static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize 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 publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = ccfTypeSupport.get_type_name();
try {
ccfTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example ccf",
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");
}
/* Start changes for Custom_Content_Filter */
/* Create and register custom filter */
custom_filter_type custom_filter = new custom_filter_type();
try {
participant.register_contentfilter("Customfilter", custom_filter);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
/* End changes for Custom_Content_Filter */
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
ccfDataWriter ccf_writer =
(ccfDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
ccf instance = ccfTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"ccfTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = ccf_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing ccf, count {0}", count);
/* Modify the data to be sent here */
instance.x = count;
try {
ccf_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* ccf_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
ccfTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"ccfTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count, int turbo_mode_on)
{
System.String profile_name = null;
System.String library_name = "batching_Library";
/* We pick the profile name if the turbo_mode is selected or not.
* If Turbo_mode is not selected, the batching profile will be used.
*/
if (turbo_mode_on == 1)
{
profile_name = "turbo_mode_profile";
Console.WriteLine("Turbo Mode enable");
}
else
{
profile_name = "batch_profile";
Console.WriteLine("Manual batching enable");
}
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().
create_participant_with_profile(
domain_id,
library_name, profile_name,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher_with_profile(
library_name, profile_name,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = batch_dataTypeSupport.get_type_name();
try {
batch_dataTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example batch_data",
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 writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter_with_profile(
topic,
library_name, profile_name,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
batch_dataDataWriter batch_data_writer =
(batch_dataDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
batch_data instance = batch_dataTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"batch_dataTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = batch_data_writer.register_instance(instance);
*/
/* Main loop */
System.Int32 send_period = 1000; // milliseconds
if (turbo_mode_on == 1)
{
send_period = 0;
}
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing batch_data, count {0}", count);
/* Modify the data to be sent here */
instance.x = count;
try {
batch_data_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* batch_data_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
batch_dataTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"batch_dataTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void subscribe(int domain_id)
{
// --- 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 atype_name = AccidentTypeSupport.get_type_name();
System.String ptype_name = PositionTypeSupport.get_type_name();
try
{
AccidentTypeSupport.register_type(
participant, atype_name);
PositionTypeSupport.register_type(
participant, ptype_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 atopic = participant.create_topic(
"P3464_BHANDERSON: PT/ALR/ACC",
atype_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
DDS.Topic ptopic = participant.create_topic(
"P3464_BHANDERSON: PT/POS",
ptype_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (atopic == null || ptopic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* Create a data reader listener */
AccidentListener reader_listener =
new AccidentListener();
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader areader = subscriber.create_datareader(
atopic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
DDS.DataReader preader = subscriber.create_datareader(
ptopic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (areader == null || preader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- 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(
"Subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
static void subscribe(int domain_id, int sample_count, int sel_cft)
{
// --- 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 = cftTypeSupport.get_type_name();
try {
cftTypeSupport.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(
"Example cft",
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");
}
/* Sequence of parameters for the content filter expression */
DDS.StringSeq parameters = new DDS.StringSeq(2);
/* The default parameter list that we will include in the
* sequence of parameters will be "1","4" (i.e., 1 <= x <= 4). */
DDS.StringWrapper[] param_list = new DDS.StringWrapper[2] {
"1", "4"
};
parameters.from_array(param_list);
/* Create the content filtered topic in case sel_cft
* is true.
* The Content Filter Expresion has two parameters:
* - %0 -- x must be greater or equal than %0.
* - %1 -- x must be less or equal than %1.
*/
DDS.ContentFilteredTopic cft = null;
if (sel_cft != 0)
{
cft = participant.create_contentfilteredtopic(
"ContentFilteredTopic", topic, "(x >= %0 and x <= %1)",
parameters);
if (cft == null)
{
shutdown(participant);
throw new ApplicationException(
"create_contentfilteredtopic error");
}
}
// --- Create reader --- //
/* Create a data reader listener */
cftListener reader_listener =
new cftListener();
/* Here we create the reader either using a Content Filtered Topic or
* a normal topic */
DDS.DataReader reader = null;
if (sel_cft != 0)
{
Console.WriteLine("Using ContentFiltered Topic");
reader = subscriber.create_datareader(cft,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener, DDS.StatusMask.STATUS_MASK_ALL);
}
else
{
Console.WriteLine("Using Normal Topic");
reader = subscriber.create_datareader(topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener, DDS.StatusMask.STATUS_MASK_ALL);
}
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
/* If you want to set the reliability and history QoS settings
* programmatically rather than using the XML, you will need to add
* the following lines to your code and comment out the
* create_datareader calls above.
*/
/*
* DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
* try {
* subscriber.get_default_datareader_qos(datareader_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_datareader_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
*
* datareader_qos.reliability.kind =
* DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* datareader_qos.durability.kind =
* DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS;
* datareader_qos.history.kind =
* DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
* datareader_qos.history.depth = 20;
*
* if (sel_cft != 0) {
* Console.WriteLine("Using ContentFiltered Topic");
* reader = subscriber.create_datareader(cft,
* datareader_qos, reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
* } else {
* Console.WriteLine("Using Normal Topic");
* reader = subscriber.create_datareader(topic,
* datareader_qos, reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
* }
*
* if (reader == null) {
* shutdown(participant);
* reader_listener = null;
* throw new ApplicationException("create_datareader error");
* }
*
*/
if (sel_cft != 0)
{
Console.WriteLine("\n==========================");
Console.WriteLine("Using CFT\nFilter: 1 <= x <= 4");
Console.WriteLine("==========================");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine(
"cft subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
if (sel_cft == 0)
{
continue;
}
if (count == 10)
{
Console.WriteLine("\n==========================");
Console.WriteLine("Changing filter parameters");
Console.WriteLine("Filter: 5 <= x <= 9");
Console.WriteLine("===========================");
parameters.set_at(0, "5");
parameters.set_at(1, "9");
try {
cft.set_expression_parameters(parameters);
} catch (DDS.Exception e) {
Console.WriteLine("set_expression_parameters error {0}", e);
shutdown(participant);
throw e;
}
}
else if (count == 20)
{
Console.WriteLine("\n==========================");
Console.WriteLine("Changing filter parameters");
Console.WriteLine("Filter: 3 <= x <= 9");
Console.WriteLine("===========================");
DDS.StringSeq oldParameters = new DDS.StringSeq();
cft.get_expression_parameters(oldParameters);
oldParameters.set_at(0, "3");
try {
cft.set_expression_parameters(oldParameters);
} catch (DDS.Exception e) {
Console.WriteLine("set_expression_parameters error {0}", e);
shutdown(participant);
throw e;
}
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize 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 publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher_with_profile(
"ordered_Library", "ordered_Profile_subscriber_instance",
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
/* If you want to change the Publisher's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_publisher call above.
*
* In this case, we set the presentation publish mode ordered in the
* topic.
*/
/* Get default publisher QoS to customize */
/* DDS.PublisherQos publisher_qos = new DDS.PublisherQos();
* participant.get_default_publisher_qos(publisher_qos);
*
* publisher_qos.presentation.access_scope =
* DDS.PresentationQosPolicyAccessScopeKind.TOPIC_PRESENTATION_QOS;
* publisher_qos.presentation.ordered_access = true;
*
* // --- Create publisher --- //
*
* DDS.Publisher publisher = participant.create_publisher(
* publisher_qos, null, DDS.StatusMask.STATUS_MASK_NONE);
* if (publisher == null) {
* shutdown(participant);
* throw new ApplicationException("create_publisher error");
* }
*/
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = orderedTypeSupport.get_type_name();
try {
orderedTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example ordered",
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 writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
orderedDataWriter ordered_writer =
(orderedDataWriter)writer;
/* Start changes for Ordered_Presentation */
/* Create two instances */
ordered instance0 = null;
ordered instance1 = null;
DDS.InstanceHandle_t handle0 = DDS.InstanceHandle_t.HANDLE_NIL;
DDS.InstanceHandle_t handle1 = DDS.InstanceHandle_t.HANDLE_NIL;
// --- Write --- //
/* Create data sample for writing */
instance0 = orderedTypeSupport.create_data();
if (instance0 == null)
{
shutdown(participant);
throw new ApplicationException(
"orderedTypeSupport.create_data error");
}
instance1 = orderedTypeSupport.create_data();
if (instance1 == null)
{
shutdown(participant);
throw new ApplicationException(
"orderedTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
instance0.id = 0;
instance1.id = 1;
handle0 = ordered_writer.register_instance(instance0);
handle1 = ordered_writer.register_instance(instance1);
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
instance0.value = count;
instance1.value = count;
Console.WriteLine("writing instance0, value->{0}", instance0.value);
try {
ordered_writer.write(instance0, ref handle0);
} catch (DDS.Exception e) {
Console.WriteLine("write instance0 error {0}", e);
}
Console.WriteLine("writing instance1, value->{0}", instance1.value);
try {
ordered_writer.write(instance1, ref handle1);
} catch (DDS.Exception e) {
Console.WriteLine("write instance1 error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
try {
ordered_writer.unregister_instance(
instance0, ref handle0);
} catch (DDS.Exception e) {
Console.WriteLine("unregister instance0 error: {0}", e);
}
try {
ordered_writer.unregister_instance(
instance1, ref handle1);
} catch (DDS.Exception e) {
Console.WriteLine("unregister instance1 error: {0}", e);
}
// --- Shutdown --- //
/* Delete data sample */
try {
orderedTypeSupport.delete_data(instance0);
} catch (DDS.Exception e) {
Console.WriteLine(
"orderedTypeSupport.delete_data0 error: {0}", e);
}
try {
orderedTypeSupport.delete_data(instance1);
} catch (DDS.Exception e) {
Console.WriteLine(
"orderedTypeSupport.delete_data1 error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize 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 publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = asyncTypeSupport.get_type_name();
try {
asyncTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example async",
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");
}
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
/* If you want to change the DataWriter's QoS programmatically rather than
* using the XML file, you will need to add the following lines to your
* code and comment out the create_datawriter call above.
*
* In this case, we set the publish mode qos to asynchronous publish mode,
* which enables asynchronous publishing. We also set the flow controller
* to be the fixed rate flow controller, and we increase the history depth.
*/
// /* Get default datawriter QoS to customize */
// DDS.DataWriterQos datawriter_qos = new DDS.DataWriterQos();
// try {
// publisher.get_default_datawriter_qos(datawriter_qos);
// }
// catch (DDS.Exception e)
// {
// Console.WriteLine("get_default_datawriter_qos error {0}", e);
// shutdown(participant);
// throw e;
// }
///* Since samples are only being sent once per second, datawriter will need
// * to keep them on queue. History defaults to only keeping the last
// * sample enqueued, so we increase that here.
// */
// datawriter_qos.history.depth = 12;
// /* Set flowcontroller for datawriter */
// datawriter_qos.publish_mode.kind =
// DDS.PublishModeQosPolicyKind.ASYNCHRONOUS_PUBLISH_MODE_QOS;
// datawriter_qos.publish_mode.flow_controller_name =
// DDS.FlowController.FIXED_RATE_FLOW_CONTROLLER_NAME;
// // --- Create writer --- //
// /* To create datawriter with default QoS, use DDS_DATAWRITER_QOS_DEFAULT
//instead of datawriter_qos */
// DDS.DataWriter writer = publisher.create_datawriter(
// topic,
// datawriter_qos,
// null /* listener */,
// DDS.StatusMask.STATUS_MASK_NONE);
// if (writer == null) {
// shutdown(participant);
// throw new ApplicationException("create_datawriter error");
// }
asyncDataWriter async_writer =
(asyncDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
async instance = asyncTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"asyncTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = async_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing async, count {0}", count);
/* Modify the data to be sent here */
instance.x = count;
try {
async_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* async_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
asyncTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"asyncTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize 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 publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = market_dataTypeSupport.get_type_name();
try {
market_dataTypeSupport.register_type(
participant, type_name);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example market_data",
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");
}
/* If you want to change the DataWriter's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and modify the datawriter creation fuction using writer_qos
*
* In this case, we set the publish as multichannel using the differents
* channel to send differents symbol. Every channel have a IP to send
* the data.
*/
/* Start changes for MultiChannel */
/*
* DDS.DataWriterQos writer_qos = new DDS.DataWriterQos();
* try {
* publisher.get_default_datawriter_qos(writer_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_datawriter_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
*/
/* Create 8 channels based on Symbol */
/*
* writer_qos.multi_channel.channels.ensure_length(8, 8);
* System.Int32 length = writer_qos.multi_channel.channels.length;
* for (int i = 0; i < length; i++) {
* DDS.ChannelSettings_t channelSetting =
* new DDS.ChannelSettings_t();
* writer_qos.multi_channel.channels.set_at(i, channelSetting);
* DDS.TransportMulticastSettingsSeq multiCastSettingSeq =
* new DDS.TransportMulticastSettingsSeq(1);
* writer_qos.multi_channel.channels.get_at(i).
* multicast_settings = multiCastSettingSeq;
* writer_qos.multi_channel.channels.get_at(i).
* multicast_settings.ensure_length(1, 1);
* DDS.TransportMulticastSettings_t multicastSetting =
* new DDS.TransportMulticastSettings_t();
* writer_qos.multi_channel.channels.get_at(i).
* multicast_settings.set_at(0, multicastSetting);
* }
* writer_qos.multi_channel.channels.get_at(0).
* filter_expression = "Symbol MATCH '[A-C]*'";
* writer_qos.multi_channel.channels.get_at(0).
* multicast_settings.ensure_length(1, 1);
* writer_qos.multi_channel.channels.get_at(0).
* multicast_settings.get_at(0).receive_address = "239.255.0.2";
* writer_qos.multi_channel.channels.get_at(1).
* filter_expression = "Symbol MATCH '[D-F]*'";
* writer_qos.multi_channel.channels.get_at(1).
* multicast_settings.ensure_length(1, 1);
* writer_qos.multi_channel.channels.get_at(1).
* multicast_settings.get_at(0).receive_address = "239.255.0.3";
* writer_qos.multi_channel.channels.get_at(2).
* filter_expression = "Symbol MATCH '[G-I]*'";
* writer_qos.multi_channel.channels.get_at(2).
* multicast_settings.ensure_length(1, 1);
* writer_qos.multi_channel.channels.get_at(2).
* multicast_settings.get_at(0).receive_address = "239.255.0.4";
* writer_qos.multi_channel.channels.get_at(3).
* filter_expression = "Symbol MATCH '[J-L]*'";
* writer_qos.multi_channel.channels.get_at(3).
* multicast_settings.ensure_length(1, 1);
* writer_qos.multi_channel.channels.get_at(3).
* multicast_settings.get_at(0).receive_address = "239.255.0.5";
* writer_qos.multi_channel.channels.get_at(4).
* filter_expression = "Symbol MATCH '[M-O]*'";
* writer_qos.multi_channel.channels.get_at(4).
* multicast_settings.ensure_length(1, 1);
* writer_qos.multi_channel.channels.get_at(4).
* multicast_settings.get_at(0).receive_address = "239.255.0.6";
* writer_qos.multi_channel.channels.get_at(5).
* filter_expression = "Symbol MATCH '[P-S]*'";
* writer_qos.multi_channel.channels.get_at(5).
* multicast_settings.ensure_length(1, 1);
* writer_qos.multi_channel.channels.get_at(5).
* multicast_settings.get_at(0).receive_address = "239.255.0.7";
* writer_qos.multi_channel.channels.get_at(6).
* filter_expression = "Symbol MATCH '[T-V]*'";
* writer_qos.multi_channel.channels.get_at(6).
* multicast_settings.ensure_length(1, 1);
* writer_qos.multi_channel.channels.get_at(6).
* multicast_settings.get_at(0).receive_address = "239.255.0.8";
* writer_qos.multi_channel.channels.get_at(7).
* filter_expression = "Symbol MATCH '[W-Z]*'";
* writer_qos.multi_channel.channels.get_at(7).
* multicast_settings.ensure_length(1, 1);
* writer_qos.multi_channel.channels.get_at(7).
* multicast_settings.get_at(0).receive_address = "239.255.0.9";
*/
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
/* toggle between writer_qos and DDS_DATAWRITER_QOS_DEFAULT to alternate
* between using code and using XML to specify the Qos */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
/* writer_qos */ DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
market_dataDataWriter market_data_writer =
(market_dataDataWriter)writer;
/* End changes for MultiChannel */
// --- Write --- //
/* Create data sample for writing */
market_data instance = market_dataTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"market_dataTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = market_data_writer.register_instance(instance);
*/
/* Changes for MultiChannel */
const System.Int32 send_period = 100; // milliseconds
/* Main loop */
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
/* Console.WriteLine("Writing market_data, count {0}", count); */
/* Changes for MultiChannel */
/* Modify the data to be sent here */
char[] SymbolBuffer = { (char)('A' + (char)(count % 26)) };
String Symbol = new String(SymbolBuffer);
instance.Symbol = Symbol;
instance.Price = count;
try {
market_data_writer.write(instance, ref instance_handle);
} catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* market_data_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
market_dataTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"market_dataTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize 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 publisher --- //
/* Start - modifying the generated example to showcase the usage of
* the get_publishers API
*/
/* We create 2 publishers */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
/* We use the publisher.GetHashCode() to identify the publisher ID */
Console.WriteLine("The first publishers is " + publisher.GetHashCode());
DDS.Publisher publisher2 = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher2 == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher2 error");
}
Console.WriteLine("The second publishers is " + publisher2.GetHashCode());
Console.WriteLine("Let's call get_publisher() now and check if " +
"I get all my publishers...");
DDS.PublisherSeq publisherSeq = new DDS.PublisherSeq();
participant.get_publishers(publisherSeq);
for (int count = 0; count < publisherSeq.length; ++count)
{
DDS.Publisher tmp = publisherSeq.get_at(count);
Console.WriteLine("The {0} publisher I found is: {1}",
count, tmp.GetHashCode());
}
/*
* try {
* Foo_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
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 = pollTypeSupport.get_type_name();
try {
pollTypeSupport.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(
"Example poll",
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 reader --- //
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (reader == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
/* If you want to change datareader_qos.history.kind programmatically rather
* than using the XML file, you will need to add the following lines to your
* code and comment out the create_datareader call above. */
/*DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
*
* try
* {
* subscriber.get_default_datareader_qos(datareader_qos);
* }
* catch (DDS.Exception e)
* {
* Console.WriteLine("get_default_datareader_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
*
* datareader_qos.history.kind =
* DDS.HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;
*
* DDS.DataReader reader = subscriber.create_datareader(
* topic, datareader_qos, null,
* DDS.StatusMask.STATUS_MASK_ALL);
* if (reader == null) {
* shutdown(participant);
* throw new ApplicationException("create_datareader error");
* }
*/
pollDataReader poll_reader =
(pollDataReader)reader;
// --- Wait for data --- //
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
pollSeq data_seq = new pollSeq();
/* Main loop */
const System.Int32 receive_period = 5000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine(
"poll subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
// --- Polling for data --- ///
/* Check for new data calling the DataReader's take() method */
try
{
poll_reader.take(
data_seq, info_seq, DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE, DDS.
InstanceStateKind.ANY_INSTANCE_STATE);
}
catch (DDS.Retcode_NoData)
{
// Not an error
return;
}
catch (DDS.Exception e)
{
Console.WriteLine("take error {0}", e);
return;
}
int len = 0;
double sum = 0;
/* Iterate through the samples read using the take() method, getting
* the number of samples got and, adding the value of x on each of
* them to calculate the average afterwards. */
for (int i = 0; i < data_seq.length; ++i)
{
if (!info_seq.get_at(i).valid_data)
{
continue;
}
len++;
sum += data_seq.get_at(i).x;
}
if (len > 0)
{
Console.WriteLine("Got {0} samples. Avg = {1}", len, sum / len);
}
try
{
poll_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
// This gets called when a participant has been discovered
public override void on_data_available(DDS.DataReader reader)
{
DDS.ParticipantBuiltinTopicDataDataReader builtin_reader =
(DDS.ParticipantBuiltinTopicDataDataReader)reader;
string participant_data;
DDS.ParticipantBuiltinTopicData cur_participant_builtin_topic_data;
try {
// We only process newly seen participants
builtin_reader.take(
data_seq, info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.NEW_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
for (int i = 0; i < data_seq.length; ++i)
{
DDS.SampleInfo info = (DDS.SampleInfo)info_seq.get_at(i);
if (info.valid_data)
{
participant_data = "nil";
bool is_auth = false;
cur_participant_builtin_topic_data =
(DDS.ParticipantBuiltinTopicData)
data_seq.get_at(i);
// see if there is any participant_data
if (cur_participant_builtin_topic_data.
user_data.value.length > 0)
{
participant_data =
System.Text.Encoding.ASCII.GetString(
cur_participant_builtin_topic_data.
user_data.value.buffer,
0,
cur_participant_builtin_topic_data.
user_data.value.length);
is_auth = (participant_data == auth);
}
Console.WriteLine(
"Built-in Reader: found participant \n\tkey->'" +
cur_participant_builtin_topic_data.key.GetHashCode()
+ "'\n\tuser_data->'" + participant_data + "'");
Console.WriteLine(
"instance_handle: " + info.instance_handle);
if (!is_auth)
{
Console.WriteLine(
"Bad authorization, ignoring participant");
DDS.DomainParticipant participant =
reader.get_subscriber().get_participant();
DDS.InstanceHandle_t temp = info.instance_handle;
participant.ignore_participant(ref temp);
info.instance_handle = temp;
}
}
}
} catch (DDS.Retcode_NoData) {
// No data to process
// This happens when we get announcements from participants we
// already know about
return;
} finally {
builtin_reader.return_loan(data_seq, info_seq);
}
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
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 publisher --- //
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
/* Create DynamicData using TypeCode from Shapes.cpp
* If you are NOT using a type generated with rtiddsgen, you
* need to create this TypeCode from scratch.
*/
DDS.TypeCode type_code = ShapeType.get_typecode();
if (type_code == null)
{
shutdown(participant);
throw new ApplicationException("create_typecode error");
}
/* Create the Dynamic data type support object */
DDS.DynamicDataTypeSupport type_support =
new DDS.DynamicDataTypeSupport(type_code,
new DDS.DynamicDataTypeProperty_t());
if (type_support == null)
{
shutdown(participant);
throw new ApplicationException("create_type_support error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = EXAMPLE_TYPE_NAME;
try {
type_support.register_type(participant, EXAMPLE_TYPE_NAME);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* Make sure both publisher and subscriber share the same topic
* name.
* In the Shapes example: we are publishing a Square, which is the
* topic name. If you want to publish other shapes (Triangle or
* Circle), you just need to update the topic name. */
DDS.Topic topic = participant.create_topic(
"Square",
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 writer --- //
/* First, we create a generic DataWriter for our topic */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
/* Then, to use DynamicData, we need to assign the generic
* DataWriter to a DynamicDataWriter, using a casting. The follow
* casting should never fail.
*/
DDS.DynamicDataWriter DynamicData_writer =
(DDS.DynamicDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
DDS.DynamicData data = type_support.create_data();
if (data == null)
{
shutdown(participant);
throw new ApplicationException(
"ShapeTypeTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = ShapeType_writer.register_instance(instance);
*/
/*** Shape direction variables ***/
int direction = 1; /* 1 means left to right and -1, right to left */
int x_position = 50; /* 50 is the initial position */
/* Initialize the DynamicData object */
data.set_string("color", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, "BLUE");
data.set_int("x", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, x_position);
data.set_int("y", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 100);
data.set_int("shapesize", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 30);
/* Main loop */
const System.Int32 send_period = 100; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Sending shapesize {0}", 30 + (count % 20));
Console.WriteLine("Sending x position {0}", x_position);
/* Modify the shapesize from 30 to 50 */
try {
data.set_int("shapesize", DDS.DynamicData.MEMBER_ID_UNSPECIFIED,
30 + (count % 20));
} catch (DDS.Exception e) {
Console.WriteLine("{0}\nError writing shapesize = {1}",
e, 30 + (count % 20));
}
/* Modify the position */
try {
data.set_int("x", DDS.DynamicData.MEMBER_ID_UNSPECIFIED,
x_position);
} catch (DDS.Exception e) {
Console.WriteLine("{0}\nError writing x_position = {1}",
e, x_position);
}
/* The x_position will be modified adding or substracting
* 2 to the previous x_position depending on the direction.
*/
x_position += (direction * 2);
/* The x_position will stay between 50 and 150 pixels.
* When the position is greater than 150 'direction' will be
* negative (moving to the left) and when it is lower than 50
* 'direction' will be possitive (moving to the right).
*/
if (x_position >= 150)
{
direction = -1;
}
if (x_position <= 50)
{
direction = 1;
}
try {
DynamicData_writer.write(data, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* ShapeType_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
type_support.delete_data(data);
} catch (DDS.Exception e) {
Console.WriteLine(
"ShapeTypeTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* Start changes for Builtin_Topics */
/* If you want to change the Factory's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the participant call above.
*/
/* By default, the participant is enabled upon construction.
* At that time our listeners for the builtin topics have not
* been installed, so we disable the participant until we
* set up the listeners.
*/
/*
* DDS.DomainParticipantFactoryQos factory_qos =
* new DDS.DomainParticipantFactoryQos();
* DDS.DomainParticipantFactory.get_instance().get_qos(factory_qos);
* factory_qos.entity_factory.autoenable_created_entities = false;
* DDS.DomainParticipantFactory.get_instance().set_qos(factory_qos);
*
*/
// If you want to change the Participant's QoS programmatically
// rather than using the XML file, you will need to uncomment the
// following lines and replace in create_participant the argument
// DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT with
// participant_qos
//DDS.DomainParticipantQos participant_qos =
// new DDS.DomainParticipantQos();
//DDS.DomainParticipantFactory.get_instance().
// get_default_participant_qos(participant_qos);
//participant_qos.resource_limits.participant_user_data_max_length = 1024;
/* To customize 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 Exception("create_participant error");
}
// Installing listeners for the builting topics requires several steps
// First get the builting subscriber
DDS.Subscriber builtin_subscriber =
participant.get_builtin_subscriber();
if (builtin_subscriber == null)
{
shutdown(participant);
throw new Exception("create_builtin_subscriber error");
}
/* Then get builtin subscriber's datareader for participants
* The type name is a bit hairy, but can be read right to left:
* DDS.ParticipantBuiltinTopicDataDataReader is a
* DataReader for BuiltinTopicData concerning a discovered
* Participant
*/
DDS.ParticipantBuiltinTopicDataDataReader
builtin_participant_datareader =
(DDS.ParticipantBuiltinTopicDataDataReader)
builtin_subscriber.lookup_datareader(
DDS.ParticipantBuiltinTopicDataTypeSupport.
PARTICIPANT_TOPIC_NAME);
// Install our listener
BuiltinParticipantListener builtin_participant_listener =
new BuiltinParticipantListener();
try {
builtin_participant_datareader.set_listener(
builtin_participant_listener,
(DDS.StatusMask.STATUS_MASK_NONE |
(DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS));
} catch (DDS.Exception e) {
shutdown(participant);
Console.WriteLine("set_listener error: {0}", e);
}
// Get builtin subscriber's datareader for subscribers
DDS.SubscriptionBuiltinTopicDataDataReader
builtin_subscription_datareader =
(DDS.SubscriptionBuiltinTopicDataDataReader)
builtin_subscriber.lookup_datareader(
DDS.SubscriptionBuiltinTopicDataTypeSupport.
SUBSCRIPTION_TOPIC_NAME);
if (builtin_participant_datareader == null)
{
shutdown(participant);
throw new Exception("lookup_datareader error");
}
// Install our listener
BuiltinSubscriberListener builtin_subscriber_listener =
new BuiltinSubscriberListener();
builtin_subscription_datareader.set_listener(
builtin_subscriber_listener,
(DDS.StatusMask.STATUS_MASK_NONE |
(DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS));
/* Done! All the listeners are installed, so we can enable the
* participant now.
*/
participant.enable();
/* End changes for Builtin_Topics */
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new Exception("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
string type_name = msgTypeSupport.get_type_name();
try {
msgTypeSupport.register_type(participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example msg",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new Exception("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new Exception("create_datawriter error");
}
msgDataWriter msg_writer = (msgDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
msg instance = msgTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new Exception("msgTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = msg_writer.register_instance(instance);
*/
/* Main loop */
const int send_period = 1000; // milliseconds
/* Changes for Builtin_Topics */
for (short count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
System.Threading.Thread.Sleep(send_period);
Console.WriteLine("Writing msg, count {0}", count);
/* Modify the data to be sent here */
/* Changes for Builtin_Topics */
instance.x = count;
try {
msg_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
}
/*
* try {
* msg_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
msgTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine("msgTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize 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 publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = cftTypeSupport.get_type_name();
try {
cftTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example cft",
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 writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
/* If you want to set the reliability and history QoS settings
* programmatically rather than using the XML, you will need to add
* the following lines to your code and comment out the
* create_datawriter call above.
*/
/*
* DDS.DataWriterQos datawriter_qos = new DDS.DataWriterQos();
* try {
* publisher.get_default_datawriter_qos(datawriter_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_datawriter_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
*
* datawriter_qos.reliability.kind =
* DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* datawriter_qos.durability.kind =
* DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS;
* datawriter_qos.history.kind =
* DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
* datawriter_qos.history.depth = 20;
*
* DDS.DataWriter writer = publisher.create_datawriter(
* topic, datawriter_qos, null,
* DDS.StatusMask.STATUS_MASK_NONE);
* if (writer == null) {
* shutdown(participant);
* throw new ApplicationException("create_datawriter error");
* }
*/
cftDataWriter cft_writer =
(cftDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
cft instance = cftTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"cftTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = cft_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing cft, count {0}", count);
/* Modify the data to be sent here */
if (count % 2 == 1)
{
instance.name = "ODD";
}
else
{
instance.name = "EVEN";
}
instance.count = count;
try {
cft_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* cft_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
cftTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"cftTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
private void initializeDataReader(DDS.DomainParticipant participant)
{
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
throw new ApplicationException("create_subscriber error");
}
DDS.Topic topic = participant.create_topic(
_topicName,
_typeName,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
throw new ApplicationException("create_topic error");
}
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
_reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_ALL);
if (_reader == null)
{
throw new ApplicationException("create_datareader error");
}
_statusCondition = _reader.get_statuscondition();
try
{
var mask =
(int)DDS.StatusKind.DATA_AVAILABLE_STATUS |
(int)DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS |
(int)DDS.StatusKind.LIVELINESS_CHANGED_STATUS |
(int)DDS.StatusKind.SAMPLE_LOST_STATUS |
(int)DDS.StatusKind.SAMPLE_REJECTED_STATUS;
_statusCondition.set_enabled_statuses((DDS.StatusMask)mask);
}
catch (DDS.Exception e)
{
throw new ApplicationException($"set_enabled_statuses error {e}");
}
_waitset = new DDS.WaitSet();
try
{
_waitset.attach_condition(_statusCondition);
}
catch (DDS.Exception e)
{
throw new ApplicationException("attach_condition error {0}", e);
}
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize 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 publisher --- //
DDS.PublisherQos publisher_qos = new DDS.PublisherQos();
participant.get_default_publisher_qos(publisher_qos);
/* If you want to change the Partition name programmatically rather than
* using the XML, you will need to add the following lines to your code
* and comment out the create_publisher() call bellow.
*/
/*
* String[] partitions = { "ABC", "foo" };
*
* publisher_qos.partition.name.ensure_length(2, 2);
* publisher_qos.partition.name.from_array(partitions);
* DDS.Publisher publisher = participant.create_publisher(
* publisher_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
*
*/
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = partitionsTypeSupport.get_type_name();
try
{
partitionsTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e)
{
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example partitions",
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 writer --- //
/* In this example we set a Reliable datawriter, with Transient Local
* durability. By default we set up these QoS settings via XML. If you
* want to to it programmatically, use the following code, and comment out
* the create_datawriter call bellow.
*/
/*
* DDS.DataWriterQos writerQos = new DDS.DataWriterQos();
* publisher.get_default_datawriter_qos(writerQos);
*
* writerQos.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* writerQos.history.depth = 3;
* writerQos.history.kind = DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
* writerQos.durability.kind = DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS;
*
* DDS.DataWriter writer = publisher.create_datawriter(
* topic,
* writerQos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
*/
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
partitionsDataWriter partitions_writer =
(partitionsDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
partitions instance = partitionsTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"partitionsTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = partitions_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // 1 second
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing partitions, count {0}", count);
/* Modify the data to be sent here */
instance.x = count;
try
{
partitions_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
if ((count + 1) % 25 == 0)
{
// Matches "ABC" -- name[1] here can match name[0] there,
// as long as there is some overlapping name
publisher_qos.partition.name.set_at(0, "zzz");
publisher_qos.partition.name.set_at(1, "A*C");
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
publisher.set_qos(publisher_qos);
}
else if ((count + 1) % 20 == 0)
{
// Strings that are regular expressions aren't tested for
// literal matches, so this won't match "X*Z"
publisher_qos.partition.name.set_at(0, "X*Z");
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
publisher.set_qos(publisher_qos);
}
else if ((count + 1) % 15 == 0)
{
// Matches "ABC"
publisher_qos.partition.name.set_at(0, "A?C");
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
publisher.set_qos(publisher_qos);
}
else if ((count + 1) % 10 == 0)
{
// Matches "ABC"
publisher_qos.partition.name.set_at(0, "A*");
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
publisher.set_qos(publisher_qos);
}
else if ((count + 1) % 5 == 0)
{
// No literal match for "bar"
publisher_qos.partition.name.set_at(0, "bar");
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
publisher.set_qos(publisher_qos);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* partitions_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try
{
partitionsTypeSupport.delete_data(instance);
}
catch (DDS.Exception e)
{
Console.WriteLine(
"partitionsTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
private static void Publish(int domainId, int sampleCount)
{
// --- Create participant --- //
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domainId,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
Shutdown(participant);
throw new Exception("create_participant error");
}
// --- Create publisher --- //
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
Shutdown(participant);
throw new Exception("create_publisher error");
}
// --- Create topic --- //
// Register type before creating topic.
string typeName = FlightTypeSupport.get_type_name();
try {
FlightTypeSupport.register_type(participant, typeName);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
Shutdown(participant);
throw e;
}
DDS.Topic topic = participant.create_topic(
"Example Flight",
typeName,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
Shutdown(participant);
throw new Exception("create_topic error");
}
// --- Create writer --- //
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
Shutdown(participant);
throw new Exception("create_datawriter error");
}
FlightDataWriter flightWriter = (FlightDataWriter)writer;
// --- Write --- //
// Create data sample for writing.
Flight[] flights_info = new Flight[4];
flights_info[0] = new Flight();
flights_info[0].trackId = 1111;
flights_info[0].company = "CompanyA";
flights_info[0].altitude = 15000;
flights_info[1] = new Flight();
flights_info[1].trackId = 2222;
flights_info[1].company = "CompanyB";
flights_info[1].altitude = 20000;
flights_info[2] = new Flight();
flights_info[2].trackId = 3333;
flights_info[2].company = "CompanyA";
flights_info[2].altitude = 30000;
flights_info[3] = new Flight();
flights_info[3].trackId = 4444;
flights_info[3].company = "CompanyB";
flights_info[3].altitude = 25000;
// For a data type that has a key, if the same instance is going to
// be written multiple times, initialize the key here and register
// the keyed instance prior to writing.
DDS.InstanceHandle_t instance_handle =
DDS.InstanceHandle_t.HANDLE_NIL;
// Main loop
const int sendPeriod = 1000; // Milliseconds
for (int count = 0;
(sampleCount == 0) || (count < sampleCount);
count++)
{
// Update flight info latitude and write.
Console.WriteLine("Updating and sending values");
for (int i = 0; i < flights_info.Length; i++)
{
// Set the plane altitude lineally (usually the max is
// at 41,000ft).
int altitude = flights_info[i].altitude + count * 100;
flights_info[i].altitude =
altitude >= 41000 ? 41000 : altitude;
Console.WriteLine(
"\t[trackId: {0}, company: {1}, altitude: {2}]",
flights_info[i].trackId, flights_info[i].company,
flights_info[i].altitude);
try {
flightWriter.write(flights_info[i], ref instance_handle);
} catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
}
System.Threading.Thread.Sleep(sendPeriod);
}
// Delete all entities
Shutdown(participant);
}
private void Form1_Load(object sender, EventArgs e)
{
participant = DDS.DomainParticipantFactory.get_instance().create_participant(
0, DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topics --- //
/* OpenClose */
/* Register type before creating topic */
System.String type_name = cow.OpenCloseTypeSupport.get_type_name();
try
{
cow.OpenCloseTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception ex)
{
MessageBox.Show("register_type error " + ex.Message);
shutdown(participant);
throw ex;
}
/* Customize QoS settings */
DDS.TopicQos topicQos = new DDS.TopicQos();
participant.get_default_topic_qos(topicQos);
topicQos.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
topicQos.durability.kind = DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS;
DDS.Topic openCloseTopic = participant.create_topic(
"OpenClose", type_name, topicQos,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (openCloseTopic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriterQos datawriterQos = new DDS.DataWriterQos();
publisher.get_default_datawriter_qos(datawriterQos);
publisher.copy_from_topic_qos(datawriterQos, topicQos);
DDS.DataWriter writer = publisher.create_datawriter(
openCloseTopic, datawriterQos,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
openCloseWriter = (cow.OpenCloseDataWriter)writer;
/* SetWatts */
/* Register type before creating topic */
type_name = cow.SetWattsTypeSupport.get_type_name();
try
{
cow.SetWattsTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception ex)
{
MessageBox.Show("register_type error " + ex.Message);
shutdown(participant);
throw ex;
}
/* To customize topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.Topic setWattsTopic = participant.create_topic(
"SetWatts", type_name, topicQos,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (setWattsTopic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
the configuration file USER_QOS_PROFILES.xml */
writer = publisher.create_datawriter(
setWattsTopic, datawriterQos,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
setWattsWriter = (cow.SetWattsDataWriter)writer;
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize 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 publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = queryconditionTypeSupport.get_type_name();
try {
queryconditionTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example querycondition",
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 writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
queryconditionDataWriter querycondition_writer =
(queryconditionDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
querycondition instance = queryconditionTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"queryconditionTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = querycondition_writer.register_instance(instance);
*/
/* Main loop */
string[] myIds = new string[3];
myIds[0] = "GUID1";
myIds[1] = "GUID2";
myIds[2] = "GUID3";
const System.Int32 send_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing querycondition, count {0}", count);
/* Modify the data to be sent here */
instance.id = myIds[count % 3];
Random rnd = new Random();
instance.value = rnd.Next(0, 10);
try {
querycondition_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* querycondition_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
queryconditionTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"queryconditionTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
