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

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+/*
+ * Copyright(c) 2006 to 2021 ZettaScale Technology and others
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License v. 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+ * v. 1.0 which is available at
+ * http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+ */
+#ifndef CYCLONEDDS_DDS_TOPIC_DETAIL_TOPIC_HPP_
+#define CYCLONEDDS_DDS_TOPIC_DETAIL_TOPIC_HPP_
+
+/**
+ * @file
+ */
+
+// Implementation
+
+#include <dds/core/ref_traits.hpp>
+#include <dds/topic/TopicTraits.hpp>
+#include <dds/core/status/Status.hpp>
+#include <dds/core/status/State.hpp>
+#include <dds/domain/DomainParticipant.hpp>
+#include <dds/topic/qos/TopicQos.hpp>
+#include <dds/topic/AnyTopic.hpp>
+
+#include <org/eclipse/cyclonedds/core/config.hpp>
+#include <org/eclipse/cyclonedds/topic/TopicTraits.hpp>
+#include <org/eclipse/cyclonedds/topic/AnyTopicDelegate.hpp>
+#include <org/eclipse/cyclonedds/topic/TopicDescriptionDelegate.hpp>
+
+#include <dds/dds.h>
+
+namespace dds
+{
+namespace topic
+{
+template <typename T>
+class TopicListener;
+
+}
+}
+
+namespace dds
+{
+namespace topic
+{
+namespace detail
+{
+template <typename T>
+class Topic;
+}
+}
+}
+
+
+
+/***************************************************************************
+ *
+ * dds/topic/detail/Topic<> DELEGATE declaration.
+ * Implementation can be found in dds/topic/detail/TTopicImpl.hpp
+ *
+ ***************************************************************************/
+template <typename T>
+class dds::topic::detail::Topic : public org::eclipse::cyclonedds::topic::AnyTopicDelegate
+{
+public:
+    typedef typename ::dds::core::smart_ptr_traits< Topic<T> >::ref_type ref_type;
+    typedef typename ::dds::core::smart_ptr_traits< Topic<T> >::weak_ref_type weak_ref_type;
+
+    Topic(const dds::domain::DomainParticipant& dp,
+          const std::string& name,
+          const std::string& type_name,
+          const dds::topic::qos::TopicQos& qos,
+          dds::topic::TopicListener<T>* listener,
+          const dds::core::status::StatusMask& mask);
+
+    Topic(const dds::domain::DomainParticipant& dp,
+          const std::string& name,
+          const std::string& type_name,
+          const dds::topic::qos::TopicQos& qos,
+          dds_entity_t ddsc_topic);
+
+    virtual ~Topic();
+
+    virtual void close();
+
+    void init(ObjectDelegate::weak_ref_type weak_ref);
+
+    dds::topic::Topic<T, dds::topic::detail::Topic> wrapper();
+
+
+public:
+
+    void listener(dds::topic::TopicListener<T>* listener,
+                  const ::dds::core::status::StatusMask& mask);
+
+    dds::topic::TopicListener<T>* listener();
+
+    virtual void listener_notify(ObjectDelegate::ref_type source,
+                                 uint32_t       triggerMask,
+                                 void           *eventData,
+                                 void           *listener);
+
+    dds::topic::TTopicDescription<TopicDescriptionDelegate> clone();
+
+    static dds::topic::Topic<T, dds::topic::detail::Topic>
+    discover_topic(const dds::domain::DomainParticipant& dp,
+                   const std::string& name,
+                   const dds::core::Duration& timeout);
+
+    static void
+    discover_topics(const dds::domain::DomainParticipant& dp,
+                    std::vector<dds::topic::Topic<T, dds::topic::detail::Topic> >& topics,
+                    uint32_t max_size);
+
+    //using ::org::eclipse::cyclonedds::topic::AnyTopicDelegate<T>::on_inconsistent_topic;
+
+    void on_inconsistent_topic(
+           dds_entity_t topic,
+           org::eclipse::cyclonedds::core::InconsistentTopicStatusDelegate &s ) ; // !!!
+
+private:
+    T sample_;
+};
+
+// End of implementation
+
+#endif /* CYCLONEDDS_DDS_TOPIC_DETAIL_TOPIC_HPP_ */