init

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

@@ -0,0 +1,81 @@
+#ifndef __UT_DDS_QOS_PARAMETER_HPP__
+#define __UT_DDS_QOS_PARAMETER_HPP__
+
+#include <unitree/common/dds/dds_qos_policy_parameter.hpp>
+
+namespace unitree
+{
+namespace common
+{
+class DdsQosParameter
+{
+public:
+    DdsQosParameter();
+    ~DdsQosParameter();
+
+    void Init(const JsonMap& data);
+
+#define __GET_POLICY(POLICY)                                    \
+    const DdsQos##POLICY##PolicyParameter& Get##POLICY() const  \
+    {                                                           \
+        return m##POLICY;                                       \
+    }
+
+    __GET_POLICY(Deadline)
+    __GET_POLICY(DestinationOrder)
+    __GET_POLICY(Durability)
+    __GET_POLICY(DurabilityService)
+    __GET_POLICY(EntityFactory)
+    __GET_POLICY(GroupData)
+    __GET_POLICY(History)
+    __GET_POLICY(LatencyBudget)
+    __GET_POLICY(Lifespan)
+    __GET_POLICY(Liveliness)
+    __GET_POLICY(Ownership)
+    __GET_POLICY(OwnershipStrength)
+    __GET_POLICY(Partition)
+    __GET_POLICY(Presentation)
+    __GET_POLICY(ReaderDataLifecycle)
+    __GET_POLICY(Reliability)
+    __GET_POLICY(ResourceLimits)
+    __GET_POLICY(TimeBasedFilter)
+    __GET_POLICY(TopicData)
+    __GET_POLICY(TransportPriority)
+    __GET_POLICY(WriterDataLifecycle)
+    __GET_POLICY(UserData)
+
+#undef __GET_POLICY
+
+    bool Default() const;
+
+private:
+    bool mDefault;
+
+    DdsQosDeadlinePolicyParameter mDeadline;
+    DdsQosDestinationOrderPolicyParameter mDestinationOrder;
+    DdsQosDurabilityPolicyParameter mDurability;
+    DdsQosDurabilityServicePolicyParameter mDurabilityService;
+    DdsQosEntityFactoryPolicyParameter mEntityFactory;
+    DdsQosGroupDataPolicyParameter mGroupData;
+    DdsQosHistoryPolicyParameter mHistory;
+    DdsQosLatencyBudgetPolicyParameter mLatencyBudget;
+    DdsQosLifespanPolicyParameter mLifespan;
+    DdsQosLivelinessPolicyParameter mLiveliness;
+    DdsQosOwnershipPolicyParameter mOwnership;
+    DdsQosOwnershipStrengthPolicyParameter mOwnershipStrength;
+    DdsQosPartitionPolicyParameter mPartition;
+    DdsQosPresentationPolicyParameter mPresentation;
+    DdsQosReaderDataLifecyclePolicyParameter mReaderDataLifecycle;
+    DdsQosReliabilityPolicyParameter mReliability;
+    DdsQosResourceLimitsPolicyParameter mResourceLimits;
+    DdsQosTimeBasedFilterPolicyParameter mTimeBasedFilter;
+    DdsQosTopicDataPolicyParameter mTopicData;
+    DdsQosTransportPriorityPolicyParameter mTransportPriority;
+    DdsQosWriterDataLifecyclePolicyParameter mWriterDataLifecycle;
+    DdsQosUserDataPolicyParameter mUserData;
+};
+
+}
+}
+
+#endif//__UT_DDS_QOS_PARAMETER_HPP__