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unitree_SDK/include/ddscxx/dds/topic/detail/MultiTopic.hpp

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+#ifndef OMG_DDS_TOPIC_DETAIL_MULTI_TOPIC_HPP_
+#define OMG_DDS_TOPIC_DETAIL_MULTI_TOPIC_HPP_
+
+/* Copyright 2010, Object Management Group, Inc.
+ * Copyright 2010, PrismTech, Inc.
+ * 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 <vector>
+
+#include <dds/core/types.hpp>
+#include <dds/domain/DomainParticipant.hpp>
+#include <dds/topic/detail/TopicDescription.hpp>
+#include <dds/core/Query.hpp>
+
+#ifdef OMG_DDS_MULTI_TOPIC_SUPPORT
+
+namespace dds { namespace topic { namespace detail {
+
+
+template <typename T>
+class MultiTopic  : public org::eclipse::cyclonedds::topic::TopicDescriptionDelegate
+{
+public:
+    MultiTopic(
+        const dds::domain::DomainParticipant& dp,
+        const std::string& name,
+        const std::string expression,
+        const FWDIterator& params_begin,
+        const FWDIterator& params_end)
+        : ::dds::core::Reference< DELEGATE<T> >(
+                new dds::topic::detail::MultiTopic<T>(dp, name, expression, params_begin, params_end))
+    {
+        // Set the correct (IDL) type_name in the TopicDescription.
+        dds::topic::detail::TopicDescription<T>::myTypeName = org::eclipse::cyclonedds::topic::TopicTraits<T>::getTypeName();
+
+        //@todo validate_filter();
+    }
+
+    virtual ~MultiTopic()
+    {
+        // Assume destructor of Filter attribute cleans up itself.
+    }
+
+private:
+#if 0
+    void validate_filter()
+    {
+        q_expr expr = NULL;
+        uint32_t length;
+        c_value *params;
+
+        length = myFilter.parameters_length();
+        if (length < 100) {
+            expr = q_parse(myFilter.expression().c_str());
+            if (!expr ) {
+                ISOCPP_THROW_EXCEPTION(ISOCPP_INVALID_ARGUMENT_ERROR,
+                        "filter_expression '%s' is invalid", myFilter.expression().c_str());
+            }
+        } else {
+            ISOCPP_THROW_EXCEPTION(ISOCPP_INVALID_ARGUMENT_ERROR,
+                    "Invalid number of filter_parameters '%d', maximum is 99", length);
+        }
+
+        params = reader_parameters();
+        /* The function below does not exist yet, but probably a function like it will need to be developed. */
+        if (!u_topicMultiExprValidate(dp.delegate()->get_user_handle(), myFilter.expression().c_str(), params)) {
+            ISOCPP_THROW_EXCEPTION(ISOCPP_INVALID_ARGUMENT_ERROR,
+                    "filter_expression '%s' is invalid.", myFilter.expression().c_str());
+        }
+        q_dispose(expr);
+        os_free(params);
+    }
+#endif
+public:
+    std::string reader_expression() const
+    {
+        return myFilter.expression();
+    }
+#if 0
+    c_value *reader_parameters() const
+    {
+        c_value *params = NULL;
+        uint32_t n, length;
+        org::eclipse::cyclonedds::topic::FilterDelegate::const_iterator paramIterator;
+
+        length = myFilter.parameters_length();
+        params = (c_value *)os_malloc(length * sizeof(struct c_value));
+        for (n = 0, paramIterator = myFilter.begin(); n < length; n++, paramIterator++) {
+            params[n] = c_stringValue(const_cast<char *>(paramIterator->c_str()));
+        }
+        return params;
+    }
+#endif
+    const std::string expression() const
+    {
+        return myFilter.expression();
+    }
+
+    template <typename FWIterator>
+    void expression_parameters(const FWIterator& params_begin, const FWIterator& params_end)
+    {
+        myFilter.parameters(begin, end);
+        validate_filter();
+    }
+
+    const dds::core::StringSeq expression_parameters() const
+    {
+        return dds::core::StringSeq(myFilter.begin(), myFilter.end());
+    }
+
+private:
+    dds::topic::Filter myFilter;
+};
+
+}
+}
+}
+#endif /* OMG_DDS_MULTI_TOPIC_SUPPORT */
+
+#endif /* OMG_DDS_TOPIC_DETAIL_MULTI_TOPIC_HPP_ */