private static void RegisterDomain(Topic <T> topicInstance, string domain)
{
lock (_locker)
{
DomainParticipantFactory dpf = DomainParticipantFactory.Instance;
ErrorHandler.CheckHandle(dpf, "DDS.DomainParticipantFactory.Instance");
var dpQos = new DomainParticipantQos();
dpf.GetDefaultParticipantQos(ref dpQos);
topicInstance.Participant = dpf.CreateParticipant(domain, dpQos) ??
(dpf.LookupParticipant(domain) ?? dpf.CreateParticipant(domain, dpQos));
if (topicInstance.Participant == null)
{
throw new Exception("DDS NOT started, please start / restart your DDS!");
}
}
}
private void InitializeWriter(AdapterWriterQos desiredQos)
{
var writerQos = new DataWriterQos();
topicPublisher.GetDefaultDataWriterQos(ref writerQos);
topicPublisher.CopyFromTopicQos(ref writerQos, currentTopic.TopicQos);
if (desiredQos != null)
{
writerQos.WriterDataLifecycle.AutodisposeUnregisteredInstances = false;
writerQos.Reliability.Kind = desiredQos.MessageReliabilityType.ConvertReliability();
writerQos.Durability.Kind = desiredQos.PersistenceType.ConvertPersistence();
}
// Create a DataWritter for the current Topic
dataWriter = topicPublisher.CreateDataWriter(currentTopic.TopicMessageTopic, writerQos) as DataWriter <T>;
ErrorHandler.CheckHandle(
DataWriter, "Publisher.CreateDatawriter (InitializeWriter)");
}
private void CreateDataReader(AdapterReaderQos desiredQos, DataReaderListener <T> listener,
int waitForHistoricalData)
{
if (partitionName.Contains("*"))
{
partitionName.Replace("*", string.Empty);
}
if (dataReader != null)
{
if (listener != null)
{
ReturnCode status = dataReader.SetListener(
listener, StatusKind.DataAvailable | StatusKind.SampleLost | StatusKind.SampleRejected);
ErrorHandler.CheckStatus(status, "Subscriber.SetListener (CreateDataReader)");
}
}
else
{
// Create a DataReader for the Topic
// (using the appropriate QoS) and attach a listener to the data reader on new data available
var dataReaderQos = new DataReaderQos();
topicSubscriber.CopyFromTopicQos(ref dataReaderQos, currentTopic.TopicQos);
if (desiredQos != null)
{
dataReaderQos.Durability.Kind = desiredQos.PersistenceType.ConvertPersistence();
dataReaderQos.Reliability.Kind = desiredQos.MessageReliabilityType.ConvertReliability();
}
dataReader = topicSubscriber.CreateDataReader(
currentTopic.TopicMessageTopic,
dataReaderQos,
listener,
StatusKind.DataAvailable);
ErrorHandler.CheckHandle(
dataReader, "Subscriber.CreateDatareader (CreateDataReader)");
dataReader.WaitForHistoricalData(new Duration(waitForHistoricalData, 0));
}
}
public Publisher(Topic <T> topic, string partitionName, AdapterWriterQos desiredQos)
{
currentTopic = topic;
IDomainParticipant participant = topic.Participant;
var publisherQos = new PublisherQos();
ReturnCode status = participant.GetDefaultPublisherQos(ref publisherQos);
ErrorHandler.CheckStatus(status, "Publisher.GetDefaultSubscriberQos (Publisher)");
publisherQos.Partition.Name = new string[1];
publisherQos.Partition.Name[0] = partitionName;
// Create a Subscriber for the application.
topicPublisher = participant.CreatePublisher(publisherQos);
ErrorHandler.CheckHandle(
topicPublisher, "Publisher.CreateSubscriber (Publisher)");
InitializeWriter(desiredQos);
}
public Topic(string topicName, AdapterTopicQos requiredTopicQoS, TypeSupport clientTypeSupport)
{
if (clientTypeSupport == null)
{
throw new ArgumentNullException("clientTypeSupport");
}
string domain = null;
// just using the default partition, named after the topic name
TopicName = topicName;
TopicType = typeof(T).Name;
// Create a DomainParticipantFactory and a DomainParticipant
RegisterDomain(this, domain);
ErrorHandler.CheckHandle(Participant, "DDS.DomainParticipantFactory.CreateParticipant");
// Register the required datatype.
typeSupport = new TopicTypeSupport(clientTypeSupport);
ReturnCode status = typeSupport.RegisterType(Participant, topicName);
ErrorHandler.CheckStatus(status, "Topic.TopicMessageTypeSupport.RegisterType");
TopicQos topicQos = null;
Participant.GetDefaultTopicQos(ref topicQos);
ApplyQos(topicQos, requiredTopicQoS);
TopicQos = topicQos;
TopicMessageTopic = Participant.CreateTopic(topicName, topicName, topicQos);
Participant.SetDefaultTopicQos(topicQos);
if (TopicMessageTopic == null)
{
throw new Exception("QoS for topic " + TopicName + " FAILED!, please check QoS!");
}
}
public Subscriber(Topic <T> topic, string partitionName, AdapterReaderQos desiredQos,
DataReaderListener <T> listener, int waitForHistoricalData)
{
currentTopic = topic;
this.partitionName = partitionName;
this.listener = listener;
IDomainParticipant participant = topic.Participant;
var subQos = new SubscriberQos();
ReturnCode status = participant.GetDefaultSubscriberQos(ref subQos);
ErrorHandler.CheckStatus(
status, "Subscriber.GetDefaultSubscriberQos (Subscriber)");
subQos.Partition.Name = new string[1];
subQos.Partition.Name[0] = partitionName;
// Create a Subscriber for the application.
topicSubscriber = participant.CreateSubscriber(subQos);
ErrorHandler.CheckHandle(
topicSubscriber, "Subscriber.CreateSubscriber (Subscriber)");
CreateDataReader(desiredQos, listener, waitForHistoricalData);
}
