init

2025-09-24 10:53:28 +08:00
commit f8e4df77fb
856 changed files with 140098 additions and 0 deletions
--- a/unitree_SDK/include/ddscxx/dds/topic/TopicInstance.hpp
+++ b/unitree_SDK/include/ddscxx/dds/topic/TopicInstance.hpp
@@ -0,0 +1,116 @@
+#ifndef OMG_DDS_TOPIC_TOPIC_INSTANCE_HPP_
+#define OMG_DDS_TOPIC_TOPIC_INSTANCE_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/Time.hpp>
+#include <dds/core/InstanceHandle.hpp>
+
+namespace dds
+{
+namespace topic
+{
+template <typename T>
+class TopicInstance;
+}
+}
+
+/**
+ * @brief
+ * A TopicInstance encapsulates a dds::sub::Sample and its associated
+ * dds::core::InstanceHandle.
+ *
+ * @see for more information: @ref DCPS_Modules_TopicDefinition "Topic Definition"
+ * @see for more information: @ref dds::sub::Sample
+ * @see for more information: @ref dds::core::InstanceHandle
+ */
+template <typename T>
+class dds::topic::TopicInstance
+{
+public:
+    /**
+     * Construct a TopicInstance.
+     */
+    TopicInstance();
+
+    /**
+     * Construct a TopicInstance with an InstanceHandle.
+     *
+     * @param h the InstanceHandle
+     */
+    explicit TopicInstance(const ::dds::core::InstanceHandle& h);
+
+    /**
+     * Construct a TopicInstance with an InstanceHandle and a sample type.
+     *
+     * @param h the InstanceHandle
+     * @param sample the <Type>
+     */
+    TopicInstance(const ::dds::core::InstanceHandle& h, const T& sample);
+
+public:
+    /**
+     * Conversion operator to get the InstanceHandle.
+     *
+     * @return the InstanceHandle for the TopicInstance
+     */
+    operator const ::dds::core::InstanceHandle() const;
+
+    /**
+     * Get the InstanceHandle.
+     *
+     * @return the InstanceHandle for the TopicInstance
+     */
+    const ::dds::core::InstanceHandle handle() const;
+
+    /**
+     * Set the InstanceHandle.
+     *
+     * @param h the InstanceHandle to set to the TopicInstance
+     */
+    void handle(const ::dds::core::InstanceHandle& h);
+
+    /**
+     * Get the data sample
+     *
+     * @return the sample for the TopicInstance
+     */
+    const T& sample() const;
+
+    /**
+     * Get the data sample
+     *
+     * @return the sample for the TopicInstance
+     */
+    T& sample();
+
+    /**
+     * Set the data sample
+     *
+     * @param sample send a sample for this TopicInstance
+     */
+    void sample(const T& sample);
+
+private:
+    ::dds::core::InstanceHandle h_;
+    T sample_;
+};
+
+
+#endif /* OMG_DDS_TOPIC_TOPIC_INSTANCE_HPP_ */