/// <summary>
/// This operation creates a new IDomainParticipant which will join the domain
/// identified by domainId, with the desired DomainParticipantQos and attaches
/// the specified IDomainParticipantListener to it and uses the given communication
/// StatusKind mask.
/// </summary>
/// <remarks>
/// <i><b>Identifying the Domain</b></i><br>
/// The IDomainParticipant will attach to the Domain that is specified by the
/// domainId parameter. This parameter consists of an integer specified in the Id tag
/// in the configuration file. Note that to make multiple connections to a Domain (create
/// multiple Participants for the same Domain) within a single process, all of the
/// Participants must use the same identification (i.e. all use the same domain Id).
///
/// The constant DDS.DomainId.Default can be used for this parameter. If this is done
/// the value of Id tag from the configuration file specified by the environment variable
/// called OSPL_URI will be used.
///
/// It is recommended to use this domain Id in conjunction with the OSPL_URI
/// environment variable instead of hard-coding a domain Id into your application,
/// since this gives you much more flexibility in the deployment phase of your product.<br>
/// See also Section 1.3.2.1, The OSPL_URI environment variable, in the Deployment
/// Guide.
///
/// <i><b>Communication Status</b></i><br>
/// For each communication status, the StatusChangedFlag flag is initially set to
/// false. It becomes true whenever that communication status changes. For each
/// communication status activated in the mask , the associated
/// IDomainParticipantListener operation is invoked and the communication
/// status is reset to false , as the listener implicitly accesses the status which is passed
/// as a parameter to that operation. The fact that the status is reset prior to calling the
/// listener means that if the application calls the Get<status_name>Status from
/// inside the listener it will see the status already reset.
///
/// The following statuses are applicable to the IDomainParticipant
/// - DDS.StatusKind InconsistentTopic (propagated)
/// - DDS.StatusKind OfferedDeadlineMissed (propagated)
/// - DDS.StatusKind RequestedDeadlineMissed (propagated)
/// - DDS.StatusKind OfferedIncompatibleQos (propagated)
/// - DDS.StatusKind RequestedIncompatibleQos (propagated)
/// - DDS.StatusKind SampleLost (propagated)
/// - DDS.StatusKind SampleRejected (propagated)
/// - DDS.StatusKind DataOnReaders (propagated)
/// - DDS.StatusKind DataAvailable (propagated)
/// - DDS.StatusKind LivelinessLost (propagated)
/// - DDS.StatusKind LivelinessChanged (propagated)
/// - DDS.StatusKind PublicationMatched (propagated)
/// - DDS.StatusKind SubscriptionMatched (propagated)
///
/// Be aware that the PublicationMatched and SubscriptionMatched
/// statuses are not applicable when the infrastructure does not have the
/// information available to determine connectivity. This is the case when OpenSplice
/// is configured not to maintain discovery information in the Networking Service. (See
/// the description for the NetworkingService/Discovery/enabled property in
/// the Deployment Manual for more information about this subject.) In this case the
/// operation will return NULL.
///
/// Status bits are declared as a constant and can be used by the application in an OR
/// operation to create a tailored mask. The special constant 0 can
/// be used to indicate that the created entity should not respond to any of its available
/// statuses. The DDS will therefore attempt to propagate these statuses to its factory.
///
/// <i><b>Status Propagation</b></i><br>
/// The Data Distribution Service will trigger the most specific and relevant Listener.<br>
/// In other words, in case a communication status is also activated on the Listener of
/// a contained entity, the Listener on that contained entity is invoked instead of the
/// IDomainParticipantListener. This means that a status change on a contained
/// entity only invokes the IDomainParticipantListener if the contained entity
/// itself does not handle the trigger event generated by the status change.
///
/// The statuses DataOnReaders and DataAvailable are
/// “Read Communication Statuses” and are an exception to all other plain
/// communication statuses: they have no corresponding status structure that can be
/// obtained with a Get<status_name>Status operation and they are mutually
/// exclusive. When new information becomes available to a IDataReader, the Data
/// Distribution Service will first look in an attached and activated
/// ISubscriberListener or IDomainParticipantListener (in that order) for the
/// DataOnReaders. In case the DataOnReaders can not be
/// handled, the Data Distribution Service will look in an attached and activated
/// IDataReaderListener, ISubscriberListener or IDomainParticipantListener for
/// the DataAvailable (in that order).
/// </remarks>
/// @param domainId The ID of the Domain to which the IDomainParticipant is joined.
/// This should be the ID as specified in the configuration file.
/// @param qos a DomainParticipantQos for the new IDomainParticipant. When
/// this set of QosPolicy settings is inconsistent, no
/// IDomainParticipant is created.
/// @param listener A IDomainParticipantListener instance which will be attached to
/// the new IDomainParticipant. It is permitted to use null as the
/// value of the listener: this behaves as a IDomainParticipantListener
/// whose operations perform no action.
/// @param mask A bit-mask in which each bit enables the invocation of the
/// IDomainParticipantListener for a certain status.
/// @return The newly created IDomainParticipant. In case of an error a null is returned.
public IDomainParticipant CreateParticipant(
DomainId domainId,
DomainParticipantQos qos,
IDomainParticipantListener listener,
StatusKind mask)
{
DomainParticipant participant = null;
ReturnCode result;
ReportStack.Start();
result = QosManager.checkQos(qos);
if (result == DDS.ReturnCode.Ok)
{
if (domainId != DDS.DomainId.Invalid)
{
lock (singleton_lock)
{
participant = new OpenSplice.DomainParticipant();
result = participant.init(domainId, qos);
if (result == ReturnCode.Ok)
{
result = participant.SetListener(listener, mask);
}
else
{
participant = null;
}
if (result == ReturnCode.Ok)
{
participantList.Add(participant);
if (myQos.EntityFactory.AutoenableCreatedEntities)
{
result = participant.Enable();
}
}
}
}
else
{
ReportStack.Report(DDS.ReturnCode.BadParameter,
"DomainParticipant is using an invalid domain identifier (" + domainId + ").");
}
}
if (result != ReturnCode.Ok && participant != null)
{
// Ignore result because we prefer the original error.
DeleteParticipant(participant);
participant = null;
}
ReportStack.Flush(null, result != ReturnCode.Ok);
return(participant);
}
internal ContentFilteredTopic(
string typeName,
string topicName,
DomainParticipant domainParticipant,
string filterExpression,
string[] filterParameters)
{
this.typeName = typeName;
this.topicName = topicName;
this.domainParticipant = domainParticipant;
this.filterExpression = filterExpression;
this.filterParameters = filterParameters;
}
internal MultiTopic(
string typeName,
string topicName,
DomainParticipant domainParticipant,
TypeSupport typeSupport,
string subscriptionExpression,
string[] subscriptionParameters)
{
this.typeName = typeName;
this.topicName = topicName;
this.domainParticipant = domainParticipant;
this.typeSupport = typeSupport;
this.subscriptionExpression = subscriptionExpression;
this.subscriptionParameters = subscriptionParameters;
MyDomainId = domainParticipant.MyDomainId;
}
public IDomainParticipant GetParticipant()
{
bool isAlive;
DomainParticipant participantObj = null;
ReportStack.Start();
lock (this)
{
isAlive = this.rlReq_isAlive;
if (isAlive)
{
participantObj = participant;
}
}
ReportStack.Flush(this, !isAlive);
return(participantObj);
}
public IDomainParticipant CreateParticipant(
DomainId domainId,
IDomainParticipantListener listener,
StatusKind mask)
{
IDomainParticipant participant = null;
string className = null;
if (listener != null)
{
OpenSplice.Gapi.gapi_domainParticipantListener gapiListener;
DomainParticipantListenerHelper listenerHelper = new DomainParticipantListenerHelper();
listenerHelper.Listener = listener;
listenerHelper.CreateListener(out gapiListener);
using (DomainParticipantListenerMarshaler listenerMarshaler =
new DomainParticipantListenerMarshaler(ref gapiListener))
{
// Invoke the corresponding gapi function.
IntPtr gapiParticipant = OpenSplice.Gapi.DomainParticipantFactory.create_participant(
GapiPeer,
domainId,
OpenSplice.Gapi.NativeConstants.GapiParticipantQosDefault,
listenerMarshaler.GapiPtr,
mask,
IntPtr.Zero,
IntPtr.Zero,
IntPtr.Zero,
className);
if (gapiParticipant != IntPtr.Zero)
{
participant = new OpenSplice.DomainParticipant(gapiParticipant, listenerHelper);
}
}
}
else
{
// Invoke the corresponding gapi function.
IntPtr gapiParticipant = OpenSplice.Gapi.DomainParticipantFactory.create_participant(
GapiPeer,
domainId,
OpenSplice.Gapi.NativeConstants.GapiParticipantQosDefault,
IntPtr.Zero,
mask,
IntPtr.Zero,
IntPtr.Zero,
IntPtr.Zero,
className);
if (gapiParticipant != IntPtr.Zero)
{
participant = new OpenSplice.DomainParticipant(gapiParticipant);
}
}
if (participant != null)
{
DomainParticipantFactoryQos dpfQos = null;
ReturnCode result = GetQos(ref dpfQos);
if (result == ReturnCode.Ok)
{
if (dpfQos.EntityFactory.AutoenableCreatedEntities)
{
participant.Enable();
}
}
}
return participant;
}
/**
* Register the four builtin topics:
* "DDS::ParticipantBuiltinTopicData"
* "DDS::TopicBuiltinTopicData"
* "DDS::PublicationBuiltinTopicData"
* "DDS::SubscriptionBuiltinTopicData"
*/
internal static ReturnCode BuiltinTopicRegisterTypeSupport(DomainParticipant participant)
{
ReturnCode result;
DDS.ParticipantBuiltinTopicDataTypeSupport DDSParticipant =
new DDS.ParticipantBuiltinTopicDataTypeSupport();
result = DDSParticipant.RegisterType(participant, DDSParticipant.TypeName);
if (result != ReturnCode.Ok)
{
DDS.OpenSplice.OS.Report(
DDS.OpenSplice.ReportType.OS_ERROR,
"DDS.OpenSplice.DomainParticipant.builtinTopicRegisterTypeSupport",
"DDS/OpenSplice/DomainParticipant.cs",
DDS.ErrorCode.Error,
"Failed to register builtin topic: DCPSParticipant");
} else {
participant.ParticipantDataMarshaler = DatabaseMarshaler.GetMarshaler(
participant, DDSParticipant.TypeSpec);
}
DDS.TopicBuiltinTopicDataTypeSupport DDSTopic =
new DDS.TopicBuiltinTopicDataTypeSupport();
result = DDSTopic.RegisterType(participant, DDSTopic.TypeName);
if (result != ReturnCode.Ok)
{
DDS.OpenSplice.OS.Report(
DDS.OpenSplice.ReportType.OS_ERROR,
"DDS.OpenSplice.DomainParticipant.builtinTopicRegisterTypeSupport",
"DDS/OpenSplice/DomainParticipant.cs",
DDS.ErrorCode.Error,
"Failed to register builtin topic: DCPSTopic");
} else {
participant.TopicDataMarshaler = DatabaseMarshaler.GetMarshaler(
participant, DDSTopic.TypeSpec);
}
DDS.PublicationBuiltinTopicDataTypeSupport DDSPublication =
new DDS.PublicationBuiltinTopicDataTypeSupport();
result = DDSPublication.RegisterType(participant, DDSPublication.TypeName);
if (result != ReturnCode.Ok)
{
DDS.OpenSplice.OS.Report(
DDS.OpenSplice.ReportType.OS_ERROR,
"DDS.OpenSplice.DomainParticipant.builtinTopicRegisterTypeSupport",
"DDS/OpenSplice/DomainParticipant.cs",
DDS.ErrorCode.Error,
"Failed to register builtin topic: DCPSPublication");
}
DDS.SubscriptionBuiltinTopicDataTypeSupport DDSSubscription =
new DDS.SubscriptionBuiltinTopicDataTypeSupport();
result = DDSSubscription.RegisterType(participant, DDSSubscription.TypeName);
if (result != ReturnCode.Ok)
{
DDS.OpenSplice.OS.Report(
DDS.OpenSplice.ReportType.OS_ERROR,
"DDS.OpenSplice.DomainParticipant.builtinTopicRegisterTypeSupport",
"DDS/OpenSplice/DomainParticipant.cs",
DDS.ErrorCode.Error,
"Failed to register builtin topic: DCPSSubscription");
}
return result;
}
/**
* Register the four builtin topics:
* "DDS::ParticipantBuiltinTopicData"
* "DDS::TopicBuiltinTopicData"
* "DDS::PublicationBuiltinTopicData"
* "DDS::SubscriptionBuiltinTopicData"
*/
internal static ReturnCode BuiltinTopicRegisterTypeSupport(DomainParticipant participant)
{
ReturnCode result;
DDS.ParticipantBuiltinTopicDataTypeSupport DDSParticipant =
new DDS.ParticipantBuiltinTopicDataTypeSupport();
result = DDSParticipant.RegisterType(participant, DDSParticipant.TypeName);
if (result != ReturnCode.Ok)
{
DDS.OpenSplice.OS.Report(
DDS.OpenSplice.ReportType.OS_ERROR,
"DDS.OpenSplice.DomainParticipant.builtinTopicRegisterTypeSupport",
"DDS/OpenSplice/DomainParticipant.cs",
DDS.ErrorCode.Error,
"Failed to register builtin topic: DCPSParticipant");
}
else
{
participant.ParticipantDataMarshaler = DatabaseMarshaler.GetMarshaler(
participant, DDSParticipant.TypeSpec);
}
DDS.TopicBuiltinTopicDataTypeSupport DDSTopic =
new DDS.TopicBuiltinTopicDataTypeSupport();
result = DDSTopic.RegisterType(participant, DDSTopic.TypeName);
if (result != ReturnCode.Ok)
{
DDS.OpenSplice.OS.Report(
DDS.OpenSplice.ReportType.OS_ERROR,
"DDS.OpenSplice.DomainParticipant.builtinTopicRegisterTypeSupport",
"DDS/OpenSplice/DomainParticipant.cs",
DDS.ErrorCode.Error,
"Failed to register builtin topic: DCPSTopic");
}
else
{
participant.TopicDataMarshaler = DatabaseMarshaler.GetMarshaler(
participant, DDSTopic.TypeSpec);
}
DDS.PublicationBuiltinTopicDataTypeSupport DDSPublication =
new DDS.PublicationBuiltinTopicDataTypeSupport();
result = DDSPublication.RegisterType(participant, DDSPublication.TypeName);
if (result != ReturnCode.Ok)
{
DDS.OpenSplice.OS.Report(
DDS.OpenSplice.ReportType.OS_ERROR,
"DDS.OpenSplice.DomainParticipant.builtinTopicRegisterTypeSupport",
"DDS/OpenSplice/DomainParticipant.cs",
DDS.ErrorCode.Error,
"Failed to register builtin topic: DCPSPublication");
}
DDS.SubscriptionBuiltinTopicDataTypeSupport DDSSubscription =
new DDS.SubscriptionBuiltinTopicDataTypeSupport();
result = DDSSubscription.RegisterType(participant, DDSSubscription.TypeName);
if (result != ReturnCode.Ok)
{
DDS.OpenSplice.OS.Report(
DDS.OpenSplice.ReportType.OS_ERROR,
"DDS.OpenSplice.DomainParticipant.builtinTopicRegisterTypeSupport",
"DDS/OpenSplice/DomainParticipant.cs",
DDS.ErrorCode.Error,
"Failed to register builtin topic: DCPSSubscription");
}
return(result);
}
public IDomainParticipant CreateParticipant(
string domainId,
IDomainParticipantListener listener,
StatusKind mask)
{
IDomainParticipant participant = null;
if (listener != null)
{
OpenSplice.Gapi.gapi_domainParticipantListener gapiListener;
DomainParticipantListenerHelper listenerHelper = new DomainParticipantListenerHelper();
listenerHelper.Listener = listener;
listenerHelper.CreateListener(out gapiListener);
using (DomainParticipantListenerMarshaler listenerMarshaler =
new DomainParticipantListenerMarshaler(ref gapiListener))
{
// Invoke the corresponding gapi function.
IntPtr gapiParticipant = OpenSplice.Gapi.DomainParticipantFactory.create_participant(
GapiPeer,
domainId,
OpenSplice.Gapi.NativeConstants.GapiParticipantQosDefault,
listenerMarshaler.GapiPtr,
mask,
IntPtr.Zero,
IntPtr.Zero,
IntPtr.Zero);
if (gapiParticipant != IntPtr.Zero)
{
participant = new OpenSplice.DomainParticipant(gapiParticipant, listenerHelper);
}
}
}
else
{
// Invoke the corresponding gapi function.
IntPtr gapiParticipant = OpenSplice.Gapi.DomainParticipantFactory.create_participant(
GapiPeer,
domainId,
OpenSplice.Gapi.NativeConstants.GapiParticipantQosDefault,
IntPtr.Zero,
mask,
IntPtr.Zero,
IntPtr.Zero,
IntPtr.Zero);
if (gapiParticipant != IntPtr.Zero)
{
participant = new OpenSplice.DomainParticipant(gapiParticipant);
}
}
if (participant != null)
{
DomainParticipantFactoryQos dpfQos = null;
ReturnCode result = GetQos(ref dpfQos);
if (result == ReturnCode.Ok)
{
if (dpfQos.EntityFactory.AutoenableCreatedEntities)
{
participant.Enable();
}
}
}
return(participant);
}
