public void TestInitialize()
{
_participant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN);
Assert.IsNotNull(_participant);
_participant.BindRtpsUdpTransportConfig();
_subscriber = _participant.GetBuiltinSubscriber();
Assert.IsNotNull(_subscriber);
_dataReader = _subscriber.LookupDataReader(ParticipantBuiltinTopicDataDataReader.BUILT_IN_PARTICIPANT_TOPIC);
Assert.IsNotNull(_dataReader);
_dr = new ParticipantBuiltinTopicDataDataReader(_dataReader);
}
static void Main(string[] args)
{
bool automatic = true;
if (args.Length > 1)
{
automatic = args[0].Equals("true");
}
string hostName;
DDSEntityManager mgr = new DDSEntityManager("BuiltInTopics");
// create domain participant
mgr.createParticipant("BuiltInTopics");
// Resolve the built-in Subscriber
ISubscriber builtInSubscriber = mgr.getParticipant().BuiltInSubscriber;
// Lookup the DataReader for the DCPSParticipant built-in Topic
IDataReader reader = builtInSubscriber.LookupDataReader("DCPSParticipant");
// Cast the DataReader to a ParticipantBuiltInTopicDataReader
ParticipantBuiltinTopicDataDataReader participantReader = reader as ParticipantBuiltinTopicDataDataReader;
ErrorHandler.checkHandle(participantReader, "ParticipantBuiltInTopicDataReader narrow");
// Allocate a new typed seq for data samples
ParticipantBuiltinTopicData[] data = null;
// Allocate a new seq for sample infos
SampleInfo[] info = null;
Console.WriteLine("=== [BuiltInTopicsDataSubscriber] : Waiting for historical data ... ");
participantReader.WaitForHistoricalData(Duration.Infinite);
Console.WriteLine("=== [BuiltInTopicsDataSubscriber] : done");
// Create a new ReadCondition for the reader that matches all samples
IReadCondition readCond = participantReader.CreateReadCondition(SampleStateKind.Any, ViewStateKind.Any, InstanceStateKind.Any);
ErrorHandler.checkHandle(readCond, "DataReader.CreateReadCondition");
// Create a waitset and add the ReadCondition created above
WaitSet aWaitSet = new WaitSet();
ReturnCode status = aWaitSet.AttachCondition(readCond);
ErrorHandler.checkStatus(status, "WaitSet.AttachCondition");
// Initialize and pre-allocate the seq used to obtain the triggered Conditions.
ICondition[] condSeq = new ICondition[0];
// Allocate a map store node information later on
// The key of map is the id of the node and the value is the
// number of active participants on that node. A Dictionary is used
// as an UnorderedMap.
Dictionary <int, int> nodes = new Dictionary <int, int>();
// Allocate a map to store node information later on.
// The key of the map is the id of the node and the value is the
// name of the node. A Dictionary is used as an UnorderedMap.
Dictionary <int, string> nodeNames = new Dictionary <int, string>();
Console.WriteLine("=== [BuiltInTopicsDataSubscriber] Ready ...");
// Block the current thread until the attached condition becomes true
// or the user interrupts.
status = aWaitSet.Wait(ref condSeq, Duration.Infinite);
ErrorHandler.checkStatus(status, "WaitSet.Wait");
bool done = false;
// Continue processing until interrupted.
while (!done)
{
// Take all the available data from the reader
status = participantReader.Take(ref data, ref info, Length.Unlimited,
SampleStateKind.Any, ViewStateKind.Any, InstanceStateKind.Any);
ErrorHandler.checkStatus(status, "ParticipantBuiltinTopicDataDataReader.Take");
// Verify the data has been taken
if (status == ReturnCode.Ok)
{
// Iterate the list of taken samples.
for (int i = 0; i < data.Length; i++)
{
// Resolve the node identification
int nodeId = data[i].Key[0];
// Initialise the number of participants for a node
int participantCount = 0;
// Check if we saw a participant for the node before.
if (nodes.ContainsKey(nodeId))
{
participantCount = nodes[nodeId];
}
// Check sample info to see whether the instance is ALIVE.
if (info[i].InstanceState == InstanceStateKind.Alive)
{
// The splicedaemon publishes the host-name in the
// user_data field
if (data[i].UserData.Value.Length != 0)
{
hostName = Encoding.UTF8.GetString(data[i].UserData.Value);
nodeNames[nodeId] = hostName;
}
else
{
hostName = null;
}
// Increase the number of participants.
participantCount++;
// Update the number of participants for the node.
nodes[nodeId] = participantCount;
// If it's the first participant, report the node is up.
if (participantCount == 1)
{
Console.WriteLine("=== [BuiltInTopicsDataSubscriber] Node ' {0} ' started (Total nodes running: {1} ) participantCount = {2}",
nodeId, nodes.Count, participantCount);
}
if (hostName != null)
{
Console.WriteLine("=== [BuiltInTopicsDataSubscriber] Hostname for node ' {0} ' is hostname: {1}", nodeId, hostName);
}
}
else
{
// Decrease the number of participants.
participantCount--;
// If no more participants exist, report the node is down.
if (participantCount == 0)
{
hostName = nodeNames[nodeId];
nodeNames.Remove(nodeId);
nodes.Remove(nodeId);
if (hostName != null)
{
Console.WriteLine("=== [BuiltInTopicsDataSubscriber] Node {0} ({1}) stopped (Total nodes running: ({2})",
nodeId, hostName, nodes.Count);
}
else
{
Console.WriteLine("=== [BuiltInTopicsDataSubscriber] Node {0} stopped (Total nodes running : {1})",
nodeId, nodes.Count);
}
}
else if (participantCount > 0)
{
nodes[nodeId] = participantCount;
}
}
}
}
status = participantReader.ReturnLoan(ref data, ref info);
ErrorHandler.checkStatus(status, "ParticipantReader.ReturnLoan");
if (!automatic)
{
// Block the current thread until the attached condition becomes
// true or the user interrupts.
Console.WriteLine("=== [BuiltInTopicsDataSubscriber] Waiting ... ");
status = aWaitSet.Wait(ref condSeq, Duration.Infinite);
done = (status != ReturnCode.Ok);
}
else
{
done = true;
}
}
// Delete read condition
status = participantReader.DeleteReadCondition(readCond);
ErrorHandler.checkStatus(status, "DataReader.DeleteReadCondition");
// Recursively delete all entities in the DomainParticipant.
mgr.getParticipant().DeleteContainedEntities();
// Delete DomainParticipant
mgr.getDomainParticipantFactory().DeleteParticipant(mgr.getParticipant());
}
