public static void Main(string[] args) { DDS.TypeCodeFactory tcf = DDS.TypeCodeFactory.get_instance(); DDS.TypeCode w_sequence_tc = type_w_sequence_get_typecode(tcf); if (w_sequence_tc == null) { Console.WriteLine("Error to create type_w_sequence_get_typecode"); return; } try { DDS.DynamicData sample = new DDS.DynamicData(w_sequence_tc, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); Console.WriteLine("***** Writing a sample *****"); write_data(sample, tcf); Console.WriteLine("***** Reading a sample *****"); read_data(sample, tcf); /* Delete the created TC */ if (w_sequence_tc != null) { tcf.delete_tc(w_sequence_tc); } } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); return; } }
public static void Main(string[] args) { try { /* Creating the union typeCode */ DDS.TypeCodeFactory tcf = DDS.TypeCodeFactory.get_instance(); DDS.TypeCode unionTC = create_type_code(tcf); DDS.DynamicDataMemberInfo info = new DDS.DynamicDataMemberInfo(); DDS.DynamicDataProperty_t myProperty = DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT; short valueTestShort = 0; /* Creating a new dynamicData instance based on the union * type code */ DDS.DynamicData data = new DDS.DynamicData(unionTC, myProperty); /* If we get the current discriminator, it will be the default one * (not the first added) */ data.get_member_info_by_index(info, 0); Console.WriteLine("The member selected is {0}", info.member_name); /* When we set a value in one of the members of the union, * the discriminator updates automatically to point that member. */ data.set_short("aShort", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 42); /* The discriminator should now reflect the new situation */ data.get_member_info_by_index(info, 0); Console.WriteLine("The member selected is {0}", info.member_name); /* Getting the value of the target member */ valueTestShort = data.get_short("aShort", DDS.DynamicData.MEMBER_ID_UNSPECIFIED); Console.WriteLine("The member selected is {0} with value: {1}", info.member_name, valueTestShort); return; } catch (Exception e) { Console.WriteLine("register_type error {0}", e); return; } }
public static void Main(string[] args) { try { /* Creating the union typeCode */ DDS.TypeCodeFactory tcf = DDS.TypeCodeFactory.get_instance(); /* Creating the typeCode of the inner_struct */ DDS.TypeCode inner_tc = inner_struct_get_type_code(tcf); /* Creating the typeCode of the outer_struct that contains * an inner_struct */ DDS.TypeCode outer_tc = outer_struct_get_type_code(tcf); /* Now, we create a dynamicData instance for each type */ DDS.DynamicData outer_data = new DDS.DynamicData( outer_tc, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); DDS.DynamicData inner_data = new DDS.DynamicData( inner_tc, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); DDS.DynamicData bounded_data = new DDS.DynamicData( null, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); Console.WriteLine(" Connext Dynamic Data Nested Struct Example"); Console.WriteLine("--------------------------------------------"); Console.WriteLine(" Data Types"); Console.WriteLine("------------"); inner_tc.print_IDL(0); outer_tc.print_IDL(0); /* Setting the inner data */ inner_data.set_double("x", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 3.14159); inner_data.set_double("y", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 2.71828); Console.WriteLine("\n\n get/set_complex_member API"); Console.WriteLine("----------------------------"); /* Using set_complex_member, we copy inner_data values in * inner_struct of outer_data */ Console.WriteLine("Setting the initial values of struct with " + "set_complex_member()"); outer_data.set_complex_member("inner", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, inner_data); outer_data.print(1); inner_data.clear_all_members(); Console.WriteLine("\n + get_complex_member() called"); outer_data.get_complex_member(inner_data, "inner", DDS.DynamicData.MEMBER_ID_UNSPECIFIED); Console.WriteLine("\n + inner_data value"); inner_data.print(1); /* get_complex_member made a copy of the inner_struct. If we modify * inner_data values, outer_data inner_struct WILL NOT be modified. */ Console.WriteLine("\n + setting new values to inner_data"); inner_data.set_double("x", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 1.00000); inner_data.set_double("y", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 0.00001); /* Current value of outer_data * outer: * inner: * x: 3.141590 * y: 2.718280 * inner_data: * x: 1.000000 * y: 0.000010 */ Console.WriteLine("\n + current outer_data value "); outer_data.print(1); /* Bind/Unbind member API */ Console.WriteLine("\n\nbind/unbind API"); Console.WriteLine("-----------------"); /* Using bind_complex_member, we do not copy inner_struct, but bind * it. So, if we modify bounded_data, the inner member inside * outer_data WILL also be modified */ Console.WriteLine("\n + bind complex member called"); outer_data.bind_complex_member(bounded_data, "inner", DDS.DynamicData.MEMBER_ID_UNSPECIFIED); bounded_data.print(1); Console.WriteLine("\n + setting new values to bounded_data"); bounded_data.set_double("x", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 1.00000); bounded_data.set_double("y", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 0.00001); /* Current value of outer data * outer: * inner: * x: 1.000000 * y: 0.000010 */ bounded_data.print(1); outer_data.unbind_complex_member(bounded_data); Console.WriteLine("\n + current outer_data value "); outer_data.print(1); return; } catch (Exception e) { Console.WriteLine("register_type error {0}", e); return; } }
private static void read_data(DDS.DynamicData sample, DDS.TypeCodeFactory tcf) { /* Creating typecodes */ DDS.TypeCode sequence_tc = sequence_get_typecode(tcf); if (sequence_tc == null) { Console.WriteLine("Error to create sequence_get_typecode in " + "reading_data"); return; } /* Creating DynamicData */ DDS.DynamicData seq_member = new DDS.DynamicData(sequence_tc, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); DDS.DynamicData seq_element = new DDS.DynamicData(null, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); DDS.DynamicDataInfo info = new DDS.DynamicDataInfo(); sample.get_complex_member(seq_member, sequence_member_name, DDS.DynamicData.MEMBER_ID_UNSPECIFIED); /* Now we get the total amount of elements contained in the array * by accessing the dynamic data info */ Console.WriteLine("* Getting sequence member info...."); seq_member.get_info(info); Console.WriteLine("* Sequence contains {0} elements", info.member_count); for (int i = 0; i < info.member_count; ++i) { /* * The same results can be obtained using * bind_complex_member method. The main difference, is that * in that case the members are not copied, just referenced */ #if (USE_BIND_API) try { seq_member.bind_complex_member(seq_element, null, i + 1); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); return; } #else try { seq_member.get_complex_member(seq_element, null, i + 1); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); return; } #endif long value = seq_element.get_long("a_member", DDS.DynamicData.MEMBER_ID_UNSPECIFIED); Console.WriteLine("Reading sequence element #{0} : ", i + 1); seq_element.print(1); #if (USE_BIND_API) try { seq_member.unbind_complex_member(seq_element); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); return; } #endif } /* Delete the created TC */ if (sequence_tc != null) { tcf.delete_tc(sequence_tc); } return; }
private static void write_data(DDS.DynamicData sample, DDS.TypeCodeFactory tcf) { /* Creating typecodes */ DDS.TypeCode sequence_tc = sequence_get_typecode(tcf); if (sequence_tc == null) { Console.WriteLine("Error to create sequence_get_typecode in " + "writing_data"); return; } DDS.TypeCode sequence_element_tc = sequence_element_get_typecode(tcf); if (sequence_element_tc == null) { Console.WriteLine("Error to create sequence_element_get_typecode " + "in writing_data"); return; } try { /* Creating DynamicData */ DDS.DynamicData seq_member = new DDS.DynamicData(sequence_tc, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); DDS.DynamicData seq_element = new DDS.DynamicData(sequence_element_tc, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); for (int i = 0; i < MAX_SEQ_LEN; ++i) { /* To access the elements of a sequence it is necessary * to use their id. This parameter allows accessing to every * element of the sequence using a 1-based index. * There are two ways of doing this: bind API and get API. * See the NestedStructExample for further details about the * differences between these two APIs. */ #if (USE_BIND_API) seq_member.bind_complex_member(seq_element, null, i + 1); seq_element.set_int("a_member", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, i); Console.WriteLine("Writing sequence elemente #{0} : ", i + 1); seq_element.print(1); seq_member.unbind_complex_member(seq_element); #else seq_element.set_int("a_member", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, i); Console.WriteLine("Writing sequence element #{0}", i + 1); seq_element.print(1); seq_member.set_complex_member(null, i + 1, seq_element); #endif } sample.set_complex_member(sequence_member_name, DDS.DynamicData.MEMBER_ID_UNSPECIFIED, seq_member); /* Delete the created TC */ if (sequence_element_tc != null) { tcf.delete_tc(sequence_element_tc); } if (sequence_tc != null) { tcf.delete_tc(sequence_tc); } return; } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); return; } }
private static void read_data(DDS.DynamicData sample, DDS.TypeCodeFactory tcf ) { /* Creating typecodes */ DDS.TypeCode sequence_tc = sequence_get_typecode(tcf); if (sequence_tc == null) { Console.WriteLine("Error to create sequence_get_typecode in " + "reading_data"); return; } /* Creating DynamicData */ DDS.DynamicData seq_member = new DDS.DynamicData(sequence_tc, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); DDS.DynamicData seq_element = new DDS.DynamicData(null, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); DDS.DynamicDataInfo info = new DDS.DynamicDataInfo(); sample.get_complex_member(seq_member, sequence_member_name, DDS.DynamicData.MEMBER_ID_UNSPECIFIED); /* Now we get the total amount of elements contained in the array * by accessing the dynamic data info */ Console.WriteLine("* Getting sequence member info...."); seq_member.get_info(info); Console.WriteLine("* Sequence contains {0} elements", info.member_count); for (int i = 0; i < info.member_count; ++i) { /* * The same results can be obtained using * bind_complex_member method. The main difference, is that * in that case the members are not copied, just referenced */ #if (USE_BIND_API) try { seq_member.bind_complex_member(seq_element, null, i + 1); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); return; } #else try { seq_member.get_complex_member(seq_element, null, i + 1); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); return; } #endif long value = seq_element.get_long("a_member", DDS.DynamicData.MEMBER_ID_UNSPECIFIED); Console.WriteLine("Reading sequence element #{0} : ", i + 1); seq_element.print(1); #if (USE_BIND_API) try { seq_member.unbind_complex_member(seq_element); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); return; } #endif } /* Delete the created TC */ if (sequence_tc != null) { tcf.delete_tc(sequence_tc); } return; }
static void publish(int domain_id, int sample_count) { // --- Create participant --- // 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 publisher --- // DDS.Publisher publisher = participant.create_publisher( DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (publisher == null) { shutdown(participant); throw new ApplicationException("create_publisher error"); } /* Create DynamicData using TypeCode from Shapes.cpp * If you are NOT using a type generated with rtiddsgen, you * need to create this TypeCode from scratch. */ DDS.TypeCode type_code = ShapeType.get_typecode(); if (type_code == null) { shutdown(participant); throw new ApplicationException("create_typecode error"); } /* Create the Dynamic data type support object */ DDS.DynamicDataTypeSupport type_support = new DDS.DynamicDataTypeSupport(type_code, new DDS.DynamicDataTypeProperty_t()); if (type_support == null) { shutdown(participant); throw new ApplicationException("create_type_support error"); } // --- Create topic --- // /* Register type before creating topic */ System.String type_name = EXAMPLE_TYPE_NAME; try { type_support.register_type(participant, EXAMPLE_TYPE_NAME); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); shutdown(participant); throw e; } /* Make sure both publisher and subscriber share the same topic * name. * In the Shapes example: we are publishing a Square, which is the * topic name. If you want to publish other shapes (Triangle or * Circle), you just need to update the topic name. */ DDS.Topic topic = participant.create_topic( "Square", 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 writer --- // /* First, we create a generic DataWriter for our topic */ DDS.DataWriter writer = publisher.create_datawriter( topic, DDS.Publisher.DATAWRITER_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (writer == null) { shutdown(participant); throw new ApplicationException("create_datawriter error"); } /* Then, to use DynamicData, we need to assign the generic * DataWriter to a DynamicDataWriter, using a casting. The follow * casting should never fail. */ DDS.DynamicDataWriter DynamicData_writer = (DDS.DynamicDataWriter)writer; // --- Write --- // /* Create data sample for writing */ DDS.DynamicData data = type_support.create_data(); if (data == null) { shutdown(participant); throw new ApplicationException( "ShapeTypeTypeSupport.create_data error"); } /* For a data type that has a key, if the same instance is going to be * written multiple times, initialize the key here * and register the keyed instance prior to writing */ DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL; /* * instance_handle = ShapeType_writer.register_instance(instance); */ /*** Shape direction variables ***/ int direction = 1; /* 1 means left to right and -1, right to left */ int x_position = 50; /* 50 is the initial position */ /* Initialize the DynamicData object */ data.set_string("color", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, "BLUE"); data.set_int("x", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, x_position); data.set_int("y", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 100); data.set_int("shapesize", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 30); /* Main loop */ const System.Int32 send_period = 100; // milliseconds for (int count = 0; (sample_count == 0) || (count < sample_count); ++count) { Console.WriteLine("Sending shapesize {0}", 30 + (count % 20)); Console.WriteLine("Sending x position {0}", x_position); /* Modify the shapesize from 30 to 50 */ try { data.set_int("shapesize", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 30 + (count % 20)); } catch (DDS.Exception e) { Console.WriteLine("{0}\nError writing shapesize = {1}", e, 30 + (count % 20)); } /* Modify the position */ try { data.set_int("x", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, x_position); } catch (DDS.Exception e) { Console.WriteLine("{0}\nError writing x_position = {1}", e, x_position); } /* The x_position will be modified adding or substracting * 2 to the previous x_position depending on the direction. */ x_position += (direction * 2); /* The x_position will stay between 50 and 150 pixels. * When the position is greater than 150 'direction' will be * negative (moving to the left) and when it is lower than 50 * 'direction' will be possitive (moving to the right). */ if (x_position >= 150) { direction = -1; } if (x_position <= 50) { direction = 1; } try { DynamicData_writer.write(data, ref instance_handle); } catch (DDS.Exception e) { Console.WriteLine("write error {0}", e); } System.Threading.Thread.Sleep(send_period); } /* * try { * ShapeType_writer.unregister_instance( * instance, ref instance_handle); * } catch(DDS.Exception e) { * Console.WriteLine("unregister instance error: {0}", e); * } */ // --- Shutdown --- // /* Delete data sample */ try { type_support.delete_data(data); } catch (DDS.Exception e) { Console.WriteLine( "ShapeTypeTypeSupport.delete_data error: {0}", e); } /* Delete all entities */ shutdown(participant); }