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

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+#ifndef __UT_DDS_QOS_POLICY_HPP__
+#define __UT_DDS_QOS_POLICY_HPP__
+
+#include <dds/dds.hpp>
+#include <unitree/common/dds/dds_native.hpp>
+
+namespace unitree
+{
+namespace common
+{
+class DdsQosPolicyName
+{
+public:
+    explicit DdsQosPolicyName(const std::string& name) :
+        mName(name)
+    {}
+
+    virtual ~DdsQosPolicyName()
+    {}
+
+    const std::string& GetName() const
+    {
+        return mName;
+    }
+
+protected:
+    std::string mName;
+};
+
+class DdsDuration : public DdsNative<::dds::core::Duration>
+{
+public:
+    explicit DdsDuration(int64_t nanoSecond);
+    ~DdsDuration();
+};
+
+class DdsQosDeadlinePolicy : public DdsNative<::dds::core::policy::Deadline>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosDeadlinePolicy(int64_t period);
+    ~DdsQosDeadlinePolicy();
+};
+
+class DdsQosDestinationOrderPolicy : public DdsNative<::dds::core::policy::DestinationOrder>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosDestinationOrderPolicy(int32_t kind);
+    ~DdsQosDestinationOrderPolicy();
+};
+
+class DdsQosDurabilityPolicy : public DdsNative<::dds::core::policy::Durability>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosDurabilityPolicy(int32_t kind);
+    ~DdsQosDurabilityPolicy();
+};
+
+class DdsQosDurabilityServicePolicy : public DdsNative<::dds::core::policy::DurabilityService>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosDurabilityServicePolicy(int64_t cleanupDelay, int32_t historyKind, int32_t historyDepth,
+        int32_t maxSamples, int32_t maxInstances, int32_t maxSamplesPerInstance);
+    ~DdsQosDurabilityServicePolicy();
+};
+
+class DdsQosEntityFactoryPolicy : public DdsNative<::dds::core::policy::EntityFactory>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosEntityFactoryPolicy(bool autoEnable);
+    ~DdsQosEntityFactoryPolicy();
+};
+
+class DdsQosGroupDataPolicy : public DdsNative<::dds::core::policy::GroupData>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosGroupDataPolicy(const std::vector<uint8_t>& value);
+    ~DdsQosGroupDataPolicy();
+};
+
+class DdsQosHistoryPolicy : public DdsNative<::dds::core::policy::History>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosHistoryPolicy(int32_t kind, int32_t depth);
+    ~DdsQosHistoryPolicy();
+};
+
+class DdsQosLatencyBudgetPolicy : public DdsNative<::dds::core::policy::LatencyBudget>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosLatencyBudgetPolicy(int64_t duration);
+    ~DdsQosLatencyBudgetPolicy();
+};
+
+class DdsQosLifespanPolicy : public DdsNative<::dds::core::policy::Lifespan>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosLifespanPolicy(int64_t duration);
+    ~DdsQosLifespanPolicy();
+};
+
+class DdsQosLivelinessPolicy : public DdsNative<::dds::core::policy::Liveliness>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosLivelinessPolicy(int32_t kind, int64_t leaseDuration);
+    ~DdsQosLivelinessPolicy();
+};
+
+class DdsQosOwnershipPolicy : public DdsNative<::dds::core::policy::Ownership>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosOwnershipPolicy(int32_t kind);
+    ~DdsQosOwnershipPolicy();
+};
+
+class DdsQosOwnershipStrengthPolicy : public DdsNative<::dds::core::policy::OwnershipStrength>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosOwnershipStrengthPolicy(int32_t strength);
+    ~DdsQosOwnershipStrengthPolicy();
+};
+
+class DdsQosPartitionPolicy : public DdsNative<::dds::core::policy::Partition>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosPartitionPolicy(const std::string& name);
+    ~DdsQosPartitionPolicy();
+};
+
+class DdsQosPresentationPolicy : public DdsNative<::dds::core::policy::Presentation>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosPresentationPolicy(int32_t accessScopeKind, bool coherentAccess, bool orderedAccess);
+    ~DdsQosPresentationPolicy();
+};
+
+class DdsQosReaderDataLifecyclePolicy : public DdsNative<::dds::core::policy::ReaderDataLifecycle>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosReaderDataLifecyclePolicy(int64_t autopurgeNowriterSamplesDelay, int64_t autopurgeDisposedSamplesDelay);
+    ~DdsQosReaderDataLifecyclePolicy();
+};
+
+class DdsQosReliabilityPolicy : public DdsNative<::dds::core::policy::Reliability>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosReliabilityPolicy(int32_t kind, int64_t maxBlockingTime);
+    ~DdsQosReliabilityPolicy();
+};
+
+class DdsQosResourceLimitsPolicy : public DdsNative<::dds::core::policy::ResourceLimits>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosResourceLimitsPolicy(int32_t maxSamples, int32_t maxInstances, int32_t maxSamplesPerInstance);
+    ~DdsQosResourceLimitsPolicy();
+};
+
+class DdsQosTimeBasedFilterPolicy : public DdsNative<::dds::core::policy::TimeBasedFilter>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosTimeBasedFilterPolicy(int64_t minSep);
+    ~DdsQosTimeBasedFilterPolicy();
+};
+
+class DdsQosTopicDataPolicy : public DdsNative<::dds::core::policy::TopicData>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosTopicDataPolicy(const std::vector<uint8_t>& value);
+    ~DdsQosTopicDataPolicy();
+};
+
+class DdsQosTransportPriorityPolicy : public DdsNative<::dds::core::policy::TransportPriority>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosTransportPriorityPolicy(int32_t value);
+    ~DdsQosTransportPriorityPolicy();
+};
+
+class DdsQosWriterDataLifecyclePolicy : public DdsNative<::dds::core::policy::WriterDataLifecycle>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosWriterDataLifecyclePolicy(bool autodisposeUnregisteredInstances);
+    ~DdsQosWriterDataLifecyclePolicy();
+};
+
+class DdsQosUserDataPolicy : public DdsNative<::dds::core::policy::UserData>, public DdsQosPolicyName
+{
+public:
+    explicit DdsQosUserDataPolicy(const std::vector<uint8_t>& value);
+    ~DdsQosUserDataPolicy();
+};
+
+}
+}
+
+#endif//__UT_DDS_QOS_POLICY_HPP__