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

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+/*
+ * Copyright(c) 2006 to 2020 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
+ */
+
+
+/**
+ * @file
+ */
+
+#ifndef CYCLONEDDS_DDS_TOPIC_DETAIL_DISCOVER_HPP_
+#define CYCLONEDDS_DDS_TOPIC_DETAIL_DISCOVER_HPP_
+
+#include <dds/topic/AnyTopic.hpp>
+#include <dds/topic/Topic.hpp>
+#include <org/eclipse/cyclonedds/topic/discovery.hpp>
+
+#include <string>
+
+
+namespace dds
+{
+namespace topic
+{
+
+template <typename TOPIC>
+TOPIC
+discover(
+    const dds::domain::DomainParticipant& dp,
+    const std::string& topic_name,
+    const dds::core::Duration& timeout)
+{
+    TOPIC t = org::eclipse::cyclonedds::topic::lookup_topic<TOPIC, typename TOPIC::DELEGATE_T>::discover(dp, topic_name, timeout);
+
+    return t;
+}
+
+
+template <typename ANYTOPIC, typename FwdIterator>
+uint32_t
+discover(
+    const dds::domain::DomainParticipant& dp,
+    FwdIterator begin,
+    uint32_t max_size)
+{
+    std::vector<ANYTOPIC> list;
+
+    org::eclipse::cyclonedds::topic::lookup_topic<ANYTOPIC, typename ANYTOPIC::DELEGATE_T>::discover(dp, list, max_size);
+
+    FwdIterator fit = begin;
+    for (typename std::vector<ANYTOPIC>::const_iterator it = list.begin(); it != list.end(); ++it) {
+       *fit++ = *it;
+    }
+
+    return static_cast<uint32_t>(list.size());
+}
+
+template <typename ANYTOPIC, typename BinIterator>
+uint32_t
+discover_all(
+    const dds::domain::DomainParticipant& dp,
+    BinIterator begin)
+{
+    std::vector<ANYTOPIC> list;
+
+    org::eclipse::cyclonedds::topic::lookup_topic<ANYTOPIC, typename ANYTOPIC::DELEGATE_T>::discover(dp, list, static_cast<uint32_t>(dds::core::LENGTH_UNLIMITED));
+
+    BinIterator bit = begin;
+    for (typename std::vector<ANYTOPIC>::const_iterator it = list.begin(); it != list.end(); ++it) {
+       *bit++ = *it;
+    }
+
+    return list.size();
+}
+
+
+template <typename FwdIterator>
+void
+ignore(
+    const dds::domain::DomainParticipant& dp,
+    FwdIterator begin, FwdIterator end)
+{
+    (void)dp;
+    (void)begin;
+    (void)end;
+    ISOCPP_THROW_EXCEPTION(ISOCPP_UNSUPPORTED_ERROR, "Function not currently supported");
+}
+
+}
+}
+
+
+#endif /* CYCLONEDDS_DDS_TOPIC_DETAIL_DISCOVER_HPP_ */