init

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

@@ -0,0 +1,71 @@
+#ifndef __UT_DDS_QOS_HPP__
+#define __UT_DDS_QOS_HPP__
+
+#include <unitree/common/dds/dds_qos_policy.hpp>
+
+using namespace org::eclipse::cyclonedds;
+
+namespace unitree
+{
+namespace common
+{
+#define UT_DECL_DDS_QOS(QosType, QosNative)         \
+class QosType: public QosNative                     \
+{                                                   \
+public:                                             \
+    using NativeQosType = QosNative::NativeType;    \
+    explicit QosType()                              \
+    {                                               \
+        InitPolicyDefault();                        \
+    }                                               \
+    template<typename POLICY>                       \
+    void SetPolicy(const POLICY& policy)            \
+    {                                               \
+        mNative.policy(policy.GetNative());         \
+        mPolicyNameSet.insert(policy.GetName());    \
+    }                                               \
+    bool HasPolicy(const std::string& name) const   \
+    {                                               \
+        return mPolicyNameSet.find(name) != mPolicyNameSet.end();   \
+    }                                               \
+    void CopyToNativeQos(NativeQosType& qos) const; \
+private:                                            \
+    void InitPolicyDefault();                       \
+private:                                            \
+    std::set<std::string> mPolicyNameSet;           \
+};
+
+/*
+ * DdsParticipantQos
+ */
+UT_DECL_DDS_QOS(DdsParticipantQos, DdsNative<::dds::domain::qos::DomainParticipantQos>)
+
+/*
+ * DdsTopicQos
+ */
+UT_DECL_DDS_QOS(DdsTopicQos, DdsNative<::dds::topic::qos::TopicQos>)
+
+/*
+ * DdsPublisherQos
+ */
+UT_DECL_DDS_QOS(DdsPublisherQos, DdsNative<::dds::pub::qos::PublisherQos>)
+
+/*
+ * DdsSubscriberQos
+ */
+UT_DECL_DDS_QOS(DdsSubscriberQos, DdsNative<::dds::sub::qos::SubscriberQos>)
+
+/*
+ * DdsWriterQos
+ */
+UT_DECL_DDS_QOS(DdsWriterQos, DdsNative<::dds::pub::qos::DataWriterQos>)
+
+/*
+ * DdsReaderQos
+ */
+UT_DECL_DDS_QOS(DdsReaderQos, DdsNative<::dds::sub::qos::DataReaderQos>)
+
+}
+}
+
+#endif//__UT_DDS_QOS_HPP__