
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const ::dds::core::policy::Ownership& ownership() const;
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/**
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* QosPolicy attached to the Topic
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*/
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const ::dds::core::policy::TopicData& topic_data() const;
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};
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/**
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* @brief
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* Class that contains information about available DataWriters within
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* the system.
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*
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* The DCPSPublication topic communicates the existence of datawriters by means
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* of the PublicationBuiltinTopicData datatype. Each PublicationBuiltinTopicData
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* sample in a Domain represents a datawriter in that Domain: a new
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* PublicationBuiltinTopicData instance is created when a newly-added DataWriter
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* is enabled, and it is disposed when that DataWriter is deleted. An updated
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* PublicationBuiltinTopicData sample is written each time the DataWriter (or
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* the Publisher to which it belongs) modifies a QosPolicy that applies to the
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* entities connected to it. Also will it be updated when the writer looses or
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* regains its liveliness.
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*
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* @code{.cpp}
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* // Get builtin subscriber
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* dds::domain::DomainParticipant participant(org::eclipse::cyclonedds::domain::default_id());
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* dds::sub::Subscriber builtinSubscriber = dds::sub::builtin_subscriber(participant);
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*
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* // Get DCPSPublication builtin reader (happy flow)
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* string name = "DCPSPublication";
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* vector<dds::sub::DataReader<dds::topic::PublicationBuiltinTopicData> > readersVector;
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* dds::sub::find<dds::sub::DataReader<dds::topic::PublicationBuiltinTopicData>,
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* back_insert_iterator<vector<dds::sub::DataReader<dds::topic::PublicationBuiltinTopicData> > > >(
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* builtinSubscriber,
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* name,
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* back_inserter<vector<dds::sub::DataReader<dds::topic::PublicationBuiltinTopicData> > >(readersVector));
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* dds::sub::DataReader<dds::topic::PublicationBuiltinTopicData> builtinReader = readersVector[0];
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*
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* // The builtinReader can now be used just as a normal dds::sub::DataReader to get
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* // dds::topic::PublicationBuiltinTopicData samples.
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* @endcode
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*
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* @see for more information: @ref DCPS_Builtin_Topics
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* @see for more information: @ref DCPS_Builtin_Topics_PublicationData
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*/
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template <typename D>
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class dds::topic::TPublicationBuiltinTopicData : public ::dds::core::Value<D>
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{
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public:
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/**
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* Global unique identifier of the DataWriter
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*/
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const dds::topic::BuiltinTopicKey& key() const;
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/**
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* Global unique identifier of the Participant to which the DataWriter belongs
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*/
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const dds::topic::BuiltinTopicKey& participant_key() const;
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/**
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* Name of the Topic used by the DataWriter
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*/
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const std::string& topic_name() const;
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/**
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* Type name of the Topic used by the DataWriter
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*/
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const std::string& type_name() const;
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/**
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* QosPolicy attached to the DataWriter
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*/
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const ::dds::core::policy::Durability& durability() const;
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#ifdef OMG_DDS_PERSISTENCE_SUPPORT
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/**
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* QosPolicy attached to the DataWriter
|
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*/
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const ::dds::core::policy::DurabilityService& durability_service() const;
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#endif // OMG_DDS_PERSISTENCE_SUPPORT
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|
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/**
|
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* QosPolicy attached to the DataWriter
|
||||
*/
|
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const ::dds::core::policy::Deadline& deadline() const;
|
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|
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/**
|
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* QosPolicy attached to the DataWriter
|
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*/
|
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const ::dds::core::policy::LatencyBudget& latency_budget() const;
|
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|
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/**
|
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* QosPolicy attached to the DataWriter
|
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*/
|
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const ::dds::core::policy::Liveliness& liveliness() const;
|
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|
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/**
|
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* QosPolicy attached to the DataWriter
|
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*/
|
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const ::dds::core::policy::Reliability& reliability() const;
|
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|
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/**
|
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* QosPolicy attached to the DataWriter
|
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*/
|
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const ::dds::core::policy::Lifespan& lifespan() const;
|
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|
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/**
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* QosPolicy attached to the DataWriter
|
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*/
|
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const ::dds::core::policy::UserData& user_data() const;
|
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|
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/**
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* QosPolicy attached to the DataWriter
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||||
*/
|
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const ::dds::core::policy::Ownership& ownership() const;
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|
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#ifdef OMG_DDS_OWNERSHIP_SUPPORT
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/**
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* QosPolicy attached to the DataWriter
|
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*/
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const ::dds::core::policy::OwnershipStrength& ownership_strength() const;
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#endif // OMG_DDS_OWNERSHIP_SUPPORT
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|
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/**
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* QosPolicy attached to the DataWriter
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||||
*/
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const ::dds::core::policy::DestinationOrder& destination_order() const;
|
||||
|
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/**
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* QosPolicy attached to the Publisher to which the DataWriter belongs
|
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*/
|
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const ::dds::core::policy::Presentation& presentation() const;
|
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|
||||
/**
|
||||
* QosPolicy attached to the Publisher to which the DataWriter belongs
|
||||
*/
|
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const ::dds::core::policy::Partition& partition() const;
|
||||
|
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/**
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* QosPolicy attached to the Publisher to which the DataWriter belongs
|
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*/
|
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const ::dds::core::policy::TopicData& topic_data() const;
|
||||
|
||||
/**
|
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* QosPolicy attached to the Publisher to which the DataWriter belongs
|
||||
*/
|
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const ::dds::core::policy::GroupData& group_data() const;
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||||
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};
|
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||||
/**
|
||||
* @brief
|
||||
* Class that contains information about available DataReaders within
|
||||
* the system.
|
||||
*
|
||||
* The DCPSSubscription topic communicates the existence of datareaders by
|
||||
* means of the SubscriptionBuiltinTopicData datatype. Each
|
||||
* SubscriptionBuiltinTopicData sample in a Domain represents a datareader
|
||||
* in that Domain: a new SubscriptionBuiltinTopicData instance is created
|
||||
* when a newly-added DataReader is enabled, and it is disposed when that
|
||||
* DataReader is deleted. An updated SubscriptionBuiltinTopicData sample is
|
||||
* written each time the DataReader (or the Subscriber to which it belongs)
|
||||
* modifies a QosPolicy that applies to the entities connected to it.
|
||||
*
|
||||
* @code{.cpp}
|
||||
* // Get builtin subscriber
|
||||
* dds::domain::DomainParticipant participant(org::eclipse::cyclonedds::domain::default_id());
|
||||
* dds::sub::Subscriber builtinSubscriber = dds::sub::builtin_subscriber(participant);
|
||||
*
|
||||
* // Get DCPSSubscription builtin reader (happy flow)
|
||||
* string name = "DCPSSubscription";
|
||||
* vector<dds::sub::DataReader<dds::topic::SubscriptionBuiltinTopicData> > readersVector;
|
||||
* dds::sub::find<dds::sub::DataReader<dds::topic::SubscriptionBuiltinTopicData>,
|
||||
* back_insert_iterator<vector<dds::sub::DataReader<dds::topic::SubscriptionBuiltinTopicData> > > >(
|
||||
* builtinSubscriber,
|
||||
* name,
|
||||
* back_inserter<vector<dds::sub::DataReader<dds::topic::SubscriptionBuiltinTopicData> > >(readersVector));
|
||||
* dds::sub::DataReader<dds::topic::SubscriptionBuiltinTopicData> builtinReader = readersVector[0];
|
||||
*
|
||||
* // The builtinReader can now be used just as a normal dds::sub::DataReader to get
|
||||
* // dds::topic::SubscriptionBuiltinTopicData samples.
|
||||
* @endcode
|
||||
*
|
||||
* @see for more information: @ref DCPS_Builtin_Topics
|
||||
* @see for more information: @ref DCPS_Builtin_Topics_SubscriptionData
|
||||
*/
|
||||
template <typename D>
|
||||
class dds::topic::TSubscriptionBuiltinTopicData : public ::dds::core::Value<D>
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Global unique identifier of the DataReader
|
||||
*/
|
||||
const dds::topic::BuiltinTopicKey& key() const;
|
||||
|
||||
/**
|
||||
* Global unique identifier of the Participant to which the DataReader belongs
|
||||
*/
|
||||
const dds::topic::BuiltinTopicKey& participant_key() const;
|
||||
|
||||
/**
|
||||
* Name of the Topic used by the DataReader
|
||||
*/
|
||||
const std::string& topic_name() const;
|
||||
|
||||
/**
|
||||
* Type name of the Topic used by the DataReader
|
||||
*/
|
||||
const std::string& type_name() const;
|
||||
|
||||
/**
|
||||
* QosPolicy attached to the DataReader
|
||||
*/
|
||||
const ::dds::core::policy::Durability& durability() const;
|
||||
|
||||
/**
|
||||
* QosPolicy attached to the DataReader
|
||||
*/
|
||||
const ::dds::core::policy::Deadline& deadline() const;
|
||||
|
||||
/**
|
||||
* QosPolicy attached to the DataReader
|
||||
*/
|
||||
const ::dds::core::policy::LatencyBudget& latency_budget() const;
|
||||
|
||||
/**
|
||||
* QosPolicy attached to the DataReader
|
||||
*/
|
||||
const ::dds::core::policy::Liveliness& liveliness() const;
|
||||
|
||||
/**
|
||||
* QosPolicy attached to the DataReader
|
||||
*/
|
||||
const ::dds::core::policy::Reliability& reliability() const;
|
||||
|
||||
/**
|
||||
* QosPolicy attached to the DataReader
|
||||
*/
|
||||
const ::dds::core::policy::Ownership& ownership() const;
|
||||
|
||||
/**
|
||||
* QosPolicy attached to the DataReader
|
||||
*/
|
||||
const ::dds::core::policy::DestinationOrder& destination_order() const;
|
||||
|
||||
/**
|
||||
* QosPolicy attached to the DataReader
|
||||
*/
|
||||
const ::dds::core::policy::UserData& user_data() const;
|
||||
|
||||
/**
|
||||
* QosPolicy attached to the DataReader
|
||||
*/
|
||||
const ::dds::core::policy::TimeBasedFilter& time_based_filter() const;
|
||||
|
||||
/**
|
||||
* QosPolicy attached to the Subscriber to which the DataReader belongs
|
||||
*/
|
||||
const ::dds::core::policy::Presentation& presentation() const;
|
||||
|
||||
/**
|
||||
* QosPolicy attached to the Subscriber to which the DataReader belongs
|
||||
*/
|
||||
const ::dds::core::policy::Partition& partition() const;
|
||||
|
||||
/**
|
||||
* QosPolicy attached to the Subscriber to which the DataReader belongs
|
||||
*/
|
||||
const ::dds::core::policy::TopicData& topic_data() const;
|
||||
|
||||
/**
|
||||
* QosPolicy attached to the Subscriber to which the DataReader belongs
|
||||
*/
|
||||
const ::dds::core::policy::GroupData& group_data() const;
|
||||
|
||||
};
|
||||
|
||||
#endif /* OMG_TDDS_TOPIC_BUILT_IN_TOPIC_HPP_ */
|
||||
Reference in New Issue
Block a user