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unitree_SDK/include/ddscxx/dds/topic/discovery.hpp
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unitree_SDK/include/ddscxx/dds/topic/discovery.hpp
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#ifndef OMG_DDS_TOPIC_DISCOVER_HPP_
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#define OMG_DDS_TOPIC_DISCOVER_HPP_
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/* Copyright 2010, Object Management Group, Inc.
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* Copyright 2010, PrismTech, Inc.
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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/domain/DomainParticipant.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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/**
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* This operation gives access to an specific existing (or ready to exist) enabled
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* Topic, ContentFilteredTopic, MultiTopic, AnyTopic or TopicDescription based
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* on its topic_name.
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*
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* Topics that the application has indicated should be 'ignored' (by means of the
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* dds::topic::ignore operation) will not appear in this list (note: the ignore
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* feature is not yet supported).
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*
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* If a Topic of the same topic_name already exists, it gives access to this Topic.
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* Otherwise it waits (blocks the caller) until another mechanism creates it. This other
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* mechanism can be another thread, a configuration tool, or some other Data
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* Distribution Service utility. If after the specified timeout the Topic can still not be
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* found, the caller gets unblocked and the returned Topic will be dds::core::null.
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*
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* A Topic that is obtained by means of find_topic in a specific
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* DomainParticipant can only be used to create DataReaders and
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* DataWriters in that DomainParticipant.
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*
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* This operation usually results in network look-ups.
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*
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* For finding only locally created Topics, look
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* @link find(const dds::domain::DomainParticipant& dp, const std::string& topic_name)
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* here.@endlink
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*
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* @param dp the DomainParticipant
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* @param name the topic name to discover
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* @param timeout the time out
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* @throws dds::core::Error
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* An internal error has occurred.
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* @throws dds::core::NullReferenceError
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* The DomainParticipant was not properly created and references to dds::core::null.
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* @throws dds::core::AlreadyClosedError
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* The DomainParticipant has already been closed.
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* @throws dds::core::NotEnabledError
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* The DomainParticipant has not yet been enabled.
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* @throws dds::core::OutOfResourcesError
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* The Data Distribution Service ran out of resources to
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* complete this operation.
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* @throws dds::core::TimeoutError
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* No Topics of the given name found within the timeout.
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*/
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template <typename TOPIC>
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TOPIC discover(const dds::domain::DomainParticipant& dp,
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const std::string& name,
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const dds::core::Duration& timeout = dds::core::Duration::infinite());
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/**
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* This operation retrieves a list of Topics that have been discovered in the domain.
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*
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* If the max_size of the given list is large enough, all discovered Topics will be
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* present in that list. Otherwise, a random sub-set of max_size elements is returned.
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*
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* Topics that the application has indicated should be 'ignored' (by means of the
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* dds::topic::ignore operation) will not appear in this list (note: the ignore
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* feature is not yet supported).
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*
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* Because Topics of various different kinds can be retrieved, the list contains
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* AnyTopics.
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*
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* This operation usually results in network look-ups.
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*
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* @param dp the DomainParticipant
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* @param begin a forward iterator pointing to the beginning of a container
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* in which to insert the topics
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* @param max_size the maximum number of topics to return
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*/
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template <typename ANYTOPIC, typename FwdIterator>
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uint32_t discover(const dds::domain::DomainParticipant& dp, FwdIterator begin, uint32_t max_size);
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/**
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* This operation retrieves a list of all Topics that have been discovered in the domain.
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*
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* Topics that the application has indicated should be 'ignored' (by means of the
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* dds::topic::ignore operation) will not appear in this list (note: the ignore
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* feature is not yet supported).
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*
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* Because Topics of various different kinds can be retrieved, the list contains
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* AnyTopics.
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*
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* This operation usually results in network look-ups.
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*
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* @param dp the DomainParticipant
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* @param begin a back inserting iterator pointing to the beginning of a container
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* in which to insert the topics
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*/
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template <typename ANYTOPIC, typename BinIterator>
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uint32_t discover_all(const dds::domain::DomainParticipant& dp, BinIterator begin);
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/**
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* This operation allows an application to instruct the Service to locally ignore
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* a remote domain participant. From that point onwards the Service will locally
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* behave as if the remote participant did not exist. This means it will ignore any
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* Topic, publication, or subscription that originates on that domain participant.
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*
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* <b><i>This operation is not yet implemented. It is scheduled for a future release.</i></b>
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*
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* @param dp the DomainParticipant
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* @param handle the handle of the DomainParticipant to ignore
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*/
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void OMG_DDS_API ignore(const dds::domain::DomainParticipant& dp, const dds::core::InstanceHandle& handle);
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/**
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* This operation allows an application to instruct the Service to locally ignore
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* a remote domain participant. From that point onwards the Service will locally
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* behave as if the remote participant did not exist. This means it will ignore any
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* Topic, publication, or subscription that originates on that domain participant.
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*
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* <b><i>This operation is not yet implemented. It is scheduled for a future release.</i></b>
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*
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* @param dp the DomainParticipant
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* @param begin a forward iterator pointing to the beginning of a sequence of
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* InstanceHandles to ignore
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* @param end a forward iterator pointing to the end of a sequence of
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* InstanceHandles to ignore
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*/
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template <typename FwdIterator>
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void ignore(const dds::domain::DomainParticipant& dp, FwdIterator begin, FwdIterator end);
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}
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}
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#include <dds/topic/detail/discovery.hpp>
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#endif /* OMG_DDS_TOPIC_DISCOVER_HPP_ */
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