private void receiveData()
{
DDS.ConditionSeq activeConditions = new DDS.ConditionSeq();
while (true)
{
try
{
_waitset.wait(activeConditions, _timeout);
for (var c = 0; c < activeConditions.length; ++c)
{
if (activeConditions.get_at(c) == _statusCondition)
{
DDS.StatusMask triggeredmask =
_reader.get_status_changes();
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0)
{
try
{
DDS.TypedDataReader <T> dataReader
= (DDS.TypedDataReader <T>)_reader;
dataReader.take(
_dataSeq,
_infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
int dataLength = _dataSeq.length;
//Console.WriteLine("Received {0}", dataLength);
for (var i = 0; i < dataLength; ++i)
{
if (_infoSeq.get_at(i).valid_data)
{
var temp = new T();
temp.copy_from(_dataSeq.get_at(i));
_subject.OnNext(temp);
}
else if (_infoSeq.get_at(i).instance_state ==
DDS.InstanceStateKind.NOT_ALIVE_DISPOSED_INSTANCE_STATE)
{
/* FIXME: If the instance comes back online,
* it will break the Rx contract. */
//Console.WriteLine("OnCompleted CALLED FROM LIB CODE on tid "+
//System.Threading.Thread.CurrentThread.ManagedThreadId);
_subject.OnCompleted();
}
}
dataReader.return_loan(_dataSeq, _infoSeq);
}
catch (DDS.Retcode_NoData)
{
_subject.OnCompleted();
return;
}
catch (Exception ex)
{
_subject.OnError(ex);
Console.WriteLine($"ObservableTopicWaitSet: take error {ex}");
}
}
else
{
StatusKindPrinter.print((int)triggeredmask);
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS) != 0)
{
DDS.SubscriptionMatchedStatus status = new DDS.SubscriptionMatchedStatus();
_reader.get_subscription_matched_status(ref status);
Console.WriteLine($"Subscription matched. current_count = {status.current_count}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.LIVELINESS_CHANGED_STATUS) != 0)
{
DDS.LivelinessChangedStatus status = new DDS.LivelinessChangedStatus();
_reader.get_liveliness_changed_status(ref status);
Console.WriteLine($"Liveliness changed. alive_count = {status.alive_count}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_LOST_STATUS) != 0)
{
DDS.SampleLostStatus status = new DDS.SampleLostStatus();
_reader.get_sample_lost_status(ref status);
Console.WriteLine($"Sample lost. Reason = {status.last_reason.ToString()}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_REJECTED_STATUS) != 0)
{
DDS.SampleRejectedStatus status = new DDS.SampleRejectedStatus();
_reader.get_sample_rejected_status(ref status);
Console.WriteLine($"Sample Rejected. Reason = {status.last_reason.ToString()}");
}
}
}
}
}
catch (DDS.Retcode_Timeout)
{
Console.WriteLine("wait timed out");
}
}
}
private void receiveData()
{
int count = 0;
DDS.ConditionSeq active_conditions = new DDS.ConditionSeq();
while (true)
{
try
{
waitset.wait(active_conditions, timeout);
for (int c = 0; c < active_conditions.length; ++c)
{
if (active_conditions.get_at(c) == status_condition)
{
DDS.StatusMask triggeredmask =
reader.get_status_changes();
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0)
{
try
{
DDS.TypedDataReader <T> dataReader
= (DDS.TypedDataReader <T>)reader;
dataReader.take(
dataSeq,
infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
System.Int32 dataLength = dataSeq.length;
for (int i = 0; i < dataLength; ++i)
{
if (infoSeq.get_at(i).valid_data)
{
T temp = new T();
temp.copy_from(dataSeq.get_at(i));
demultiplexer(temp);
}
else if (infoSeq.get_at(i).instance_state ==
DDS.InstanceStateKind.NOT_ALIVE_DISPOSED_INSTANCE_STATE)
{
Console.WriteLine("DDS INSTANCE NOT_ALIVE_DISPOSED_INSTANCE_STATE");
demultiplexer(null);
}
}
dataReader.return_loan(dataSeq, infoSeq);
}
catch (DDS.Retcode_NoData)
{
Console.WriteLine("RETCODE_NODATA");
demultiplexer(null);
return;
}
catch (Exception ex)
{
Console.WriteLine("WaitsetSubscriber: take error {0}", ex);
}
}
else
{
StatusKindPrinter.print((int)triggeredmask);
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS) != 0)
{
DDS.SubscriptionMatchedStatus status = new DDS.SubscriptionMatchedStatus();
reader.get_subscription_matched_status(ref status);
Console.WriteLine("Subscription matched. current_count = {0}", status.current_count);
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.LIVELINESS_CHANGED_STATUS) != 0)
{
DDS.LivelinessChangedStatus status = new DDS.LivelinessChangedStatus();
reader.get_liveliness_changed_status(ref status);
Console.WriteLine("Liveliness changed. alive_count = {0}", status.alive_count);
if (status.alive_count == 0)
{
Console.WriteLine("publisher disconnected");
return;
}
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_LOST_STATUS) != 0)
{
DDS.SampleLostStatus status = new DDS.SampleLostStatus();
reader.get_sample_lost_status(ref status);
Console.WriteLine("Sample lost. Reason = {0}", status.last_reason.ToString());
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_REJECTED_STATUS) != 0)
{
DDS.SampleRejectedStatus status = new DDS.SampleRejectedStatus();
reader.get_sample_rejected_status(ref status);
Console.WriteLine("Sample Rejected. Reason = {0}", status.last_reason.ToString());
}
}
}
}
}
catch (DDS.Retcode_Timeout)
{
Console.WriteLine("wait timed out");
count += 2;
continue;
}
}
}
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 = ChatObjectTypeSupport.get_type_name();
try {
ChatObjectTypeSupport.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(
My.CHAT_TOPIC_NAME.VALUE, /*>>><<<*/
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 ContentFiltered Topic */
DDS.StringWrapper[] cft_param_list = new DDS.StringWrapper[] { "'Rajive'", "'Shannon'", "'Jaromy'" };
DDS.StringSeq cft_parameters = new DDS.StringSeq(3);
cft_parameters.from_array(cft_param_list);
DDS.ContentFilteredTopic cft = participant.create_contentfilteredtopic("Chat/filtered",
topic, "(id = %0 OR id = %1 OR id = %2)",
cft_parameters);
if (cft == null)
{
Console.WriteLine("create_contentfilteredtopic error\n");
shutdown(participant);
throw new ApplicationException("create_contentfilteredtopic error");
}
/* <<< */
// --- Create reader --- //
/* Create a data reader listener */
ChatObjectListener reader_listener =
new ChatObjectListener();
/* 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,
null, /*>>><<<*/
DDS.StatusMask.STATUS_MASK_NONE); /*>>><<<*/
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
/* >>> Setup StatusCondition */
DDS.StatusCondition status_condition = reader.get_statuscondition();
if (status_condition.Equals(null))
{
Console.WriteLine("get_statuscondition error\n");
shutdown(participant);
throw new ApplicationException("get_statuscondition error");
}
try {
status_condition.set_enabled_statuses((DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS);
}
catch {
Console.WriteLine("set_enabled_statuses error\n");
shutdown(participant);
throw new ApplicationException("set_enabled_statuses error");
}
/* <<< */
/* >>> Setup WaitSet */
DDS.WaitSet waitset = new DDS.WaitSet();
try {
waitset.attach_condition(status_condition);
}
catch {
// ... error
waitset.Dispose(); waitset = null;
shutdown(participant);
reader_listener.Dispose(); reader_listener = null;
return;
}
// holder for active conditions
DDS.ConditionSeq active_conditions = new DDS.ConditionSeq();
/* <<< */
// --- 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(
"ChatObject subscriber sleeping ...",
receive_period / 1000);
/* >>> Wait */
/* Wait for condition to trigger */
try {
waitset.wait(active_conditions, DDS.Duration_t.DURATION_INFINITE);
reader_listener.on_data_available(reader);
}
catch {
}
/* <<< */
// System.Threading.Thread.Sleep(receive_period); /*>>><<<*/
}
// --- Shutdown --- //
/* Delete all entities */
waitset.Dispose(); waitset = null; /*>>><<<*/
shutdown(participant);
reader_listener = null;
}
static void subscribe(int domain_id, int sample_count)
{
// --- Register userGenerated datatype ---
DDS.DomainParticipantFactory.get_instance().
register_type_support(
ChatObjectTypeSupport.get_instance(),
"My::Type::Chat::Obj");
// --- Create participant --- //
/* To customize the participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().
create_participant_from_config(
"MyParticipant_Library::MySubscriptionParticipant");
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
/* Create a data reader listener */
ChatObjectListener reader_listener =
new ChatObjectListener();
// --- Lookup reader --- //
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = participant.lookup_datareader_by_name(
"MySubscriber::ChatObjectReader");
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("lookup_datareader error");
}
/* >>> Setup StatusCondition */
DDS.StatusCondition status_condition = reader.get_statuscondition();
if (status_condition.Equals(null))
{
Console.WriteLine("get_statuscondition error\n");
shutdown(participant);
throw new ApplicationException("get_statuscondition error");
}
try {
status_condition.set_enabled_statuses((DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS);
}
catch {
Console.WriteLine("set_enabled_statuses error\n");
shutdown(participant);
throw new ApplicationException("set_enabled_statuses error");
}
/* <<< */
/* >>> Setup WaitSet */
DDS.WaitSet waitset = new DDS.WaitSet();
try {
waitset.attach_condition(status_condition);
}
catch {
// ... error
waitset.Dispose(); waitset = null;
shutdown(participant);
reader_listener.Dispose(); reader_listener = null;
return;
}
// holder for active conditions
DDS.ConditionSeq active_conditions = new DDS.ConditionSeq();
/* <<< */
// --- 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(
"ChatObject subscriber sleeping ...",
receive_period / 1000);
/* >>> Wait for condition to trigger */
try {
waitset.wait(active_conditions, DDS.Duration_t.DURATION_INFINITE);
reader_listener.on_data_available(reader);
}
catch {
}
/* <<< */
// System.Threading.Thread.Sleep(receive_period); /*>>><<<*/
}
// --- Shutdown --- //
/* Delete all entities */
waitset.Dispose(); waitset = null; /*>>><<<*/
shutdown(participant);
reader_listener = null;
}
private void ReceiveData()
{
DDS.ConditionSeq activeConditions = new DDS.ConditionSeq();
while (true)
{
try
{
_waitset.wait(activeConditions, _timeout);
for (var c = 0; c < activeConditions.length; ++c)
{
if (activeConditions.get_at(c) == _statusCondition)
{
DDS.StatusMask triggeredmask =
_reader.get_status_changes();
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0)
{
try
{
DDS.TypedDataReader <T> dataReader
= (DDS.TypedDataReader <T>)_reader;
dataReader.take(
_dataSeq,
_infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
int dataLength = _dataSeq.length;
//Console.WriteLine("Received {0}", dataLength);
for (var i = 0; i < dataLength; ++i)
{
DDS.SampleInfo info = _infoSeq.get_at(i);
if (info.valid_data)
{
var data = new T();
data.copy_from(_dataSeq.get_at(i));
var key = _keySelector(data);
DDSKeyedSubject <TKey, T> keyedSubject;
if (!_keyedSubjectDict.ContainsKey(key))
{
keyedSubject = new DDSKeyedSubject <TKey, T>(key, _scheduler);
_keyedSubjectDict.Add(key, keyedSubject);
_handleKeyDict.Add(info.instance_handle, key);
_groupSubject.OnNext(keyedSubject);
}
else
{
keyedSubject = _keyedSubjectDict[key];
if (_externalSubDict)
{
if (!_handleKeyDict.ContainsKey(info.instance_handle))
{
_handleKeyDict.Add(info.instance_handle, key);
_groupSubject.OnNext(keyedSubject);
}
}
}
keyedSubject.OnNext(data);
}
else if (info.instance_state ==
DDS.InstanceStateKind.NOT_ALIVE_DISPOSED_INSTANCE_STATE)
{
if (_handleKeyDict.ContainsKey(info.instance_handle))
{
var key = _handleKeyDict[info.instance_handle];
if (_keyedSubjectDict.ContainsKey(key))
{
var keyedSub = _keyedSubjectDict[key];
_keyedSubjectDict.Remove(key);
_handleKeyDict.Remove(info.instance_handle);
keyedSub.OnCompleted();
/* FIXME: If the instance comes alive again, it will break the Rx contract */
}
else
{
Console.WriteLine(
"InstanceDataReaderListener invariant broken: keyedSubDict does not contain key");
}
}
else
{
Console.WriteLine(
"InstanceDataReaderListener invariant broken: handleKeyDict does not contain info.instance_handle");
}
}
}
dataReader.return_loan(_dataSeq, _infoSeq);
}
catch (DDS.Retcode_NoData)
{
_subject.OnCompleted();
return;
}
catch (Exception ex)
{
_subject.OnError(ex);
Console.WriteLine($"ObservableTopicWaitSet: take error {ex}");
}
}
else
{
StatusKindPrinter.print((int)triggeredmask);
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS) != 0)
{
DDS.SubscriptionMatchedStatus status = new DDS.SubscriptionMatchedStatus();
_reader.get_subscription_matched_status(ref status);
Console.WriteLine($"Subscription matched. current_count = {status.current_count}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.LIVELINESS_CHANGED_STATUS) != 0)
{
DDS.LivelinessChangedStatus status = new DDS.LivelinessChangedStatus();
_reader.get_liveliness_changed_status(ref status);
Console.WriteLine($"Liveliness changed. alive_count = {status.alive_count}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_LOST_STATUS) != 0)
{
DDS.SampleLostStatus status = new DDS.SampleLostStatus();
_reader.get_sample_lost_status(ref status);
Console.WriteLine($"Sample lost. Reason = {status.last_reason.ToString()}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_REJECTED_STATUS) != 0)
{
DDS.SampleRejectedStatus status = new DDS.SampleRejectedStatus();
_reader.get_sample_rejected_status(ref status);
Console.WriteLine($"Sample Rejected. Reason = {status.last_reason.ToString()}");
}
}
}
}
}
catch (DDS.Retcode_Timeout)
{
Console.WriteLine("wait timed out");
}
}
}