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unitree_SDK/include/unitree/common/dds/dds_parameter.hpp

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+#ifndef __UT_DDS_PARAMETER_HPP__
+#define __UT_DDS_PARAMETER_HPP__
+
+#include <unitree/common/decl.hpp>
+#include <unitree/common/dds/dds_qos_parameter.hpp>
+
+#define UT_DDS_PARAM_KEY_PARTICIPANT        "Participant"
+#define UT_DDS_PARAM_KEY_DOMAINID           "DomainId"
+#define UT_DDS_PARAM_KEY_CONFIG             "Config"
+#define UT_DDS_PARAM_KEY_NAME               "Name"
+#define UT_DDS_PARAM_KEY_TOPIC              "Topic"
+#define UT_DDS_PARAM_KEY_TOPICNAME          "TopicName"
+#define UT_DDS_PARAM_KEY_PUBLISHER          "Publisher"
+#define UT_DDS_PARAM_KEY_SUBSCRIBER         "Subscriber"
+#define UT_DDS_PARAM_KEY_WRITER             "Writer"
+#define UT_DDS_PARAM_KEY_READER             "Reader"
+#define UT_DDS_PARAM_KEY_QOS                "Qos"
+
+namespace unitree
+{
+namespace common
+{
+class DdsQosParameterHolder
+{
+public:
+    DdsQosParameterHolder();
+
+    virtual ~DdsQosParameterHolder();
+
+    void SetQos(const DdsQosParameter& qos);
+    const DdsQosParameter& GetQos() const;
+
+protected:
+    DdsQosParameter mQos;
+};
+
+class DdsParticipantParameter : public DdsQosParameterHolder
+{
+public:
+    DdsParticipantParameter();
+    DdsParticipantParameter(uint32_t domainId, const std::string& config = "");
+
+    ~DdsParticipantParameter();
+
+    void SetDomainId(int32_t domainId);
+    uint32_t GetDomainId() const;
+
+    void SetConfig(const std::string& config);
+    const std::string& GetConfig() const;
+
+private:
+    uint32_t mDomainId;
+    std::string mConfig;
+};
+
+class DdsTopicParameter : public DdsQosParameterHolder
+{
+public:
+    DdsTopicParameter();
+    DdsTopicParameter(const std::string& name);
+
+    ~DdsTopicParameter();
+
+    void SetName(const std::string& name);
+    const std::string& GetName() const;
+
+private:
+    std::string mName;
+};
+
+class DdsTopicParameterHolder
+{
+public:
+    DdsTopicParameterHolder();
+    DdsTopicParameterHolder(const std::string& topicName);
+
+    virtual ~DdsTopicParameterHolder();
+
+    void SetTopicName(const std::string& topicName);
+    const std::string& GetTopicName() const;
+
+private:
+    std::string mTopicName;
+};
+
+class DdsWriterParameter : public DdsTopicParameterHolder, public DdsQosParameterHolder
+{
+public:
+    DdsWriterParameter();
+    DdsWriterParameter(const std::string& topicName);
+
+    ~DdsWriterParameter();
+};
+
+class DdsWriterParameterHolder
+{
+public:
+    DdsWriterParameterHolder();
+
+    virtual ~DdsWriterParameterHolder();
+
+    void SetWriter(const DdsWriterParameter& writer);
+    const DdsWriterParameter& GetWriter() const;
+
+private:
+    DdsWriterParameter mWriter;
+};
+
+class DdsReaderParameter : public DdsTopicParameterHolder, public DdsQosParameterHolder
+{
+public:
+    DdsReaderParameter();
+    DdsReaderParameter(const std::string& topicName);
+
+    virtual ~DdsReaderParameter();
+};
+
+class DdsReaderParameterHolder
+{
+public:
+    DdsReaderParameterHolder();
+
+    virtual ~DdsReaderParameterHolder();
+
+    void SetReader(const DdsReaderParameter& reader);
+    const DdsReaderParameter& GetReader() const;
+
+private:
+    DdsReaderParameter mReader;
+};
+
+class DdsPublisherParameter : public DdsQosParameterHolder
+{
+public:
+    DdsPublisherParameter();
+
+    ~DdsPublisherParameter();
+
+    void AppendWriter(const DdsWriterParameter& writer);
+    void SetWriter(const std::vector<DdsWriterParameter>& writer);
+    const std::vector<DdsWriterParameter>& GetWriter() const;
+
+private:
+    std::vector<DdsWriterParameter> mWriter;
+};
+
+class DdsSubscriberParameter : public DdsQosParameterHolder
+{
+public:
+    DdsSubscriberParameter();
+    ~DdsSubscriberParameter();
+
+    void AppendReader(const DdsReaderParameter& reader);
+    void SetReader(const std::vector<DdsReaderParameter>& reader);
+    const std::vector<DdsReaderParameter>& GetReader() const;
+
+private:
+    std::vector<DdsReaderParameter> mReader;
+};
+
+class DdsParameter
+{
+public:
+    DdsParameter();
+    DdsParameter(const JsonMap& param);
+
+    ~DdsParameter();
+
+    void Init(const JsonMap& param);
+
+    uint32_t GetDomainId();
+    const std::string& GetConfig() const;
+
+    const DdsParticipantParameter& GetParticipant();
+
+    void AppendTopic(const DdsTopicParameter& topic);
+    const std::map<std::string,DdsTopicParameter>& GetTopic() const;
+
+    void AppendPublisher(const DdsPublisherParameter& publisher);
+    void SetPublisher(const std::vector<DdsPublisherParameter>& publisher);
+    const std::vector<DdsPublisherParameter>& GetPublisher() const;
+
+    void AppendSubscriber(const DdsSubscriberParameter& subscriber);
+    void SetSubscriber(const std::vector<DdsSubscriberParameter>& subscriber);
+    const std::vector<DdsSubscriberParameter>& GetSubscriber() const;
+
+    const DdsQosParameter& GetParticipantQos() const;
+    const DdsQosParameter& GetTopicQos() const;
+    const DdsQosParameter& GetPublisherQos() const;
+    const DdsQosParameter& GetSubscriberQos() const;
+    const DdsQosParameter& GetWriterQos() const;
+    const DdsQosParameter& GetReaderQos() const;
+
+private:
+    uint32_t mDomainId;
+    std::string mConfig;
+
+    DdsQosParameter mParticipantQos;
+    DdsQosParameter mTopicQos;
+    DdsQosParameter mPublisherQos;
+    DdsQosParameter mSubscriberQos;
+    DdsQosParameter mWriterQos;
+    DdsQosParameter mReaderQos;
+
+    DdsParticipantParameter mParticipant;
+    std::map<std::string,DdsTopicParameter> mTopic;
+    std::vector<DdsPublisherParameter> mPublisher;
+    std::vector<DdsSubscriberParameter> mSubscriber;
+
+};
+
+}
+}
+#endif//__UT_DDS_PARAMETER_HPP__