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unitree_SDK/include/ddscxx/dds/topic/qos/TopicQos.hpp

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+#ifndef OMG_DDS_TOPIC_QOS_TOPIC_QOS_HPP_
+#define OMG_DDS_TOPIC_QOS_TOPIC_QOS_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/topic/qos/detail/TopicQos.hpp>
+
+namespace dds
+{
+namespace topic
+{
+namespace qos
+{
+typedef dds::topic::qos::detail::TopicQos TopicQos;
+}
+}
+}
+
+
+#endif /* OMG_DDS_TOPIC_QOS_TOPIC_QOS_HPP_ */

unitree_SDK/include/ddscxx/dds/topic/qos/detail/TopicQos.hpp

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+#ifndef OMG_DDS_TOPIC_QOS_DETAIL_TOPIC_QOS_HPP_
+#define OMG_DDS_TOPIC_QOS_DETAIL_TOPIC_QOS_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/detail/TEntityQosImpl.hpp>
+#include <org/eclipse/cyclonedds/topic/qos/TopicQosDelegate.hpp>
+
+#ifdef DOXYGEN_FOR_ISOCPP
+/* The above macro is never (and must never) be defined in normal compilation.
+ *
+ * The class below is just used to create informative API documentation.
+ * The predoxygen.py script will copy this over the QoS API header file.
+ */
+/**
+ * @brief
+ * This struct provides the basic mechanism for an application to specify Quality of
+ * Service attributes for a Topic.
+ *
+ * @par Attributes
+ * @anchor anchor_dds_topic_qos_defaults
+ * QosPolicy                            | Desciption                                                                 | Default Value
+ * ------------------------------------ | -------------------------------------------------------------------------- | --------------------
+ * dds::core::policy::TopicData         | Additional information (@ref DCPS_QoS_TopicData "info")                    | TopicData::TopicData(empty)
+ * dds::core::policy::Durability        | Data storage settings for late joiners (@ref DCPS_QoS_Durability "info")   | Durability::Volatile()
+ * dds::core::policy::DurabilityService | Transient/persistent behaviour (@ref DCPS_QoS_DurabilityService "info")    | DurabilityService::DurabilityService()
+ * dds::core::policy::Deadline          | Period in which new sample is written (@ref DCPS_QoS_Deadline "info")      | Deadline::Deadline(infinite)
+ * dds::core::policy::LatencyBudget     | Used for optimization (@ref DCPS_QoS_LatencyBudget "info")                 | LatencyBudget::LatencyBudget(zero)
+ * dds::core::policy::Liveliness        | Liveliness assertion mechanism (@ref DCPS_QoS_Liveliness "info")           | Liveliness::Automatic()
+ * dds::core::policy::Reliability       | Reliability settings (@ref DCPS_QoS_Reliability "info")                    | Reliability::Reliable()
+ * dds::core::policy::DestinationOrder  | DataReader data order settings (@ref DCPS_QoS_DestinationOrder "info")     | DestinationOrder::ReceptionTimestamp()
+ * dds::core::policy::History           | Data storage settings (@ref DCPS_QoS_History "info")                       | History::KeepLast(depth 1)
+ * dds::core::policy::ResourceLimits    | Maximum resource settings (@ref DCPS_QoS_ResourceLimits "info")            | ResourceLimits::ResourceLimits(all unlimited)
+ * dds::core::policy::TransportPriority | Priority hint for transport layer (@ref DCPS_QoS_TransportPriority "info") | TransportPriority::TTransportPriority(0)
+ * dds::core::policy::Lifespan          | Maximum duration of validity of data (@ref DCPS_QoS_Lifespan "info")       | Lifespan::Lifespan(infinite)
+ * dds::core::policy::Ownership         | Exclusive ownership or not (@ref DCPS_QoS_Ownership "info")                | Ownership::Shared()
+ * dds::core::policy::DataRepresentation | Supported data representation kinds (@ref DCPS_QoS_DataRepresentation "info") | DataRepresentation::DataRepresentation(dds::core::policy::DataRepresentationId::XCDR1)
+ * dds::core::policy::TypeConsistencyEnforcement | Type consistency enforcement policies (@ref DCPS_QoS_TypeConsistencyEnforcement "info") | dds::core::policy::TypeConsistencyKind::DISALLOW_TYPE_COERCION
+ *
+ * A QosPolicy can be set when the Topic is created or modified with the set
+ * qos operation.
+ * Both operations take the TopicQos object as a parameter. There may be cases
+ * where several policies are in conflict. Consistency checking is performed each time
+ * the policies are modified when they are being created and, in case they are already
+ * enabled, via the set qos operation.
+ *
+ * Some QosPolicy have "immutable" semantics meaning that they can only be
+ * specified either at Topic creation time or prior to calling the enable
+ * operation on the Topic.
+ *
+ * @see for more information: @ref DCPS_QoS
+ */
+class dds::topic::qos::TopicQos : public ::dds::core::EntityQos<org::eclipse::cyclonedds::topic::qos::TopicQosDelegate>
+{
+public:
+    /**
+     * Create @ref anchor_dds_topic_qos_defaults "default" QoS.
+     */
+    TopicQos() {}
+
+    /**
+     * Create copied QoS type.
+     *
+     * @param qos the QoS to copy policies from.
+     */
+    TopicQos(const TopicQos& qos);
+};
+
+#else /* DOXYGEN_FOR_ISOCPP */
+
+namespace dds { namespace topic { namespace qos { namespace detail {
+	typedef ::dds::core::TEntityQos< ::org::eclipse::cyclonedds::topic::qos::TopicQosDelegate > TopicQos;
+} } } }
+
+#endif /* DOXYGEN_FOR_ISOCPP */
+
+#endif /* OMG_DDS_TOPIC_QOS_DETAIL_TOPIC_QOS_HPP_ */