private void OnNewParticipant(AnyDataReader _)
{
// Take all the data about new participants
using LoanedSamples <ParticipantBuiltinTopicData> samples = participantReader
.Select()
.WithState(ViewState.New.And(InstanceState.Alive))
.Take();
foreach (var sample in samples)
{
if (!sample.Info.ValidData)
{
continue;
}
Console.WriteLine($"Discovered participant: {sample.Data}");
if (!IsAuthorized(sample.Data.UserData))
{
// Disallow communication with participants that don't
// provide the correct password
participant.IgnoreParticipant(sample.Info.InstanceHandle);
Console.WriteLine(" * Authorization DENIED");
}
else
{
Console.WriteLine(" * Authorization OK");
}
}
}
private static void OnRequestedIncompatibleQos(
AnyDataReader _,
RequestedIncompatibleQosStatus status)
{
// Exercise #3.1 add a message to print when this DataReader discovers an
// incompatible DataWriter
}
private void OnSampleLost(AnyDataReader reader, SampleLostStatus status)
{
if (status.LastReason == SampleLostStatusKind.LostByIncompleteCoherentSet)
{
Console.WriteLine(
$"Lost {status.TotalCount.Change} samples of topic {reader.TopicDescription.Name} in an incomplete coherent set.");
}
}
private static void OnRequestedIncompatibleQos(
AnyDataReader _,
RequestedIncompatibleQosStatus status)
{
// Print when this DataReader discovers an incompatible DataWriter
Console.WriteLine(
$"Requested incompatible policy: {status.LastPolicy.Name}");
}
private void OnNewSubscription(AnyDataReader _)
{
// Take all the data about new subscriptions
using LoanedSamples <SubscriptionBuiltinTopicData> samples = subscriptionReader
.Select()
.WithState(ViewState.New.And(InstanceState.Alive))
.Take();
foreach (var sample in samples)
{
if (!sample.Info.ValidData)
{
continue;
}
Console.WriteLine($"Discovered subscription: {sample.Data}");
}
}
