static void Main(string[] args)
{
DDSEntityManager mgr = new DDSEntityManager("HelloWorld");
String partitionName = "HelloWorld example";
// create Domain Participant
mgr.createParticipant(partitionName);
// create Type
MsgTypeSupport msgTS = new MsgTypeSupport();
mgr.registerType(msgTS);
// create Topic
mgr.createTopic("HelloWorldData_Msg");
// create Subscriber
mgr.createSubscriber();
// create DataReader
mgr.createReader(false);
IDataReader dreader = mgr.getReader();
MsgDataReader HelloWorldDataReader = dreader as MsgDataReader;
Msg[] msgSeq = null;
DDS.SampleInfo[] infoSeq = null;
Boolean terminate = false;
ReturnCode status;
Console.WriteLine("=== [Subscriber] Ready ...");
int count = 0;
while (!terminate && count < 1500)
{
status = HelloWorldDataReader.Take(ref msgSeq, ref infoSeq, Length.Unlimited, SampleStateKind.Any, ViewStateKind.Any, InstanceStateKind.Any);
ErrorHandler.checkStatus(status, "DataReader.Take");
for (int i = 0; i < msgSeq.Length; i++)
{
if (infoSeq[i].ValidData)
{
Console.WriteLine("=== [Subscriber] message received :");
Console.WriteLine(" userID : {0}", msgSeq[i].userID);
Console.WriteLine(" Message : \"" + msgSeq[i].message + "\"");
terminate = true;
}
}
status = HelloWorldDataReader.ReturnLoan(ref msgSeq, ref infoSeq);
ErrorHandler.checkStatus(status, "DataReader.ReturnLoan");
Thread.Sleep(200);
++count;
}
Thread.Sleep(2);
// clean up
mgr.getSubscriber().DeleteDataReader(HelloWorldDataReader);
mgr.deleteSubscriber();
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);
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);
// Clean up
mgr.getPublisher().DeleteDataWriter(WaitSetWriter);
mgr.deletePublisher();
mgr.deleteTopic();
mgr.deleteParticipant();
}
static void Main(string[] args)
{
DDSEntityManager mgr = new DDSEntityManager("Listener");
ReturnCode status = ReturnCode.Error;
ListenerDataListener myListener;
String partitionName = "Listener Example";
int count = 0;
Duration wait_timeout = new Duration(0, 200000000);
// create Domain Participant
mgr.createParticipant(partitionName);
// create Type
MsgTypeSupport msgTS = new MsgTypeSupport();
mgr.registerType(msgTS);
// create Topic
mgr.createTopic("ListenerData_Msg");
// create Subscriber
mgr.createSubscriber();
// create DataReader
mgr.createReader(false);
IDataReader dreader = mgr.getReader();
myListener = new ListenerDataListener();
myListener.MsgDR = dreader as MsgDataReader;
Console.WriteLine("=== [ListenerDataSubscriber] SetListener");
StatusKind kind = StatusKind.DataAvailable | StatusKind.RequestedDeadlineMissed;
status = myListener.MsgDR.SetListener(myListener, kind);
ErrorHandler.checkStatus(status, "DataReader.SetListener");
Console.WriteLine("=== [ListenerDataSubscriber] Ready...");
myListener.terminated = false;
WaitSet ws = new WaitSet();
ws.AttachCondition(myListener.guardCond);
ICondition[] cond = null;
while (!myListener.terminated && count < 1500)
{
Console.WriteLine("=== [SubscriberUsingListener] waiting waitset ...");
ws.Wait(ref cond, wait_timeout);
myListener.guardCond.SetTriggerValue(false);
++count;
}
Console.WriteLine("===[ListenerDataSubscriber] Market Closed.");
mgr.getSubscriber().DeleteDataReader(myListener.MsgDR);
mgr.deleteSubscriber();
mgr.deleteTopic();
mgr.deleteParticipant();
}
static void Main(string[] args)
{
DDSEntityManager mgr = new DDSEntityManager("Listener");
ReturnCode status = ReturnCode.Error;
ListenerDataListener myListener;
String partitionName = "Listener Example";
int count = 0;
// create Domain Participant
mgr.createParticipant(partitionName);
// create Type
MsgTypeSupport msgTS = new MsgTypeSupport();
mgr.registerType(msgTS);
// create Topic
mgr.createTopic("ListenerData_Msg");
// create Subscriber
mgr.createSubscriber();
// create DataReader
mgr.createReader(false);
IDataReader dreader = mgr.getReader();
myListener = new ListenerDataListener();
myListener.MsgDR = dreader as MsgDataReader;
Console.WriteLine("=== [ListenerDataSubscriber] SetListener");
StatusKind kind = StatusKind.DataAvailable | StatusKind.RequestedDeadlineMissed;
status = myListener.MsgDR.SetListener(myListener, kind);
ErrorHandler.checkStatus(status, "DataReader.SetListener");
Console.WriteLine("=== [ListenerDataSubscriber] Ready...");
myListener.terminated = false;
WaitSet ws = new WaitSet();
ws.AttachCondition(myListener.guardCond);
ICondition[] cond = null;
while (!myListener.terminated && count < 1500)
{
Console.WriteLine("=== [SubscriberUsingListener] waiting waitset ...");
ws.Wait(ref cond, Duration.Infinite);
myListener.guardCond.SetTriggerValue(false);
++count;
}
Console.WriteLine("===[ListenerDataSubscriber] Market Closed.");
mgr.getSubscriber().DeleteDataReader(myListener.MsgDR);
mgr.deleteSubscriber();
mgr.deleteTopic();
mgr.deleteParticipant();
}
static void Main(string[] args)
{
DDSEntityManager mgr = new DDSEntityManager();
String partitionName = "HelloWorld example";
// create Domain Participant
mgr.createParticipant(partitionName);
mgr.setAutoDispose(true);
// create Type
MsgTypeSupport msgTS = new MsgTypeSupport();
mgr.registerType(msgTS);
// create Topic
mgr.createTopic("HelloWorldData_Msg", "HelloWorld");
// create Publisher
mgr.createPublisher();
// create DataWriter
mgr.createWriter();
// Publish Events
IDataWriter dwriter = mgr.getWriter();
MsgDataWriter helloWorldWriter = dwriter as MsgDataWriter;
Msg msgInstance = new Msg();
msgInstance.userID = 1;
msgInstance.message = "Hello World";
InstanceHandle handle = helloWorldWriter.RegisterInstance(msgInstance);
ErrorHandler.checkHandle(handle, "MsgDataWriter.RegisterInstance");
Console.WriteLine("=== [Publisher] writing a message containing :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : \" {0} \"", msgInstance.message);
ReturnCode status = helloWorldWriter.Write(msgInstance, handle);
ErrorHandler.checkStatus(status, "MsgDataWriter.Write");
try
{
Thread.Sleep(2);
}
catch (ArgumentOutOfRangeException ex)
{
Console.WriteLine(ex.ToString());
Console.WriteLine(ex.StackTrace);
}
status = helloWorldWriter.UnregisterInstance(msgInstance, handle);
// Clean up
mgr.getPublisher().DeleteDataWriter(helloWorldWriter);
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);
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);
// Clean up
mgr.getPublisher().DeleteDataWriter(WaitSetWriter);
mgr.deletePublisher();
mgr.deleteTopic();
mgr.deleteParticipant();
}
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("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)
{
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();
}
}
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 Subscriber
mgr.createSubscriber();
// create DataReader
mgr.createReader(false);
// Read Events
IDataReader dreader = mgr.getReader();
MsgDataReader WaitSetReader = dreader as MsgDataReader;
// Create a WaitSet
WaitSet w = new WaitSet();
// Create a ReadCondition
IReadCondition readCond = WaitSetReader.CreateReadCondition(SampleStateKind.NotRead, ViewStateKind.New, InstanceStateKind.Alive);
ErrorHandler.checkHandle(readCond, "DataReader.CreateReadCondition");
// Create a QueryCondition
String[] queryStr = { "Hello again" };
Console.WriteLine("=== [WaitSetDataSubscriber] Query : message = \"Hello again");
IQueryCondition queryCond = WaitSetReader.CreateQueryCondition("message=%0", queryStr);
ErrorHandler.checkHandle(queryCond, "DataReader.CreateQueryCondition");
// Obtain a StatusCondition
IStatusCondition statusCond;
statusCond = dreader.StatusCondition;
statusCond.SetEnabledStatuses(StatusKind.LivelinessChanged);
ErrorHandler.checkHandle(statusCond, "DataReader.StatusCondition");
GuardCondition escape;
escape = new GuardCondition();
ReturnCode result;
result = w.AttachCondition(statusCond);
ErrorHandler.checkStatus(result, "WaitSet.AttachCondition (status)");
result = w.AttachCondition(readCond);
ErrorHandler.checkStatus(result, "WaitSet.AttachCondition (read)");
result = w.AttachCondition(queryCond);
ErrorHandler.checkStatus(result, "WaitSet.AttachCondition (query)");
result = w.AttachCondition(escape);
ErrorHandler.checkStatus(result, "WaitSet.AttachCondition (guard)");
/* Initialize and pre-allocate the GuardList used to obtain
* the triggered Conditions. */
ICondition[] guardList = new ICondition[4];
DDS.SampleInfo[] infoSeq = null;
Msg[] msgSeq = null;
bool escaped = false;
bool writerLeft = false;
int prevCount = 0;
int count = 0;
Console.WriteLine("=== [WaitSetDataSubscriber] Ready ...");
while (!escaped && count < 20)
{
/**
* Wait until data will be available
*/
Duration wait_timeout = new Duration(Duration.InfiniteSec, Duration.InfiniteNanoSec);
result = w.Wait(ref guardList, wait_timeout);
ErrorHandler.checkStatus(result, "WaitSet.Wait");
/* Walk over all guards to display information */
foreach (ICondition guard in guardList)
{
if (guard == readCond)
{
result = WaitSetReader.ReadWithCondition(ref msgSeq, ref infoSeq,
Length.Unlimited, readCond);
ErrorHandler.checkStatus(result, "WaitSetReader.ReadWithCondition");
foreach (Msg msg in msgSeq)
{
Console.WriteLine(" --- New message received --- ");
Console.WriteLine(" userID: {0}", msg.userID);
Console.WriteLine(" Message : \"{0}", msg.message);
}
result = WaitSetReader.ReturnLoan(ref msgSeq, ref infoSeq);
ErrorHandler.checkStatus(result, "WaitSet.ReturnLoan");
}
else if (guard == queryCond)
{
result = WaitSetReader.TakeWithCondition(ref msgSeq, ref infoSeq,
Length.Unlimited, queryCond);
ErrorHandler.checkStatus(result, "WaitSetReader.TakeWithCondition");
foreach (Msg msg in msgSeq)
{
Console.WriteLine(" --- New message received with QueryCondition --- ");
Console.WriteLine(" userID: {0}", msg.userID);
Console.WriteLine(" Message : \" {0}", msg.message);
}
result = WaitSetReader.ReturnLoan(ref msgSeq, ref infoSeq);
ErrorHandler.checkStatus(result, "WaitSet.ReturnLoan");
}
else if (guard == statusCond)
{
LivelinessChangedStatus livelinessStatus = new LivelinessChangedStatus();
result = WaitSetReader.GetLivelinessChangedStatus(ref livelinessStatus);
ErrorHandler.checkStatus(result, "DataReader.getLivelinessChangedStatus");
if (livelinessStatus.AliveCount < prevCount)
{
Console.WriteLine("!!! A WaitSetDataWriter lost its liveliness");
writerLeft = true;
Console.WriteLine("Triggering escape condition.");
ReturnCode status = escape.SetTriggerValue(true);
}
else
{
Console.WriteLine("!!! A WaitSetDataWriter joined");
}
prevCount = livelinessStatus.AliveCount;
}
else if (guard == escape)
{
Console.WriteLine("WaitSetSubscriber has terminated.");
escaped = true;
ReturnCode status = escape.SetTriggerValue(false);
}
else
{
// Unknown Condition
}
}
++count;
}
// Detach all Conditions from the WaitSet
result = w.DetachCondition(escape);
ErrorHandler.checkStatus(result, "WaitSet.DetachCondition (escape)");
result = w.DetachCondition(readCond);
ErrorHandler.checkStatus(result, "WaitSet.DetachCondition (readCond)");
result = w.DetachCondition(queryCond);
ErrorHandler.checkStatus(result, "WaitSet.DetachCondition (queryCond)");
result = w.DetachCondition(statusCond);
ErrorHandler.checkStatus(result, "WaitSet.DetachCondition (statusCond)");
Console.WriteLine("=== [Subscriber] Closed");
// clean up
WaitSetReader.DeleteReadCondition(readCond);
WaitSetReader.DeleteReadCondition(queryCond);
mgr.getSubscriber().DeleteDataReader(WaitSetReader);
mgr.deleteSubscriber();
mgr.deleteTopic();
mgr.deleteParticipant();
}
static void Main(string[] args)
{
OsplConfiguration.SetOsplConfiguration();
DDSEntityManager mgr = new DDSEntityManager("HelloWorld");
String partitionName = "HelloWorld example";
// create Domain Participant
mgr.createParticipant(partitionName);
// create Type
MsgTypeSupport msgTS = new MsgTypeSupport();
mgr.registerType(msgTS);
// create Topic
mgr.createTopic("HelloWorldData_Msg");
// create Subscriber
mgr.createSubscriber();
// create DataReader
mgr.createReader(false);
IDataReader dreader = mgr.getReader();
MsgDataReader HelloWorldDataReader = dreader as MsgDataReader;
Msg[] msgSeq = null;
DDS.SampleInfo[] infoSeq = null;
Boolean terminate = false;
ReturnCode status;
Console.WriteLine("=== [Subscriber] Ready ...");
int count = 0;
while (!terminate && count < 1500)
{
status = HelloWorldDataReader.Take(ref msgSeq, ref infoSeq, Length.Unlimited, SampleStateKind.Any, ViewStateKind.Any, InstanceStateKind.Any);
ErrorHandler.checkStatus(status, "DataReader.Take");
for (int i = 0; i < msgSeq.Length; i++)
{
if (infoSeq[i].ValidData)
{
Console.WriteLine("=== [Subscriber] message received :");
Console.WriteLine(" userID : {0}", msgSeq[i].userID);
Console.WriteLine(" Message : \"" + msgSeq[i].message + "\"");
terminate = true;
}
}
status = HelloWorldDataReader.ReturnLoan(ref msgSeq, ref infoSeq);
ErrorHandler.checkStatus(status, "DataReader.ReturnLoan");
Thread.Sleep(200);
++count;
}
Thread.Sleep(2);
// clean up
mgr.getSubscriber().DeleteDataReader(HelloWorldDataReader);
mgr.deleteSubscriber();
mgr.deleteTopic();
mgr.deleteParticipant();
}
static void Main(string[] args)
{
if (args.Length != 1)
{
Console.WriteLine("Insufficient number of arguments.");
usage();
}
else
{
DDSEntityManager mgr = new DDSEntityManager("Durability");
String partitionName = "Durability Example";
DDS.Duration timeout = new DDS.Duration(40, 0);
ReturnCode status;
String durabilityKind = args[0];
// create Domain Participant
mgr.createParticipant(partitionName);
// set the durability kind
mgr.setDurabilityKind(durabilityKind);
// create Type
MsgTypeSupport msgTS = new MsgTypeSupport();
mgr.registerType(msgTS);
// create Topic
if (args[0].Equals("persistent"))
{
mgr.createTopic("PersistentCSDurabilityData_Msg");
}
else
{
mgr.createTopic("CSDurabilityData_Msg");
}
// create Subscriber
mgr.createSubscriber();
mgr.createReader(false);
IDataReader dreader = mgr.getReader();
MsgDataReader DurabilityDataReader = dreader as MsgDataReader;
status = DurabilityDataReader.WaitForHistoricalData(timeout);
ErrorHandler.checkStatus(status, "DurabilityDataReader.WaitForHistoricalData");
Msg[] msgSeq = null;
DDS.SampleInfo[] infoSeq = null;
Boolean terminate = false;
Console.WriteLine("=== [Subscriber] Ready ...");
while (!terminate)
{
status = DurabilityDataReader.Take(ref msgSeq, ref infoSeq, Length.Unlimited, SampleStateKind.Any, ViewStateKind.Any, InstanceStateKind.Any);
ErrorHandler.checkStatus(status, "DataReader.Take");
for (int i = 0; i < msgSeq.Length; i++)
{
if (infoSeq[i].ValidData)
{
Console.WriteLine(msgSeq[i].content);
if (msgSeq[i].content.Equals("9"))
{
terminate = true;
break;
}
}
}
status = DurabilityDataReader.ReturnLoan(ref msgSeq, ref infoSeq);
ErrorHandler.checkStatus(status, "MsgDataReader.ReturnLoan");
}
// For single process mode wait some time to ensure persistent data is stored to disk
Thread.Sleep(2000);
// clean up
mgr.getSubscriber().DeleteDataReader(DurabilityDataReader);
mgr.deleteSubscriber();
mgr.deleteTopic();
mgr.deleteParticipant();
}
}
static void Main(string[] args)
{
if (args.Length != 3)
{
Console.WriteLine("Insufficient number of arguments.");
usage();
Environment.Exit(-1);
}
else
{
String durabilityKind = args[0];
Boolean autodisposeFlag = Boolean.Parse(args[1].ToString());
Boolean automaticFlag = Boolean.Parse(args[2].ToString());
DDSEntityManager mgr = new DDSEntityManager("Durability");
String partitionName = "Durability example";
// Set the Durability Kind
mgr.setDurabilityKind(durabilityKind);
// Set the auto dispose flag
mgr.setAutoDispose(autodisposeFlag);
Thread.Sleep(1000);
// create Domain Participant
mgr.createParticipant(partitionName);
// create Type
MsgTypeSupport stkTS = new MsgTypeSupport();
mgr.registerType(stkTS);
// create Topic
mgr.createTopic("DurabilityData_Msg");
// create Publisher
mgr.createPublisher();
// create DataWriter
mgr.createWriter();
// Publish Events
IDataWriter dwriter = mgr.getWriter();
MsgDataWriter msgWriter = dwriter as MsgDataWriter;
Msg [] DurabilityDataMsg = new Msg[10];
InstanceHandle [] handle = new InstanceHandle [10];
ReturnCode status = ReturnCode.Error;
for (int x = 0; x < 10; x++)
{
DurabilityDataMsg[x] = new Msg();
DurabilityDataMsg[x].id = x;
DurabilityDataMsg[x].content = x.ToString();
Console.WriteLine("Storing {0}", DurabilityDataMsg[x].content);
handle[x] = msgWriter.RegisterInstance(DurabilityDataMsg[x]);
ErrorHandler.checkHandle(handle[x], "DataWriter.RegisterInstance");
status = msgWriter.Write(DurabilityDataMsg[x], handle[x]);
ErrorHandler.checkStatus(status, "DataWriter.Write");
}
if (!automaticFlag)
{
char c = (char)0;
Console.WriteLine("Enter E to exit");
while (c != 'E')
{
c = (char)Console.Read();
}
}
else
{
Console.WriteLine("=== sleeping 10s...");
Thread.Sleep(10000);
}
// Clean up
status = mgr.getPublisher().DeleteDataWriter(msgWriter);
ErrorHandler.checkStatus(status, "Publisher.DeleteDatWriter");
mgr.deletePublisher();
mgr.deleteTopic();
mgr.deleteParticipant();
}
}
static void Main(string[] args)
{
if (args.Length != 1)
{
Console.WriteLine("Insufficient number of arguments.");
usage();
Environment.Exit(-1);
}
else
{
DDSEntityManager mgr = new DDSEntityManager("Durability");
String partitionName = "Durability Example";
String durabilityKind = args[0];
// create Domain Participant
mgr.createParticipant(partitionName);
// set the durability kind
mgr.setDurabilityKind(durabilityKind);
// create Type
MsgTypeSupport msgTS = new MsgTypeSupport();
mgr.registerType(msgTS);
// create Topic
mgr.createTopic("DurabilityData_Msg");
// create Subscriber
mgr.createSubscriber();
mgr.createReader(false);
IDataReader dreader = mgr.getReader();
MsgDataReader DurabilityDataReader = dreader as MsgDataReader;
Msg[] msgSeq = null;
DDS.SampleInfo[] infoSeq = null;
Boolean terminate = false;
ReturnCode status;
Console.WriteLine("=== [Subscriber] Ready ...");
while (!terminate)
{
status = DurabilityDataReader.Take(ref msgSeq, ref infoSeq, Length.Unlimited, SampleStateKind.Any, ViewStateKind.Any, InstanceStateKind.Any);
ErrorHandler.checkStatus(status, "DataReader.Take");
for (int i = 0; i < msgSeq.Length; i++)
{
if (infoSeq[i].ValidData)
{
Console.WriteLine("{0} : {1}", msgSeq[i].id, msgSeq[i].content);
if (msgSeq[i].content.Equals("9"))
{
terminate = true;
break;
}
}
}
status = DurabilityDataReader.ReturnLoan(ref msgSeq, ref infoSeq);
ErrorHandler.checkStatus(status, "MsgDataReader.ReturnLoan");
}
// clean up
mgr.getSubscriber().DeleteDataReader(DurabilityDataReader);
mgr.deleteSubscriber();
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 Subscriber
mgr.createSubscriber();
// create DataReader
mgr.createReader(false);
// Read Events
IDataReader dreader = mgr.getReader();
MsgDataReader WaitSetReader = dreader as MsgDataReader;
// Create a WaitSet
WaitSet w = new WaitSet();
// Create a ReadCondition
IReadCondition readCond = WaitSetReader.CreateReadCondition(SampleStateKind.NotRead, ViewStateKind.New, InstanceStateKind.Alive);
ErrorHandler.checkHandle(readCond, "DataReader.CreateReadCondition");
// Create a QueryCondition
String[] queryStr = { "Hello again" };
Console.WriteLine("=== [WaitSetDataSubscriber] Query : message = \"Hello again");
IQueryCondition queryCond = WaitSetReader.CreateQueryCondition("message=%0", queryStr);
ErrorHandler.checkHandle(queryCond, "DataReader.CreateQueryCondition");
// Obtain a StatusCondition
IStatusCondition statusCond;
statusCond = dreader.StatusCondition;
statusCond.SetEnabledStatuses(StatusKind.LivelinessChanged);
ErrorHandler.checkHandle(statusCond, "DataReader.StatusCondition");
GuardCondition escape;
escape = new GuardCondition();
ReturnCode result;
result = w.AttachCondition(statusCond);
ErrorHandler.checkStatus(result, "WaitSet.AttachCondition (status)");
result = w.AttachCondition(readCond);
ErrorHandler.checkStatus(result, "WaitSet.AttachCondition (read)");
result = w.AttachCondition(queryCond);
ErrorHandler.checkStatus(result, "WaitSet.AttachCondition (query)");
result = w.AttachCondition(escape);
ErrorHandler.checkStatus(result, "WaitSet.AttachCondition (guard)");
/* Initialize and pre-allocate the GuardList used to obtain
the triggered Conditions. */
ICondition[] guardList = new ICondition[4];
DDS.SampleInfo[] infoSeq = null;
Msg[] msgSeq = null;
bool escaped = false;
bool writerLeft = false;
int prevCount = 0;
int count = 0;
Console.WriteLine("=== [WaitSetDataSubscriber] Ready ...");
while (!escaped && count < 20 )
{
/**
* Wait until data will be available
*/
Duration wait_timeout = new Duration(Duration.InfiniteSec, Duration.InfiniteNanoSec);
result = w.Wait(ref guardList, wait_timeout);
ErrorHandler.checkStatus(result, "WaitSet.Wait");
/* Walk over all guards to display information */
foreach (ICondition guard in guardList)
{
if (guard == readCond)
{
result = WaitSetReader.ReadWithCondition(ref msgSeq, ref infoSeq,
Length.Unlimited, readCond);
ErrorHandler.checkStatus(result, "WaitSetReader.ReadWithCondition");
foreach (Msg msg in msgSeq)
{
Console.WriteLine(" --- New message received --- ");
Console.WriteLine(" userID: {0}", msg.userID);
Console.WriteLine(" Message : \"{0}", msg.message);
}
result = WaitSetReader.ReturnLoan(ref msgSeq, ref infoSeq);
ErrorHandler.checkStatus(result, "WaitSet.ReturnLoan");
}
else if (guard == queryCond)
{
result = WaitSetReader.TakeWithCondition(ref msgSeq, ref infoSeq,
Length.Unlimited, queryCond);
ErrorHandler.checkStatus(result, "WaitSetReader.TakeWithCondition");
foreach (Msg msg in msgSeq)
{
Console.WriteLine(" --- New message received with QueryCondition --- ");
Console.WriteLine(" userID: {0}", msg.userID);
Console.WriteLine(" Message : \" {0}", msg.message);
}
result = WaitSetReader.ReturnLoan(ref msgSeq, ref infoSeq);
ErrorHandler.checkStatus(result, "WaitSet.ReturnLoan");
}
else if (guard == statusCond)
{
LivelinessChangedStatus livelinessStatus = new LivelinessChangedStatus();
result = WaitSetReader.GetLivelinessChangedStatus(ref livelinessStatus);
ErrorHandler.checkStatus(result, "DataReader.getLivelinessChangedStatus");
if (livelinessStatus.AliveCount < prevCount)
{
Console.WriteLine("!!! A WaitSetDataWriter lost its liveliness");
writerLeft = true;
Console.WriteLine("Triggering escape condition.");
ReturnCode status = escape.SetTriggerValue(true);
}
else
{
Console.WriteLine("!!! A WaitSetDataWriter joined");
}
prevCount = livelinessStatus.AliveCount;
}
else if (guard == escape)
{
Console.WriteLine("WaitSetSubscriber has terminated.");
escaped = true;
ReturnCode status = escape.SetTriggerValue(false);
}
else
{
// Unknown Condition
}
}
++count;
}
// Detach all Conditions from the WaitSet
result = w.DetachCondition(escape);
ErrorHandler.checkStatus(result, "WaitSet.DetachCondition (escape)");
result = w.DetachCondition(readCond);
ErrorHandler.checkStatus(result, "WaitSet.DetachCondition (readCond)");
result = w.DetachCondition(queryCond);
ErrorHandler.checkStatus(result, "WaitSet.DetachCondition (queryCond)");
result = w.DetachCondition(statusCond);
ErrorHandler.checkStatus(result, "WaitSet.DetachCondition (statusCond)");
Console.WriteLine("=== [Subscriber] Closed");
// clean up
WaitSetReader.DeleteReadCondition(readCond);
WaitSetReader.DeleteReadCondition(queryCond);
mgr.getSubscriber().DeleteDataReader(WaitSetReader);
mgr.deleteSubscriber();
mgr.deleteTopic();
mgr.deleteParticipant();
}
static void Main(string[] args)
{
char choice = ' ';
bool interactive = true;
bool autodispose_flag = false;
if (args.Length < 1)
usage();
autodispose_flag = Boolean.Parse(args[0]);
if (args.Length > 1)
{
if (!(args[1].Equals("-action")))
usage();
if (args.Length < 2)
usage();
choice = Char.Parse(args[2]);
if ((!choice.Equals('1')) && (!choice.Equals('2')) && (!choice.Equals('3')) && (!choice.Equals('4')))
usage();
interactive = false;
Console.WriteLine("Choice : {0}", choice);
}
// DDS Helper class instances for WriterState & Msg Topic
DDSEntityManager mgrWs = new DDSEntityManager();
DDSEntityManager mgr = new DDSEntityManager();
// Create domain participant
String partitionName = "Lifecycle";
mgrWs.createParticipant(partitionName);
// Create Type
WriterStateTypeSupport wst = new WriterStateTypeSupport();
mgrWs.registerType(wst);
// Create Topic
String wsTopicName = "WriterState_Msg";
mgrWs.createTopic(wsTopicName, "Lifecycle");
// Create Publisher
mgrWs.createPublisher();
// Create DataWriter
mgrWs.createWriter();
// Publish Samples
IDataWriter dws_writer = mgrWs.getWriter();
WriterStateDataWriter WriterStateWriter = dws_writer as WriterStateDataWriter;
//-------------------Msg Topic-------------------------//
// Set AutoDispose Flag
mgr.setAutoDispose(autodispose_flag);
// Create Participant
mgr.createParticipant(partitionName);
// Create type
MsgTypeSupport mt = new MsgTypeSupport();
mgr.registerType(mt);
// Create Topic
String topicName = "Lifecycle_Msg";
mgr.createTopic(topicName, "Lifecycle");
// Create Publisher
mgr.createPublisher();
// Create DataWriter
mgr.createWriter();
// Publish Samples
IDataWriter dwriter = mgr.getWriter();
MsgDataWriter LifecycleWriter = dwriter as MsgDataWriter;
// Send MsgDataWriter state
WriterState wsInstance = new WriterState();
wsInstance.state = "SENDING SAMPLE";
Console.WriteLine("===[Publisher] : ");
Console.WriteLine(" Writer state: \" {0}", wsInstance.state, "\"");
ReturnCode status = WriterStateWriter.Write(wsInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "WriterStateDataWriter.Write");
// Send Msg (topic to monitor)
Msg msgInstance = new Msg();
msgInstance.userID = 1;
msgInstance.message = "Hello";
Console.WriteLine("=== [Publisher] :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : \" {0}", msgInstance.message);
status = LifecycleWriter.Write(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsDataWriter.Write");
Thread.Sleep(2000);
// Send MsgDataWriter state
wsInstance.state = "SAMPLE SENT";
Console.WriteLine("===[Publisher] : ");
Console.WriteLine(" Writer state: \" {0}", wsInstance.state, "\"");
status = WriterStateWriter.Write(wsInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "WriterStateDataWriter.Write");
if (interactive)
{
while ((choice != '1') && (choice != '2') && (choice != '3') && (choice != '4'))
{
Console.WriteLine("=== Choose a character to continue : ");
Console.WriteLine(" 1 Dispose the instance");
Console.WriteLine(" 2 Unregister the instance");
Console.WriteLine(" 3 Stop the Publisher");
Console.WriteLine(" 4 Stop the Subscriber");
choice = Char.Parse(Console.In.ReadLine());
}
}
switch (choice)
{
case '1' :
{
// Dispose instance
status = LifecycleWriter.Dispose(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsDataWriter.Dispose");
// Send MsgDataWriter state
wsInstance.state = "INSTANCE DISPOSED";
Console.WriteLine("===[Publisher] : ");
Console.WriteLine(" Writer state: \" {0}", wsInstance.state, "\"");
status = WriterStateWriter.Write(wsInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "WriterStateDataWriter.Write");
if (interactive)
{
Console.Write("\n=== enter a character to continue : ");
choice = Char.Parse(Console.In.ReadLine());
}
break;
}
case '2':
{
// Unregister instance : the autoDispose_flag is currently
// ignored and the instance is never disposed automatically
status = LifecycleWriter.UnregisterInstance(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsgDataWriter.UnregisterInstance");
// send MsgDataWriter state
wsInstance.state = "INSTANCE UNREGISTERED";
Console.WriteLine("===[Publisher] : ");
Console.WriteLine(" Writer state: \" {0}", wsInstance.state, "\"");
status = WriterStateWriter.Write(wsInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "WriterStateDataWriter.Write");
if (interactive)
{
Console.Write("\n=== enter a character to continue : ");
choice = Char.Parse(Console.In.ReadLine());
}
break;
}
case '3':
{
break;
}
case '4':
{
// send MsgDataWriter state
wsInstance.state = "STOPPING SUBSCRIBER";
Console.WriteLine("===[Publisher] : ");
Console.WriteLine(" Writer state: \" {0}", wsInstance.state, "\"");
status = WriterStateWriter.Write(wsInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "WriterStateDataWriter.Write");
break;
}
}
// Clean-up entities for Msg topic
// Remove the DataWriters
mgr.getPublisher().DeleteDataWriter(LifecycleWriter);
// send MsgDataWriter state
wsInstance.state = "DATAWRITER DELETED";
Console.WriteLine("===[Publisher] : ");
Console.WriteLine(" Writer state: \" {0}", wsInstance.state, "\"");
status = WriterStateWriter.Write(wsInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "WriterStateDataWriter.Write");
// Remove the Publisher
mgr.deletePublisher();
// Remove the Topic
mgr.deleteTopic();
// Remove the Participant
mgr.deleteParticipant();
// Clean-up entities fpr WriterState topic
// Dispose the instance
status = WriterStateWriter.Dispose(wsInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "WriterStateWriter.Dispose");
// Remove the DataWriter
mgrWs.getPublisher().DeleteDataWriter(WriterStateWriter);
// Remove the Publisher
mgrWs.deletePublisher();
// Remove the Topic
mgrWs.deleteTopic();
// Remove Participant
mgrWs.deleteParticipant();
}
// Create the DDS worker thread here.
public static void OpenSpliceWorker(Form mainForm)
{// Initialize the DDS Code first
bool done = false;
DDSEntityManager mgr = new DDSEntityManager("HelloWorld");
// String partitionName = "";
// if (GlobalData.DDSPartitionName.Length > 0)
// {// Use the glbal name
// partitionName = GlobalData.DDSPartitionName;
// } else
// {
// partitionName = "ADLINK";
// }
//
// create default Hello World Topic
//
// create Domain Participant
// set QOS for entity manager...
mgr.setDurabilityKind("transient");
mgr.createParticipant(GlobalData.DDSPartitionName);
mgr.setAutoDispose(false);
// create Type
MsgTypeSupport msgTS = new MsgTypeSupport();
mgr.registerType(msgTS);
// create Topic
mgr.createTopic("HelloWorldData_Msg");
// create Publisher
mgr.createPublisher();
// create DataWriter
mgr.createWriter();
//
// NOW CREATE NEW DDS DATA RECEIVER
//
// NOW Create another HelloWorld.Msg with a different topic name.
//
DDSEntityManager ADSBDatamgr = new DDSEntityManager("ADSBLinesData");
// create Domain Participant
ADSBDatamgr.createParticipant(GlobalData.DDSPartitionName);
// create Type DM::Aircraft_Config
Aircraft_ConfigTypeSupport AircraftConfigMsg = new DM.Aircraft_ConfigTypeSupport();
//MsgTypeSupport msgTS2 = new MsgTypeSupport();
ADSBDatamgr.registerType(AircraftConfigMsg);
//ADSBDatamgr.registerType(msgTS2);
// create Topic
ADSBDatamgr.createTopic("ADSBLinesData");
// create Subscriber
ADSBDatamgr.createSubscriber();
// ADSBDatamgr.createPublisher();
// create DataReader
ADSBDatamgr.createReader(false);
IDataReader ADSBLinesReader = ADSBDatamgr.getReader();
Aircraft_ConfigDataReader ADSBLinesDataReader = ADSBLinesReader as Aircraft_ConfigDataReader;
Aircraft_Config ADSBLinesmsg = null;
Aircraft_Config[] ADSBLinesmsgSeq = null;
DDS.SampleInfo[] ADSBLinesinfoSeq = null;
// Publish Events
IDataWriter dwriter = mgr.getWriter();
MsgDataWriter helloWorldWriter = dwriter as MsgDataWriter;
Msg msgInstance = new Msg();
msgInstance.userID = 1;
msgInstance.message = "Update Locations"; // "Hello World";
InstanceHandle handle = helloWorldWriter.RegisterInstance(msgInstance);
ErrorHandler.checkHandle(handle, "MsgDataWriter.RegisterInstance");
Console.WriteLine("=== [Publisher] writing a message containing :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : \" {0} \"", msgInstance.message);
ReturnCode status = helloWorldWriter.Write(msgInstance, handle);
ErrorHandler.checkStatus(status, "MsgDataWriter.Write");
// main write loop here...
//try
//{
// Thread.Sleep(2);
//}
//catch (ArgumentOutOfRangeException ex)
//{
// Console.WriteLine(ex.ToString());
// Console.WriteLine(ex.StackTrace);
//}
while (!done)
{// sleep and write samples from the main screen.
Thread.Sleep(500);
if (GlobalData.ischanged == true)
{// main thread has written data values, so update data
Console.WriteLine("GLOBAL DATA HAS CHANGED!!!");
msgInstance.lattitued_ul = GlobalData.upleft_lat;
msgInstance.longitude_ul = GlobalData.upleft_lng;
msgInstance.lattitude_lr = GlobalData.btmright_lat;
msgInstance.longitude_lr = GlobalData.btmright_lng;
Console.WriteLine("Upper left Lat" + msgInstance.lattitued_ul.ToString());
Console.WriteLine("Upper left Lng" + msgInstance.longitude_ul.ToString());
Console.WriteLine("Lower Right Lat" + msgInstance.lattitude_lr.ToString());
Console.WriteLine("Lower Right Lng" + msgInstance.longitude_lr.ToString());
ReturnCode dds_status = helloWorldWriter.Write(msgInstance, handle);
Console.WriteLine("HELLO WORLD DDS WRITE ERROR = " + dds_status.ToString());
ErrorHandler.checkStatus(dds_status, "MsgDataWriter.Write");
GlobalData.ischanged = false;
} // globaldata.ischange = true
// now read DDS Data lines topic.
//
// get new DDS Values here...
status = ADSBLinesDataReader.Take(ref ADSBLinesmsgSeq, ref ADSBLinesinfoSeq, Length.Unlimited, SampleStateKind.Any, ViewStateKind.Any, InstanceStateKind.Any);
ErrorHandler.checkStatus(status, "DataReader.Take");
if (ADSBLinesmsgSeq.Length > 0)
{
for (int x = 0; x < ADSBLinesmsgSeq.Length; x++)
{
if (ADSBLinesinfoSeq[x].ValidData)
{// read the data!
ADSBLinesmsg = ADSBLinesmsgSeq[x];
GlobalData.DDS_Lines = ADSBLinesmsg.tailNumber;
GlobalData.DDS_Data_Received = true;
/* Console.WriteLine("=== [Subscriber] message received : " + x.ToString());
* Console.WriteLine(" lattitued_ul : " + msgSeq[x].lattitued_ul.ToString());
* Console.WriteLine(" longitude_ul : " + msgSeq[x].longitude_ul.ToString());
* Console.WriteLine(" lattitued_lr : " + msgSeq[x].lattitude_lr.ToString());
* Console.WriteLine(" longitude_lr : " + msgSeq[x].longitude_lr.ToString());
* Console.WriteLine(" Message : \"" + msgSeq[x].message + "\"");
*/
// status = HelloWorldDataReader.ReturnLoan(ref msgSeq, ref infoSeq);
//ErrorHandler.checkStatus(status, "DataReader.ReturnLoan");
// System.Threading.Thread.Sleep(2000);
/* lamin = msgSeq[x].lattitude_lr; //32.3382F;
* lomin = msgSeq[x].longitude_ul; //- 121.8863F;
* lamax = msgSeq[x].lattitued_ul; //35.3382F;
* lomax = msgSeq[x].longitude_lr; // - 116.8863F; */}
}
}
if (GlobalData.WorkerThreadIsRunning == false)
{// signal thread to shut down...
done = true;
}
}
// end of main write loop
// Clean up
status = helloWorldWriter.UnregisterInstance(msgInstance, handle);
mgr.getPublisher().DeleteDataWriter(helloWorldWriter);
mgr.deletePublisher();
mgr.deleteTopic();
mgr.deleteParticipant();
return;
}
static void Main(string[] args)
{
String[] sSampleState = { "READ_SAMPLE_STATE", "NOT_READ_SAMPLE_STATE" };
String[] sViewState = { "NEW_VIEW_STATE", "NOT_NEW_VIEW_STATE" };
String[] sInstanceState = { "ALIVE_INSTANCE_STATE", "NOT_ALIVE_DISPOSED_INSTANCE_STATE", "NOT_ALIVE_NO_WRITERS_INSTANCE_STATE" };
bool closed = false;
int nbIter = 1;
int nbIterMax = 100;
ReturnCode status = ReturnCode.Error;
Msg[] msgList = null;
SampleInfo[] infoSeq = null;
DDSEntityManager mgr = new DDSEntityManager("Lifecycle");
// Create domain participant
String partitionName = "Lifecycle example";
mgr.createParticipant(partitionName);
// Create type
MsgTypeSupport mt = new MsgTypeSupport();
mgr.registerType(mt);
// Create Topic
String topicName = "Lifecycle_Msg";
mgr.createTopic(topicName);
// Create Subscriber
mgr.createSubscriber();
mgr.createReader(false);
IDataReader dreader = mgr.getReader();
MsgDataReader LifecycleReader = dreader as MsgDataReader;
ErrorHandler.checkHandle(LifecycleReader, "MsgDataReader narrow");
Console.WriteLine("=== [Subscriber] Ready ...");
while (!closed && (nbIter < nbIterMax))
{
status = LifecycleReader.Read(ref msgList, ref infoSeq, Length.Unlimited, SampleStateKind.Any, ViewStateKind.Any, InstanceStateKind.Any);
ErrorHandler.checkStatus(status, "MsgDataReader.Read");
for (int j = 0; j < msgList.Length; j++)
{
Console.WriteLine(" Message : {0}", msgList[j].message);
Console.WriteLine(" writerStates : {0}", msgList[j].writerStates);
Console.WriteLine(" valida data : {0}", infoSeq[j].ValidData);
Console.WriteLine(" sample_state : {0}", sSampleState[index((int)infoSeq[j].SampleState)]);
Console.WriteLine(" instance_state : {0}", sInstanceState[index((int)infoSeq[j].InstanceState)]);
Thread.Sleep(200);
closed = msgList[j].writerStates.Equals("STOPPING_SUBSCRIBER");
}
status = LifecycleReader.ReturnLoan(ref msgList, ref infoSeq);
ErrorHandler.checkStatus(status, "MsgDataReader.ReturnLoan");
Thread.Sleep(20);
nbIter++;
}
Console.WriteLine("=== [Subscriber] stopping after {0} iterations - closed={1}", nbIter, closed.ToString());
if (nbIter == nbIterMax)
{
Console.WriteLine("*** Error : max {0} iterations reached", nbIterMax);
}
// Clean-up
mgr.getSubscriber().DeleteDataReader(LifecycleReader);
mgr.deleteSubscriber();
mgr.deleteTopic();
mgr.deleteParticipant();
}
static void Main(string[] args)
{
DDSEntityManager mgr = new DDSEntityManager("HelloWorld");
String partitionName = "HelloWorld example";
// create Domain Participant
mgr.createParticipant(partitionName);
mgr.setAutoDispose(false);
// create Type
MsgTypeSupport msgTS = new MsgTypeSupport();
mgr.registerType(msgTS);
// create Topic
mgr.createTopic("HelloWorldData_Msg");
// create Publisher
mgr.createPublisher();
// create DataWriter
mgr.createWriter();
// Publish Events
IDataWriter dwriter = mgr.getWriter();
MsgDataWriter helloWorldWriter = dwriter as MsgDataWriter;
Msg msgInstance = new Msg();
msgInstance.userID = 1;
msgInstance.message = "Hello World";
InstanceHandle handle = helloWorldWriter.RegisterInstance(msgInstance);
ErrorHandler.checkHandle(handle, "MsgDataWriter.RegisterInstance");
Console.WriteLine("=== [Publisher] writing a message containing :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : \" {0} \"", msgInstance.message);
ReturnCode status = helloWorldWriter.Write(msgInstance, handle);
ErrorHandler.checkStatus(status, "MsgDataWriter.Write");
try
{
Thread.Sleep(2);
}
catch (ArgumentOutOfRangeException ex)
{
Console.WriteLine(ex.ToString());
Console.WriteLine(ex.StackTrace);
}
status = helloWorldWriter.UnregisterInstance(msgInstance, handle);
// Clean up
mgr.getPublisher().DeleteDataWriter(helloWorldWriter);
mgr.deletePublisher();
mgr.deleteTopic();
mgr.deleteParticipant();
}
static void Main(string[] args)
{
String[] sSampleState = { "READ_SAMPLE_STATE", "NOT_READ_SAMPLE_STATE" };
String[] sViewState = { "NEW_VIEW_STATE", "NOT_NEW_VIEW_STATE" };
String[] sInstanceState = { "ALIVE_INSTANCE_STATE", "NOT_ALIVE_DISPOSED_INSTANCE_STATE", "NOT_ALIVE_NO_WRITERS_INSTANCE_STATE" };
WriterState[] WriterStateList = null;
SampleInfo[] ws_infoSeq = null;
Msg[] msgList = null;
SampleInfo[] infoSeq = null;
//------------------ WriterState topic --------------------//
DDSEntityManager mgrWs = new DDSEntityManager();
// Create domain participant
String partitionName = "Lifecycle";
mgrWs.createParticipant(partitionName);
// Create Type
WriterStateTypeSupport wst = new WriterStateTypeSupport();
mgrWs.registerType(wst);
// Create Topic
String wsTopicName = "WriterState_Msg";
mgrWs.createTopic(wsTopicName, "Lifecycle");
// Create Subscriber
mgrWs.createSubscriber();
// Create DataReader
mgrWs.createReader("Lifecycle", false);
IDataReader dwsReader = mgrWs.getReader();
WriterStateDataReader WriterStateReader = dwsReader as WriterStateDataReader;
ErrorHandler.checkHandle(WriterStateReader, "WriterStateDataReader narrow");
//------------------ Msg topic --------------------//
DDSEntityManager mgr = new DDSEntityManager();
// Create domain participant
mgr.createParticipant(partitionName);
// Create type
MsgTypeSupport mt = new MsgTypeSupport();
mgr.registerType(mt);
// Create Topic
String topicName = "Lifecycle_Msg";
mgr.createTopic(topicName, "Lifecycle");
// Create Subscriber
mgr.createSubscriber();
mgr.createReader("Lifecycle", false);
IDataReader dreader = mgr.getReader();
MsgDataReader LifecycleReader = dreader as MsgDataReader;
ErrorHandler.checkHandle(WriterStateReader, "MsgDataReader narrow");
Console.WriteLine("=== [Subscriber] Ready ...");
bool closed = false;
bool writerStateChg = true;
String sWriterState = "";
ReturnCode status = ReturnCode.Error;
while (!closed)
{
// WriterState topic
status = WriterStateReader.Take(ref WriterStateList, ref ws_infoSeq, Length.Unlimited, SampleStateKind.Any, ViewStateKind.Any, InstanceStateKind.Any);
ErrorHandler.checkStatus(status, "WriterStateReader.Take");
for (int j = 0; j < WriterStateList.Length; j++)
{
if (ws_infoSeq[j].ValidData)
{
Console.WriteLine("--- WriterState : {0}", WriterStateList[j].state);
closed = WriterStateList[j].state.Equals("STOPPING SUBSCRIBER");
writerStateChg = sWriterState.Equals(WriterStateList[j].state);
sWriterState = WriterStateList[j].state;
Thread.Sleep(200);
}
}
status = WriterStateReader.ReturnLoan(ref WriterStateList, ref ws_infoSeq);
ErrorHandler.checkStatus(status, "WriterStateDataReader.ReturnLoan");
Thread.Sleep(2);
// Lifecycle Topic
if (writerStateChg)
{
status = LifecycleReader.Read(ref msgList, ref infoSeq, Length.Unlimited, SampleStateKind.Any, ViewStateKind.Any, InstanceStateKind.Any);
ErrorHandler.checkStatus(status, "MsgDataReader.Read");
for (int j = 0; j < msgList.Length; j++)
{
Console.WriteLine(" Message : {0}", msgList[j].message);
Console.WriteLine(" valida data : {0}", infoSeq[j].ValidData);
Console.WriteLine(" sample_state : {0}", sSampleState[index((int)infoSeq[j].SampleState)]);
Console.WriteLine(" view_state : {0}", sViewState[index((int)infoSeq[j].ViewState)]);
Console.WriteLine(" instance_state : {0}", sInstanceState[index((int)infoSeq[j].InstanceState)]);
Thread.Sleep(200);
}
status = LifecycleReader.ReturnLoan(ref msgList, ref infoSeq);
ErrorHandler.checkStatus(status, "MsgDataReader.ReturnLoan");
Thread.Sleep (2);
writerStateChg = false;
}
}
// Clean-up Msg Entities
mgr.getSubscriber().DeleteDataReader(LifecycleReader);
mgr.deleteSubscriber();
mgr.deleteTopic();
mgr.deleteParticipant();
// Clean-up WriterState Entities
mgrWs.getSubscriber().DeleteDataReader(WriterStateReader);
mgrWs.deleteSubscriber();
mgrWs.deleteTopic();
mgrWs.deleteParticipant();
}
static void Main(string[] args)
{
if (args.Length != 1)
{
Console.WriteLine("Insufficient number of arguments.");
usage();
Environment.Exit(-1);
}
else
{
DDSEntityManager mgr = new DDSEntityManager();
String partitionName = "Durability Example";
String durabilityKind = args[0];
// create Domain Participant
mgr.createParticipant(partitionName);
// set the durability kind
mgr.setDurabilityKind(durabilityKind);
// create Type
MsgTypeSupport msgTS = new MsgTypeSupport();
mgr.registerType(msgTS);
// create Topic
mgr.createTopic("DurabilityData_Msg", "Durability");
// create Subscriber
mgr.createSubscriber();
mgr.createReader("Durability", false);
IDataReader dreader = mgr.getReader();
MsgDataReader DurabilityDataReader = dreader as MsgDataReader;
Msg[] msgSeq = null;
DDS.SampleInfo[] infoSeq = null;
Boolean terminate = false;
ReturnCode status;
Console.WriteLine("=== [Subscriber] Ready ...");
while (!terminate)
{
status = DurabilityDataReader.Take(ref msgSeq, ref infoSeq, Length.Unlimited, SampleStateKind.Any, ViewStateKind.Any, InstanceStateKind.Any);
ErrorHandler.checkStatus(status, "DataReader.Take");
for (int i = 0; i < msgSeq.Length; i++)
{
if (infoSeq[i].ValidData)
{
Console.WriteLine("{0} : {1}", msgSeq[i].id, msgSeq[i].content);
if (msgSeq[i].content.Equals("9"))
{
terminate = true;
break;
}
}
}
status = DurabilityDataReader.ReturnLoan(ref msgSeq, ref infoSeq);
ErrorHandler.checkStatus(status, "MsgDataReader.ReturnLoan");
}
// clean up
mgr.getSubscriber().DeleteDataReader(DurabilityDataReader);
mgr.deleteSubscriber();
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();
}
}
static void Main(string[] args)
{
String[] sSampleState = { "READ_SAMPLE_STATE", "NOT_READ_SAMPLE_STATE" };
String[] sViewState = { "NEW_VIEW_STATE", "NOT_NEW_VIEW_STATE" };
String[] sInstanceState = { "ALIVE_INSTANCE_STATE", "NOT_ALIVE_DISPOSED_INSTANCE_STATE", "NOT_ALIVE_NO_WRITERS_INSTANCE_STATE" };
bool closed = false;
int nbIter = 1;
int nbIterMax = 100;
ReturnCode status = ReturnCode.Error;
Msg[] msgList = null;
SampleInfo[] infoSeq = null;
DDSEntityManager mgr = new DDSEntityManager("Lifecycle");
// Create domain participant
String partitionName = "Lifecycle example";
mgr.createParticipant(partitionName);
// Create type
MsgTypeSupport mt = new MsgTypeSupport();
mgr.registerType(mt);
// Create Topic
String topicName = "Lifecycle_Msg";
mgr.createTopic(topicName);
// Create Subscriber
mgr.createSubscriber();
mgr.createReader(false);
IDataReader dreader = mgr.getReader();
MsgDataReader LifecycleReader = dreader as MsgDataReader;
ErrorHandler.checkHandle(LifecycleReader, "MsgDataReader narrow");
Console.WriteLine("=== [Subscriber] Ready ...");
while (!closed && (nbIter < nbIterMax))
{
status = LifecycleReader.Read(ref msgList, ref infoSeq, Length.Unlimited, SampleStateKind.Any, ViewStateKind.Any, InstanceStateKind.Any);
ErrorHandler.checkStatus(status, "MsgDataReader.Read");
for (int j = 0; j < msgList.Length; j++)
{
Console.WriteLine(" Message : {0}", msgList[j].message);
Console.WriteLine(" writerStates : {0}", msgList[j].writerStates);
Console.WriteLine(" valida data : {0}", infoSeq[j].ValidData);
string str = "sample_state:" + sSampleState[index((int)infoSeq[j].SampleState)] + "-view_state:" + sViewState[index((int)infoSeq[j].ViewState)] + "-instance_state:" + sInstanceState[index((int)infoSeq[j].InstanceState)];
Console.WriteLine(str);
Thread.Sleep(200);
closed = msgList[j].writerStates.Equals("STOPPING_SUBSCRIBER");
}
status = LifecycleReader.ReturnLoan(ref msgList, ref infoSeq);
ErrorHandler.checkStatus(status, "MsgDataReader.ReturnLoan");
Thread.Sleep(20);
nbIter++;
}
Console.WriteLine("=== [Subscriber] stopping after {0} iterations - closed={1}", nbIter, closed.ToString());
if (nbIter == nbIterMax)
Console.WriteLine("*** Error : max {0} iterations reached", nbIterMax);
// Clean-up
mgr.getSubscriber().DeleteDataReader(LifecycleReader);
mgr.deleteSubscriber();
mgr.deleteTopic();
mgr.deleteParticipant();
}
static void Main(string[] args)
{
if(args.Length != 3)
{
Console.WriteLine("Insufficient number of arguments.");
usage();
Environment.Exit(-1);
}
else
{
String durabilityKind = args[0];
Boolean autodisposeFlag = Boolean.Parse(args[1].ToString());
Boolean automaticFlag = Boolean.Parse(args[2].ToString());
DDSEntityManager mgr = new DDSEntityManager();
String partitionName = "Durability example";
// Set the Durability Kind
mgr.setDurabilityKind(durabilityKind);
// Set the auto dispose flag
mgr.setAutoDispose(autodisposeFlag);
Thread.Sleep(1000);
// create Domain Participant
mgr.createParticipant(partitionName);
// create Type
MsgTypeSupport stkTS = new MsgTypeSupport();
mgr.registerType(stkTS);
// create Topic
mgr.createTopic("DurabilityData_Msg", "Durability");
// create Publisher
mgr.createPublisher();
// create DataWriter
mgr.createWriter();
// Publish Events
IDataWriter dwriter = mgr.getWriter();
MsgDataWriter msgWriter = dwriter as MsgDataWriter;
Msg [] DurabilityDataMsg = new Msg[10];
InstanceHandle [] handle = new InstanceHandle [10];
ReturnCode status = ReturnCode.Error;
for (int x = 0; x < 10; x++)
{
DurabilityDataMsg[x] = new Msg();
DurabilityDataMsg[x].id = x;
DurabilityDataMsg[x].content = x.ToString();
Console.WriteLine("Storing {0}", DurabilityDataMsg[x].content);
handle[x] = msgWriter.RegisterInstance(DurabilityDataMsg[x]);
ErrorHandler.checkHandle(handle[x], "DataWriter.RegisterInstance");
status = msgWriter.Write(DurabilityDataMsg[x], handle[x]);
ErrorHandler.checkStatus(status, "DataWriter.Write");
}
if (!automaticFlag)
{
char c = (char)0;
Console.WriteLine("Enter E to exit");
while (c != 'E')
{
c = (char)Console.Read();
}
}
else
{
Console.WriteLine("=== sleeping 10s...");
Thread.Sleep(10000);
}
// Clean up
status = mgr.getPublisher().DeleteDataWriter(msgWriter);
ErrorHandler.checkStatus(status, "Publisher.DeleteDatWriter");
mgr.deletePublisher();
mgr.deleteTopic();
mgr.deleteParticipant();
}
}
