private void ProcessData(Condition _)
{
Console.WriteLine("---- Data available ----\n");
using (subscriber.BeginAccess()) // Begin coherent access
{
// Get the list of readers with samples that have not been read yet
var readers = subscriber.GetDataReaders(SampleState.NotRead);
// Iterate through the returned readers list and take their samples
foreach (AnyDataReader reader in readers)
{
var topicName = reader.TopicDescription.Name;
// We're reading the data polymorphically as objects, since
// we're only calling the ToString() method. To read the
// concrete type, cast down each reader, for example:
// if (reader is DataReader<Alarm> alarmReader) { ... }
using (LoanedSamples <object> samples = reader.TakeUntyped())
{
foreach (LoanedSample <object> sample in samples)
{
PrintCoheretSetInfo(sample.Info);
Console.WriteLine(topicName + " {\n" + sample + "}\n");
}
}
}
} // end coherent access
}
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($"Discovered participant: {sample.Data}");
if (!IsAuthorized(sample.Data.UserData))
{
// Disallow communication with participants that don't
// provide the correct password
participant.IgnoreParticipant(sample.Info.InstanceHandle);
Console.WriteLine(" * Authorization DENIED");
}
else
{
Console.WriteLine(" * Authorization OK");
}
}
}
private void OnNewSubscription(AnyDataReader _)
{
// Take all the data about new subscriptions
using LoanedSamples <SubscriptionBuiltinTopicData> samples = subscriptionReader
.Select()
.WithState(ViewState.New.And(InstanceState.Alive))
.Take();
foreach (var sample in samples)
{
if (!sample.Info.ValidData)
{
continue;
}
Console.WriteLine($"Discovered subscription: {sample.Data}");
}
}
