static void Main(string[] args)
{
DDSEntityManager mgr = new DDSEntityManager("Listener");
String partitionName = "Listener Example";
// create Domain Participant
mgr.createParticipant(partitionName);
// create Type
MsgTypeSupport msgTS = new MsgTypeSupport();
mgr.registerType(msgTS);
// create Topic
mgr.createTopic("ListenerData_Msg");
// create Publisher
mgr.createPublisher();
// create DataWriter
mgr.createWriter();
// Publish Events
IDataWriter dwriter = mgr.getWriter();
MsgDataWriter listenerWriter = dwriter as MsgDataWriter;
ReturnCode status = ReturnCode.Error;
Msg msgInstance = new Msg();
msgInstance.userID = 1;
msgInstance.message = "Hello World";
Console.WriteLine("=== [ListenerDataPublisher] writing a message containing :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : \"" + msgInstance.message + "\"");
InstanceHandle msgHandle = listenerWriter.RegisterInstance(msgInstance);
ErrorHandler.checkHandle(msgHandle, "DataWriter.RegisterInstance");
status = listenerWriter.Write(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "DataWriter.Write");
Thread.Sleep(2);
// clean up
status = listenerWriter.Dispose(msgInstance, msgHandle);
ErrorHandler.checkStatus(status, "DataWriter.Dispose");
status = listenerWriter.UnregisterInstance(msgInstance, msgHandle);
ErrorHandler.checkStatus(status, "DataWriter.UnregisterInstance");
mgr.getPublisher().DeleteDataWriter(listenerWriter);
mgr.deletePublisher();
mgr.deleteTopic();
mgr.deleteParticipant();
}
static void Main(string[] args)
{
DDSEntityManager mgr = new DDSEntityManager("WaitSet");
String partitionName = "WaitSet example";
// create Domain Participant
mgr.createParticipant(partitionName);
// create Type
MsgTypeSupport msgTS = new MsgTypeSupport();
mgr.registerType(msgTS);
// create Topic
mgr.createTopic("WaitSetData_Msg");
// create Publisher
mgr.createPublisher();
// create DataWriter
mgr.createWriter();
// Publish Events
IDataWriter dwriter = mgr.getWriter();
MsgDataWriter WaitSetWriter = dwriter as MsgDataWriter;
// Write the first message
Msg msgInstance = new Msg();
msgInstance.userID = 1;
msgInstance.message = "First hello";
Console.WriteLine("=== [Publisher] writing a message containing :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : \" {0} ", msgInstance.message);
InstanceHandle handle = WaitSetWriter.RegisterInstance(msgInstance);
ErrorHandler.checkHandle(handle, "MsgDataWriter.RegisterInstance");
ReturnCode status = WaitSetWriter.Write(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsgDataWriter.Write");
Thread.Sleep(500);
// Write another message
msgInstance.message = "Hello again";
status = WaitSetWriter.Write(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsgDataWriter.Write");
Console.WriteLine("=== [Publisher] writing a message containing :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : {0}", msgInstance.message);
Thread.Sleep(500);
status = WaitSetWriter.Dispose(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsgDataWriter.Dispose");
status = WaitSetWriter.UnregisterInstance(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsgDataWriter.UnregisterInstance");
// Clean up
mgr.getPublisher().DeleteDataWriter(WaitSetWriter);
mgr.deletePublisher();
mgr.deleteTopic();
mgr.deleteParticipant();
}
static void Main(string[] args)
{
bool autodispose_flag = false;
String writer_action;
ReturnCode status = ReturnCode.Error;
if (args.Length < 2)
{
usage();
}
else if ((!args[0].Equals("true")) &&
(!args[0].Equals("false")) &&
(!args[1].Equals("dispose")) &&
(!args[1].Equals("unregister")) &&
(!args[1].Equals("stoppub")))
{
usage();
}
else
{
autodispose_flag = Boolean.Parse(args[0]);
writer_action = args[1];
// DDS Helper class instance for Msg Topic
DDSEntityManager mgr = new DDSEntityManager("Lifecycle");
// Create domain participant
String partitionName = "Lifecycle example";
mgr.createParticipant(partitionName);
// Set AutoDispose Flag
mgr.setAutoDispose(autodispose_flag);
// Create type
MsgTypeSupport mt = new MsgTypeSupport();
mgr.registerType(mt);
// Create Topic
String topicName = "Lifecycle_Msg";
mgr.createTopic(topicName);
// Create Publisher
mgr.createPublisher();
// Create DataWriter(s)
mgr.createWriter();
// Publish Samples
IDataWriter dwriter = mgr.getWriter();
MsgDataWriter LifecycleWriter = dwriter as MsgDataWriter;
IDataWriter dwriter_stopper = mgr.getWriterStopper();
MsgDataWriter LifecycleWriter_stopper = dwriter_stopper as MsgDataWriter;
if (writer_action.Equals("dispose"))
{
// Send Msg (topic to monitor)
Msg msgInstance = new Msg();
msgInstance.userID = 1;
msgInstance.message = "Lifecycle_1";
msgInstance.writerStates = "SAMPLE_SENT -> INSTANCE_DISPOSED -> DATAWRITER_DELETED";
Console.WriteLine("=== [Publisher] :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : \"{0}\"", msgInstance.message);
Console.WriteLine(" writerStates : \"{0}\"", msgInstance.writerStates);
status = LifecycleWriter.Write(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsDataWriter.Write");
Thread.Sleep(500);
Console.WriteLine("=== [Publisher] : SAMPLE_SENT");
// Dispose instance
status = LifecycleWriter.Dispose(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsDataWriter.Dispose");
Console.WriteLine("=== [Publisher] : INSTANCE_DISPOSED");
}
else if (writer_action.Equals("unregister"))
{
// Send Msg (topic to monitor)
Msg msgInstance = new Msg();
msgInstance.userID = 2;
msgInstance.message = "Lifecycle_2";
msgInstance.writerStates = "SAMPLE_SENT -> INSTANCE_UNREGISTERED -> DATAWRITER_DELETED";
Console.WriteLine("=== [Publisher] :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : \"{0}\"", msgInstance.message);
Console.WriteLine(" writerStates : \"{0}\"", msgInstance.writerStates);
status = LifecycleWriter.Write(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsDataWriter.Write");
Thread.Sleep(500);
Console.WriteLine("=== [Publisher] : SAMPLE_SENT");
// Unregister instance : the auto_dispose_unregistered_instances flag
// is currently ignored and the instance is never disposed automatically
status = LifecycleWriter.UnregisterInstance(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsDataWriter.UnregisterInstance");
Console.WriteLine("=== [Publisher] : INSTANCE_UNREGISTERED");
}
else if (writer_action.Equals("stoppub"))
{
Msg msgInstance = new Msg();
msgInstance.userID = 3;
msgInstance.message = "Lifecycle_3";
msgInstance.writerStates = "SAMPLE_SENT -> DATAWRITER_DELETED";
Console.WriteLine("=== [Publisher] :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : \"{0}\"", msgInstance.message);
Console.WriteLine(" writerStates : \"{0}\"", msgInstance.writerStates);
status = LifecycleWriter.Write(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsDataWriter.Write");
Thread.Sleep(500);
Console.WriteLine("=== [Publisher] : SAMPLE_SENT");
}
// Let the subscriber treat the previous writer state !!!
Console.WriteLine("=== [Publisher] waiting 500ms to let the subscriber treat the previous write state ...");
Thread.Sleep(500);
// Remove the DataWriter
mgr.deleteWriter(LifecycleWriter);
Thread.Sleep(500);
Console.WriteLine("=== [Publisher] : DATAWRITER_DELETED");
// Stop the subscriber
Msg stopMsg = new Msg();
stopMsg.userID = 4;
stopMsg.message = "Lifecycle_4";
stopMsg.writerStates = "STOPPING_SUBSCRIBER";
Console.WriteLine("=== [Publisher] :");
Console.WriteLine(" userID : {0}", stopMsg.userID);
Console.WriteLine(" Message : \"{0}\"", stopMsg.message);
Console.WriteLine(" writerStates : \"{0}\"", stopMsg.writerStates);
status = LifecycleWriter_stopper.Write(stopMsg, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsDataWriter.Write");
Thread.Sleep(500);
// Remove the DataWriter stopper
mgr.deleteWriter(LifecycleWriter_stopper);
// Remove the Publisher
mgr.deletePublisher();
// Remove the Topic
mgr.deleteTopic();
// Remove the participant
mgr.deleteParticipant();
}
}
