Ejemplo n.º 1
0
        // 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);
            }
        }
Ejemplo n.º 2
0
    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);
    }