public static DDS.TypedDataWriter <T> CreateDataWriter <T>(string topicName,
string typeName)
{
DDS.DomainParticipant participant = Instance;
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
throw new ApplicationException("create_publisher error");
}
DDS.Topic topic = participant.create_topic(
topicName,
typeName,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
throw new ApplicationException("create_topic error");
}
/* DDS.DataWriterQos dw_qos = new DDS.DataWriterQos();
* participant.get_default_datawriter_qos(dw_qos);
* dw_qos.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* dw_qos.history.kind = DDS.HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;*/
DDS.DataWriterQos dw_qos = new DDS.DataWriterQos();
participant.get_default_datawriter_qos(dw_qos);
//Console.WriteLine("LIB CODE DW QOS: " + dw_qos.history.kind);
//Console.WriteLine("LIB CODE DW QOS: " + dw_qos.reliability.kind);
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
throw new ApplicationException("create_datawriter error");
}
return((DDS.TypedDataWriter <T>)writer);
}
private void initializeDataReader(DDS.DomainParticipant participant)
{
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
throw new ApplicationException("create_subscriber error");
}
DDS.Topic topic = participant.create_topic(
_topicName,
_typeName,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
throw new ApplicationException("create_topic error");
}
_listener = new InstanceDataReaderListener(
_groupSubject, _keyedSubjectDict, _keySelector, _comparer, _handleKeyDict, _scheduler,
_externalSubDict);
DDS.DataReaderQos rQos = new DDS.DataReaderQos();
participant.get_default_datareader_qos(rQos);
//Console.WriteLine("LIB CODE DR QOS: " + r_qos.history.kind);
//Console.WriteLine("LIB CODE DR QOS: " + r_qos.reliability.kind);
DDS.DataReader reader = subscriber.create_datareader(
topic,
rQos, //DDS.Subscriber.DATAREADER_QOS_DEFAULT,
_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader != null)
{
return;
}
_listener = null;
throw new ApplicationException("create_datareader error");
}
private void initializeDataReader(DDS.DomainParticipant participant)
{
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
throw new ApplicationException("create_subscriber error");
}
DDS.Topic topic = participant.create_topic(
_topicName,
_typeName,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
throw new ApplicationException("create_topic error");
}
_listener = new DataReaderListener(_subject, _scheduler);
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader != null)
{
return;
}
_listener = null;
throw new ApplicationException("create_datareader error");
}
static void publish(int domain_id, String file_name)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = SensorDataTypeSupport.get_type_name();
try {
SensorDataTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Raw SensorData",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
SensorDataDataWriter SensorData_writer =
(SensorDataDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
SensorData instance = SensorDataTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"SensorDataTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
//wait for all data-readers to join before publishing:
while (!wait_for_readers(writer, no_dr))
{
}
System.Threading.Thread.Sleep(1000);
Console.WriteLine("datareaders have connected. starting to publish");
bool myparse = true;
/* Main loop */
using (StreamReader sReader = new StreamReader(file_name))
{
String line;
publication_sw.Start();
start_ticks = publication_sw.ElapsedTicks;
prev_ticks = start_ticks;
int[] ballSensors = { 4, 8, 10, 12 };
while ((line = sReader.ReadLine()) != null && count < max_samples)
{
try
{
linesRead++;
if (myparse)
{
int pos = 0;
instance.sensor_id = myParseInt32(line, ref pos);
//if (ballSensors.Contains(instance.sensor_id))
// continue;
instance.ts = myParseLong(line, ref pos);
instance.pos_x = myParseInt32(line, ref pos);
instance.pos_y = myParseInt32(line, ref pos);
instance.pos_z = myParseInt32(line, ref pos);
instance.vel = myParseInt32(line, ref pos);
instance.accel = myParseInt32(line, ref pos);
instance.vel_x = myParseInt32(line, ref pos);
instance.vel_y = myParseInt32(line, ref pos);
instance.vel_z = myParseInt32(line, ref pos);
instance.accel_x = myParseInt32(line, ref pos);
instance.accel_y = myParseInt32(line, ref pos);
instance.accel_z = myParseInt32(line, ref pos);
/*
* Console.WriteLine("{0},{1},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12}",
* instance.sensor_id,
* instance.ts,
* instance.pos_x,
* instance.pos_y,
* instance.pos_z,
* instance.vel,
* instance.accel,
* instance.vel_x,
* instance.vel_y,
* instance.vel_z,
* instance.accel_x,
* instance.accel_y,
* instance.accel_z);
*/
}
else
{
String[] fields = line.Split(',');
instance.sensor_id = Int32.Parse(fields[0]);
if (ballSensors.Contains(instance.sensor_id))
{
continue;
}
instance.ts = Int64.Parse(fields[1]);
instance.pos_x = Int32.Parse(fields[2]);
instance.pos_y = Int32.Parse(fields[3]);
instance.pos_z = Int32.Parse(fields[4]);
instance.vel = Int32.Parse(fields[5]);
instance.accel = Int32.Parse(fields[6]);
instance.vel_x = Int32.Parse(fields[7]);
instance.vel_y = Int32.Parse(fields[8]);
instance.vel_z = Int32.Parse(fields[9]);
instance.accel_x = Int32.Parse(fields[10]);
instance.accel_y = Int32.Parse(fields[11]);
instance.accel_z = Int32.Parse(fields[12]);
}
count++;
SensorData_writer.write(instance, ref instance_handle);
if (count % calculation_point == 0)
{
long curr_ticks = publication_sw.ElapsedTicks;
ncalcs++;
long lapse_ticks = curr_ticks - prev_ticks;
double lapse_msec = (double)lapse_ticks * ns_per_tick / (1000.0 * 1000.0);
sum_lapse_msec += lapse_msec;
if (lapse_msec < min_lapse)
{
min_lapse = lapse_msec;
}
if (lapse_msec > max_lapse)
{
max_lapse = lapse_msec;
}
prev_ticks = curr_ticks;
Console.WriteLine("Took {0} millisec to send next {1} samples: {2}",
lapse_msec, calculation_point, count);
double rate = (double)(calculation_point * 1000L * 1000L * 1000L) / (double)(lapse_ticks * ns_per_tick);
if (rate < min_rate)
{
min_rate = rate;
}
if (rate > max_rate)
{
max_rate = rate;
}
Console.WriteLine("publishing rate:{0} samples/sec", rate);
}
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
if ((target_rate != 0) && (count % 1000 == 0))
{
//double calib = 0.7;
//if(calibrationDict.ContainsKey(target_rate))
// calib = calibrationDict[target_rate];
System.Threading.Thread.Sleep(1000 * 1000 / target_rate * 30 / 100);
}
}
end_ticks = publication_sw.ElapsedTicks;
publication_sw.Stop();
}
Console.WriteLine("Playback finished.. " + count);
// --- Shutdown --- //
double total_time_ms = (end_ticks - start_ticks) * ns_per_tick / 1000 / 1000;
double rate_pub = (double)count / total_time_ms;
Console.WriteLine("Target rate = {0} samples/sec.", target_rate);
Console.WriteLine("Overall Publication Rate Observed: {0} per sec", rate_pub * 1000);
Console.WriteLine("total time for playback in seconds: {0}", total_time_ms / 1000);
Console.WriteLine("lines read = {0}, samples written = {1}", linesRead, count);
/* Delete data sample */
try {
SensorData_writer.dispose(instance, ref instance_handle);
System.Threading.Thread.Sleep(10000);
SensorDataTypeSupport.delete_data(instance);
}
catch (DDS.Exception e) {
Console.WriteLine(
"SensorDataTypeSupport.delete_data error: {0}", e);
}
Console.WriteLine("Press enter to exit");
Console.ReadLine();
using (StreamWriter file = new StreamWriter("publisher_output.txt"))
{
file.WriteLine("Publisher summary statistics:\n");
file.WriteLine("Sent {0} samples in {1} seconds", count, total_time_ms / 1000);
file.WriteLine("\nAverage rate of publishing: {0} samples/sec", count / total_time_ms / 1000);
file.WriteLine("Max publishing rate:{0} samples/sec.", max_rate);
file.WriteLine("Min publishing rate:{0} samples/sec.", min_rate);
file.WriteLine("\nAverage time taken to publish 10000 samples: {0} sec", (sum_lapse_msec) / (double)ncalcs);
file.WriteLine("Max time to publish 10000 samples:{0} sec.", max_lapse);
file.WriteLine("Min time to publish 10000 samples:{0} sec.", min_lapse);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher_with_profile(
"ordered_Library", "ordered_Profile_subscriber_instance",
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
/* If you want to change the Publisher's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_publisher call above.
*
* In this case, we set the presentation publish mode ordered in the
* topic.
*/
/* Get default publisher QoS to customize */
/* DDS.PublisherQos publisher_qos = new DDS.PublisherQos();
* participant.get_default_publisher_qos(publisher_qos);
*
* publisher_qos.presentation.access_scope =
* DDS.PresentationQosPolicyAccessScopeKind.TOPIC_PRESENTATION_QOS;
* publisher_qos.presentation.ordered_access = true;
*
* // --- Create publisher --- //
*
* DDS.Publisher publisher = participant.create_publisher(
* publisher_qos, null, DDS.StatusMask.STATUS_MASK_NONE);
* if (publisher == null) {
* shutdown(participant);
* throw new ApplicationException("create_publisher error");
* }
*/
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = orderedTypeSupport.get_type_name();
try {
orderedTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example ordered",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
orderedDataWriter ordered_writer =
(orderedDataWriter)writer;
/* Start changes for Ordered_Presentation */
/* Create two instances */
ordered instance0 = null;
ordered instance1 = null;
DDS.InstanceHandle_t handle0 = DDS.InstanceHandle_t.HANDLE_NIL;
DDS.InstanceHandle_t handle1 = DDS.InstanceHandle_t.HANDLE_NIL;
// --- Write --- //
/* Create data sample for writing */
instance0 = orderedTypeSupport.create_data();
if (instance0 == null)
{
shutdown(participant);
throw new ApplicationException(
"orderedTypeSupport.create_data error");
}
instance1 = orderedTypeSupport.create_data();
if (instance1 == null)
{
shutdown(participant);
throw new ApplicationException(
"orderedTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
instance0.id = 0;
instance1.id = 1;
handle0 = ordered_writer.register_instance(instance0);
handle1 = ordered_writer.register_instance(instance1);
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
instance0.value = count;
instance1.value = count;
Console.WriteLine("writing instance0, value->{0}", instance0.value);
try {
ordered_writer.write(instance0, ref handle0);
} catch (DDS.Exception e) {
Console.WriteLine("write instance0 error {0}", e);
}
Console.WriteLine("writing instance1, value->{0}", instance1.value);
try {
ordered_writer.write(instance1, ref handle1);
} catch (DDS.Exception e) {
Console.WriteLine("write instance1 error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
try {
ordered_writer.unregister_instance(
instance0, ref handle0);
} catch (DDS.Exception e) {
Console.WriteLine("unregister instance0 error: {0}", e);
}
try {
ordered_writer.unregister_instance(
instance1, ref handle1);
} catch (DDS.Exception e) {
Console.WriteLine("unregister instance1 error: {0}", e);
}
// --- Shutdown --- //
/* Delete data sample */
try {
orderedTypeSupport.delete_data(instance0);
} catch (DDS.Exception e) {
Console.WriteLine(
"orderedTypeSupport.delete_data0 error: {0}", e);
}
try {
orderedTypeSupport.delete_data(instance1);
} catch (DDS.Exception e) {
Console.WriteLine(
"orderedTypeSupport.delete_data1 error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
/* Create ande Delete Inconsistent Topic
* ---------------------------------------------------------------
* Here we create an inconsistent topic to trigger the subscriber
* application's callback.
* The inconsistent topic is created with the topic name used in
* the Subscriber application, but with a different data type --
* the msg data type defined in partitions.idl.
* Once it is created, we sleep to ensure the applications discover
* each other and delete the Data Writer and Topic.
*/
/* First we register the msg type -- we name it
* inconsistent_topic_type_name to avoid confusion.
*/
Console.WriteLine("Creating Inconsistent Topic...");
System.String inconsistent_type_name = msgTypeSupport.get_type_name();
try
{
msgTypeSupport.register_type(participant, inconsistent_type_name);
}
catch (DDS.Exception e)
{
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
DDS.Topic inconsistent_topic = participant.create_topic(
"Example listeners",
inconsistent_type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (inconsistent_topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* We have to associate a writer to the topic, as Topic information is not
* actually propagated until the creation of an associated writer.
*/
DDS.DataWriter inconsistent_writer = publisher.create_datawriter(
inconsistent_topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (inconsistent_writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
msgDataWriter msg_writer = (msgDataWriter)inconsistent_writer;
// Sleep to leave time for applications to discover each other
const System.Int32 sleep_period = 2000; //millseconds
System.Threading.Thread.Sleep(sleep_period);
try
{
publisher.delete_datawriter(ref inconsistent_writer);
}
catch (DDS.Exception e)
{
Console.WriteLine("delete_datawriter error {0}", e);
shutdown(participant);
return;
}
try
{
participant.delete_topic(ref inconsistent_topic);
}
catch (DDS.Exception e)
{
Console.WriteLine("delete_topic error {0}", e);
shutdown(participant);
return;
}
Console.WriteLine("... Deleted Inconsistent Topic\n");
/* Create Consistent Topic
* -----------------------------------------------------------------
* Once we have created the inconsistent topic with the wrong type,
* we create a topic with the right type name -- listeners -- that we
* will use to publish data.
*/
/* Register type before creating topic */
System.String type_name = listenersTypeSupport.get_type_name();
try
{
listenersTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e)
{
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example listeners",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* We will use the Data Writer Listener defined above to print
* a message when some of events are triggered in the DataWriter.
* To do that, first we have to pass the writer_listener and then
* we have to enable all status in the status mask.
*/
DataWriterListener writer_listener = new DataWriterListener();
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
writer_listener /* listener */,
DDS.StatusMask.STATUS_MASK_ALL /* get all statuses */);
if (writer == null)
{
shutdown(participant);
writer_listener = null;
throw new ApplicationException("create_datawriter error");
}
listenersDataWriter listeners_writer =
(listenersDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
listeners instance = listenersTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
writer_listener = null;
throw new ApplicationException(
"listenersTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = listeners_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing listeners, count {0}", count);
/* Modify the data to be sent here */
instance.x = (short)count;
try
{
listeners_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* listeners_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try
{
listenersTypeSupport.delete_data(instance);
}
catch (DDS.Exception e)
{
Console.WriteLine(
"listenersTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
writer_listener = null;
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = queryconditionTypeSupport.get_type_name();
try {
queryconditionTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example querycondition",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
/* If you want to change datareader_qos.history programmatically rather
* than using the XML file, you will need to add the following lines to your
* code and comment out the create_datareader call above. */
/*DDS.DataReaderQos reader_qos = new DDS.DataReaderQos();
* subscriber.get_default_datareader_qos(reader_qos);
*
* reader_qos.history.kind = DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
* reader_qos.history.depth = 6;
*
* DDS.DataReader reader = subscriber.create_datareader(
* topic,
* reader_qos,
* reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
* if (reader == null)
* {
* shutdown(participant);
* reader_listener = null;
* throw new ApplicationException("create_datareader error");
* } */
// --- Wait for data --- //
/* NOTE: There must be single-quotes in the query parameters around
* any strings! The single-quotes do NOT go in the query condition
* itself.
*/
DDS.QueryCondition query_for_guid2;
DDS.StringSeq query_parameters = new DDS.StringSeq();
query_parameters.ensure_length(1, 1);
query_parameters.set_at(0, "'GUID2'");
queryconditionDataReader querycondition_reader =
(queryconditionDataReader)reader;
query_for_guid2 = querycondition_reader.create_querycondition(
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ALIVE_INSTANCE_STATE,
"id MATCH %0",
query_parameters);
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
System.Threading.Thread.Sleep(receive_period);
queryconditionSeq data_seq = new queryconditionSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
try
{
querycondition_reader.read_w_condition(
data_seq,
info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
query_for_guid2);
}
catch (DDS.Retcode_NoData e)
{
continue;
}
catch (DDS.Exception e)
{
shutdown(participant);
throw e;
}
int len = 0;
double sum = 0;
/* Iterate through the samples read using the read_w_condition() method,
* accessing only the samples of GUID2. Then, show the number of samples
* received and, adding the value of x on each of them to calculate the
* average afterwards. */
for (int i = 0; i < data_seq.length; ++i)
{
if (!info_seq.get_at(i).valid_data)
{
continue;
}
len++;
sum += data_seq.get_at(i).value;
Console.WriteLine("Guid = {0}\n", data_seq.get_at(i).id);
}
if (len > 0)
{
Console.WriteLine("Got {0} samples. Avg = {1}\n", len, sum / len);
}
try
{
querycondition_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = deadline_contentfilterTypeSupport.get_type_name();
try {
deadline_contentfilterTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example deadline_contentfilter",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
//// Start changes for Deadline
// Set up content filtered topic to show interaction with deadline
DDS.StringSeq parameters = new DDS.StringSeq(1);
// need to specify length otherwise create_contentfilteredtopic will
// throw an unhandled exception error!
if (parameters.ensure_length(1, 1) == false)
{
Console.WriteLine("ensure_length error\n");
}
parameters.set_at(0, "2");
DDS.ContentFilteredTopic cft = participant.create_contentfilteredtopic(
"ContentFilteredTopic", topic, "code < %0", parameters);
/* Create a data reader listener */
deadline_contentfilterListener reader_listener =
new deadline_contentfilterListener();
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
cft,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
/* If you want to change the DataReader's QoS programmatically rather than
* using the XML file, you will need to add the following lines to your
* code and comment out the create_datareader call above.
*
* In this case, we set the deadline period to 2 seconds to trigger
* a deadline if the DataWriter does not update often enough, or if
* the content-filter filters out data so there is no data available
* with 2 seconds.
*/
/*
* DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
* subscriber.get_default_datareader_qos(datareader_qos);
* if (datareader_qos == null)
* {
* shutdown(participant);
* reader_listener = null;
* throw new ApplicationException("get_default_datareader_qos error");
* }
*
* // Set deadline QoS to be 2 sec
* datareader_qos.deadline.period.sec = 2;
* datareader_qos.deadline.period.nanosec = 0;
*
* DDS.DataReader reader = subscriber.create_datareader(
* topic,
* datareader_qos, //DDS.Subscriber.DATAREADER_QOS_DEFAULT,
* reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
* if (reader == null)
* {
* shutdown(participant);
* reader_listener = null;
* throw new ApplicationException("create_datareader error");
* }
*/
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
// After 10 seconds, change content filter to accept only
// instance 0
if (count == 10)
{
Console.WriteLine("Starting to filter out instance1\n");
parameters.set_at(0, "1");
cft.set_expression_parameters(parameters);
}
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
/* If you want to change the type_code_max_serialized_length
* programmatically (e.g., to 3070) rather than using the XML file, you
* will need to add the following lines to your code and comment out the
* create_participant call above. */
/*
* DDS.DomainParticipantQos participant_qos =
* new DDS.DomainParticipantQos();
* try {
* DDS.DomainParticipantFactory.get_instance().
* get_default_participant_qos(participant_qos);
*
* } catch (DDS.Exception) {
* Console.WriteLine("error in participant_qos");
* }
*
* participant_qos.resource_limits.type_code_max_serialized_length = 3070;
*
* try {
* DDS.DomainParticipantFactory.get_instance().delete_participant(
* ref participant);
* }
* catch (DDS.Exception) {
* Console.WriteLine("error deleting participant");
* }
*
* participant =
* DDS.DomainParticipantFactory.get_instance().create_participant(
* domain_id, participant_qos, null, DDS.StatusMask.STATUS_MASK_NONE);
*/
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = msgTypeSupport.get_type_name();
try {
msgTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example msg",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
msgDataWriter msg_writer =
(msgDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
msg instance = msgTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"msgTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = msg_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing msg, count {0}", count);
/* Modify the data to be sent here */
instance.count = count;
try {
msg_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* msg_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
msgTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"msgTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* Create participant listener */
ParticipantListener participant_listener = new ParticipantListener();
/* We associate the participant_listener to the participant and set the
* status mask to get all the statuses */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
participant_listener /* listener */,
DDS.StatusMask.STATUS_MASK_ALL /* get all statuses */);
if (participant == null)
{
shutdown(participant);
participant_listener = null;
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* Create subscriber listener */
SubscriberListener subscriber_listener = new SubscriberListener();
/* Here we associate the subscriber listener to the subscriber and set the
* status mask to get all the statuses */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
subscriber_listener /* listener */,
DDS.StatusMask.STATUS_MASK_ALL /* get all statuses */);
if (subscriber == null)
{
shutdown(participant);
participant_listener = null;
subscriber_listener = null;
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = listenersTypeSupport.get_type_name();
try {
listenersTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
participant_listener = null;
subscriber_listener = null;
throw e;
}
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example listeners",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
participant_listener = null;
subscriber_listener = null;
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* Create a data reader listener */
ReaderListener reader_listener = new ReaderListener();
/* Create Status mask to listen just LIVELINESS_CHANGED_STATUS and
* DATA_AVAILABLE_STATUS */
int liveliness_changed_mask = (int)DDS.StatusKind.LIVELINESS_CHANGED_STATUS;
int data_available_changed_mask = (int)DDS.StatusKind.DATA_AVAILABLE_STATUS;
data_available_changed_mask |= liveliness_changed_mask;
DDS.StatusMask combined_status_mask = (DDS.StatusMask)data_available_changed_mask;
/* Here we associate the data reader listener to the reader.
* We just listen for liveliness changed and data available,
* since most specific listeners will get called. */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
combined_status_mask);
if (reader == null)
{
shutdown(participant);
participant_listener = null;
subscriber_listener = null;
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
participant_listener = null;
subscriber_listener = null;
reader_listener = null;
}
private void initialize()
{
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
throw new ApplicationException("create_subscriber error");
}
DDS.Topic topic = participant.create_topic(
topicName,
typeName,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
throw new ApplicationException("create_topic error");
}
reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
throw new ApplicationException("create_datareader error");
}
status_condition = reader.get_statuscondition();
try
{
int mask =
(int)DDS.StatusKind.DATA_AVAILABLE_STATUS |
(int)DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS |
(int)DDS.StatusKind.LIVELINESS_CHANGED_STATUS |
(int)DDS.StatusKind.SAMPLE_LOST_STATUS |
(int)DDS.StatusKind.SAMPLE_REJECTED_STATUS;
status_condition.set_enabled_statuses((DDS.StatusMask)mask);
}
catch (DDS.Exception e)
{
throw new ApplicationException("set_enabled_statuses error {0}", e);
}
waitset = new DDS.WaitSet();
try
{
waitset.attach_condition(status_condition);
}
catch (DDS.Exception e)
{
throw new ApplicationException("attach_condition error {0}", e);
}
}
static void subscribe(int domain_id, int sample_count,
String participant_auth)
{
// --- Create participant --- //
/* Start changes for programmatically qos */
/* Get default participant QoS to customize */
DDS.DomainParticipantQos participant_qos =
new DDS.DomainParticipantQos();
DDS.DomainParticipantFactory.get_instance().
get_default_participant_qos(participant_qos);
// If you want to change the Participant's QoS programmatically
// rather than using the XML file, you will need to uncomment the
// following line.
//participant_qos.resource_limits.participant_user_data_max_length = 1024;
// user_data is opaque to DDS
int len = participant_auth.Length;
int max =
participant_qos.resource_limits.participant_user_data_max_length;
if (len > max)
{
Console.WriteLine(
"error, participant user_data exceeds resource limits");
}
else
{
/* Byte type is defined to be 8 bits. If chars are not 8 bits
* on your system, this will not work.
*/
participant_qos.user_data.value.from_array(
System.Text.Encoding.ASCII.GetBytes(participant_auth));
}
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
participant_qos,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new Exception("create_participant error");
}
/* End changes for programmatically qos */
/* The participant is disabled by default. We enable it now */
try {
participant.enable();
} catch (DDS.Exception e) {
Console.WriteLine("failed to enable participant {0}", e);
shutdown(participant);
throw e;
}
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
shutdown(participant);
throw new Exception("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = msgTypeSupport.get_type_name();
try {
msgTypeSupport.register_type(participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example msg",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new Exception("create_topic error");
}
// --- Create reader --- //
/* Create a data reader listener */
msgListener reader_listener = new msgListener();
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new Exception("create_datareader error");
}
// --- Wait for data --- //
/* Main loop */
const int receive_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
/* Start changes for custom_flowcontroller */
/* If you want to change the Participant's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_participant call above.
*/
/* Get default participant QoS to customize */
/* DDS.DomainParticipantQos participant_qos =
* new DDS.DomainParticipantQos();
*
* try {
* DDS.DomainParticipantFactory.get_instance().
* get_default_participant_qos(participant_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_participant_qos error {0}", e);
* throw e;
* }
*
* // By default, data will be sent via shared memory _and_ UDPv4. Because
* // the flowcontroller limits writes across all interfaces, this halves
* // the effective send rate. To avoid this, we enable only the UDPv4
* // transport
*
* participant_qos.transport_builtin.mask =
* (int) DDS.TransportBuiltinKind.TRANSPORTBUILTIN_UDPv4;
*
* // To create participant with default QoS,
* // use DDS_PARTICIPANT_QOS_DEFAULT instead of participant_qos
* DDS.DomainParticipant participant =
* DDS.DomainParticipantFactory.get_instance().create_participant(
* domain_id,
* participant_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
* if (participant == null) {
* shutdown(participant);
* throw new ApplicationException("create_participant error");
* }
*/
/* End changes for custom_flow_controller */
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = cfcTypeSupport.get_type_name();
try {
cfcTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example cfc",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
/* Start changes for custom_flowcontroller */
/* If you want to change the Datawriter's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_datawriter call above.
*
* In this case we create the flowcontroller and the neccesary QoS
* for the datawriter.
*/
/*
* DDS.FlowControllerProperty_t custom_fcp =
* new DDS.FlowControllerProperty_t();
* try {
* participant.get_default_flowcontroller_property(custom_fcp);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_flowcontroller_property error {0}",
* e);
* shutdown(participant);
* throw e;
* }
*
* // Don't allow too many tokens to accumulate
* custom_fcp.token_bucket.max_tokens =
* custom_fcp.token_bucket.tokens_added_per_period = 2;
*
* custom_fcp.token_bucket.tokens_leaked_per_period =
* DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
*
* //100 ms
* custom_fcp.token_bucket.period.sec = 0;
* custom_fcp.token_bucket.period.nanosec = 100000000;
*
* // The sample size is 1000, but the minimum bytes_per_token is 1024.
* // Furthermore, we want to allow some overhead.
* custom_fcp.token_bucket.bytes_per_token = 1024;
*
* // So, in summary, each token can be used to send about one message,
* // and we get 2 tokens every 100ms, so this limits transmissions to
* // about 20 messages per second.
*
* // Create flowcontroller and set properties
* String cfc_name = "custom_flowcontroller";
* DDS.FlowController cfc = participant.create_flowcontroller(
* cfc_name, custom_fcp);
* if (cfc == null) {
* shutdown(participant);
* throw new ApplicationException("create_flowcontroller error");
* }
*
* //Get default datawriter QoS to customize
* DDS.DataWriterQos datawriter_qos = new DDS.DataWriterQos();
*
* try {
* publisher.get_default_datawriter_qos(datawriter_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_datawriter_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
*
* // As an alternative to increasing h istory depth, we can just
* // set the qos to keep all samples
* datawriter_qos.history.kind =
* DDS.HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;
*
* // Set flowcontroller for datawriter
* datawriter_qos.publish_mode.kind =
* DDS.PublishModeQosPolicyKind.ASYNCHRONOUS_PUBLISH_MODE_QOS;
* datawriter_qos.publish_mode.flow_controller_name = cfc_name;
*
* // To create a datawriter with default QoS, use
* // DDS.Publisher.DATAWRITER_QOS_DEFAULT instead of datawriter_qos
* DDS.DataWriter writer = publisher.create_datawriter(
* topic,
* datawriter_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
* if (writer == null) {
* shutdown(participant);
* throw new ApplicationException("create_datawriter error");
* }
*
*/
// End changes for custom_flowcontroller
cfcDataWriter cfc_writer =
(cfcDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
cfc instance = cfcTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"cfcTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = cfc_writer.register_instance(instance);
*/
char[] str = new char[1000];
for (int i = 0; i < 1000; ++i)
{
str[i] = 'a';
}
String data = new String(str);
/* Main loop */
System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count); ++count)
{
// Changes for custom_flowcontroller
// Simulate bursty writer
System.Threading.Thread.Sleep(send_period);
for (int i = 0; i < 10; ++i)
{
int sample = count * 10 + i;
Console.WriteLine("Writing cfc, sample {0}", sample);
instance.x = sample;
instance.str = data;
try {
cfc_writer.write(instance, ref instance_handle);
} catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
}
}
//Console.WriteLine("{0}", instance.str);
send_period = 4000;
System.Threading.Thread.Sleep(send_period);
/*
* try {
* cfc_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
cfcTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"cfcTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name =
waitset_statuscondTypeSupport.get_type_name();
try {
waitset_statuscondTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example waitset_statuscond",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
// Get narrowed datareader
waitset_statuscondDataReader waitset_reader =
(waitset_statuscondDataReader)reader;
/* Get status conditions
* ---------------------
* Each entity may have an attached Status Condition. To modify the
* statuses we need to get the reader's Status Conditions first.
*/
DDS.StatusCondition status_condition = reader.get_statuscondition();
/* Set enabled statuses
* --------------------
* Now that we have the Status Condition, we are going to enable the
* status we are interested in: knowing that data is available
*/
try
{
status_condition.set_enabled_statuses(
(DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS);
}
catch (DDS.Exception e)
{
shutdown(participant);
throw new ApplicationException("set_enabled_statuses error {0}",
e);
}
/* Create and attach conditions to the WaitSet
* -------------------------------------------
* Finally, we create the WaitSet and attach both the Read Conditions
* and the Status Condition to it.
*/
DDS.WaitSet waitset = new DDS.WaitSet();
/* Attach Status Conditions */
try
{
waitset.attach_condition(status_condition);
}
catch (DDS.Exception e)
{
shutdown(participant);
throw new ApplicationException("set_enabled_statuses error {0}",
e);
}
// --- Wait for data --- //
int count = 0;
DDS.Duration_t timeout;
timeout.nanosec = (uint)500000000;
timeout.sec = 1;
/* Main loop */
while (sample_count == 0 || count < sample_count)
{
DDS.ConditionSeq active_conditions = new DDS.ConditionSeq();
// The triggered condition(s) will be placed in active_conditions
try
{
waitset.wait(active_conditions, timeout);
Console.WriteLine("got {0} active conditions", active_conditions.length);
for (int i = 0; i < active_conditions.length; ++i)
{
/* In this case, we have only a single condition, but
* if we had multiple, we would need to iterate over
* them and check which one is true. Leaving the logic
* for the more complex case. */
if (active_conditions.get_at(i) == status_condition)
{
DDS.StatusMask triggeredmask =
waitset_reader.get_status_changes();
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0)
{
/* Current conditions match our conditions to read data, so
* we can read data just like we would do in any other
* example. */
waitset_statuscondSeq data_seq
= new waitset_statuscondSeq();
DDS.SampleInfoSeq info_seq
= new DDS.SampleInfoSeq();
try
{
/* Access data using read(), take(), etc. If
* you fail to do this the condition will
* remain true, and the WaitSet will wake up
* immediately - causing high CPU usage when it
* does not sleep in the loop */
waitset_reader.take(
data_seq,
info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
}
catch (DDS.Retcode_NoData e)
{
shutdown(participant);
throw e;
}
catch (DDS.Exception e)
{
shutdown(participant);
throw e;
}
/* Iterate over returned data. Print the data
* values if it is not metadata.
*/
System.Int32 data_length = data_seq.length;
for (int j = 0; i < data_length; ++i)
{
if (!info_seq.get_at(j).valid_data)
{
Console.WriteLine("Got metadata");
continue;
}
waitset_statuscondTypeSupport.print_data(data_seq.get_at(j));
}
try
{
/* Return the loaned data */
waitset_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
}
}
}
catch (DDS.Retcode_Timeout)
{
Console.WriteLine("wait timed out");
count += 2;
continue;
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = keysTypeSupport.get_type_name();
try
{
keysTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e)
{
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example keys",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* Create a data reader listener */
keysListener reader_listener =
new keysListener();
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
/* If you want to set the QoS settings programmatically rather than
* using the XML, you will need to add the following lines to your code
* and comment out the create_datareader call above.
*/
/*
* DDS.DataReaderQos readerQos = new DDS.DataReaderQos();
* subscriber.get_default_datareader_qos(readerQos);
*
* readerQos.ownership.kind = DDS.OwnershipQosPolicyKind.EXCLUSIVE_OWNERSHIP_QOS;
*
* DDS.DataReader reader = subscriber.create_datareader(
* topic,
* readerQos,
* reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
*/
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
//Console.WriteLine("keys subscriber sleeping for {0} sec...",receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
static void subscribe(int domain_id, int sample_count, int drs)
{
// --- Create participant --- //
/* To customize the participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = hello_worldTypeSupport.get_type_name();
try {
hello_worldTypeSupport.register_type(
participant, type_name);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example hello_world",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* Create a data reader listener */
hello_worldListener reader_listener =
new hello_worldListener();
DDS.DataReader reader = null;
/* If you use Durable Reader State, you need to set up several properties.
* In this example, we have modified them using a QoS XML profile. See
* further details in USER_QOS_PROFILES.xml.
*/
if (drs == 1)
{
reader = subscriber.create_datareader_with_profile(topic,
"persistence_example_Library",
"durable_reader_state_Profile",
reader_listener, DDS.StatusMask.STATUS_MASK_ALL);
}
else
{
reader = subscriber.create_datareader_with_profile(topic,
"persistence_example_Library",
"persistence_service_Profile",
reader_listener, DDS.StatusMask.STATUS_MASK_ALL);
}
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine(
"hello_world subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
DDS.SubscriberQos subscriber_qos = new DDS.SubscriberQos();
participant.get_default_subscriber_qos(subscriber_qos);
/* If you want to change the Partition name programmatically rather than
* using the XML, you will need to add the following lines to your code
* and comment out the create_subscriber() call bellow.
*/
/*
* String[] partitions = { "ABC", "X*Z" };
*
* subscriber_qos.partition.name.ensure_length(2, 2);
* subscriber_qos.partition.name.from_array(partitions);
*
* DDS.Subscriber subscriber = participant.create_subscriber(
* subscriber_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
*/
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = partitionsTypeSupport.get_type_name();
try
{
partitionsTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e)
{
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example partitions",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* Create a data reader listener */
partitionsListener reader_listener =
new partitionsListener();
/* If you want to change the Datareader QoS programmatically rather than
* using the XML, you will need to add the following lines to your code
* and comment out the create_datareader() call bellow.
*/
/*
* DDS.DataReaderQos readerQos = new DDS.DataReaderQos();
* subscriber.get_default_datareader_qos(readerQos);
*
* readerQos.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* readerQos.history.kind = DDS.HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;
* readerQos.durability.kind = DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS;
* DDS.DataReader reader = subscriber.create_datareader(
* topic,
* readerQos,
* reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
*/
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = ordered_groupTypeSupport.get_type_name();
try {
ordered_groupTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* Start changes for Ordered Presentation Group example */
/* TOPICS */
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic1 = participant.create_topic(
"Topic1",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic1 == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic2 = participant.create_topic(
"Topic2",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic2 == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic3 = participant.create_topic(
"Topic3",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic3 == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* DATAWRITERS */
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer1 = publisher.create_datawriter(
topic1,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer1 == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
ordered_groupDataWriter ordered_group_writer1 =
(ordered_groupDataWriter)writer1;
DDS.DataWriter writer2 = publisher.create_datawriter(
topic2,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer2 == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
ordered_groupDataWriter ordered_group_writer2 =
(ordered_groupDataWriter)writer2;
DDS.DataWriter writer3 = publisher.create_datawriter(
topic3,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer3 == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
ordered_groupDataWriter ordered_group_writer3 =
(ordered_groupDataWriter)writer3;
// --- Write --- //
/* Instances */
ordered_group instance1 = ordered_groupTypeSupport.create_data();
if (instance1 == null)
{
shutdown(participant);
throw new ApplicationException(
"ordered_groupTypeSupport.create_data error");
}
ordered_group instance2 = ordered_groupTypeSupport.create_data();
if (instance2 == null)
{
shutdown(participant);
throw new ApplicationException(
"ordered_groupTypeSupport.create_data error");
}
ordered_group instance3 = ordered_groupTypeSupport.create_data();
if (instance3 == null)
{
shutdown(participant);
throw new ApplicationException(
"ordered_groupTypeSupport.create_data error");
}
/* End changes for Ordered Presentation Example */
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = ordered_group_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing ordered_group, count {0}", count);
/* Start changes for Ordered Presentation Example */
/* Modify the data to be sent here */
/* Instance 1 */
instance1.message = "First sample, Topic 1 by DataWriter number 1";
try {
ordered_group_writer1.write(instance1, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
instance1.message = "Second sample, Topic 1 by DataWriter number 1";
try {
ordered_group_writer1.write(instance1, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
/* Instance 2 */
instance2.message = "First sample, Topic 2 by DataWriter number 2";
try {
ordered_group_writer2.write(instance2, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
instance2.message = "Second sample, Topic 2 by DataWriter number 2";
try {
ordered_group_writer2.write(instance2, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
/* Instance 3 */
instance3.message = "First sample, Topic 3 by DataWriter number 3";
try {
ordered_group_writer3.write(instance3, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
instance3.message = "Second sample, Topic 3 by DataWriter number 3";
try {
ordered_group_writer3.write(instance3, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* ordered_group_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
ordered_groupTypeSupport.delete_data(instance1);
ordered_groupTypeSupport.delete_data(instance2);
ordered_groupTypeSupport.delete_data(instance3);
} catch (DDS.Exception e) {
Console.WriteLine(
"ordered_groupTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = waitsetsTypeSupport.get_type_name();
try {
waitsetsTypeSupport.register_type(
participant, type_name);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example waitsets",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
/* If you want to change the DataReader's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_datareader call above.
*
* In this case, we reduce the liveliness timeout period to trigger the
* StatusCondition DDS.StatusKind.LIVELINESS_CHANGED_STATUS
*/
/*
* DDS.DataReaderQos datawriter_qos = new DDS.DataReaderQos();
* try {
* subscriber.get_default_datareader_qos(datawriter_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_datareader_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
* datawriter_qos.liveliness.lease_duration.sec = 2;
* datawriter_qos.liveliness.lease_duration.nanosec = 0;
*
* reader = subscriber.create_datareader(topic, datawriter_qos,
* null, DDS.StatusMask.STATUS_MASK_NONE);
* if (reader == null) {
* shutdown(participant);
* throw new ApplicationException("create_datawriter_qos error");
* }
*/
/* Create read condition
* ---------------------
* Note that the Read Conditions are dependent on both incoming
* data as well as sample state. Thus, this method has more
* overhead than adding a DDS.StatusKind.DATA_AVAILABLE_STATUS
* StatusCondition. We show it here purely for reference
*/
DDS.ReadCondition read_condition = reader.create_readcondition(
DDS.SampleStateKind.NOT_READ_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
if (read_condition == null)
{
shutdown(participant);
throw new ApplicationException("create_readcondition error");
}
/* Get status conditions
* ---------------------
* Each entity may have an attached Status Condition. To modify the
* statuses we need to get the reader's Status Conditions first.
*/
DDS.StatusCondition status_condition = reader.get_statuscondition();
if (status_condition.get_entity() == null)
{
shutdown(participant);
throw new ApplicationException("get_statuscondition error");
}
/* Set enabled statuses
* --------------------
* Now that we have the Status Condition, we are going to enable the
* statuses we are interested in:
* DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS
* and DDS.StatusKind.LIVELINESS_CHANGED_STATUS.
*/
try {
status_condition.set_enabled_statuses(
DDS.StatusMask.STATUS_MASK_NONE |
(DDS.StatusMask)DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS |
(DDS.StatusMask)DDS.StatusKind.LIVELINESS_CHANGED_STATUS);
} catch (DDS.Exception e) {
Console.WriteLine("set_enabled_statuses error {0}", e);
shutdown(participant);
throw e;
}
/* Create and attach conditions to the WaitSet
* -------------------------------------------
* Finally, we create the WaitSet and attach both the Read Conditions
* and the Status Condition to it.
*/
DDS.WaitSet waitset = new DDS.WaitSet();
/* Attach Read Conditions */
try {
waitset.attach_condition(read_condition);
} catch (DDS.Exception e) {
Console.WriteLine("attach_read_condition error {0}", e);
shutdown(participant);
throw e;
}
/* Attach Status Conditions */
try {
waitset.attach_condition(status_condition);
} catch (DDS.Exception e) {
Console.WriteLine("attach_status_condition error {0}", e);
shutdown(participant);
throw e;
}
/* Narrow the reader into your specific data type */
waitsetsDataReader waitsets_reader =
(waitsetsDataReader)reader;
/* Main loop */
for (int count = 0; (sample_count == 0) || (count < sample_count);
++count)
{
DDS.ConditionSeq active_conditions_seq = new DDS.ConditionSeq();
DDS.Duration_t timeout;
timeout.nanosec = (uint)500000000;
timeout.sec = 1;
/* wait() blocks execution of the thread until one or more attached
* Conditions become true, or until a user-specified timeout expires
*/
try {
waitset.wait(active_conditions_seq, timeout);
} catch (DDS.Retcode_Timeout) {
Console.WriteLine("Wait timed out!! No conditions were " +
"triggered.");
continue;
} catch (DDS.Exception e) {
Console.WriteLine("wait error {0}", e);
break;
}
/* Get the number of active conditions */
int active_conditions = active_conditions_seq.length;
Console.WriteLine("Got {0} active conditions", active_conditions);
for (int i = 0; i < active_conditions; i++)
{
/* Now we compare the current condition with the Status
* Conditions and the Read Conditions previously defined. If
* they match, we print the condition that was triggered.*/
/* Compare with Status Conditions */
if (active_conditions_seq.get_at(i) == status_condition)
{
/* Get the status changes so we can check which status
* condition triggered. */
DDS.StatusMask triggeredmask =
waitsets_reader.get_status_changes();
/* Liveliness changed */
DDS.StatusMask test = triggeredmask &
(DDS.StatusMask)DDS.StatusKind.
LIVELINESS_CHANGED_STATUS;
if (test != DDS.StatusMask.STATUS_MASK_NONE)
{
DDS.LivelinessChangedStatus st =
new DDS.LivelinessChangedStatus();
waitsets_reader.get_liveliness_changed_status(ref st);
Console.WriteLine("Liveliness changed => " +
"Active writers = {0}", st.alive_count);
}
/* Subscription matched */
test = triggeredmask &
(DDS.StatusMask)DDS.StatusKind.
SUBSCRIPTION_MATCHED_STATUS;
if (test != DDS.StatusMask.STATUS_MASK_NONE)
{
DDS.SubscriptionMatchedStatus st =
new DDS.SubscriptionMatchedStatus();
waitsets_reader.get_subscription_matched_status(ref st);
Console.WriteLine("Subscription matched => " +
"Cumulative matches = {0}", st.total_count);
}
}
/* Compare with Read Conditions */
else if (active_conditions_seq.get_at(i) == read_condition)
{
/* Current conditions match our conditions to read data, so
* we can read data just like we would do in any other
* example. */
waitsetsSeq data_seq = new waitsetsSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
/* You may want to call take_w_condition() or
* read_w_condition() on the Data Reader. This way you will
* use the same status masks that were set on the Read
* Condition.
* This is just a suggestion, you can always use
* read() or take() like in any other example.
*/
bool follow = true;
while (follow)
{
try {
waitsets_reader.take_w_condition(
data_seq, info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
read_condition);
for (int j = 0; j < data_seq.length; ++j)
{
if (!info_seq.get_at(j).valid_data)
{
Console.WriteLine("Got metadata");
continue;
}
waitsetsTypeSupport.print_data(
data_seq.get_at(j));
}
} catch (DDS.Retcode_NoData) {
/* When there isn't data, the subscriber stop to
* take samples
*/
follow = false;
} finally {
waitsets_reader.return_loan(data_seq, info_seq);
}
}
}
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count, int initial_value,
int dwh, int sleep)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = hello_worldTypeSupport.get_type_name();
try {
hello_worldTypeSupport.register_type(
participant, type_name);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example hello_world",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* If you use Durable Writer History, you need to set several
* properties. These properties are set in the USER_QOS_PROFILE.xml
* file, "durable_writer_history_Profile" profile. See that file for
* further details.
*/
DDS.DataWriter writer = null;
if (dwh == 1)
{
writer = publisher.create_datawriter_with_profile(topic,
"persistence_example_Library",
"durable_writer_history_Profile",
null, DDS.StatusMask.STATUS_MASK_ALL);
}
else
{
writer = publisher.create_datawriter_with_profile(topic,
"persistence_example_Library",
"persistence_service_Profile",
null, DDS.StatusMask.STATUS_MASK_ALL);
}
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
hello_worldDataWriter hello_world_writer =
(hello_worldDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
hello_world instance = hello_worldTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"hello_worldTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = hello_world_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
const System.Int32 one_sec = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing hello_world, count {0}", initial_value);
/* Modify the data to be sent here */
instance.data = initial_value;
initial_value++;
try {
hello_world_writer.write(instance, ref instance_handle);
} catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
while (sleep != 0)
{
System.Threading.Thread.Sleep(one_sec);
sleep--;
}
/*
* try {
* hello_world_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
hello_worldTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"hello_worldTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
private void Form1_Load(object sender, EventArgs e)
{
participant = DDS.DomainParticipantFactory.get_instance().create_participant(
0, DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topics --- //
/* OpenClose */
/* Register type before creating topic */
System.String type_name = cow.OpenCloseTypeSupport.get_type_name();
try
{
cow.OpenCloseTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception ex)
{
MessageBox.Show("register_type error " + ex.Message);
shutdown(participant);
throw ex;
}
/* Customize QoS settings */
DDS.TopicQos topicQos = new DDS.TopicQos();
participant.get_default_topic_qos(topicQos);
topicQos.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
topicQos.durability.kind = DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS;
DDS.Topic openCloseTopic = participant.create_topic(
"OpenClose", type_name, topicQos,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (openCloseTopic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriterQos datawriterQos = new DDS.DataWriterQos();
publisher.get_default_datawriter_qos(datawriterQos);
publisher.copy_from_topic_qos(datawriterQos, topicQos);
DDS.DataWriter writer = publisher.create_datawriter(
openCloseTopic, datawriterQos,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
openCloseWriter = (cow.OpenCloseDataWriter)writer;
/* SetWatts */
/* Register type before creating topic */
type_name = cow.SetWattsTypeSupport.get_type_name();
try
{
cow.SetWattsTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception ex)
{
MessageBox.Show("register_type error " + ex.Message);
shutdown(participant);
throw ex;
}
/* To customize topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.Topic setWattsTopic = participant.create_topic(
"SetWatts", type_name, topicQos,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (setWattsTopic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
the configuration file USER_QOS_PROFILES.xml */
writer = publisher.create_datawriter(
setWattsTopic, datawriterQos,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
setWattsWriter = (cow.SetWattsDataWriter)writer;
}
private void initializeDataReader(DDS.DomainParticipant participant)
{
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
throw new ApplicationException("create_subscriber error");
}
DDS.Topic topic = participant.create_topic(
_topicName,
_typeName,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
throw new ApplicationException("create_topic error");
}
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
_reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_ALL);
if (_reader == null)
{
throw new ApplicationException("create_datareader error");
}
_statusCondition = _reader.get_statuscondition();
try
{
var mask =
(int)DDS.StatusKind.DATA_AVAILABLE_STATUS |
(int)DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS |
(int)DDS.StatusKind.LIVELINESS_CHANGED_STATUS |
(int)DDS.StatusKind.SAMPLE_LOST_STATUS |
(int)DDS.StatusKind.SAMPLE_REJECTED_STATUS;
_statusCondition.set_enabled_statuses((DDS.StatusMask)mask);
}
catch (DDS.Exception e)
{
throw new ApplicationException("set_enabled_statuses error {0}", e);
}
_waitset = new DDS.WaitSet();
try
{
_waitset.attach_condition(_statusCondition);
}
catch (DDS.Exception e)
{
throw new ApplicationException("attach_condition error {0}", e);
}
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = ccfTypeSupport.get_type_name();
try {
ccfTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example ccf",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* Start changes for Custom Content Filter */
/* Create and register custom filter */
custom_filter_type custom_filter = new custom_filter_type();
try {
participant.register_contentfilter("CustomFilter", custom_filter);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
DDS.StringSeq parameters = new DDS.StringSeq(2);
DDS.StringWrapper[] param_list = { "2", "divides" };
parameters.from_array(param_list);
/* Create content filtered topic */
DDS.ContentFilteredTopic cft =
participant.create_contentfilteredtopic_with_filter(
"ContentFilteredTopic", topic, "%0 %1 x", parameters,
"CustomFilter"); // custom filter name
if (cft == null)
{
shutdown(participant);
throw new ApplicationException(
"create_contentfilteredtopic_with_filter error");
}
Console.WriteLine("Filter: 2 divides x");
/* Also note that we pass 'cft' rather than 'topic' to the
* datareader below
*/
/* End changes for Custom Contet Filter */
// --- Create reader --- //
/* Create a data reader listener */
ccfListener reader_listener =
new ccfListener();
/*
* NOTE THAT WE USE THE PREVIOUSLY CREATED CUSTOM FILTERED
* TOPIC TO READ NEW SAMPLES
*/
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
cft,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
if (count == 10)
{
Console.WriteLine("changing filter parameters");
Console.WriteLine("Filter: 15 greater-than x");
parameters.set_at(0, "15");
parameters.set_at(1, "greater-than");
cft.set_expression_parameters(parameters);
}
else if (count == 20)
{
Console.WriteLine("changing filter parameters");
Console.WriteLine("Filter: 3 divides x");
DDS.StringSeq old_parameters = new DDS.StringSeq();
cft.get_expression_parameters(old_parameters);
old_parameters.set_at(0, "3");
old_parameters.set_at(1, "divides");
cft.set_expression_parameters(old_parameters);
}
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = deadline_contentfilterTypeSupport.get_type_name();
try {
deadline_contentfilterTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example deadline_contentfilter",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
//// Start changes for Deadline
// Create listener
deadlineListener writer_listener = new deadlineListener();
if (writer_listener == null)
{
shutdown(participant);
throw new ApplicationException("listener instantiation error\n");
}
/* To customize data writer QoS, use
* the configuration file NDDS_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
writer_listener, /* listener */
DDS.StatusMask.STATUS_MASK_ALL);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
/* If you want to change the DataWriter's QoS programmatically rather than
* using the XML file, you will need to add the following lines to your
* code and comment out the create_datawriter call above.
*
* In this case, we set the deadline period to 2 seconds to trigger
* a deadline if the DataWriter does not update often enough.
*/
/*
*
* DDS.DataWriterQos datawriter_qos = new DDS.DataWriterQos();
* try {
* publisher.get_default_datawriter_qos(datawriter_qos);
* }
* catch(DDS.Exception e) {
* Console.WriteLine("get_default_datawriter_qos error\n", e);
* }
*
* // Set deadline QoS to 1.5 sec
* datawriter_qos.deadline.period.sec = 1;
* datawriter_qos.deadline.period.nanosec = 500000000; // 500ms
*
* // --- Create writer --- //
*
* DDS.DataWriter writer = publisher.create_datawriter(
* topic,
* datawriter_qos, //DDS.Publisher.DATAWRITER_QOS_DEFAULT,
* writer_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
* if (writer == null) {
* shutdown(participant);
* throw new ApplicationException("create_datawriter error");
* }
*/
deadline_contentfilterDataWriter deadline_contentfilter_writer =
(deadline_contentfilterDataWriter)writer;
/* Create data sample for writing */
deadline_contentfilter instance0 = deadline_contentfilterTypeSupport.create_data();
if (instance0 == null)
{
shutdown(participant);
throw new ApplicationException(
"deadline_contentfilterTypeSupport.create_data error");
}
deadline_contentfilter instance1 = deadline_contentfilterTypeSupport.create_data();
if (instance1 == null)
{
shutdown(participant);
throw new ApplicationException(
"deadline_contentfilterTypeSupport.create_data error");
}
// Set keys -- we specify 'code' as the key field in the .idl
instance0.code = 0;
instance1.code = 1;
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle0 =
DDS.InstanceHandle_t.HANDLE_NIL;
DDS.InstanceHandle_t instance_handle1 =
DDS.InstanceHandle_t.HANDLE_NIL;
instance_handle0 = deadline_contentfilter_writer.register_instance(instance0);
instance_handle1 = deadline_contentfilter_writer.register_instance(instance1);
const System.Int32 send_period = 1000; // milliseconds
instance0.x = instance0.y = instance1.x = instance1.y = 0;
int writeTimes = 15;
/* Main loop */
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
//Console.WriteLine("Writing deadline, count {0}", count);
/* Modify the data to be sent here */
instance0.x++;
instance0.y++;
instance1.x++;
instance1.y++;
Console.WriteLine("Writing instance0, x = {0}, y = {1}\n",
instance0.x, instance0.y);
try
{
deadline_contentfilter_writer.write(instance0, ref instance_handle0);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
if (count < writeTimes)
{
Console.WriteLine("Writing instance1, x = {0}, y = {1}\n",
instance1.x, instance1.y);
try
{
deadline_contentfilter_writer.write(instance1, ref instance_handle1);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
}
else if (count == writeTimes)
{
Console.WriteLine("Stopping writes to instance1\n");
}
System.Threading.Thread.Sleep(send_period);
}
// Unregister the instances
try
{
deadline_contentfilter_writer.unregister_instance(instance0, ref instance_handle0);
}
catch (DDS.Exception e)
{
Console.WriteLine("unregister instance error: {0}", e);
}
try
{
deadline_contentfilter_writer.unregister_instance(instance1, ref instance_handle1);
}
catch (DDS.Exception e)
{
Console.WriteLine("unregister instance error: {0}", e);
}
// --- Shutdown --- //
/* Delete data sample */
try
{
deadline_contentfilterTypeSupport.delete_data(instance0);
}
catch (DDS.Exception e)
{
Console.WriteLine("deadlineTypeSupport.delete_data error: {0}", e);
}
try
{
deadline_contentfilterTypeSupport.delete_data(instance1);
}
catch (DDS.Exception e)
{
Console.WriteLine("deadlineTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
private static void Subscribe(int domainId, int sampleCount)
{
// --- Create participant --- //
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domainId,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
Shutdown(participant);
throw new Exception("create_participant error");
}
// --- Create subscriber --- //
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
Shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
// Register the type before creating the topic.
string typeName = FlightTypeSupport.get_type_name();
try {
FlightTypeSupport.register_type(participant, typeName);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
Shutdown(participant);
throw e;
}
DDS.Topic topic = participant.create_topic(
"Example Flight",
typeName,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
Shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
Shutdown(participant);
throw new ApplicationException("create_datareader error");
}
FlightDataReader flightReader = (FlightDataReader)reader;
// Query for company named 'CompanyA' and for flights in cruise
// (about 30,000ft). The company parameter will be changed in
// run-time. NOTE: There must be single-quotes in the query
// parameters around-any strings! The single-quote do NOT go in the
// query condition itself.
DDS.StringSeq queryParameters = new DDS.StringSeq();
queryParameters.ensure_length(2, 2);
queryParameters.set_at(0, "'CompanyA'");
queryParameters.set_at(1, "30000");
Console.WriteLine(
"Setting parameters to company: {0} and altitude >= {1}\n",
queryParameters.get_at(0), queryParameters.get_at(1));
// Create the query condition with an expession to MATCH the id
// field in the structure and a numeric comparison.
DDS.QueryCondition queryCondition =
reader.create_querycondition(
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ALIVE_INSTANCE_STATE,
"company MATCH %0 AND altitude >= %1",
queryParameters);
// --- Wait for data --- //
const int receivePeriod = 1000; // Milliseconds
bool update = false;
for (int count = 0;
(sampleCount == 0) || (count < sampleCount);
count++)
{
// Poll for new samples every second.
System.Threading.Thread.Sleep(receivePeriod);
// Change the filter parameter after 5 seconds.
if ((count + 1) % 10 == 5)
{
queryParameters.set_at(0, "'CompanyB'");
update = true;
}
else if ((count + 1) % 10 == 0)
{
queryParameters.set_at(0, "'CompanyA'");
update = true;
}
// Set new parameters.
if (update)
{
Console.WriteLine("Changing parameter to {0}",
queryParameters.get_at(0));
queryCondition.set_query_parameters(queryParameters);
update = false;
}
// Iterate through the samples using read_w_condition.
FlightSeq dataSeq = new FlightSeq();
DDS.SampleInfoSeq infoSeq = new DDS.SampleInfoSeq();
try {
flightReader.read_w_condition(
dataSeq,
infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
queryCondition);
} catch (DDS.Retcode_NoData) {
continue;
} catch (DDS.Exception e) {
Shutdown(participant);
throw e;
}
for (int i = 0; i < dataSeq.length; i++)
{
DDS.SampleInfo info = (DDS.SampleInfo)infoSeq.get_at(i);
if (info.valid_data)
{
Flight flight_info = (Flight)dataSeq.get_at(i);
Console.WriteLine(
"\t[trackId: {0}, company: {1}, altitude: {2}]\n",
flight_info.trackId,
flight_info.company,
flight_info.altitude);
}
}
try {
flightReader.return_loan(dataSeq, infoSeq);
} catch (DDS.Exception e) {
Console.WriteLine("return loan error {0}", e);
}
}
// Delete all entities
Shutdown(participant);
}
static void publish(int domain_id, int sample_count, Route routeIn, Route.Bus busIn)
{
Random random = new Random();
int randomNumber = random.Next(0, 100);
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String atype_name = AccidentTypeSupport.get_type_name();
System.String ptype_name = PositionTypeSupport.get_type_name();
try
{
AccidentTypeSupport.register_type(
participant, atype_name);
PositionTypeSupport.register_type(
participant, ptype_name);
}
catch (DDS.Exception e)
{
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic atopic = participant.create_topic(
"P3464_BHANDERSON: PT/ALR/ACC",
atype_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
DDS.Topic ptopic = participant.create_topic(
"P3464_BHANDERSON: PT/POS",
ptype_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (atopic == null || ptopic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter awriter = publisher.create_datawriter(
atopic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
DDS.DataWriter pwriter = publisher.create_datawriter(
ptopic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (awriter == null || pwriter == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
AccidentDataWriter Accident_writer =
(AccidentDataWriter)awriter;
PositionDataWriter Position_writer =
(PositionDataWriter)pwriter;
// --- Write --- //
/* Create data sample for writing */
Accident ainstance = AccidentTypeSupport.create_data();
Position pinstance = PositionTypeSupport.create_data();
if (ainstance == null || pinstance == null)
{
shutdown(participant);
throw new ApplicationException(
"(Accident|Position)TypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = Accident_writer.register_instance(instance);
*/
int numPasses = 0;
/* Main loop */
int send_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
if (count % routeIn.numStops == 0)
{
numPasses++;
}
if (numPasses > 3)
{
break;
}
Console.WriteLine("Writing Accident|Position, count {0}", count);
/* Modify the data to be sent here */
int traffic = random.Next(0, 100);
if (traffic <= 25) // light 25%
{
pinstance.trafficConditions = "light";
pinstance.timeBetweenStops = (int)(Math.Ceiling(routeIn.timeBetweenStops * .75));
}
else if (traffic <= 50) // heavy 25%
{
pinstance.trafficConditions = "heavy";
pinstance.timeBetweenStops = (int)(routeIn.timeBetweenStops + Math.Ceiling(routeIn.timeBetweenStops * .25));
}
else // normal 50%
{
pinstance.trafficConditions = "normal";
pinstance.timeBetweenStops = routeIn.timeBetweenStops;
}
ainstance.timestamp = DateTime.Now.ToString();
ainstance.route = routeIn.name;
ainstance.vehicle = busIn.id;
ainstance.stopNumber = busIn.stop;
pinstance.timestamp = DateTime.Now.ToString();
pinstance.route = routeIn.name;
pinstance.vehicle = busIn.id;
pinstance.stopNumber = busIn.stop;
pinstance.numStops = routeIn.numStops;
pinstance.fillInRatio = random.Next(0, 100);
int aOccurs = random.Next(0, 100);
if (aOccurs <= 10)
{
try
{
Accident_writer.write(ainstance, ref instance_handle);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
pinstance.timeBetweenStops += 10;
}
send_period = pinstance.timeBetweenStops * 1000; // threads use milliseconds
busIn.stop = (busIn.stop % routeIn.numStops) + 1;
try
{
Position_writer.write(pinstance, ref instance_handle);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* Accident_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try
{
AccidentTypeSupport.delete_data(ainstance);
PositionTypeSupport.delete_data(pinstance);
}
catch (DDS.Exception e)
{
Console.WriteLine(
"(Accident|Position)TypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = cftTypeSupport.get_type_name();
try {
cftTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example cft",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
/* If you want to set the reliability and history QoS settings
* programmatically rather than using the XML, you will need to add
* the following lines to your code and comment out the
* create_datawriter call above.
*/
/*
* DDS.DataWriterQos datawriter_qos = new DDS.DataWriterQos();
* try {
* publisher.get_default_datawriter_qos(datawriter_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_datawriter_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
*
* datawriter_qos.reliability.kind =
* DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* datawriter_qos.durability.kind =
* DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS;
* datawriter_qos.history.kind =
* DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
* datawriter_qos.history.depth = 20;
*
* DDS.DataWriter writer = publisher.create_datawriter(
* topic, datawriter_qos, null,
* DDS.StatusMask.STATUS_MASK_NONE);
* if (writer == null) {
* shutdown(participant);
* throw new ApplicationException("create_datawriter error");
* }
*/
cftDataWriter cft_writer = (cftDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
cft instance = cftTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"cftTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = cft_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
/* Modify the data to be sent here */
/* Our purpose is to increment x every time we send a sample and to
* reset the x counter to 0 every time we send 10 samples
* (x=0,1,..,9). Using the value of count, we can get set x to the
* appropriate value applying % 10 operation to it.
*/
instance.count = count;
instance.x = count % 10;
Console.WriteLine("Writing cft, count {0}\tx={1}",
instance.count, instance.x);
try {
cft_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* cft_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
cftTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"cftTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = pollTypeSupport.get_type_name();
try {
pollTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example poll",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
pollDataWriter poll_writer =
(pollDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
poll instance = pollTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"pollTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = poll_writer.register_instance(instance);
*/
Random random = new Random();
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing poll, count {0}", count);
/* Modify the data to be sent here */
instance.x = (short)random.Next();
try {
poll_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* poll_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
pollTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"pollTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
/* There are several different approaches for loading QoS profiles from
* XML files (see Configuring QoS with XML chapter in the RTI Connext
* Core Libraries and Utilities User's Manual). In this example we
* illustrate two of them:
*
* 1) Creating a file named USER_QOS_PROFILES.xml, which is loaded,
* automatically by the DomainParticipantFactory. In this case, the file
* defines a QoS profile named volatile_profile that configures reliable,
* volatile DataWriters and DataReaders.
*
* 2) Adding XML documents to the DomainParticipantFactory using its
* Profile QoSPolicy (DDS Extension). In this case, we add
* my_custom_qos_profiles.xml to the url_profile sequence, which stores
* the URLs of all the XML documents with QoS policies that are loaded
* by the DomainParticipantFactory aside from the ones that are
* automatically loaded.
* my_custom_qos_profiles.xml defines a QoS profile named
* transient_local_profile that configures reliable, transient local
* DataWriters and DataReaders.
*/
/* To load my_custom_qos_profiles.xml, as explained above, we need to
* modify the DDSTheParticipantFactory Profile QoSPolicy */
DDS.DomainParticipantFactoryQos factory_qos =
new DDS.DomainParticipantFactoryQos();
DDS.DomainParticipantFactory.get_instance().get_qos(factory_qos);
/* We are only going to add one XML file to the url_profile sequence,
* so we ensure a length of 1,1. */
factory_qos.profile.url_profile.ensure_length(1, 1);
/* The XML file will be loaded from the working directory. That means,
* you need to run the example like this:
* ./objs/<architecture>/profiles_publisher
* (see README.txt for more information on how to run the example).
*
* Note that you can specify the absolute path of the XML QoS file to
* avoid this problem.
*/
factory_qos.profile.url_profile.set_at(0,
"file://my_custom_qos_profiles.xml");
DDS.DomainParticipantFactory.get_instance().set_qos(factory_qos);
// --- Create participant --- //
/* Our default Qos profile, volatile_profile, sets the participant name.
* This is the only participant_qos policy that we change in our
* example. As this is done in the default QoS profile, we don't need
* to specify its name, so we can create the participant using the
* create_participant() method rather than using
* create_participant_with_profile(). */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* We haven't changed the publisher_qos in any of QoS profiles we use in
* this example, so we can just use the create_publisher() method. If
* you want to load an specific profile in which you may have changed
* the publisher_qos, use the create_publisher_with_profile() method. */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = profilesTypeSupport.get_type_name();
try {
profilesTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* We haven't changed the topic_qos in any of QoS profiles we use in
* this example, so we can just use the create_topic() method. If you
* want to load an specific profile in which you may have changed the
* topic_qos, use the create_topic_with_profile() method. */
DDS.Topic topic = participant.create_topic(
"Example profiles",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writers --- //
/* Volatile writer -- As volatile_profile is the default qos profile
* we don't need to specify the profile we are going to use, we can
* just call create_datawriter passing DDS_DATAWRITER_QOS_DEFAULT. */
DDS.DataWriter writer_volatile = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer_volatile == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
/* Transient Local writer -- In this case we use
* create_datawriter_with_profile, because we have to use a profile
* other than the default one. This profile has been defined in
* my_custom_qos_profiles.xml, but since we already loaded the XML file
* we don't need to specify anything else. */
DDS.DataWriter writer_transient_local = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer_transient_local == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
profilesDataWriter profiles_writer_volatile =
(profilesDataWriter)writer_volatile;
profilesDataWriter profiles_writer_transient_local =
(profilesDataWriter)writer_transient_local;
// --- Write --- //
/* Create data sample for writing */
profiles instance = profilesTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"profilesTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = profiles_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing profiles, count {0}", count);
/* Modify the data to be sent here */
instance.profile_name = "volatile_profile";
instance.x = count;
Console.WriteLine("Writing profile_name = " + instance.profile_name
+ "\t x = " + instance.x);
try {
profiles_writer_volatile.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write volatile error {0}", e);
}
instance.profile_name = "transient_local_profile";
instance.x = count;
Console.WriteLine("Writing profile_name = " + instance.profile_name
+ "\t x = " + instance.x + "\n");
try
{
profiles_writer_transient_local.write(instance,
ref instance_handle);
}
catch (DDS.Exception e)
{
Console.WriteLine("write transient local error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* profiles_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
profilesTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"profilesTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
/* If you want to change the DataWriter's QoS programmatically rather than
* using the XML file, you will need to add the following lines to your
* code and comment out the create_subscriber call above.
*/
// Start changes for coherent_presentation
/* Get default publisher QoS to customize */
/* DDS.SubscriberQos subscriber_qos = new DDS.SubscriberQos();
* participant.get_default_subscriber_qos(subscriber_qos);
*
* subscriber_qos.presentation.access_scope =
* DDS.PresentationQosPolicyAccessScopeKind.TOPIC_PRESENTATION_QOS;
* subscriber_qos.presentation.coherent_access = true;
*
* DDS.Subscriber subscriber = participant.create_subscriber(
* subscriber_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
* if (subscriber == null) {
* shutdown(participant);
* throw new ApplicationException("create_subscriber error");
* }
*
*/ // End changes for coherent_presentation
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = coherentTypeSupport.get_type_name();
try {
coherentTypeSupport.register_type(
participant, type_name);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example coherent",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* Create a data reader listener */
coherentListener reader_listener =
new coherentListener();
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// Start changes for coherent_presentation
/* Get default datareader QoS to customize */
/* DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
* subscriber.get_default_datareader_qos(datareader_qos);
*
* datareader_qos.reliability.kind =
* DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* datareader_qos.history.depth = 10;
*
* DDS.DataReader reader = subscriber.create_datareader(
* topic,
* datareader_qos,
* reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
* if (reader == null) {
* shutdown(participant);
* reader_listener = null;
* throw new ApplicationException("create_datareader error");
* }
*/ // End changes for coherent_presentation
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
/* If you want to change the DomainParticipant's QoS
* programmatically rather than using the XML file, you will need
* to add the following lines to your code and comment out the
* create_participant call above.
*
* This example uses a built-in QoS profile to enable
* monitoring on the DomainParticipant.*/
/*
* DDS.DomainParticipant participant = DDS.DomainParticipantFactory.
* get_instance().create_participant_with_profile(domain_id,
* "BuiltinQosLib", "Generic.Monitoring.Common", null,
* DDS.StatusMask.STATUS_MASK_NONE);
*/
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = profilesTypeSupport.get_type_name();
try {
profilesTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example profiles",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* Create a data reader listener */
profilesListener reader_listener =
new profilesListener();
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
/* If you want to change the DataWriter's QoS programatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_datawriter call above.
*
* This example uses a built-in QoS profile to tune the QoS for
* reliable streaming data. */
/*
* DDS.DataReader reader = subscriber.create_datareader_with_profile(
* topic, DDS.BuiltinQosProfiles.BUILTIN_QOS_LIB_EXP,
* DDS.BuiltinQosProfiles.PROFILE_PATTERN_RELIABLE_STREAMING,
* listener, DDS.StatusMask.STATUS_MASK_ALL);
*/
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine(
"profiles subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}