public virtual void OnLivelinessChanged(DDS.IDataReader reader, DDS.LivelinessChangedStatus
status)
{
onLivelinessChangedCalled = true;
lcStatus = status;
}
public override void on_liveliness_changed(DDS.DataReader reader, ref DDS.LivelinessChangedStatus status)
{
base.on_liveliness_changed(reader, ref status);
if (status.alive_count == 0)
{
Console.WriteLine("SENDING END SIGNAL");
demultiplexer(null);
}
}
public virtual void OnLivelinessChanged(DDS.IDataReader reader, DDS.LivelinessChangedStatus
status)
{
onLivelinessChangedCalled = true;
lcStatus = status;
Semaphore sem = null;
if (semaphores.TryGetValue(DDS.StatusKind.LivelinessChanged, out sem) == true)
{
sem.Release();
}
}
public static bool LivelinessChangedValid(DDS.IDataReader reader, int activeCount,
int activeCountChange, int inactiveCount, int inactiveCountChange)
{
bool result = false;
DDS.LivelinessChangedStatus holder = new DDS.LivelinessChangedStatus();
DDS.ReturnCode rc = reader.GetLivelinessChangedStatus(ref holder);
if (rc == DDS.ReturnCode.Ok)
{
DDS.LivelinessChangedStatus status = holder;
if (status.AliveCount == activeCount)
{
if (status.AliveCountChange == activeCountChange)
{
if (status.NotAliveCount == inactiveCount)
{
if (status.NotAliveCountChange == inactiveCountChange)
{
result = true;
}
else
{
System.Console.Error.WriteLine("liveliness_change.not_alive_count_change != '" +
inactiveCountChange + "', but '" + status.NotAliveCountChange + "'.");
}
}
else
{
System.Console.Error.WriteLine("liveliness_change.not_alive_count != '" + inactiveCount
+ "', but '" + status.NotAliveCount + "'.");
}
}
else
{
System.Console.Error.WriteLine("liveliness_change.AliveCountChange != '" + activeCountChange
+ "', but '" + status.AliveCountChange + "'.");
}
}
else
{
System.Console.Error.WriteLine("liveliness_change.AliveCount != '" + activeCount
+ "', but '" + status.AliveCount + "'.");
}
}
else
{
System.Console.Error.WriteLine("get_liveliness_changed_status returned " + rc);
}
return(result);
}
public virtual void Reset()
{
onRequestedDeadlineMissedCalled = false;
rdmStatus = new DDS.RequestedDeadlineMissedStatus();
onRequestedIncompatibleQosCalled = false;
riqStatus = new DDS.RequestedIncompatibleQosStatus();
onSampleRejectedCalled = false;
srStatus = new DDS.SampleRejectedStatus();
onLivelinessChangedCalled = false;
lcStatus = new DDS.LivelinessChangedStatus();
onDataAvailableCalled = false;
onSubscriptionMatchCalled = false;
smStatus = new DDS.SubscriptionMatchedStatus();
onSampleLostCalled = false;
slStatus = new DDS.SampleLostStatus();
}
public virtual void Reset()
{
onRequestedDeadlineMissedCalled = false;
rdmStatus = new DDS.RequestedDeadlineMissedStatus();
onRequestedIncompatibleQosCalled = false;
riqStatus = new DDS.RequestedIncompatibleQosStatus();
onSampleRejectedCalled = false;
srStatus = new DDS.SampleRejectedStatus();
onLivelinessChangedCalled = false;
lcStatus = new DDS.LivelinessChangedStatus();
onDataAvailableCalled = false;
onSubscriptionMatchCalled = false;
smStatus = new DDS.SubscriptionMatchedStatus();
onSampleLostCalled = false;
slStatus = new DDS.SampleLostStatus();
}
public override void on_liveliness_changed(
DDS.DataReader reader,
ref DDS.LivelinessChangedStatus status)
{
Console.WriteLine("Liveliness changed. {0} now alive.", status.alive_count);
}
public override Test.Framework.TestResult Run()
{
DDS.ReturnCode rc;
mod.tstDataReader datareader;
DDS.SampleRejectedStatus srStatus = new DDS.SampleRejectedStatus();
DDS.LivelinessChangedStatus lcStatus = new DDS.LivelinessChangedStatus();
DDS.RequestedDeadlineMissedStatus rdmStatus = new DDS.RequestedDeadlineMissedStatus();
DDS.RequestedIncompatibleQosStatus riqStatus = new DDS.RequestedIncompatibleQosStatus();
DDS.SubscriptionMatchedStatus smStatus = new DDS.SubscriptionMatchedStatus();
DDS.SampleLostStatus slStatus = new DDS.SampleLostStatus();
string expResult = "DataReader status test succeeded";
Test.Framework.TestResult result;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
datareader = (mod.tstDataReader)this.ResolveObject("datareader");
rc = datareader.GetSampleRejectedStatus(ref srStatus);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "SampleRejectedStatus could not be resolved.";
return result;
}
if (srStatus.TotalCount != 0)
{
result.Result = "SampleRejectedStatus.TotalCount != 0.";
return result;
}
if (srStatus.TotalCountChange != 0)
{
result.Result = "SampleRejectedStatus.TotalCountChange != 0.";
return result;
}
rc = datareader.GetLivelinessChangedStatus(ref lcStatus);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = string.Format("OfferedIncompatibleStatus could not be resolved. ReturnCode: {0}", rc);
result.Result = "LivelinessChangedStatus could not be resolved.";
return result;
}
rc = datareader.GetRequestedIncompatibleQosStatus(ref riqStatus);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = string.Format("OfferedIncompatibleStatus could not be resolved. ReturnCode: {0}", rc);
result.Result = "RequestedIncompatibleStatus could not be resolved.";
return result;
}
if (riqStatus.TotalCount != 0)
{
result.Result = "RequestedIncompatibleQosStatus.TotalCount != 0.";
return result;
}
if (riqStatus.TotalCountChange != 0)
{
result.Result = "RequestedIncompatibleQosStatus.TotalCountChange != 0.";
return result;
}
rc = datareader.GetSubscriptionMatchedStatus(ref smStatus);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = string.Format("SubscriptionMatchStatus could not be resolved. ReturnCode: {0}", rc);
return result;
}
rc = datareader.GetSampleLostStatus(ref slStatus);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = string.Format("SampleLostStatus could not be resolved. ReturnCode: {0}", rc);
return result;
}
if (slStatus.TotalCount != 0)
{
result.Result = "SampleLostStatus.TotalCount != 0.";
return result;
}
if (slStatus.TotalCountChange != 0)
{
result.Result = "SampleLostStatus.TotalCountChange != 0.";
return result;
}
rc = datareader.GetRequestedDeadlineMissedStatus(ref rdmStatus);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = string.Format("RequestedDeadlineMissedStatus could not be resolved. ReturnCode: {0}", rc);
return result;
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return result;
}
public virtual void OnLivelinessChanged(DDS.IDataReader reader, DDS.LivelinessChangedStatus
status)
{
onLivelinessChangedCalled = true;
lcStatus = status;
}
public override Test.Framework.TestResult Run()
{
mod.tstDataReader reader;
DDS.IStatusCondition condition;
DDS.WaitSet waitset;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
bool value;
DDS.StatusKind statusMask;
DDS.ICondition[] holder;
DDS.SubscriptionMatchedStatus smStatus = new DDS.SubscriptionMatchedStatus();
DDS.LivelinessChangedStatus lcStatus = new DDS.LivelinessChangedStatus();
string expResult = "ReadCondition test succeeded.";
result = new Test.Framework.TestResult(expResult, string.Empty,
Test.Framework.TestVerdict.Pass, Test.Framework.TestVerdict.Fail);
reader = (mod.tstDataReader) this.ResolveObject("datareader");
condition = reader.StatusCondition;
if (condition == null)
{
result.Result = "Could not resolve status condition.";
return(result);
}
waitset = new DDS.WaitSet();
rc = waitset.AttachCondition(condition);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "attach_condition failed.";
return(result);
}
try
{
System.Threading.Thread.Sleep(3000);
}
catch (System.Exception)
{
System.Console.Error.WriteLine("Sleep failed...");
}
holder = new DDS.Condition[0];
rc = waitset.Wait(ref holder, new DDS.Duration(3, 0));
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "wait failed (1). Retcode == " + rc;
return(result);
}
if (holder.Length != 1)
{
System.Console.Out.WriteLine("Holder length : " + holder.Length);
System.Console.Out.WriteLine("Status changes: " + reader.StatusChanges);
reader.GetSubscriptionMatchedStatus(ref smStatus);
System.Console.Out.WriteLine("Total count : " + smStatus.TotalCount);
reader.GetLivelinessChangedStatus(ref lcStatus);
System.Console.Out.WriteLine("Alive count : " + lcStatus.AliveCount);
result.Result = "wait should return 1 condition but didn't (1).";
return(result);
}
rc = reader.GetLivelinessChangedStatus(ref lcStatus);
DDS.LivelinessChangedStatus status = lcStatus;
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "GetLivelinessChangedStatus call failed.";
return(result);
}
if (status.AliveCount != 1)
{
result.Result = "LivelinessChanged.AliveCount != 1. (" + status.AliveCount +
").";
return(result);
}
if (status.AliveCountChange != 1)
{
result.Result = "LivelinessChanged.AliveCountChange != 1." + status.AliveCountChange
+ ").";
return(result);
}
rc = reader.GetSubscriptionMatchedStatus(ref smStatus);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "GetSubscriptionMatchedStatus call failed.";
return(result);
}
if (smStatus.TotalCount != 1)
{
result.Result = "SubscriptionMatched.TotalCount != 1. (" + smStatus.TotalCount +
").";
return(result);
}
if (smStatus.TotalCountChange != 1)
{
result.Result = "SubscriptionMatched.TotalCountChange != 1." + smStatus.TotalCountChange
+ ").";
return(result);
}
value = condition.GetTriggerValue();
if (value)
{
result.Result = "GetTriggerValue returned true. " + reader.StatusChanges;
return(result);
}
statusMask = condition.GetEnabledStatuses();
rc = condition.SetEnabledStatuses(statusMask);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "SetEnabledStatuses failed (1).";
return(result);
}
if (condition.GetEnabledStatuses() != statusMask)
{
result.Result = "GetEnabledStatuses does not match the applied one.";
return(result);
}
if (condition.GetEntity() != reader)
{
result.Result = "GetEntity does not return the correct entity.";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
mod.tstDataReader reader;
DDS.IStatusCondition condition;
DDS.WaitSet waitset;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
bool value;
DDS.StatusKind statusMask;
DDS.ICondition[] holder;
DDS.SubscriptionMatchedStatus smStatus = new DDS.SubscriptionMatchedStatus();
DDS.LivelinessChangedStatus lcStatus = new DDS.LivelinessChangedStatus();
string expResult = "ReadCondition test succeeded.";
result = new Test.Framework.TestResult(expResult, string.Empty,
Test.Framework.TestVerdict.Pass, Test.Framework.TestVerdict.Fail);
reader = (mod.tstDataReader)this.ResolveObject("datareader");
condition = reader.StatusCondition;
if (condition == null)
{
result.Result = "Could not resolve status condition.";
return result;
}
waitset = new DDS.WaitSet();
rc = waitset.AttachCondition(condition);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "attach_condition failed.";
return result;
}
try
{
System.Threading.Thread.Sleep(3000);
}
catch (System.Exception)
{
System.Console.Error.WriteLine("Sleep failed...");
}
holder = new DDS.Condition[0];
rc = waitset.Wait(ref holder, new DDS.Duration(3, 0));
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "wait failed (1). Retcode == " + rc;
return result;
}
if (holder.Length != 1)
{
System.Console.Out.WriteLine("Holder length : " + holder.Length);
System.Console.Out.WriteLine("Status changes: " + reader.StatusChanges);
reader.GetSubscriptionMatchedStatus(ref smStatus);
System.Console.Out.WriteLine("Total count : " + smStatus.TotalCount);
reader.GetLivelinessChangedStatus(ref lcStatus);
System.Console.Out.WriteLine("Alive count : " + lcStatus.AliveCount);
result.Result = "wait should return 1 condition but didn't (1).";
return result;
}
rc = reader.GetLivelinessChangedStatus(ref lcStatus);
DDS.LivelinessChangedStatus status = lcStatus;
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "GetLivelinessChangedStatus call failed.";
return result;
}
if (status.AliveCount != 1)
{
result.Result = "LivelinessChanged.AliveCount != 1. (" + status.AliveCount +
").";
return result;
}
if (status.AliveCountChange != 1)
{
result.Result = "LivelinessChanged.AliveCountChange != 1." + status.AliveCountChange
+ ").";
return result;
}
value = condition.GetTriggerValue();
if (value)
{
result.Result = "GetTriggerValue returned true. " + reader.StatusChanges;
return result;
}
statusMask = condition.GetEnabledStatuses();
rc = condition.SetEnabledStatuses(statusMask);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "SetEnabledStatuses failed (1).";
return result;
}
if (condition.GetEnabledStatuses() != statusMask)
{
result.Result = "GetEnabledStatuses does not match the applied one.";
return result;
}
if (condition.GetEntity() != reader)
{
result.Result = "GetEntity does not return the correct entity.";
return result;
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return result;
}
public override Test.Framework.TestResult Run()
{
DDS.ReturnCode rc;
mod.tstDataReader datareader;
DDS.SampleRejectedStatus srStatus = new DDS.SampleRejectedStatus();
DDS.LivelinessChangedStatus lcStatus = new DDS.LivelinessChangedStatus();
DDS.RequestedDeadlineMissedStatus rdmStatus = new DDS.RequestedDeadlineMissedStatus();
DDS.RequestedIncompatibleQosStatus riqStatus = new DDS.RequestedIncompatibleQosStatus();
DDS.SubscriptionMatchedStatus smStatus = new DDS.SubscriptionMatchedStatus();
DDS.SampleLostStatus slStatus = new DDS.SampleLostStatus();
string expResult = "DataReader status test succeeded";
Test.Framework.TestResult result;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
datareader = (mod.tstDataReader) this.ResolveObject("datareader");
rc = datareader.GetSampleRejectedStatus(ref srStatus);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "SampleRejectedStatus could not be resolved.";
return(result);
}
if (srStatus.TotalCount != 0)
{
result.Result = "SampleRejectedStatus.TotalCount != 0.";
return(result);
}
if (srStatus.TotalCountChange != 0)
{
result.Result = "SampleRejectedStatus.TotalCountChange != 0.";
return(result);
}
rc = datareader.GetLivelinessChangedStatus(ref lcStatus);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = string.Format("OfferedIncompatibleStatus could not be resolved. ReturnCode: {0}", rc);
result.Result = "LivelinessChangedStatus could not be resolved.";
return(result);
}
rc = datareader.GetRequestedIncompatibleQosStatus(ref riqStatus);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = string.Format("OfferedIncompatibleStatus could not be resolved. ReturnCode: {0}", rc);
result.Result = "RequestedIncompatibleStatus could not be resolved.";
return(result);
}
if (riqStatus.TotalCount != 0)
{
result.Result = "RequestedIncompatibleQosStatus.TotalCount != 0.";
return(result);
}
if (riqStatus.TotalCountChange != 0)
{
result.Result = "RequestedIncompatibleQosStatus.TotalCountChange != 0.";
return(result);
}
rc = datareader.GetSubscriptionMatchedStatus(ref smStatus);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = string.Format("SubscriptionMatchStatus could not be resolved. ReturnCode: {0}", rc);
return(result);
}
rc = datareader.GetSampleLostStatus(ref slStatus);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = string.Format("SampleLostStatus could not be resolved. ReturnCode: {0}", rc);
return(result);
}
if (slStatus.TotalCount != 0)
{
result.Result = "SampleLostStatus.TotalCount != 0.";
return(result);
}
if (slStatus.TotalCountChange != 0)
{
result.Result = "SampleLostStatus.TotalCountChange != 0.";
return(result);
}
rc = datareader.GetRequestedDeadlineMissedStatus(ref rdmStatus);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = string.Format("RequestedDeadlineMissedStatus could not be resolved. ReturnCode: {0}", rc);
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public static bool LivelinessChangedValid(DDS.IDataReader reader, int activeCount,
int activeCountChange, int inactiveCount, int inactiveCountChange)
{
bool result = false;
DDS.LivelinessChangedStatus holder = new DDS.LivelinessChangedStatus();
DDS.ReturnCode rc = reader.GetLivelinessChangedStatus(ref holder);
if (rc == DDS.ReturnCode.Ok)
{
DDS.LivelinessChangedStatus status = holder;
if (status.AliveCount == activeCount)
{
if (status.AliveCountChange == activeCountChange)
{
if (status.NotAliveCount == inactiveCount)
{
if (status.NotAliveCountChange == inactiveCountChange)
{
result = true;
}
else
{
System.Console.Error.WriteLine("liveliness_change.not_alive_count_change != '" +
inactiveCountChange + "', but '" + status.NotAliveCountChange + "'.");
}
}
else
{
System.Console.Error.WriteLine("liveliness_change.not_alive_count != '" + inactiveCount
+ "', but '" + status.NotAliveCount + "'.");
}
}
else
{
System.Console.Error.WriteLine("liveliness_change.AliveCountChange != '" + activeCountChange
+ "', but '" + status.AliveCountChange + "'.");
}
}
else
{
System.Console.Error.WriteLine("liveliness_change.AliveCount != '" + activeCount
+ "', but '" + status.AliveCount + "'.");
}
}
else
{
System.Console.Error.WriteLine("get_liveliness_changed_status returned " + rc);
}
return result;
}
private void PrintStatusses(DDS.IDataReader reader)
{
DDS.ReturnCode rc;
DDS.RequestedDeadlineMissedStatus rdmsHolder = new DDS.RequestedDeadlineMissedStatus();
rc = reader.GetRequestedDeadlineMissedStatus(ref rdmsHolder);
DDS.RequestedDeadlineMissedStatus rdms = rdmsHolder;
if (rc != DDS.ReturnCode.Ok)
{
System.Console.Error.WriteLine("Unable to resolve status!");
return;
}
DDS.RequestedIncompatibleQosStatus riqsHolder = new DDS.RequestedIncompatibleQosStatus();
rc = reader.GetRequestedIncompatibleQosStatus(ref riqsHolder);
DDS.RequestedIncompatibleQosStatus riqs = riqsHolder;
if (rc != DDS.ReturnCode.Ok)
{
System.Console.Error.WriteLine("Unable to resolve status!");
return;
}
DDS.SampleRejectedStatus srsHolder = new DDS.SampleRejectedStatus();
rc = reader.GetSampleRejectedStatus(ref srsHolder);
DDS.SampleRejectedStatus srs = srsHolder;
if (rc != DDS.ReturnCode.Ok)
{
System.Console.Error.WriteLine("Unable to resolve status!");
return;
}
DDS.LivelinessChangedStatus lcsHolder = new DDS.LivelinessChangedStatus();
rc = reader.GetLivelinessChangedStatus(ref lcsHolder);
DDS.LivelinessChangedStatus lcs = lcsHolder;
if (rc != DDS.ReturnCode.Ok)
{
System.Console.Error.WriteLine("Unable to resolve status!");
return;
}
DDS.SubscriptionMatchedStatus smsHolder = new DDS.SubscriptionMatchedStatus();
rc = reader.GetSubscriptionMatchedStatus(ref smsHolder);
DDS.SubscriptionMatchedStatus sms = smsHolder;
if (rc != DDS.ReturnCode.Ok)
{
System.Console.Error.WriteLine("Unable to resolve status!");
return;
}
DDS.SampleLostStatus slsHolder = new DDS.SampleLostStatus();
rc = reader.GetSampleLostStatus(ref slsHolder);
DDS.SampleLostStatus sls = slsHolder;
if (rc != DDS.ReturnCode.Ok)
{
System.Console.Error.WriteLine("Unable to resolve status!");
return;
}
System.Console.Out.WriteLine("requested_deadline_missed.TotalCount : " +
rdms.TotalCount);
System.Console.Out.WriteLine("requested_deadline_missed.TotalCountChange : " +
rdms.TotalCountChange);
System.Console.Out.WriteLine("requested_deadline_missed.LastInstanceHandle: " +
rdms.LastInstanceHandle);
System.Console.Out.WriteLine("requested_incompatible_qos.TotalCount : " +
riqs.TotalCount);
System.Console.Out.WriteLine("requested_incompatible_qos.TotalCountChange : " +
riqs.TotalCountChange);
System.Console.Out.WriteLine("requested_incompatible_qos.LastPolicyId : " +
riqs.LastPolicyId);
System.Console.Out.WriteLine("sample_rejected.TotalCount : " +
srs.TotalCount);
System.Console.Out.WriteLine("sample_rejected.TotalCountChange : " +
srs.TotalCountChange);
System.Console.Out.WriteLine("sample_rejected.LastInstanceHandle : " +
srs.LastInstanceHandle);
System.Console.Out.WriteLine("liveliness_changed.AliveCount : " +
lcs.AliveCount);
System.Console.Out.WriteLine("liveliness_changed.AliveCountChange : " +
lcs.AliveCountChange);
System.Console.Out.WriteLine("liveliness_changed.not_alive_count : " +
lcs.NotAliveCount);
System.Console.Out.WriteLine("liveliness_changed.not_alive_count_change : " +
lcs.NotAliveCountChange);
System.Console.Out.WriteLine("subscription_match.TotalCount : " +
sms.TotalCount);
System.Console.Out.WriteLine("subscription_match.TotalCountChange : " +
sms.TotalCountChange);
System.Console.Out.WriteLine("subscription_match.last_publication_handle : " +
sms.LastPublicationHandle);
System.Console.Out.WriteLine("sample_lost.TotalCount : " +
sls.TotalCount);
System.Console.Out.WriteLine("sample_lost.TotalCountChange : " +
sls.TotalCountChange + "\n");
}
private void receiveData()
{
int count = 0;
DDS.ConditionSeq active_conditions = new DDS.ConditionSeq();
while (true)
{
try
{
waitset.wait(active_conditions, timeout);
for (int c = 0; c < active_conditions.length; ++c)
{
if (active_conditions.get_at(c) == status_condition)
{
DDS.StatusMask triggeredmask =
reader.get_status_changes();
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0)
{
try
{
DDS.TypedDataReader <T> dataReader
= (DDS.TypedDataReader <T>)reader;
dataReader.take(
dataSeq,
infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
System.Int32 dataLength = dataSeq.length;
for (int i = 0; i < dataLength; ++i)
{
if (infoSeq.get_at(i).valid_data)
{
T temp = new T();
temp.copy_from(dataSeq.get_at(i));
demultiplexer(temp);
}
else if (infoSeq.get_at(i).instance_state ==
DDS.InstanceStateKind.NOT_ALIVE_DISPOSED_INSTANCE_STATE)
{
Console.WriteLine("DDS INSTANCE NOT_ALIVE_DISPOSED_INSTANCE_STATE");
demultiplexer(null);
}
}
dataReader.return_loan(dataSeq, infoSeq);
}
catch (DDS.Retcode_NoData)
{
Console.WriteLine("RETCODE_NODATA");
demultiplexer(null);
return;
}
catch (Exception ex)
{
Console.WriteLine("WaitsetSubscriber: take error {0}", ex);
}
}
else
{
StatusKindPrinter.print((int)triggeredmask);
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS) != 0)
{
DDS.SubscriptionMatchedStatus status = new DDS.SubscriptionMatchedStatus();
reader.get_subscription_matched_status(ref status);
Console.WriteLine("Subscription matched. current_count = {0}", status.current_count);
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.LIVELINESS_CHANGED_STATUS) != 0)
{
DDS.LivelinessChangedStatus status = new DDS.LivelinessChangedStatus();
reader.get_liveliness_changed_status(ref status);
Console.WriteLine("Liveliness changed. alive_count = {0}", status.alive_count);
if (status.alive_count == 0)
{
Console.WriteLine("publisher disconnected");
return;
}
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_LOST_STATUS) != 0)
{
DDS.SampleLostStatus status = new DDS.SampleLostStatus();
reader.get_sample_lost_status(ref status);
Console.WriteLine("Sample lost. Reason = {0}", status.last_reason.ToString());
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_REJECTED_STATUS) != 0)
{
DDS.SampleRejectedStatus status = new DDS.SampleRejectedStatus();
reader.get_sample_rejected_status(ref status);
Console.WriteLine("Sample Rejected. Reason = {0}", status.last_reason.ToString());
}
}
}
}
}
catch (DDS.Retcode_Timeout)
{
Console.WriteLine("wait timed out");
count += 2;
continue;
}
}
}
private void receiveData()
{
DDS.ConditionSeq activeConditions = new DDS.ConditionSeq();
while (true)
{
try
{
_waitset.wait(activeConditions, _timeout);
for (var c = 0; c < activeConditions.length; ++c)
{
if (activeConditions.get_at(c) == _statusCondition)
{
DDS.StatusMask triggeredmask =
_reader.get_status_changes();
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0)
{
try
{
DDS.TypedDataReader <T> dataReader
= (DDS.TypedDataReader <T>)_reader;
dataReader.take(
_dataSeq,
_infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
int dataLength = _dataSeq.length;
//Console.WriteLine("Received {0}", dataLength);
for (var i = 0; i < dataLength; ++i)
{
if (_infoSeq.get_at(i).valid_data)
{
var temp = new T();
temp.copy_from(_dataSeq.get_at(i));
_subject.OnNext(temp);
}
else if (_infoSeq.get_at(i).instance_state ==
DDS.InstanceStateKind.NOT_ALIVE_DISPOSED_INSTANCE_STATE)
{
/* FIXME: If the instance comes back online,
* it will break the Rx contract. */
//Console.WriteLine("OnCompleted CALLED FROM LIB CODE on tid "+
//System.Threading.Thread.CurrentThread.ManagedThreadId);
_subject.OnCompleted();
}
}
dataReader.return_loan(_dataSeq, _infoSeq);
}
catch (DDS.Retcode_NoData)
{
_subject.OnCompleted();
return;
}
catch (Exception ex)
{
_subject.OnError(ex);
Console.WriteLine($"ObservableTopicWaitSet: take error {ex}");
}
}
else
{
StatusKindPrinter.print((int)triggeredmask);
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS) != 0)
{
DDS.SubscriptionMatchedStatus status = new DDS.SubscriptionMatchedStatus();
_reader.get_subscription_matched_status(ref status);
Console.WriteLine($"Subscription matched. current_count = {status.current_count}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.LIVELINESS_CHANGED_STATUS) != 0)
{
DDS.LivelinessChangedStatus status = new DDS.LivelinessChangedStatus();
_reader.get_liveliness_changed_status(ref status);
Console.WriteLine($"Liveliness changed. alive_count = {status.alive_count}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_LOST_STATUS) != 0)
{
DDS.SampleLostStatus status = new DDS.SampleLostStatus();
_reader.get_sample_lost_status(ref status);
Console.WriteLine($"Sample lost. Reason = {status.last_reason.ToString()}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_REJECTED_STATUS) != 0)
{
DDS.SampleRejectedStatus status = new DDS.SampleRejectedStatus();
_reader.get_sample_rejected_status(ref status);
Console.WriteLine($"Sample Rejected. Reason = {status.last_reason.ToString()}");
}
}
}
}
}
catch (DDS.Retcode_Timeout)
{
Console.WriteLine("wait timed out");
}
}
}
public override void on_liveliness_changed(
DDS.DataReader reader,
ref DDS.LivelinessChangedStatus status)
{
}
private void PrintStatusses(DDS.IDataReader reader)
{
DDS.ReturnCode rc;
DDS.RequestedDeadlineMissedStatus rdmsHolder = new DDS.RequestedDeadlineMissedStatus();
rc = reader.GetRequestedDeadlineMissedStatus(ref rdmsHolder);
DDS.RequestedDeadlineMissedStatus rdms = rdmsHolder;
if (rc != DDS.ReturnCode.Ok)
{
System.Console.Error.WriteLine("Unable to resolve status!");
return;
}
DDS.RequestedIncompatibleQosStatus riqsHolder = new DDS.RequestedIncompatibleQosStatus();
rc = reader.GetRequestedIncompatibleQosStatus(ref riqsHolder);
DDS.RequestedIncompatibleQosStatus riqs = riqsHolder;
if (rc != DDS.ReturnCode.Ok)
{
System.Console.Error.WriteLine("Unable to resolve status!");
return;
}
DDS.SampleRejectedStatus srsHolder = new DDS.SampleRejectedStatus();
rc = reader.GetSampleRejectedStatus(ref srsHolder);
DDS.SampleRejectedStatus srs = srsHolder;
if (rc != DDS.ReturnCode.Ok)
{
System.Console.Error.WriteLine("Unable to resolve status!");
return;
}
DDS.LivelinessChangedStatus lcsHolder = new DDS.LivelinessChangedStatus();
rc = reader.GetLivelinessChangedStatus(ref lcsHolder);
DDS.LivelinessChangedStatus lcs = lcsHolder;
if (rc != DDS.ReturnCode.Ok)
{
System.Console.Error.WriteLine("Unable to resolve status!");
return;
}
DDS.SubscriptionMatchedStatus smsHolder = new DDS.SubscriptionMatchedStatus();
rc = reader.GetSubscriptionMatchedStatus(ref smsHolder);
DDS.SubscriptionMatchedStatus sms = smsHolder;
if (rc != DDS.ReturnCode.Ok)
{
System.Console.Error.WriteLine("Unable to resolve status!");
return;
}
DDS.SampleLostStatus slsHolder = new DDS.SampleLostStatus();
rc = reader.GetSampleLostStatus(ref slsHolder);
DDS.SampleLostStatus sls = slsHolder;
if (rc != DDS.ReturnCode.Ok)
{
System.Console.Error.WriteLine("Unable to resolve status!");
return;
}
System.Console.Out.WriteLine("requested_deadline_missed.TotalCount : " +
rdms.TotalCount);
System.Console.Out.WriteLine("requested_deadline_missed.TotalCountChange : " +
rdms.TotalCountChange);
System.Console.Out.WriteLine("requested_deadline_missed.LastInstanceHandle: " +
rdms.LastInstanceHandle);
System.Console.Out.WriteLine("requested_incompatible_qos.TotalCount : " +
riqs.TotalCount);
System.Console.Out.WriteLine("requested_incompatible_qos.TotalCountChange : " +
riqs.TotalCountChange);
System.Console.Out.WriteLine("requested_incompatible_qos.LastPolicyId : " +
riqs.LastPolicyId);
System.Console.Out.WriteLine("sample_rejected.TotalCount : " +
srs.TotalCount);
System.Console.Out.WriteLine("sample_rejected.TotalCountChange : " +
srs.TotalCountChange);
System.Console.Out.WriteLine("sample_rejected.LastInstanceHandle : " +
srs.LastInstanceHandle);
System.Console.Out.WriteLine("liveliness_changed.AliveCount : " +
lcs.AliveCount);
System.Console.Out.WriteLine("liveliness_changed.AliveCountChange : " +
lcs.AliveCountChange);
System.Console.Out.WriteLine("liveliness_changed.not_alive_count : " +
lcs.NotAliveCount);
System.Console.Out.WriteLine("liveliness_changed.not_alive_count_change : " +
lcs.NotAliveCountChange);
System.Console.Out.WriteLine("subscription_match.TotalCount : " +
sms.TotalCount);
System.Console.Out.WriteLine("subscription_match.TotalCountChange : " +
sms.TotalCountChange);
System.Console.Out.WriteLine("subscription_match.last_publication_handle : " +
sms.LastPublicationHandle);
System.Console.Out.WriteLine("sample_lost.TotalCount : " +
sls.TotalCount);
System.Console.Out.WriteLine("sample_lost.TotalCountChange : " +
sls.TotalCountChange + "\n");
}
private void ReceiveData()
{
DDS.ConditionSeq activeConditions = new DDS.ConditionSeq();
while (true)
{
try
{
_waitset.wait(activeConditions, _timeout);
for (var c = 0; c < activeConditions.length; ++c)
{
if (activeConditions.get_at(c) == _statusCondition)
{
DDS.StatusMask triggeredmask =
_reader.get_status_changes();
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0)
{
try
{
DDS.TypedDataReader <T> dataReader
= (DDS.TypedDataReader <T>)_reader;
dataReader.take(
_dataSeq,
_infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
int dataLength = _dataSeq.length;
//Console.WriteLine("Received {0}", dataLength);
for (var i = 0; i < dataLength; ++i)
{
DDS.SampleInfo info = _infoSeq.get_at(i);
if (info.valid_data)
{
var data = new T();
data.copy_from(_dataSeq.get_at(i));
var key = _keySelector(data);
DDSKeyedSubject <TKey, T> keyedSubject;
if (!_keyedSubjectDict.ContainsKey(key))
{
keyedSubject = new DDSKeyedSubject <TKey, T>(key, _scheduler);
_keyedSubjectDict.Add(key, keyedSubject);
_handleKeyDict.Add(info.instance_handle, key);
_groupSubject.OnNext(keyedSubject);
}
else
{
keyedSubject = _keyedSubjectDict[key];
if (_externalSubDict)
{
if (!_handleKeyDict.ContainsKey(info.instance_handle))
{
_handleKeyDict.Add(info.instance_handle, key);
_groupSubject.OnNext(keyedSubject);
}
}
}
keyedSubject.OnNext(data);
}
else if (info.instance_state ==
DDS.InstanceStateKind.NOT_ALIVE_DISPOSED_INSTANCE_STATE)
{
if (_handleKeyDict.ContainsKey(info.instance_handle))
{
var key = _handleKeyDict[info.instance_handle];
if (_keyedSubjectDict.ContainsKey(key))
{
var keyedSub = _keyedSubjectDict[key];
_keyedSubjectDict.Remove(key);
_handleKeyDict.Remove(info.instance_handle);
keyedSub.OnCompleted();
/* FIXME: If the instance comes alive again, it will break the Rx contract */
}
else
{
Console.WriteLine(
"InstanceDataReaderListener invariant broken: keyedSubDict does not contain key");
}
}
else
{
Console.WriteLine(
"InstanceDataReaderListener invariant broken: handleKeyDict does not contain info.instance_handle");
}
}
}
dataReader.return_loan(_dataSeq, _infoSeq);
}
catch (DDS.Retcode_NoData)
{
_subject.OnCompleted();
return;
}
catch (Exception ex)
{
_subject.OnError(ex);
Console.WriteLine($"ObservableTopicWaitSet: take error {ex}");
}
}
else
{
StatusKindPrinter.print((int)triggeredmask);
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS) != 0)
{
DDS.SubscriptionMatchedStatus status = new DDS.SubscriptionMatchedStatus();
_reader.get_subscription_matched_status(ref status);
Console.WriteLine($"Subscription matched. current_count = {status.current_count}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.LIVELINESS_CHANGED_STATUS) != 0)
{
DDS.LivelinessChangedStatus status = new DDS.LivelinessChangedStatus();
_reader.get_liveliness_changed_status(ref status);
Console.WriteLine($"Liveliness changed. alive_count = {status.alive_count}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_LOST_STATUS) != 0)
{
DDS.SampleLostStatus status = new DDS.SampleLostStatus();
_reader.get_sample_lost_status(ref status);
Console.WriteLine($"Sample lost. Reason = {status.last_reason.ToString()}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_REJECTED_STATUS) != 0)
{
DDS.SampleRejectedStatus status = new DDS.SampleRejectedStatus();
_reader.get_sample_rejected_status(ref status);
Console.WriteLine($"Sample Rejected. Reason = {status.last_reason.ToString()}");
}
}
}
}
}
catch (DDS.Retcode_Timeout)
{
Console.WriteLine("wait timed out");
}
}
}
