public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
DDS.QosProvider qosProvider = null;
DDS.DomainParticipantQos participantQos =
test.sacs.QosComparer.defaultDomainParticipantQos;
DDS.TopicQos topicQos =
test.sacs.QosComparer.defaultTopicQos;
DDS.SubscriberQos subscriberQos =
test.sacs.QosComparer.defaultSubscriberQos;
DDS.DataReaderQos readerQos =
test.sacs.QosComparer.defaultDataReaderQos;
DDS.PublisherQos publisherQos =
test.sacs.QosComparer.defaultPublisherQos;
DDS.DataWriterQos writerQos =
test.sacs.QosComparer.defaultDataWriterQos;
DDS.DomainParticipantQos xmlParticipantQos = new DDS.DomainParticipantQos ();
DDS.TopicQos xmlTopicQos = new DDS.TopicQos ();
DDS.SubscriberQos xmlSubscriberQos = new DDS.SubscriberQos ();
DDS.DataReaderQos xmlReaderQos = new DDS.DataReaderQos ();
DDS.PublisherQos xmlPublisherQos = new DDS.PublisherQos ();
DDS.DataWriterQos xmlWriterQos = new DDS.DataWriterQos ();
qosProvider = new DDS.QosProvider (this.uri, null);
if (qosProvider.GetParticipantQos (ref xmlParticipantQos, null) != 0 ||
qosProvider.GetTopicQos (ref xmlTopicQos, null) != 0 ||
qosProvider.GetSubscriberQos (ref xmlSubscriberQos, null) != 0 ||
qosProvider.GetDataReaderQos (ref xmlReaderQos, null) != 0 ||
qosProvider.GetPublisherQos (ref xmlPublisherQos, null) != 0 ||
qosProvider.GetDataWriterQos (ref xmlWriterQos, null) != 0)
{
result = new Test.Framework.TestResult (
"QosProvider should successfully parse XML file",
"QosProvider did not parse XML file " + uri,
Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
} else if (!QosComparer.DomainParticipantQosEquals (xmlParticipantQos, participantQos) ||
!QosComparer.TopicQosEquals (xmlTopicQos, topicQos) ||
!QosComparer.SubscriberQosEquals (xmlSubscriberQos, subscriberQos) ||
!QosComparer.DataReaderQosEquals (xmlReaderQos, readerQos) ||
!QosComparer.PublisherQosEquals (xmlPublisherQos, publisherQos) ||
!QosComparer.DataWriterQosEquals (xmlWriterQos, writerQos))
{
result = new Test.Framework.TestResult (
"QosProvider should successfully parse XML file",
"QosProvider did not correctly parse XML file " + uri,
Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
} else {
result = new Test.Framework.TestResult (
"QosProvider should successfully parse XML file",
"QosProvider correctly parsed XML file " + uri,
Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Pass);
}
return result;
}
static bool checkParticipant(DDS.DomainParticipant participant)
{
DDS.DomainParticipantQos participantQos = new DDS.DomainParticipantQos();
participant.get_qos(participantQos);
DDS.PropertySeq properties = participantQos.property_qos.value;
for (int i = 0; i < properties.length; i++)
{
if (String.Compare(properties.get_at(i).name,
"dds.transport.UDPv4.builtin.send_socket_buffer_size") == 0)
{
if (String.Compare(properties.get_at(i).value, NEW_SOCKET_BUFFER_SIZE_STRING)
!= 0)
{
Console.WriteLine("Error, send_socket_buffer_size...not modified");
return false;
}
}
if (String.Compare(properties.get_at(i).name,
"dds.transport.UDPv4.builtin.recv_socket_buffer_size") == 0)
{
string value = properties.get_at(i).value;
if (String.Compare(properties.get_at(i).value, NEW_SOCKET_BUFFER_SIZE_STRING)
!= 0)
{
Console.WriteLine("Error, recv_socket_buffer_size...not modified");
return false;
}
}
}
return true;
}
/*
* P I N G
*/
public void run(String[] args)
{
System.Console.WriteLine("starting PING");
DDS.ICondition[] conditionList = null;
DDS.IWaitSet w;
DDS.DomainParticipantQos dpQos;
DDS.TopicQos tQos;
DDS.PublisherQos pQos;
DDS.DataWriterQos dwQos;
DDS.SubscriberQos sQos;
DDS.DataReaderQos drQos;
DDS.Duration wait_timeout = new DDS.Duration(3, 0);
DDS.ReturnCode result;
Boolean finish_flag = false;
Boolean timeout_flag = false;
Boolean terminate = false;
int imax = 1;
int i;
uint block;
int nof_cycles = 100;
int nof_blocks = 20;
/**
* Command Line argument processing
*/
if (args.Length != 0)
{
if (args.Length != 5)
{
System.Console.WriteLine("Invalid.....");
System.Console.WriteLine("Usage: ping blocks blocksize topic_id WRITE_PARTITION READ_PARTITION ");
Environment.Exit(1);
}
nof_blocks = int.Parse(args[0]);
nof_cycles = int.Parse(args[1]);
topic_id = args[2][0];
write_partition = args[3];
read_partition = args[4];
}
/*
* Create WaitSet
*/
w = new DDS.WaitSet();
/*
* Initialize Qos variables
*/
dpQos = new DDS.DomainParticipantQos();
tQos = new DDS.TopicQos();
pQos = new DDS.PublisherQos();
dwQos = new DDS.DataWriterQos();
sQos = new DDS.SubscriberQos();
drQos = new DDS.DataReaderQos();
/*
* Create participant
*/
dpf = DDS.DomainParticipantFactory.Instance;
dpf.GetDefaultParticipantQos(ref dpQos);
ErrorHandler.checkHandle(dpf, "DDS.DomainParticipantFactory.Instance");
dp = dpf.CreateParticipant(myDomain, dpQos);
if (dp == null)
{
System.Console.WriteLine("PING: ERROR - Splice Daemon not running");
return;
}
/*
* Create PING publisher
*/
dp.GetDefaultPublisherQos(ref pQos);
pQos.Partition.Name = new String[1];
pQos.Partition.Name[0] = write_partition;
p = dp.CreatePublisher(pQos);
/*
* Create PONG subscriber
*/
dp.GetDefaultSubscriberQos(ref sQos);
sQos.Partition.Name = new String[1];
sQos.Partition.Name[0] = read_partition;
s = dp.CreateSubscriber(sQos);
/*
* Get default DataReader and DataWriter QoS settings
*/
p.GetDefaultDataWriterQos(ref dwQos);
s.GetDefaultDataReaderQos(ref drQos);
/*
* Get default Topic Qos settings
*/
dp.GetDefaultTopicQos(ref tQos);
/*match data reader/writer qos with topic qos*/
p.CopyFromTopicQos(ref dwQos, tQos);
s.CopyFromTopicQos(ref drQos, tQos);
/*
* PP_min_msg
*/
/* Create Topic */
PP_min_dt = new pingpong.PP_min_msgTypeSupport();
PP_min_dt.RegisterType(dp, "pingpong::PP_min_msg");
PP_min_topic = dp.CreateTopic("PP_min_topic", "pingpong::PP_min_msg", tQos);
/* Create datawriter */
PP_min_writer = p.CreateDataWriter(PP_min_topic, dwQos) as pingpong.PP_min_msgDataWriter;
/* Create datareader */
PP_min_reader = s.CreateDataReader(PP_min_topic, drQos) as pingpong.PP_min_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_min_sc = PP_min_reader.StatusCondition;
PP_min_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_min_sc);
ErrorHandler.checkStatus(result, "attach condition pp_min_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_seq_msg
*/
/* Create Topic */
PP_seq_dt = new pingpong.PP_seq_msgTypeSupport();
PP_seq_dt.RegisterType(dp, "pingpong::PP_seq_msg");
PP_seq_topic = dp.CreateTopic("PP_seq_topic", "pingpong::PP_seq_msg", tQos);
/* Create datawriter */
PP_seq_writer = p.CreateDataWriter(PP_seq_topic, dwQos) as pingpong.PP_seq_msgDataWriter;
/* Create datareader */
PP_seq_reader = s.CreateDataReader(PP_seq_topic, drQos) as pingpong.PP_seq_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_seq_sc = PP_seq_reader.StatusCondition;
PP_seq_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_seq_sc);
ErrorHandler.checkStatus(result, "attach condition pp_seq_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_string_msg
*/
/* Create Topic */
PP_string_dt = new pingpong.PP_string_msgTypeSupport();
PP_string_dt.RegisterType(dp, "pingpong::PP_string_msg");
PP_string_topic = dp.CreateTopic("PP_string_topic", "pingpong::PP_string_msg", tQos);
/* Create datawriter */
PP_string_writer = p.CreateDataWriter(PP_string_topic, dwQos) as pingpong.PP_string_msgDataWriter;
/* Create datareader */
PP_string_reader = s.CreateDataReader(PP_string_topic, drQos) as pingpong.PP_string_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_string_sc = PP_string_reader.StatusCondition;
PP_string_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_string_sc);
ErrorHandler.checkStatus(result, "attach condition pp_string_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_fixed_msg
*/
/* Create Topic */
PP_fixed_dt = new pingpong.PP_fixed_msgTypeSupport();
PP_fixed_dt.RegisterType(dp, "pingpong::PP_fixed_msg");
PP_fixed_topic = dp.CreateTopic("PP_fixed_topic", "pingpong::PP_fixed_msg", tQos);
/* Create datawriter */
PP_fixed_writer = p.CreateDataWriter(PP_fixed_topic, dwQos) as pingpong.PP_fixed_msgDataWriter;
/* Create datareader */
PP_fixed_reader = s.CreateDataReader(PP_fixed_topic, drQos) as pingpong.PP_fixed_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_fixed_sc = PP_fixed_reader.StatusCondition;
PP_fixed_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_fixed_sc);
ErrorHandler.checkStatus(result, "attach condition pp_fixed_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_array_msg
*/
/* Create Topic */
PP_array_dt = new pingpong.PP_array_msgTypeSupport();
PP_array_dt.RegisterType(dp, "pingpong::PP_array_msg");
PP_array_topic = dp.CreateTopic("PP_array_topic", "pingpong::PP_array_msg", tQos);
/* Create datawriter */
PP_array_writer = p.CreateDataWriter(PP_array_topic, dwQos) as pingpong.PP_array_msgDataWriter;
/* Create datareader */
PP_array_reader = s.CreateDataReader(PP_array_topic, drQos) as pingpong.PP_array_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_array_sc = PP_array_reader.StatusCondition;
PP_array_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_array_sc);
ErrorHandler.checkStatus(result, "attach condition pp_array_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_quit_msg
*/
/* Create Topic */
PP_quit_dt = new pingpong.PP_quit_msgTypeSupport();
PP_quit_dt.RegisterType(dp, "pingpong::PP_quit_msg");
PP_quit_topic = dp.CreateTopic("PP_quit_topic", "pingpong::PP_quit_msg", tQos);
/* Create datawriter */
PP_quit_writer = p.CreateDataWriter(PP_quit_topic, dwQos) as pingpong.PP_quit_msgDataWriter;
for (block = 0; block < nof_blocks; block++)
{
while (!finish_flag)
{
/*
* Send Initial message
*/
timeout_flag = false;
switch (topic_id)
{
case 'm':
{
/* System.Console.WriteLine ("PING: sending initial ping_min"); */
pingpong.PP_min_msg PPdata = new pingpong.PP_min_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_min_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 'q':
{
/* System.Console.WriteLine ("PING: sending initial ping_seq"); */
pingpong.PP_seq_msg PPdata = new pingpong.PP_seq_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_seq_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 's':
{
//System.Console.WriteLine ("PING: sending initial ping_string");
pingpong.PP_string_msg PPdata = new pingpong.PP_string_msg();
PPdata.count = 0;
PPdata.block = block;
PPdata.a_string = "a_string " + block.ToString();
preWriteTime.timeGet();
result = PP_string_writer.Write(PPdata);
ErrorHandler.checkStatus(result, "writing PPData in case S");
postWriteTime.timeGet();
}
break;
case 'f':
{
/* System.Console.WriteLine ("PING: sending initial ping_fixed"); */
pingpong.PP_fixed_msg PPdata = new pingpong.PP_fixed_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_fixed_writer
.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 'a':
{
/* System.Console.WriteLine ("PING: sending initial ping_array"); */
pingpong.PP_array_msg PPdata = new pingpong.PP_array_msg();
PPdata.count = 0;
PPdata.block = block;
PPdata.str_arr_char = new char[10];
PPdata.str_arr_octet = new byte[10];
PPdata.str_arr_short = new short[10];
PPdata.str_arr_ushort = new ushort[10];
PPdata.str_arr_long = new int[10];
PPdata.str_arr_ulong = new uint[10];
PPdata.str_arr_longlong = new long[10];
PPdata.str_arr_ulonglong = new ulong[10];
PPdata.str_arr_float = new float[10];
PPdata.str_arr_double = new double[10];
PPdata.str_arr_boolean = new Boolean[11];
preWriteTime.timeGet();
result = PP_array_writer
.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 't':
{
/* System.Console.WriteLine ("PING: sending initial ping_quit"); */
pingpong.PP_quit_msg PPdata = new pingpong.PP_quit_msg();
PPdata.quit = true;
terminate = true;
finish_flag = true;
preWriteTime.timeGet();
result = PP_quit_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
default:
System.Console.WriteLine("Invalid topic-id");
return;
}
if (!terminate)
{
roundTripTime.set(preWriteTime.get());
write_access.add_stats(postWriteTime.sub(preWriteTime));
/*
* Wait for response, calculate timing, and send another
* data if not ready
*/
while (!(timeout_flag || finish_flag))
{
result = w.Wait(ref conditionList, wait_timeout);
//ErrorHandler.checkStatus(result, "wait did not work condition list is probably null!");
if (conditionList != null)
{
imax = conditionList.Length;
if (imax != 0)
{
for (i = 0; i < imax; i++)
{
if (conditionList[i] == PP_min_sc)
{
finish_flag = PP_min_handler(nof_cycles);
}
else if (conditionList[i] == PP_seq_sc)
{
finish_flag = PP_seq_handler(nof_cycles);
}
else if (conditionList[i] == PP_string_sc)
{
finish_flag = PP_string_handler(nof_cycles);
}
else if (conditionList[i] == PP_fixed_sc)
{
finish_flag = PP_fixed_handler(nof_cycles);
}
else if (conditionList[i] == PP_array_sc)
{
finish_flag = PP_array_handler(nof_cycles);
}
else
{
System.Console.WriteLine("PING: unexpected condition triggered: "
+ conditionList[i]);
}
}
}
else
{
System.Console.WriteLine("PING: TIMEOUT - message lost (1)");
timeout_flag = true;
}
}
else
{
System.Console.WriteLine("PING: TIMEOUT - message lost (2)");
timeout_flag = true;
}
}
}
}
if (!terminate)
{
finish_flag = false;
if (block == 0)
{
System.Console.WriteLine("# PING PONG measurements (in us)");
System.Console.WriteLine("# Executed at: ");
System.Console.WriteLine("# Roundtrip time [us] Write-access time [us] Read-access time [us]");
System.Console.WriteLine("# Block Count mean min max Count mean min max Count mean min max");
}
System.Console.WriteLine(String.Format("{0,-6} {1, 10} {2, 6} {3, 6} {4, 6} {5, 10} {6, 6} {7, 6} {8, 6} {9, 10} {10, 6} {11, 6} {12, 6}",
block,roundtrip.count,roundtrip.average,roundtrip.min, roundtrip.max,write_access.count,
write_access.average,write_access.min, write_access.max, read_access.count, read_access.average,
read_access.min, read_access.max));
Console.Out.Flush();
write_access.init_stats();
read_access.init_stats();
roundtrip.init_stats();
}
}
result = s.DeleteDataReader(PP_min_reader);
result = p.DeleteDataWriter(PP_min_writer);
result = s.DeleteDataReader(PP_seq_reader);
result = p.DeleteDataWriter(PP_seq_writer);
result = s.DeleteDataReader(PP_string_reader);
result = p.DeleteDataWriter(PP_string_writer);
result = s.DeleteDataReader(PP_fixed_reader);
result = p.DeleteDataWriter(PP_fixed_writer);
result = s.DeleteDataReader(PP_array_reader);
result = p.DeleteDataWriter(PP_array_writer);
result = p.DeleteDataWriter(PP_quit_writer);
result = dp.DeleteSubscriber(s);
result = dp.DeletePublisher(p);
result = dp.DeleteTopic(PP_min_topic);
result = dp.DeleteTopic(PP_seq_topic);
result = dp.DeleteTopic(PP_string_topic);
result = dp.DeleteTopic(PP_fixed_topic);
result = dp.DeleteTopic(PP_array_topic);
result = dp.DeleteTopic(PP_quit_topic);
result = dpf.DeleteParticipant(dp);
return;
}
public void run(String[] args)
{
String myDomain = null;
DDS.DomainParticipantFactory dpf;
DDS.IDomainParticipant dp;
DDS.IPublisher p;
DDS.ISubscriber s;
pingpong.PP_min_msgDataWriter PP_min_writer;
pingpong.PP_seq_msgDataWriter PP_seq_writer;
pingpong.PP_string_msgDataWriter PP_string_writer;
pingpong.PP_fixed_msgDataWriter PP_fixed_writer;
pingpong.PP_array_msgDataWriter PP_array_writer;
pingpong.PP_min_msgDataReader PP_min_reader;
pingpong.PP_seq_msgDataReader PP_seq_reader;
pingpong.PP_string_msgDataReader PP_string_reader;
pingpong.PP_fixed_msgDataReader PP_fixed_reader;
pingpong.PP_array_msgDataReader PP_array_reader;
pingpong.PP_quit_msgDataReader PP_quit_reader;
pingpong.PP_min_msgTypeSupport PP_min_dt;
pingpong.PP_seq_msgTypeSupport PP_seq_dt;
pingpong.PP_string_msgTypeSupport PP_string_dt;
pingpong.PP_fixed_msgTypeSupport PP_fixed_dt;
pingpong.PP_array_msgTypeSupport PP_array_dt;
pingpong.PP_quit_msgTypeSupport PP_quit_dt;
pingpong.PP_min_msg[] PP_min_dataList = null;
pingpong.PP_seq_msg[] PP_seq_dataList = null;
pingpong.PP_string_msg[] PP_string_dataList = null;
pingpong.PP_fixed_msg[] PP_fixed_dataList = null;
pingpong.PP_array_msg[] PP_array_dataList = null;
pingpong.PP_quit_msg[] PP_quit_dataList = null;
DDS.IStatusCondition PP_min_sc;
DDS.IStatusCondition PP_seq_sc;
DDS.IStatusCondition PP_string_sc;
DDS.IStatusCondition PP_fixed_sc;
DDS.IStatusCondition PP_array_sc;
DDS.IStatusCondition PP_quit_sc;
DDS.ITopic PP_min_topic;
DDS.ITopic PP_seq_topic;
DDS.ITopic PP_string_topic;
DDS.ITopic PP_fixed_topic;
DDS.ITopic PP_array_topic;
DDS.ITopic PP_quit_topic;
DDS.ICondition[] conditionList = null;
DDS.SampleInfo[] infoList = null;
DDS.IWaitSet w;
DDS.DomainParticipantQos dpQos;
DDS.TopicQos tQos;
DDS.PublisherQos pQos;
DDS.DataWriterQos dwQos;
DDS.SubscriberQos sQos;
DDS.DataReaderQos drQos;
Boolean terminate = false;
DDS.ReturnCode result;
int i;
int imax;
int j;
int jmax;
/*
* Evaluate cmdline arguments
*/
if (args.Length != 0)
{
if (args.Length != 2)
{
System.Console.WriteLine("Invalid.....");
System.Console.WriteLine("Usage: pong [READ_PARTITION WRITE_PARTITION]");
Environment.Exit(1);
}
read_partition = args[0];
write_partition = args[1];
}
/*
* Create WaitSet
*/
w = new DDS.WaitSet();
/*
* Initialize Qos variables
*/
dpQos = new DDS.DomainParticipantQos();
tQos = new DDS.TopicQos();
pQos = new DDS.PublisherQos();
dwQos = new DDS.DataWriterQos();
sQos = new DDS.SubscriberQos();
drQos = new DDS.DataReaderQos();
/*
* Create participant
*/
dpf = DDS.DomainParticipantFactory.Instance;
dpf.GetDefaultParticipantQos(ref dpQos);
dp = dpf.CreateParticipant(myDomain, dpQos, null, DDS.StatusKind.Any);
if (dp == null)
{
System.Console.WriteLine("PING: ERROR - Splice Daemon not running");
return;
}
/*
* Create PONG publisher
*/
dp.GetDefaultPublisherQos(ref pQos);
pQos.Partition.Name = new String[1];
pQos.Partition.Name[0] = write_partition;
p = dp.CreatePublisher(pQos);
/*
* Create PING subscriber
*/
dp.GetDefaultSubscriberQos(ref sQos);
sQos.Partition.Name = new String[1];
sQos.Partition.Name[0] = read_partition;
s = dp.CreateSubscriber(sQos);
/*
* Get default DataReader and DataWriter QoS settings
*/
p.GetDefaultDataWriterQos(ref dwQos);
s.GetDefaultDataReaderQos(ref drQos);
/*
* Get default Topic Qos settings
*/
dp.GetDefaultTopicQos(ref tQos);
/* match data reader/writer qos with topic qos */
p.CopyFromTopicQos(ref dwQos, tQos);
s.CopyFromTopicQos(ref drQos, tQos);
/*
* PP_min_msg
*/
/* Create Topic */
PP_min_dt = new pingpong.PP_min_msgTypeSupport();
PP_min_dt.RegisterType(dp, "pingpong::PP_min_msg");
PP_min_topic = dp.CreateTopic("PP_min_topic", "pingpong::PP_min_msg", tQos);
/* Create datawriter */
PP_min_writer = p.CreateDataWriter(PP_min_topic, dwQos) as pingpong.PP_min_msgDataWriter;
/* Create datareader */
PP_min_reader = s.CreateDataReader(PP_min_topic, drQos) as pingpong.PP_min_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_min_sc = PP_min_reader.StatusCondition;
PP_min_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_min_sc);
// assert(result == RETCODE_OK.value);
/*
* PP_seq_msg
*/
/* Create Topic */
PP_seq_dt = new pingpong.PP_seq_msgTypeSupport();
PP_seq_dt.RegisterType(dp, "pingpong::PP_seq_msg");
PP_seq_topic = dp.CreateTopic("PP_seq_topic", "pingpong::PP_seq_msg", tQos);
/* Create datawriter */
PP_seq_writer = p.CreateDataWriter(PP_seq_topic, dwQos) as pingpong.PP_seq_msgDataWriter;
/* Create datareader */
PP_seq_reader = s.CreateDataReader(PP_seq_topic, drQos) as pingpong.PP_seq_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_seq_sc = PP_seq_reader.StatusCondition;
PP_seq_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_seq_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_string_msg
*/
/* Create Topic */
PP_string_dt = new pingpong.PP_string_msgTypeSupport();
PP_string_dt.RegisterType(dp, "pingpong::PP_string_msg");
PP_string_topic = dp.CreateTopic("PP_string_topic", "pingpong::PP_string_msg", tQos);
/* Create datawriter */
PP_string_writer = p.CreateDataWriter(PP_string_topic, dwQos) as pingpong.PP_string_msgDataWriter;
/* Create datareader */
PP_string_reader = s.CreateDataReader(PP_string_topic,drQos) as pingpong.PP_string_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_string_sc = PP_string_reader.StatusCondition;
PP_string_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_string_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_fixed_msg
*/
/* Create Topic */
PP_fixed_dt = new pingpong.PP_fixed_msgTypeSupport();
PP_fixed_dt.RegisterType(dp, "pingpong::PP_fixed_msg");
PP_fixed_topic = dp.CreateTopic("PP_fixed_topic", "pingpong::PP_fixed_msg", tQos);
/* Create datawriter */
PP_fixed_writer = p.CreateDataWriter(PP_fixed_topic, dwQos) as pingpong.PP_fixed_msgDataWriter;
/* Create datareader */
PP_fixed_reader = s.CreateDataReader(PP_fixed_topic, drQos) as pingpong.PP_fixed_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_fixed_sc = PP_fixed_reader.StatusCondition;
PP_fixed_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_fixed_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_array_msg
*/
/* Create Topic */
PP_array_dt = new pingpong.PP_array_msgTypeSupport();
PP_array_dt.RegisterType(dp, "pingpong::PP_array_msg");
PP_array_topic = dp.CreateTopic("PP_array_topic", "pingpong::PP_array_msg", tQos);
/* Create datawriter */
PP_array_writer = p.CreateDataWriter(PP_array_topic, dwQos) as pingpong.PP_array_msgDataWriter;
/* Create datareader */
PP_array_reader = s.CreateDataReader(PP_array_topic, drQos) as pingpong.PP_array_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_array_sc = PP_array_reader.StatusCondition;
PP_array_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_array_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_quit_msg
*/
/* Create Topic */
PP_quit_dt = new pingpong.PP_quit_msgTypeSupport();
PP_quit_dt.RegisterType(dp, "pingpong::PP_quit_msg");
PP_quit_topic = dp.CreateTopic("PP_quit_topic", "pingpong::PP_quit_msg", tQos);
/* Create datareader */
PP_quit_reader = s.CreateDataReader(PP_quit_topic, drQos) as pingpong.PP_quit_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_quit_sc = PP_quit_reader.StatusCondition;
PP_quit_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_quit_sc);
//assert(result == RETCODE_OK.value);
while (!terminate)
{
DDS.Duration wait_timeout = new DDS.Duration(DDS.Duration.InfiniteSec, DDS.Duration.InfiniteSec);
result = w.Wait(ref conditionList, wait_timeout);
ErrorHandler.checkStatus(result, "wait did not succeeed");
if (result == DDS.ReturnCode.AlreadyDeleted)
{
terminate = true;
continue;
}
if (conditionList != null)
{
imax = conditionList.Length;
for (i = 0; i < imax; i++)
{
if (conditionList[i] == PP_min_sc)
{
result = PP_min_reader.Take(ref PP_min_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_min_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_min_writer.Write(PP_min_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_min_reader.ReturnLoan(ref PP_min_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_min triggered, but no data available");
}
}
else if (conditionList[i] == PP_seq_sc)
{
/* System.Console.WriteLine ("PONG: PING_seq arrived"); */
result = PP_seq_reader.Take(ref PP_seq_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_seq_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_seq_writer.Write(PP_seq_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_seq_reader.ReturnLoan(ref PP_seq_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_seq triggered, but no data available");
}
}
else if (conditionList[i] == PP_string_sc)
{
/* System.Console.WriteLine ("PONG: PING_string arrived"); */
result = PP_string_reader.Take(ref PP_string_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_string_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_string_writer.Write(PP_string_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_string_reader.ReturnLoan(ref PP_string_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_string triggered, but no data available");
}
}
else if (conditionList[i] == PP_fixed_sc)
{
/* System.Console.WriteLine ("PONG: PING_fixed arrived"); */
result = PP_fixed_reader.Take(ref PP_fixed_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_fixed_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_fixed_writer.Write(PP_fixed_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_fixed_reader.ReturnLoan(ref PP_fixed_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_fixed triggered, but no data available");
}
}
else if (conditionList[i] == PP_array_sc)
{
/* System.Console.WriteLine ("PONG: PING_array arrived"); */
result = PP_array_reader.Take(ref PP_array_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_array_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_array_writer.Write(PP_array_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_array_reader.ReturnLoan(ref PP_array_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_array triggered, but no data available");
}
}
else if (conditionList[i] == PP_quit_sc)
{
/* System.Console.WriteLine ("PONG: PING_quit arrived"); */
result = PP_quit_reader.Take(ref PP_quit_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_quit_dataList.Length;
if (jmax != 0)
{
result = PP_quit_reader.ReturnLoan(ref PP_quit_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_quit triggered, but no data available");
}
terminate = true;
}
else
{
System.Console.WriteLine("PONG: unknown condition triggered: " + conditionList[i]);
}
}
}
else
{
System.Console.WriteLine("PONG: unknown condition triggered");
}
}
result = s.DeleteDataReader(PP_min_reader);
result = p.DeleteDataWriter(PP_min_writer);
result = s.DeleteDataReader(PP_seq_reader);
result = p.DeleteDataWriter(PP_seq_writer);
result = s.DeleteDataReader(PP_string_reader);
result = p.DeleteDataWriter(PP_string_writer);
result = s.DeleteDataReader(PP_fixed_reader);
result = p.DeleteDataWriter(PP_fixed_writer);
result = s.DeleteDataReader(PP_array_reader);
result = p.DeleteDataWriter(PP_array_writer);
result = s.DeleteDataReader(PP_quit_reader);
result = dp.DeleteSubscriber(s);
result = dp.DeletePublisher(p);
result = dp.DeleteTopic(PP_min_topic);
result = dp.DeleteTopic(PP_seq_topic);
result = dp.DeleteTopic(PP_string_topic);
result = dp.DeleteTopic(PP_fixed_topic);
result = dp.DeleteTopic(PP_array_topic);
result = dp.DeleteTopic(PP_quit_topic);
result = dpf.DeleteParticipant(dp);
return;
}
static DDS.DomainParticipant createParticipant(int domainId)
{
DDS.DomainParticipant participant = null;
DDS.DomainParticipantQos participantQos =
new DDS.DomainParticipantQos();
DDS.DomainParticipantFactory.get_instance()
.get_default_participant_qos(participantQos);
DDS.PropertySeq propertySeq =
participantQos.property_qos.value;
propertySeq.ensure_length(2, 2);
/* Set the send socket buffer size */
DDS.Property_t propertyElement = propertySeq.get_at(0);
propertyElement.name =
"dds.transport.UDPv4.builtin.send_socket_buffer_size";
propertyElement.value = NEW_SOCKET_BUFFER_SIZE_STRING;
propertyElement.propagate = false;
/* Set the send socket buffer size */
propertyElement = propertySeq.get_at(1);
propertyElement.name =
"dds.transport.UDPv4.builtin.recv_socket_buffer_size";
propertyElement.value = NEW_SOCKET_BUFFER_SIZE_STRING;
propertyElement.propagate = false;
/* Create the participant */
participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domainId, participantQos,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
return null;
}
return participant;
}
public override Test.Framework.TestResult Run()
{
string expResult = "register_typesupport tests pass";
DDS.DomainParticipantFactory factory;
DDS.DomainParticipantQos participantQosHolder = null;
DDS.IDomainParticipant participant;
mod.tstTypeSupport typeSupport;
mod.otherTypeTypeSupport otherTypeTypeSupport;
DDS.ReturnCode rc;
Test.Framework.TestResult result;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory.get_instance() did not return a factory (1)";
return(result);
}
if (factory.GetDefaultParticipantQos(ref participantQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "factory.get_default_participant_qos() did not return a qos (2)";
return(result);
}
participant = factory.CreateParticipant(string.Empty, participantQosHolder);//, null, 0);
if (participant == null)
{
result.Result = "factory.create_participant() did not return a participant (2)";
return(result);
}
typeSupport = new mod.tstTypeSupport();
otherTypeTypeSupport = new mod.otherTypeTypeSupport();
rc = typeSupport.RegisterType(participant, "type1");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not register a type (3)";
return(result);
}
rc = typeSupport.RegisterType(participant, "type1");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not register the same type a second time (4)";
return(result);
}
rc = otherTypeTypeSupport.RegisterType(participant, "type2");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could register a different type (5)";
return(result);
}
rc = otherTypeTypeSupport.RegisterType(participant, "type1");
if (rc != DDS.ReturnCode.PreconditionNotMet)
{
result.Result = "Expected RETCODE_PRECONDITION_NOT_MET but recieved " + rc + " after calling register_type using an already used name for a different type (6)";
return(result);
}
rc = factory.DeleteParticipant(participant);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not delete a participant (7)";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
static void subscribe(int domain_id, int sample_count,
String participant_auth, String reader_auth)
{
// --- Create participant --- //
/* Start changes for programmatically qos */
/* If you want to change the Participant's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the participant call above.
*/
/* Set user_data qos field for participant */
/* Get default participant QoS to customize */
DDS.DomainParticipantQos participant_qos =
new DDS.DomainParticipantQos();
DDS.DomainParticipantFactory.get_instance().
get_default_participant_qos(participant_qos);
DDS.StringSeq temp = new DDS.StringSeq(0);
participant_qos.discovery.multicast_receive_addresses = temp;
// user_data is opaque to DDS, so we include trailing \0 for string
int len = participant_auth.Length;
int max =
participant_qos.resource_limits.participant_user_data_max_length;
if (len > max) {
Console.WriteLine(
"error, participant user_data exceeds resource limits");
} else {
/* Byte type is defined to be 8 bits. If chars are not 8 bits
* on your system, this will not work.
*/
participant_qos.user_data.value.from_array(
System.Text.Encoding.Default.GetBytes(participant_auth));
}
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
participant_qos,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null) {
shutdown(participant);
throw new ApplicationException("create_participant error");
}
/* End changes for programmatically qos */
/* The participant is disabled by default. We enable it now */
try {
participant.enable();
} catch (DDS.Exception e) {
Console.WriteLine("failed to enable participant {0}", e);
shutdown(participant);
throw e;
}
// --- 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 = msgTypeSupport.get_type_name();
try {
msgTypeSupport.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 msg",
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 --- //
/* Create a data reader listener */
msgListener reader_listener =
new msgListener();
/* Start changes for Builtin_Topics */
/* Set user_data qos field for datareader */
DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
subscriber.get_default_datareader_qos(datareader_qos);
/* user_data is opaque to DDS, so we include trailing \0 for string */
len = reader_auth.Length;
max = participant_qos.resource_limits.reader_user_data_max_length;
if (len > max) {
Console.WriteLine(
"error, datareader user_data exceeds resource limits");
} else {
/* Byte type is defined to be 8 bits. If chars are not 8 bits
* on your system, this will not work.
*/
datareader_qos.user_data.value.from_array(
System.Text.Encoding.Default.GetBytes(reader_auth));
}
/* To customize the data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
datareader_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 --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count=0;
(sample_count == 0) || (count < sample_count);
++count) {
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
public override Test.Framework.TestResult Run()
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
DDS.TopicQos topQosHolder = null;
DDS.ITopic topic;
mod.tstTypeSupport typeSupport = null;
mod.tstDataReader datareader;
test.sacs.MyDataReaderListener listener;
DDS.ISubscriber subscriber;
DDS.SubscriberQos sqosHolder = null;
DDS.DataReaderQos dqosHolder = null;
DDS.IPublisher publisher;
DDS.PublisherQos pubQosHolder = null;
mod.tstDataWriter datawriter;
DDS.DataWriterQos wqosHolder = null;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
string expResult = "DataReaderListener test succeeded.";
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return(result);
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return(result);
}
participant = factory.CreateParticipant(string.Empty, pqosHolder);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return(result);
}
typeSupport = new mod.tstTypeSupport();
if (typeSupport == null)
{
result.Result = "Creation of tstTypeSupport failed.";
this.Cleanup(factory, participant);
return(result);
}
rc = typeSupport.RegisterType(participant, "my_type");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
topic = participant.CreateTopic("my_topic", "my_type", topQosHolder);//, null,0);
if (topic == null)
{
result.Result = "Topic could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultSubscriberQos(ref sqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default SubscriberQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
subscriber = participant.CreateSubscriber(sqosHolder);//, null, 0);
if (subscriber == null)
{
result.Result = "Subscriber could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (subscriber.GetDefaultDataReaderQos(ref dqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataReaderQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
listener = new test.sacs.MyDataReaderListener();
datareader = (mod.tstDataReader)subscriber.CreateDataReader(topic, dqosHolder, listener,
DDS.StatusKind.Any ^ DDS.StatusKind.DataOnReaders);
if (datareader == null)
{
result.Result = "DataReader could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default PublisherQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
publisher = participant.CreatePublisher(pubQosHolder);//, null, 0);
if (publisher == null)
{
result.Result = "Publisher could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (publisher.GetDefaultDataWriterQos(ref wqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataWriterQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, wqosHolder);//, null, 0);
if (datawriter == null)
{
result.Result = "DataWriter could not be created.";
this.Cleanup(factory, participant);
return(result);
}
try
{
System.Threading.Thread.Sleep(3000);
}
catch (System.Exception e)
{
System.Console.WriteLine(e);
}
if (!listener.onLivelinessChangedCalled)
{
result.Result = "on_liveliness_changed does not work properly.";
this.Cleanup(factory, participant);
return(result);
}
listener.Reset();
mod.tst t = new mod.tst();
t.long_1 = 1;
t.long_2 = 2;
t.long_3 = 3;
rc = datawriter.Write(t, DDS.InstanceHandle.Nil);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Data could not be written.";
this.Cleanup(factory, participant);
return(result);
}
try
{
System.Threading.Thread.Sleep(3000);
}
catch (System.Exception e)
{
System.Console.WriteLine(e);
}
if (!listener.onDataAvailableCalled)
{
result.Result = "on_data_available does not work properly.";
this.Cleanup(factory, participant);
return(result);
}
listener.Reset();
rc = publisher.DeleteDataWriter(datawriter);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "DataWriter could not be deleted.";
this.Cleanup(factory, participant);
return(result);
}
try
{
System.Threading.Thread.Sleep(3000);
}
catch (System.Exception e)
{
System.Console.WriteLine(e);
}
if (!listener.onLivelinessChangedCalled)
{
result.Result = "on_liveliness_changed does not work properly (2).";
this.Cleanup(factory, participant);
return(result);
}
rc = datareader.SetListener(listener, 0);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Listener could not be attached.";
this.Cleanup(factory, participant);
return(result);
}
rc = datareader.SetListener(null, 0);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Listener could not be detached.";
this.Cleanup(factory, participant);
return(result);
}
rc = subscriber.DeleteDataReader(datareader);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Delete datareader failed.";
this.Cleanup(factory, participant);
return(result);
}
listener.Reset();
dqosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
datareader = (mod.tstDataReader)subscriber.CreateDataReader(topic, dqosHolder, listener,
DDS.StatusKind.Any ^ DDS.StatusKind.DataOnReaders);
try
{
System.Threading.Thread.Sleep(3000);
}
catch (System.Exception e)
{
System.Console.WriteLine(e);
}
listener.Reset();
datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, wqosHolder);//, null, 0);
try
{
System.Threading.Thread.Sleep(3000);
}
catch (System.Exception e)
{
System.Console.WriteLine(e);
}
if (!listener.onRequestedIncompatibleQosCalled)
{
result.Result = "on_requested_incompatible_qos does not work properly.";
this.Cleanup(factory, participant);
return(result);
}
rc = participant.DeleteContainedEntities();
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Delete contained entities failed.";
this.Cleanup(factory, participant);
return(result);
}
rc = factory.DeleteParticipant(participant);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Delete DomainParticipant failed.";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase)
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
DDS.SubscriberQos subQosHolder = null;
DDS.ISubscriber subscriber;
DDS.PublisherQos pubQosHolder = null;
DDS.IPublisher publisher;
mod.tstTypeSupport typeSupport;
DDS.TopicQos tQosHolder = null;
DDS.ITopic topic;
DDS.DataReaderQos drQosHolder = null;
mod.tstDataReader datareader;
//mod.tstDataReader datareader2;
DDS.DataWriterQos dwQosHolder = null;
mod.tstDataWriter datawriter;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return(result);
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return(result);
}
participant = factory.CreateParticipant(string.Empty, pqosHolder);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return(result);
}
if (participant.GetDefaultSubscriberQos(ref subQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default SubscriberQos could not be resolved.";
return(result);
}
subscriber = participant.CreateSubscriber(subQosHolder);//, null, 0);
if (subscriber == null)
{
result.Result = "Subscriber could not be created.";
return(result);
}
typeSupport = new mod.tstTypeSupport();
rc = typeSupport.RegisterType(participant, "tstType");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Typesupport could not be registered.";
return(result);
}
if (participant.GetDefaultTopicQos(ref tQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
return(result);
}
topic = participant.CreateTopic("tst", "tstType", tQosHolder);//, null, 0);
if (topic == null)
{
result.Result = "Topic could not be created.";
return(result);
}
if (subscriber.GetDefaultDataReaderQos(ref drQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataReaderQos could not be resolved.";
return(result);
}
datareader = (mod.tstDataReader)subscriber.CreateDataReader(topic, drQosHolder);//, null, 0);
if (datareader == null)
{
result.Result = "DataReader could not be created.";
return(result);
}
//datareader2 = (mod.tstDataReader)subscriber.CreateDataReader(topic, ref drQosHolder);//, null, 0);
//if (datareader2 == null)
//{
// result.Result = "DataReader could not be created.";
// return result;
//}
if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default PublisherQos could not be resolved.";
return(result);
}
publisher = participant.CreatePublisher(pubQosHolder);//, null, 0);
if (publisher == null)
{
result.Result = "Publisher could not be created.";
return(result);
}
if (publisher.GetDefaultDataWriterQos(ref dwQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataWriterQos could not be resolved.";
return(result);
}
datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, dwQosHolder);//, null, 0);
testCase.RegisterObject("factory", factory);
testCase.RegisterObject("participantQos", pqosHolder);
testCase.RegisterObject("participant", participant);
testCase.RegisterObject("topic", topic);
testCase.RegisterObject("topicQos", tQosHolder);
testCase.RegisterObject("subscriber", subscriber);
testCase.RegisterObject("subscriberQos", subQosHolder);
testCase.RegisterObject("datareader", datareader);
//testCase.RegisterObject("datareader2", datareader2);
testCase.RegisterObject("datareaderQos", drQosHolder);
testCase.RegisterObject("publisher", publisher);
testCase.RegisterObject("publisherQos", pubQosHolder);
testCase.RegisterObject("datawriter", datawriter);
testCase.RegisterObject("datawriterQos", dwQosHolder);
result.Result = "Initialization success.";
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
Test.Framework.TestVerdict expVerdict = Test.Framework.TestVerdict.Pass;
string expResult = "Get/Set DomainParticipantQos succeeded.";
DDS.DomainParticipantFactory factory;
DDS.DomainParticipantQos pqosHolder = null;
DDS.DomainParticipantQos pqosHolder2 = null;
DDS.ReturnCode returnCode;
byte[] ud;
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result = new Test.Framework.TestResult(expResult, "DomainParticipantFactory could not be initialised."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
returnCode = factory.GetDefaultParticipantQos(ref pqosHolder);
if (returnCode != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "Default DomainParticipantQos could not be resolved."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
pqosHolder.EntityFactory.AutoenableCreatedEntities = true;
ud = new byte[1];
ud[0] = System.Convert.ToByte("4");
pqosHolder.UserData.Value = ud;
pqosHolder.WatchdogScheduling.SchedulingClass.Kind = DDS.SchedulingClassQosPolicyKind.ScheduleRealtime;
pqosHolder.WatchdogScheduling.SchedulingPriorityKind.Kind = DDS.SchedulingPriorityQosPolicyKind.PriorityAbsolute;
pqosHolder.WatchdogScheduling.SchedulingPriority = 10;
pqosHolder.ListenerScheduling.SchedulingClass.Kind = DDS.SchedulingClassQosPolicyKind.ScheduleTimesharing;
pqosHolder.ListenerScheduling.SchedulingPriorityKind.Kind = DDS.SchedulingPriorityQosPolicyKind.PriorityAbsolute;
pqosHolder.ListenerScheduling.SchedulingPriority = 20;
returnCode = factory.SetDefaultParticipantQos(pqosHolder);
if (returnCode != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "Set default participant qos failed."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
factory.GetDefaultParticipantQos(ref pqosHolder2);
if (pqosHolder.EntityFactory.AutoenableCreatedEntities != pqosHolder2.EntityFactory.AutoenableCreatedEntities)
{
result = new Test.Framework.TestResult(expResult, "Resolved entity_factory policy does not match the applied one."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
if (pqosHolder.UserData.Value.Length != pqosHolder2.UserData.Value.
Length)
{
result = new Test.Framework.TestResult(expResult, "Resolved UserData policy does not match the applied one."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
if (pqosHolder.UserData.Value[0] != pqosHolder2.UserData.Value[0])
{
result = new Test.Framework.TestResult(expResult, "Resolved UserData policy does not match the applied one (2)."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
if (pqosHolder.WatchdogScheduling.SchedulingClass.Kind != pqosHolder2.WatchdogScheduling.SchedulingClass.Kind)
{
result = new Test.Framework.TestResult(expResult, "Resolved watchdog_scheduling.scheduling_class policy does not match the applied one"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
if (pqosHolder.WatchdogScheduling.SchedulingPriorityKind.Kind != pqosHolder2
.WatchdogScheduling.SchedulingPriorityKind.Kind)
{
result = new Test.Framework.TestResult(expResult, "Resolved watchdog_scheduling.scheduling_priority_kind policy does not match the applied one"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
if (pqosHolder.WatchdogScheduling.SchedulingPriority != pqosHolder2.WatchdogScheduling.SchedulingPriority)
{
result = new Test.Framework.TestResult(expResult, "Resolved watchdog_scheduling.SchedulingPriority does not match the applied one"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
if (pqosHolder.ListenerScheduling.SchedulingClass.Kind != pqosHolder2.ListenerScheduling.SchedulingClass.Kind)
{
result = new Test.Framework.TestResult(expResult, "Resolved listener_scheduling.scheduling_class policy does not match the applied one"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
if (pqosHolder.ListenerScheduling.SchedulingPriorityKind.Kind != pqosHolder2
.ListenerScheduling.SchedulingPriorityKind.Kind)
{
result = new Test.Framework.TestResult(expResult, "Resolved listener_scheduling.scheduling_priority_kind policy does not match the applied one"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
if (pqosHolder.ListenerScheduling.SchedulingPriority != pqosHolder2.ListenerScheduling.SchedulingPriority)
{
result = new Test.Framework.TestResult(expResult, "Resolved listener_scheduling.SchedulingPriority does not match the applied one"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
result = new Test.Framework.TestResult(expResult, expResult, expVerdict, expVerdict
);
return(result);
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
Test.Framework.TestVerdict expVerdict = Test.Framework.TestVerdict.Pass;
string expResult = "Creating/deleting DomainParticipant succeeded.";
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.IDomainParticipant participant2;
DDS.DomainParticipantQos pqosHolder = null;
DDS.ReturnCode returnCode;
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result = new Test.Framework.TestResult(expResult, "DomainParticipantFactory could not be initialised."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
returnCode = factory.GetDefaultParticipantQos(ref pqosHolder);
if (returnCode != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "Default DomainParticipantQos could not be resolved ("
+ returnCode + ").", expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0);
if (participant == null)
{
result = new Test.Framework.TestResult(expResult, "DomainParticipant could not be created."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
participant2 = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0);
if (participant2 == null)
{
result = new Test.Framework.TestResult(expResult, "DomainParticipant 2 could not be created."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
returnCode = factory.DeleteParticipant(participant);
if (returnCode != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "DomainParticipant could not be deleted."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
returnCode = factory.DeleteParticipant(participant2);
if (returnCode != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "DomainParticipant 2 could not be deleted."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
participant2 = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0);
if (participant2 == null)
{
return(new Test.Framework.TestResult(expResult, "failure creating a DomainParticipant with an empty domainId"
, expVerdict, Test.Framework.TestVerdict.Fail));
}
returnCode = factory.DeleteParticipant(participant2);
if (returnCode != DDS.ReturnCode.Ok)
{
return(new Test.Framework.TestResult(expResult, "erroneous returncode while deleting a participant"
, expVerdict, Test.Framework.TestVerdict.Fail));
}
participant = factory.LookupParticipant(DDS.DomainId.Default);
if (participant != null)
{
return(new Test.Framework.TestResult(expResult, "could still lookup deleted participant"
, expVerdict, Test.Framework.TestVerdict.Fail));
}
returnCode = factory.DeleteParticipant(participant);
if (returnCode == DDS.ReturnCode.Ok)
{
return(new Test.Framework.TestResult(expResult, "could delete a non existing participant"
, expVerdict, Test.Framework.TestVerdict.Fail));
}
result = new Test.Framework.TestResult(expResult, expResult, expVerdict, expVerdict
);
return(result);
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
Test.Framework.TestVerdict expVerdict = Test.Framework.TestVerdict.Pass;
string expResult = "Default subscriberQos is used when SUBSCRIBER_QOS_DEFAULT is specified.";
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
DDS.SubscriberQos subQosHolder = null;
DDS.SubscriberQos subQosHolder2 = null;
DDS.ISubscriber sub;
DDS.ReturnCode returnCode;
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result = new Test.Framework.TestResult(expResult, "DomainParticipantFactory could not be initialised."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "Default DomainParticipantQos could not be resolved."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0);
if (participant == null)
{
result = new Test.Framework.TestResult(expResult, "Creation of DomainParticipant failed."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
if (participant.GetDefaultSubscriberQos(ref subQosHolder) != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "Subscriber qos could not be resolved."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
string[] name = new string[2];
name[0] = "Subscriber";
name[1] = "QoS";
subQosHolder.Partition.Name = name;
returnCode = participant.SetDefaultSubscriberQos(subQosHolder);
if (returnCode != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "Setting default subscriber QoS failed."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
sub = participant.CreateSubscriber();
if (sub == null)
{
result = new Test.Framework.TestResult(expResult, "Subscriber could not be created."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
sub.GetQos(ref subQosHolder2);
if (!subQosHolder.Partition.Name[0].Equals(subQosHolder.Partition.Name
[0]) || !subQosHolder.Partition.Name[1].Equals(subQosHolder.Partition
.Name[1]))
{
result = new Test.Framework.TestResult(expResult, "Default subscriber QoS is not taken when SUBSCRIBER_QOS_DEFAULT is specified."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
returnCode = participant.DeleteSubscriber(sub);
if (returnCode != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "Deletion of Subscriber failed."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
returnCode = factory.DeleteParticipant(participant);
if (returnCode != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "Deletion of DomainParticipant failed."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
result = new Test.Framework.TestResult(expResult, expResult, expVerdict, expVerdict
);
return(result);
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
Test.Framework.TestVerdict expVerdict = Test.Framework.TestVerdict.Pass;
string expResult = "Waitset StatusCondition succeeded.";
DDS.ICondition[] holder;
DDS.ReturnCode rc;
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos qosHolder = null;
DDS.IStatusCondition condition;
DDS.IStatusCondition condition2;
DDS.IPublisher publisher;
DDS.PublisherQos pubQosHolder = null;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
holder = new DDS.ICondition[0];
DDS.WaitSet waitset = new DDS.WaitSet();
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "Factory get_instance failed.";
return(result);
}
if (factory.GetDefaultParticipantQos(ref qosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "get_default_participant_qos failed.";
return(result);
}
participant = factory.CreateParticipant(DDS.DomainId.Default, qosHolder);//, null, 0);
if (participant == null)
{
result.Result = "create_participant failed.";
return(result);
}
if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "get_default_publisher_qos failed.";
return(result);
}
publisher = participant.CreatePublisher(pubQosHolder);//, null, DDS.StatusKind.Any);
if (publisher == null)
{
result.Result = "create_publisher failed.";
return(result);
}
condition = participant.StatusCondition;
if (condition == null)
{
result.Result = "get_status_condition failed.";
return(result);
}
condition2 = publisher.StatusCondition;
if (condition2 == null)
{
result.Result = "get_status_condition failed.(2)";
return(result);
}
rc = waitset.AttachCondition(condition);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "attach_condition returned RETCODE: " + rc;
return(result);
}
rc = waitset.GetConditions(ref holder);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "get_conditions returned RETCODE: " + rc;
return(result);
}
if (holder.Length != 1)
{
result.Result = "get_conditions returned " + holder.Length + " conditions.";
return(result);
}
if (holder[0] != condition)
{
result.Result = "get_conditions returned wrong condition.";
return(result);
}
rc = waitset.DetachCondition(condition);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "detach_condition returned RETCODE: " + rc + " (1)";
return(result);
}
rc = waitset.GetConditions(ref holder);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "get_conditions returned RETCODE: " + rc + " (1)";
return(result);
}
if (holder.Length != 0)
{
result.Result = "get_conditions returned " + holder.Length + " conditions (1).";
return(result);
}
rc = waitset.AttachCondition(condition);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "attach_condition returned RETCODE: " + rc;
return(result);
}
rc = waitset.AttachCondition(condition2);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "attach_condition returned RETCODE: " + rc;
return(result);
}
rc = waitset.GetConditions(ref holder);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "get_conditions returned RETCODE: " + rc;
return(result);
}
if (holder.Length != 2)
{
result.Result = "get_conditions returned " + holder.Length + " conditions.";
return(result);
}
if ((holder[0] != condition) && (holder[1] != condition))
{
result.Result = "get_conditions returned wrong conditions(1).";
return(result);
}
if ((holder[0] != condition2) && (holder[1] != condition2))
{
result.Result = "get_conditions returned wrong conditions(2).";
return(result);
}
rc = waitset.DetachCondition(condition);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "detach_condition returned RETCODE: " + rc + " (2)";
return(result);
}
rc = waitset.DetachCondition(condition2);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "detach_condition returned RETCODE: " + rc + " (3)";
return(result);
}
rc = participant.DeleteContainedEntities();
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "delete_contained_entities returned RETCODE: " + rc;
return(result);
}
rc = factory.DeleteParticipant(participant);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "delete_participant returned RETCODE: " + rc;
return(result);
}
result.Result = expResult;
result.Verdict = expVerdict;
return(result);
}
public override Test.Framework.TestResult Run()
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
DDS.TopicQos topQosHolder = null;
DDS.ITopic topic;
mod.tstTypeSupport typeSupport = null;
mod.tstDataReader datareader;
test.sacs.MyDataReaderListener listener;
DDS.ISubscriber subscriber;
DDS.SubscriberQos sqosHolder = null;
DDS.DataReaderQos dqosHolder = null;
DDS.IPublisher publisher;
DDS.PublisherQos pubQosHolder = null;
mod.tstDataWriter datawriter;
DDS.DataWriterQos wqosHolder = null;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
string expResult = "DataReaderListener test succeeded.";
semaphores = new Dictionary <DDS.StatusKind, Semaphore>();
semaphores.Add(DDS.StatusKind.LivelinessChanged, new Semaphore(0, 1));
semaphores.Add(DDS.StatusKind.DataAvailable, new Semaphore(0, 1));
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return(result);
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return(result);
}
participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return(result);
}
typeSupport = new mod.tstTypeSupport();
if (typeSupport == null)
{
result.Result = "Creation of tstTypeSupport failed.";
this.Cleanup(factory, participant);
return(result);
}
rc = typeSupport.RegisterType(participant, "my_type");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
topQosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
topic = participant.CreateTopic("my_topic_t", "my_type", topQosHolder);//, null, 0);
if (topic == null)
{
result.Result = "Topic could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default PublisherQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
publisher = participant.CreatePublisher(pubQosHolder);//, null, 0);
if (publisher == null)
{
result.Result = "Publisher could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (publisher.GetDefaultDataWriterQos(ref wqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataWriterQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
wqosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, wqosHolder);//, null, 0);
if (datawriter == null)
{
result.Result = "DataWriter could not be created.";
this.Cleanup(factory, participant);
return(result);
}
mod.tst t = new mod.tst();
t.long_1 = 1;
t.long_2 = 2;
t.long_3 = 3;
rc = datawriter.Write(t, DDS.InstanceHandle.Nil);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Data could not be written.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultSubscriberQos(ref sqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default SubscriberQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
subscriber = participant.CreateSubscriber(sqosHolder);//, null, 0);
if (subscriber == null)
{
result.Result = "Subscriber could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (subscriber.GetDefaultDataReaderQos(ref dqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataReaderQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
dqosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
listener = new test.sacs.MyDataReaderListener(semaphores);
datareader = (mod.tstDataReader)subscriber.CreateDataReader(topic, dqosHolder, listener, DDS.StatusKind.Any);
if (datareader == null)
{
result.Result = "DataReader could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (semaphores[DDS.StatusKind.LivelinessChanged].WaitOne(10000))
{
if (!listener.onLivelinessChangedCalled)
{
result.Result = "on_liveliness_changed does not work properly.";
this.Cleanup(factory, participant);
return(result);
}
}
else
{
result.Result = "on_liveliness_changed did not trigger";
this.Cleanup(factory, participant);
return(result);
}
if (semaphores[DDS.StatusKind.DataAvailable].WaitOne(10000))
{
if (!listener.onDataAvailableCalled)
{
result.Result = "on_data_available does not work properly.";
this.Cleanup(factory, participant);
return(result);
}
}
else
{
result.Result = "on_data_available did not trigger";
this.Cleanup(factory, participant);
return(result);
}
rc = participant.DeleteContainedEntities();
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Delete contained entities failed.";
this.Cleanup(factory, participant);
return(result);
}
rc = factory.DeleteParticipant(participant);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Delete DomainParticipant failed.";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
string expResult = "DomainParticipant Publisher test succeeded.";
DDS.PublisherQos pubQosHolder = null;
DDS.IPublisher publisher;
DDS.IPublisher publisher2;
DDS.ReturnCode returnCode;
DDS.DomainParticipantQos qos = null;
DDS.IDomainParticipant participant;
DDS.IDomainParticipant participant2;
DDS.DomainParticipantFactory factory;
factory = (DDS.DomainParticipantFactory) this.ResolveObject("factory");
participant = (DDS.IDomainParticipant) this.ResolveObject("participant");
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
qos = (DDS.DomainParticipantQos) this.ResolveObject("participantQos");
if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Get default PublisherQos failed.";
return(result);
}
publisher = participant.CreatePublisher(pubQosHolder);//, null, 0);
if (publisher == null)
{
result.Result = "Create Publisher failed.";
return(result);
}
publisher2 = participant.CreatePublisher(null, null, 0);
if (publisher2 != null)
{
this.testFramework.TestMessage(Test.Framework.TestMessage.Note, "See scdds213");
result.ExpectedVerdict = Test.Framework.TestVerdict.Fail;
result.Result = "Create Publisher with BAD_PARAM succeeded.";
participant.DeleteContainedEntities();
return(result);
}
participant2 = factory.CreateParticipant(null, qos);//, null, 0);
if (participant2 == null)
{
result.Result = "Create Participant failed.";
return(result);
}
returnCode = participant2.DeletePublisher(publisher);
if (returnCode == DDS.ReturnCode.Ok)
{
result.Result = "Delete publisher on wrong Participant succeeded.";
return(result);
}
returnCode = factory.DeleteParticipant(participant2);
if (returnCode != DDS.ReturnCode.Ok)
{
result.Result = "Delete Participant failed.";
return(result);
}
returnCode = participant.DeletePublisher(publisher);
if (returnCode != DDS.ReturnCode.Ok)
{
result.Result = "Delete Publisher failed.";
return(result);
}
returnCode = participant.DeletePublisher(publisher);
if (returnCode == DDS.ReturnCode.Ok)
{
result.Result = "Delete of already deleted Publisher succeeded.";
return(result);
}
try
{
returnCode = participant.DeletePublisher(null);
if (returnCode == DDS.ReturnCode.Ok)
{
result.Result = "Delete null Publisher succeeded.";
return(result);
}
}
catch {}
result.Verdict = Test.Framework.TestVerdict.Pass;
result.Result = expResult;
return(result);
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
Test.Framework.TestVerdict expVerdict = Test.Framework.TestVerdict.Pass;
string expResult = "get_discovered_xxx succeeded.";
DDS.DomainParticipantFactory dpf;
DDS.IDomainParticipant dp1;
DDS.IDomainParticipant dp2;
DDS.IDomainParticipant dp3;
DDS.ITopic topic1;
DDS.ITopic topic2;
DDS.TopicQos tQos;
tc_get_discovered_xxx.Type1TypeSupport type1_ts;
bool dp1res = false;
bool dp2res = false;
bool dp3res = false;
bool t1res = false;
bool t2res = false;
DDS.ReturnCode returnCode;
DDS.ParticipantBuiltinTopicData participant_data = null;
DDS.TopicBuiltinTopicData topic_data = null;
DDS.SampleInfo[] sample_infos = null;
DDS.DomainParticipantQos dpQos = null;
DDS.InstanceHandle[] sequence = null;
DDS.InstanceHandle[] sequence1 = null;
System.Text.ASCIIEncoding encoding = new System.Text.ASCIIEncoding();
tQos = new DDS.TopicQos();
dpf = DDS.DomainParticipantFactory.Instance;
if (dpf == null)
{
result = new Test.Framework.TestResult(expResult, "DomainParticipantFactory could not be initialised."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
result = new Test.Framework.TestResult(expResult, "DomainParticipantFactory could be initialised."
, expVerdict, Test.Framework.TestVerdict.Pass);
if (dpf.GetDefaultParticipantQos(ref dpQos) != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "Default DomainParticipantQos could not be resolved."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
dpQos.UserData.Value = encoding.GetBytes("dp1");
dp1 = dpf.CreateParticipant(string.Empty, dpQos, null, 0);
if (dp1 == null)
{
result = new Test.Framework.TestResult(expResult, "Test case failed. Failed to create dp1 participant"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
dpQos.UserData.Value = encoding.GetBytes("dp2");
dp2 = dpf.CreateParticipant(string.Empty, dpQos, null, 0);
if (dp2 == null)
{
result = new Test.Framework.TestResult(expResult, "Test case failed. Failed to create dp2 participant"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
dpQos.UserData.Value = encoding.GetBytes("dp3");
dp3 = dpf.CreateParticipant(string.Empty, dpQos, null, 0);
if (dp3 == null)
{
result = new Test.Framework.TestResult(expResult, "Test case failed. Failed to create dp3 participant"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
/*
* Get default Topic Qos settings
*/
dp1.GetDefaultTopicQos(ref tQos);
/* Create Topic */
type1_ts = new tc_get_discovered_xxx.Type1TypeSupport();
type1_ts.RegisterType(dp1, "tc_get_discovered_xxx::Type1");
topic1 = dp1.CreateTopic("Topic1", "tc_get_discovered_xxx::Type1", tQos);
if (topic1 == null)
{
result = new Test.Framework.TestResult(expResult, "Test case failed. Failed to create Topic1"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
topic2 = dp1.CreateTopic("Topic2", "tc_get_discovered_xxx::Type1", tQos);
if (topic2 == null)
{
result = new Test.Framework.TestResult(expResult, "Test case failed. Failed to create Topic2"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
returnCode = dp1.GetDiscoveredParticipants(ref sequence);
if (returnCode != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "get_discovered_participants returned not OK."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
else
{
/* the test should find 5 participants:
* buildinParticipant
* spliced
* dp1
* dp2
* dp3
*/
if (sequence.Length != 5)
{
result = new Test.Framework.TestResult(expResult, "get_discovered_participants failed found: " + sequence.Length + " expected 5"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
/* read from each handle the UserDataQos and check the result against the made participant names*/
for (int i = 0; i < sequence.Length; i++)
{
returnCode = dp1.GetDiscoveredParticipantData(ref participant_data, sequence[i]);
if (returnCode == DDS.ReturnCode.Ok)
{
if (participant_data.UserData.Value.Length > 0)
{
if (encoding.GetString(participant_data.UserData.Value).CompareTo("dp1") == 0)
{
dp1res = true;
}
else if (encoding.GetString(participant_data.UserData.Value).CompareTo("dp2") == 0)
{
dp2res = true;
}
else if (encoding.GetString(participant_data.UserData.Value).CompareTo("dp3") == 0)
{
dp3res = true;
}
}
// returnCode = dataReader.ReturnLoan(ref data_values, ref sample_infos);
}
else
{
result = new Test.Framework.TestResult(
expResult, "read instance failed",
expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
}
if (!dp1res || !dp2res || !dp3res)
{
result = new Test.Framework.TestResult(
expResult, "failed to discover all participants",
expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
}
returnCode = dp1.GetDiscoveredTopics(ref sequence1);
if (returnCode != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "get_discovered_topics returned not OK."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
else
{
if (sequence1.Length != 9)
{
result = new Test.Framework.TestResult(expResult, "get_discovered_topics failed found: " + sequence1.Length + " expected 9"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
/* read from each handle the name and check the result against the made topic names*/
for (int i = 0; i < sequence1.Length; i++)
{
returnCode = dp1.GetDiscoveredTopicData(ref topic_data, sequence1[i]);
if (returnCode == DDS.ReturnCode.Ok)
{
if (topic_data.Name.CompareTo("Topic1") == 0)
{
t1res = true;
}
else if (topic_data.Name.CompareTo("Topic2") == 0)
{
t2res = true;
}
}
else
{
result = new Test.Framework.TestResult(
expResult, "get discovered topic data failed",
expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
}
if (!t1res || !t2res)
{
result = new Test.Framework.TestResult(
expResult, "failed to discover all topics",
expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
result = new Test.Framework.TestResult(expResult, expResult, expVerdict, expVerdict);
return(result);
}
}
