public void TestInitialize()
{
_participant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN);
Assert.IsNotNull(_participant);
_participant.BindRtpsUdpTransportConfig();
AthleteTypeSupport athleteSupport = new AthleteTypeSupport();
string athleteTypeName = athleteSupport.GetTypeName();
ReturnCode result = athleteSupport.RegisterType(_participant, athleteTypeName);
Assert.AreEqual(ReturnCode.Ok, result);
_athleteTopic = _participant.CreateTopic("AthleteTopic", athleteTypeName);
Assert.IsNotNull(_athleteTopic);
Assert.IsNull(_athleteTopic.Listener);
Assert.AreEqual("AthleteTopic", _athleteTopic.Name);
Assert.AreEqual(athleteTypeName, _athleteTopic.TypeName);
ResultTypeSupport resultSupport = new ResultTypeSupport();
string resultTypeName = resultSupport.GetTypeName();
result = resultSupport.RegisterType(_participant, resultTypeName);
Assert.AreEqual(ReturnCode.Ok, result);
_resultTopic = _participant.CreateTopic("ResultTopic", resultTypeName);
Assert.IsNotNull(_resultTopic);
Assert.IsNull(_resultTopic.Listener);
Assert.AreEqual("ResultTopic", _resultTopic.Name);
Assert.AreEqual(resultTypeName, _resultTopic.TypeName);
_subscriber = _participant.CreateSubscriber();
Assert.IsNotNull(_subscriber);
_publisher = _participant.CreatePublisher();
Assert.IsNotNull(_publisher);
_athleteWriter = _publisher.CreateDataWriter(_athleteTopic);
Assert.IsNotNull(_athleteWriter);
_athleteDataWriter = new AthleteDataWriter(_athleteWriter);
Assert.IsNotNull(_athleteDataWriter);
_resultWriter = _publisher.CreateDataWriter(_resultTopic);
Assert.IsNotNull(_resultWriter);
_resultDataWriter = new ResultDataWriter(_resultWriter);
Assert.IsNotNull(_resultDataWriter);
DataReaderQos qos = new DataReaderQos();
qos.Reliability.Kind = ReliabilityQosPolicyKind.ReliableReliabilityQos;
_reader = _subscriber.CreateDataReader(_athleteTopic, qos);
Assert.IsNotNull(_reader);
}
private static void TestOnInconsistentTopic()
{
DomainParticipantFactory dpf = ParticipantService.Instance.GetDomainParticipantFactory();
DomainParticipant participant = dpf.CreateParticipant(RTPS_DOMAIN);
if (participant == null)
{
throw new ApplicationException("Failed to create the participant.");
}
BindRtpsUdpTransportConfig(participant);
Subscriber subscriber = participant.CreateSubscriber();
if (subscriber == null)
{
throw new ApplicationException("Failed to create the subscriber.");
}
AthleteTypeSupport support = new AthleteTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(participant, typeName);
if (result != ReturnCode.Ok)
{
throw new ApplicationException("Failed to register the type." + result.ToString());
}
Topic topic = participant.CreateTopic(nameof(TestOnInconsistentTopic), typeName);
if (topic == null)
{
throw new ApplicationException("Failed to create the topic.");
}
DataReader reader = subscriber.CreateDataReader(topic);
if (reader == null)
{
throw new ApplicationException("Failed to create the reader.");
}
while (true)
{
System.Threading.Thread.Sleep(100);
}
}
