static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the 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 ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = queryconditionTypeSupport.get_type_name();
try {
queryconditionTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example querycondition",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
/* If you want to change datareader_qos.history programmatically rather
* than using the XML file, you will need to add the following lines to your
* code and comment out the create_datareader call above. */
/*DDS.DataReaderQos reader_qos = new DDS.DataReaderQos();
* subscriber.get_default_datareader_qos(reader_qos);
*
* reader_qos.history.kind = DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
* reader_qos.history.depth = 6;
*
* DDS.DataReader reader = subscriber.create_datareader(
* topic,
* reader_qos,
* reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
* if (reader == null)
* {
* shutdown(participant);
* reader_listener = null;
* throw new ApplicationException("create_datareader error");
* } */
// --- Wait for data --- //
/* NOTE: There must be single-quotes in the query parameters around
* any strings! The single-quotes do NOT go in the query condition
* itself.
*/
DDS.QueryCondition query_for_guid2;
DDS.StringSeq query_parameters = new DDS.StringSeq();
query_parameters.ensure_length(1, 1);
query_parameters.set_at(0, "'GUID2'");
queryconditionDataReader querycondition_reader =
(queryconditionDataReader)reader;
query_for_guid2 = querycondition_reader.create_querycondition(
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ALIVE_INSTANCE_STATE,
"id MATCH %0",
query_parameters);
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
System.Threading.Thread.Sleep(receive_period);
queryconditionSeq data_seq = new queryconditionSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
try
{
querycondition_reader.read_w_condition(
data_seq,
info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
query_for_guid2);
}
catch (DDS.Retcode_NoData e)
{
continue;
}
catch (DDS.Exception e)
{
shutdown(participant);
throw e;
}
int len = 0;
double sum = 0;
/* Iterate through the samples read using the read_w_condition() method,
* accessing only the samples of GUID2. Then, show the number of samples
* received and, adding the value of x on each of them to calculate the
* average afterwards. */
for (int i = 0; i < data_seq.length; ++i)
{
if (!info_seq.get_at(i).valid_data)
{
continue;
}
len++;
sum += data_seq.get_at(i).value;
Console.WriteLine("Guid = {0}\n", data_seq.get_at(i).id);
}
if (len > 0)
{
Console.WriteLine("Got {0} samples. Avg = {1}\n", len, sum / len);
}
try
{
querycondition_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the 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 ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null) {
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = queryconditionTypeSupport.get_type_name();
try {
queryconditionTypeSupport.register_type(
participant, type_name);
}
catch(DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example querycondition",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null) {
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* To customize the data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null) {
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
/* If you want to change datareader_qos.history programmatically rather
* than using the XML file, you will need to add the following lines to your
* code and comment out the create_datareader call above. */
/*DDS.DataReaderQos reader_qos = new DDS.DataReaderQos();
subscriber.get_default_datareader_qos(reader_qos);
reader_qos.history.kind = DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
reader_qos.history.depth = 6;
DDS.DataReader reader = subscriber.create_datareader(
topic,
reader_qos,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
} */
// --- Wait for data --- //
/* NOTE: There must be single-quotes in the query parameters around
* any strings! The single-quotes do NOT go in the query condition
* itself.
*/
DDS.QueryCondition query_for_guid2;
DDS.StringSeq query_parameters = new DDS.StringSeq();
query_parameters.ensure_length(1, 1);
query_parameters.set_at(0, "'GUID2'");
queryconditionDataReader querycondition_reader =
(queryconditionDataReader)reader;
query_for_guid2 = querycondition_reader.create_querycondition(
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ALIVE_INSTANCE_STATE,
"id MATCH %0",
query_parameters);
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count=0;
(sample_count == 0) || (count < sample_count);
++count) {
System.Threading.Thread.Sleep(receive_period);
queryconditionSeq data_seq = new queryconditionSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
try
{
querycondition_reader.read_w_condition(
data_seq,
info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
query_for_guid2);
}
catch (DDS.Retcode_NoData e)
{
continue;
}
catch (DDS.Exception e)
{
shutdown(participant);
throw e;
}
int len = 0;
double sum = 0;
/* Iterate through the samples read using the read_w_condition() method,
* accessing only the samples of GUID2. Then, show the number of samples
* received and, adding the value of x on each of them to calculate the
* average afterwards. */
for (int i = 0; i < data_seq.length; ++i)
{
if (!info_seq.get_at(i).valid_data)
continue;
len++;
sum += data_seq.get_at(i).value;
Console.WriteLine("Guid = {0}\n", data_seq.get_at(i).id);
}
if (len > 0)
{
Console.WriteLine("Got {0} samples. Avg = {1}\n", len, sum / len);
}
try
{
querycondition_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
