static void publish(int domain_id, int sample_count, int initial_value,
int dwh, int sleep)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
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 topic --- //
/* Register type before creating topic */
System.String type_name = hello_worldTypeSupport.get_type_name();
try {
hello_worldTypeSupport.register_type(
participant, type_name);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example hello_world",
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 --- //
/* If you use Durable Writer History, you need to set several
* properties. These properties are set in the USER_QOS_PROFILE.xml
* file, "durable_writer_history_Profile" profile. See that file for
* further details.
*/
DDS.DataWriter writer = null;
if (dwh == 1)
{
writer = publisher.create_datawriter_with_profile(topic,
"persistence_example_Library",
"durable_writer_history_Profile",
null, DDS.StatusMask.STATUS_MASK_ALL);
}
else
{
writer = publisher.create_datawriter_with_profile(topic,
"persistence_example_Library",
"persistence_service_Profile",
null, DDS.StatusMask.STATUS_MASK_ALL);
}
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
hello_worldDataWriter hello_world_writer =
(hello_worldDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
hello_world instance = hello_worldTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"hello_worldTypeSupport.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 = hello_world_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
const System.Int32 one_sec = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing hello_world, count {0}", initial_value);
/* Modify the data to be sent here */
instance.data = initial_value;
initial_value++;
try {
hello_world_writer.write(instance, ref instance_handle);
} catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
while (sleep != 0)
{
System.Threading.Thread.Sleep(one_sec);
sleep--;
}
/*
* try {
* hello_world_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
hello_worldTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"hello_worldTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count, int turbo_mode_on)
{
System.String profile_name = null;
System.String library_name = "batching_Library";
/* We pick the profile name if the turbo_mode is selected or not.
* If Turbo_mode is not selected, the batching profile will be used.
*/
if (turbo_mode_on == 1)
{
profile_name = "turbo_mode_profile";
Console.WriteLine("Turbo Mode enable");
}
else
{
profile_name = "batch_profile";
Console.WriteLine("Manual batching enable");
}
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().
create_participant_with_profile(
domain_id,
library_name, profile_name,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher_with_profile(
library_name, profile_name,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = batch_dataTypeSupport.get_type_name();
try {
batch_dataTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example batch_data",
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 --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter_with_profile(
topic,
library_name, profile_name,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
batch_dataDataWriter batch_data_writer =
(batch_dataDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
batch_data instance = batch_dataTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"batch_dataTypeSupport.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 = batch_data_writer.register_instance(instance);
*/
/* Main loop */
System.Int32 send_period = 1000; // milliseconds
if (turbo_mode_on == 1)
{
send_period = 0;
}
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing batch_data, count {0}", count);
/* Modify the data to be sent here */
instance.x = count;
try {
batch_data_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* batch_data_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
batch_dataTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"batch_dataTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
