static void Main(string[] args)
{
Ace.Init();
DomainParticipantFactory dpf = ParticipantService.Instance.GetDomainParticipantFactory("-DCPSConfigFile", "rtps.ini");
DomainParticipant participant = dpf.CreateParticipant(42);
if (participant == null)
{
throw new Exception("Could not create the participant");
}
MessageTypeSupport support = new MessageTypeSupport();
ReturnCode result = support.RegisterType(participant, support.GetTypeName());
if (result != ReturnCode.Ok)
{
throw new Exception("Could not register type: " + result.ToString());
}
Topic topic = participant.CreateTopic("MessageTopic", support.GetTypeName());
if (topic == null)
{
throw new Exception("Could not create the message topic");
}
Subscriber subscriber = participant.CreateSubscriber();
if (subscriber == null)
{
throw new Exception("Could not create the subscriber");
}
DataReader reader = subscriber.CreateDataReader(topic);
if (reader == null)
{
throw new Exception("Could not create the message data reader");
}
MessageDataReader messageReader = new MessageDataReader(reader);
while (true)
{
StatusMask mask = messageReader.StatusChanges;
if ((mask & StatusKind.DataAvailableStatus) != 0)
{
List <Message> receivedData = new List <Message>();
List <SampleInfo> receivedInfo = new List <SampleInfo>();
result = messageReader.Take(receivedData, receivedInfo);
if (result == ReturnCode.Ok)
{
bool messageReceived = false;
for (int i = 0; i < receivedData.Count; i++)
{
if (receivedInfo[i].ValidData)
{
Console.WriteLine(receivedData[i].Content);
messageReceived = true;
}
}
if (messageReceived)
{
break;
}
}
}
System.Threading.Thread.Sleep(100);
}
Console.WriteLine("Press a key to exit...");
Console.ReadKey();
participant.DeleteContainedEntities();
dpf.DeleteParticipant(participant);
ParticipantService.Instance.Shutdown();
Ace.Fini();
}
static void Main(string[] args)
{
Ace.Init();
DomainParticipantFactory dpf = ParticipantService.Instance.GetDomainParticipantFactory("-DCPSConfigFile", "rtps.ini");
DomainParticipant participant = dpf.CreateParticipant(42);
if (participant == null)
{
throw new Exception("Could not create the participant");
}
MessageTypeSupport support = new MessageTypeSupport();
ReturnCode result = support.RegisterType(participant, support.GetTypeName());
if (result != ReturnCode.Ok)
{
throw new Exception("Could not register type: " + result.ToString());
}
Topic topic = participant.CreateTopic("MessageTopic", support.GetTypeName());
if (topic == null)
{
throw new Exception("Could not create the message topic");
}
Publisher publisher = participant.CreatePublisher();
if (publisher == null)
{
throw new Exception("Could not create the publisher");
}
DataWriter writer = publisher.CreateDataWriter(topic);
if (writer == null)
{
throw new Exception("Could not create the data writer");
}
MessageDataWriter messageWriter = new MessageDataWriter(writer);
Console.WriteLine("Waiting for a subscriber...");
PublicationMatchedStatus status = new PublicationMatchedStatus();
do
{
result = messageWriter.GetPublicationMatchedStatus(ref status);
System.Threading.Thread.Sleep(500);
}while (status.CurrentCount < 1);
Console.WriteLine("Subscriber found, writting data....");
messageWriter.Write(new Message
{
Content = "Hello, I love you, won't you tell me your name?"
});
Console.WriteLine("Press a key to exit...");
Console.ReadKey();
participant.DeleteContainedEntities();
dpf.DeleteParticipant(participant);
ParticipantService.Instance.Shutdown();
Ace.Fini();
}
