// TODO: This operation is currently not thread-safe.
public virtual ReturnCode RegisterType(
IDomainParticipant participant,
string typeName,
DatabaseMarshaler marshaler)
{
ReturnCode result = ReturnCode.BadParameter;
if (participant != null && marshaler != null)
{
// Now that a marshaler is present,
result = AttachMarshalerDelegates(GapiPeer, marshaler);
if (result == ReturnCode.Ok)
{
IntPtr domainObj = (participant as DomainParticipant).GapiPeer;
result = Gapi.FooTypeSupport.register_type(
GapiPeer,
domainObj,
typeName);
if (result == ReturnCode.Ok)
{
DatabaseMarshaler.Add(participant, dataType, marshaler);
marshaler.InitEmbeddedMarshalers(participant);
}
}
}
return(result);
}
public override void InitEmbeddedMarshalers(IDomainParticipant participant)
{
if (attr1Marshaler == null)
{
attr1Marshaler = DatabaseMarshaler.GetMarshaler(participant, typeof(DM.__l_WGS84)) as DM.__l_WGS84Marshaler;
if (attr1Marshaler == null)
{
attr1Marshaler = new DM.__l_WGS84Marshaler();
DatabaseMarshaler.Add(participant, typeof(DM.__l_WGS84), attr1Marshaler);
attr1Marshaler.InitEmbeddedMarshalers(participant);
}
}
if (attr4Marshaler == null)
{
attr4Marshaler = DatabaseMarshaler.GetMarshaler(participant, typeof(DM.__EGI_Data)) as DM.__EGI_DataMarshaler;
if (attr4Marshaler == null)
{
attr4Marshaler = new DM.__EGI_DataMarshaler();
DatabaseMarshaler.Add(participant, typeof(DM.__EGI_Data), attr4Marshaler);
attr4Marshaler.InitEmbeddedMarshalers(participant);
}
}
if (attr5Marshaler == null)
{
attr5Marshaler = DatabaseMarshaler.GetMarshaler(participant, typeof(__Aircraft)) as __AircraftMarshaler;
if (attr5Marshaler == null)
{
attr5Marshaler = new __AircraftMarshaler();
DatabaseMarshaler.Add(participant, typeof(__Aircraft), attr5Marshaler);
attr5Marshaler.InitEmbeddedMarshalers(participant);
}
}
}
private void loadQosInputAttr(
OpenSplice.CustomMarshalers.DatabaseMarshaler qosMarshaler,
Type dataType,
ref OpenSplice.Common.cmn_qosInputAttr attr)
{
DatabaseMarshaler.Add(null, dataType, qosMarshaler);
qosMarshaler.InitEmbeddedMarshalers(null);
attr.copyOut = qosMarshaler.CopyOutDelegate;
}
public override void InitEmbeddedMarshalers(IDomainParticipant participant)
{
if (attr2Marshaler == null)
{
attr2Marshaler = DatabaseMarshaler.GetMarshaler(participant, typeof(DM.__l_WGS84)) as DM.__l_WGS84Marshaler;
if (attr2Marshaler == null)
{
attr2Marshaler = new DM.__l_WGS84Marshaler();
DatabaseMarshaler.Add(participant, typeof(DM.__l_WGS84), attr2Marshaler);
attr2Marshaler.InitEmbeddedMarshalers(participant);
}
}
}
public virtual ReturnCode RegisterType(
IDomainParticipant participant,
string typeName,
DatabaseMarshaler marshaler)
{
ReturnCode result = ReturnCode.BadParameter;
DomainParticipant dp;
ReportStack.Start();
if (participant == null)
{
ReportStack.Report(result, "domain '<NULL>' is invalid.");
}
else if (marshaler == null)
{
ReportStack.Report(result, "marshaler '<NULL>' is invalid.");
}
else
{
dp = participant as DomainParticipant;
if (dp == null)
{
ReportStack.Report(result, "domain is invalid, not of type " +
"DDS::OpenSplice::DomainParticipant");
}
else
{
if (typeName == null)
{
typeName = this.typeName;
}
result = dp.nlReq_LoadTypeSupport(this, typeName);
if (result == ReturnCode.AlreadyDeleted)
{
result = ReturnCode.BadParameter;
}
else
{
DatabaseMarshaler.Add(dp, dataType, marshaler);
marshaler.InitEmbeddedMarshalers(dp);
}
}
}
ReportStack.Flush(null, result != ReturnCode.Ok);
return(result);
}
private ReturnCode AttachMarshalerDelegates(IntPtr ts, DatabaseMarshaler marshaler)
{
Gapi._TypeSupport typeSupport = null;
IntPtr tsPtr = IntPtr.Zero;
ReturnCode result = ReturnCode.Ok;
typeSupport = Gapi.TypeSupport.Claim(ts, out tsPtr, ref result);
if (result == ReturnCode.Ok)
{
typeSupport.copy_in = marshaler.CopyInDelegate;
// HACK: This is a Mono workaround. Currently you cannot marshal a delegate
// to a function pointer if the parameters include an "object" type. So we
// will pass a fake delegate, and then internally use the real copyOut, this
// may give better performance anyways, since we won't have to convert the
// IntPtr to a Delegate for every ReaderCopy invocation.
typeSupport.copy_out = marshaler.CopyOutDelegate;
typeSupport.reader_copy = marshaler.ReaderCopyDelegate;
Gapi.TypeSupport.Release(typeSupport, tsPtr);
}
return(result);
}
public IDataWriter CreateDataWriter(
ITopic topic,
DataWriterQos qos,
IDataWriterListener listener,
StatusKind mask)
{
ReturnCode result = DDS.ReturnCode.AlreadyDeleted;
DataWriter dataWriter = null;
Topic topicObj = topic as Topic;
ReportStack.Start();
lock (this)
{
if (this.rlReq_isAlive)
{
if (topicObj == null)
{
result = DDS.ReturnCode.BadParameter;
ReportStack.Report(result, "topic is invalid (null), or not of type " +
"DDS::OpenSplice::Topic.");
}
else
{
result = QosManager.checkQos(qos);
}
if (result == DDS.ReturnCode.Ok)
{
lock (topicObj)
{
if (topicObj.rlReq_isAlive)
{
TypeSupport ts = (topicObj as ITopicDescriptionImpl).rlReq_TypeSupport;
DatabaseMarshaler marshaler = DatabaseMarshaler.GetMarshaler(participant, ts.TypeSpec);
dataWriter = ts.CreateDataWriter(marshaler);
result = dataWriter.init(this, qos, topicObj, "writer <" + topicObj.Name + ">");
if (result == ReturnCode.Ok)
{
dataWriter.wlReq_ListenerDispatcher = this.wlReq_ListenerDispatcher;
result = dataWriter.SetListener(listener, mask);
}
else
{
dataWriter = null;
}
if (result == DDS.ReturnCode.Ok)
{
writerList.Add(dataWriter);
if (rlReq_AutoEnableCreatedEntities)
{
result = dataWriter.Enable();
}
}
}
else
{
// ALREADY_DELETED may only apply to the Publisher in this context,
// so for a deleted topic use BAD_PARAMETER instead.
result = DDS.ReturnCode.BadParameter;
}
}
}
if (result != ReturnCode.Ok && dataWriter != null)
{
// Ignore result because we prefer the original error.
DeleteDataWriter(dataWriter);
dataWriter = null;
}
}
}
ReportStack.Flush(this, result != ReturnCode.Ok);
return(dataWriter);
}
public abstract DataReader CreateDataReader(DatabaseMarshaler marshaler);
public abstract DataWriter CreateDataWriter(DatabaseMarshaler marshaler);
/**
* Register the four builtin topics:
* "DDS::ParticipantBuiltinTopicData"
* "DDS::TopicBuiltinTopicData"
* "DDS::PublicationBuiltinTopicData"
* "DDS::SubscriptionBuiltinTopicData"
*/
internal static ReturnCode BuiltinTopicRegisterTypeSupport(DomainParticipant participant)
{
ReturnCode result;
DDS.ParticipantBuiltinTopicDataTypeSupport DDSParticipant =
new DDS.ParticipantBuiltinTopicDataTypeSupport();
result = DDSParticipant.RegisterType(participant, DDSParticipant.TypeName);
if (result != ReturnCode.Ok)
{
DDS.OpenSplice.OS.Report(
DDS.OpenSplice.ReportType.OS_ERROR,
"DDS.OpenSplice.DomainParticipant.builtinTopicRegisterTypeSupport",
"DDS/OpenSplice/DomainParticipant.cs",
DDS.ErrorCode.Error,
"Failed to register builtin topic: DCPSParticipant");
}
else
{
participant.ParticipantDataMarshaler = DatabaseMarshaler.GetMarshaler(
participant, DDSParticipant.TypeSpec);
}
DDS.TopicBuiltinTopicDataTypeSupport DDSTopic =
new DDS.TopicBuiltinTopicDataTypeSupport();
result = DDSTopic.RegisterType(participant, DDSTopic.TypeName);
if (result != ReturnCode.Ok)
{
DDS.OpenSplice.OS.Report(
DDS.OpenSplice.ReportType.OS_ERROR,
"DDS.OpenSplice.DomainParticipant.builtinTopicRegisterTypeSupport",
"DDS/OpenSplice/DomainParticipant.cs",
DDS.ErrorCode.Error,
"Failed to register builtin topic: DCPSTopic");
}
else
{
participant.TopicDataMarshaler = DatabaseMarshaler.GetMarshaler(
participant, DDSTopic.TypeSpec);
}
DDS.PublicationBuiltinTopicDataTypeSupport DDSPublication =
new DDS.PublicationBuiltinTopicDataTypeSupport();
result = DDSPublication.RegisterType(participant, DDSPublication.TypeName);
if (result != ReturnCode.Ok)
{
DDS.OpenSplice.OS.Report(
DDS.OpenSplice.ReportType.OS_ERROR,
"DDS.OpenSplice.DomainParticipant.builtinTopicRegisterTypeSupport",
"DDS/OpenSplice/DomainParticipant.cs",
DDS.ErrorCode.Error,
"Failed to register builtin topic: DCPSPublication");
}
DDS.SubscriptionBuiltinTopicDataTypeSupport DDSSubscription =
new DDS.SubscriptionBuiltinTopicDataTypeSupport();
result = DDSSubscription.RegisterType(participant, DDSSubscription.TypeName);
if (result != ReturnCode.Ok)
{
DDS.OpenSplice.OS.Report(
DDS.OpenSplice.ReportType.OS_ERROR,
"DDS.OpenSplice.DomainParticipant.builtinTopicRegisterTypeSupport",
"DDS/OpenSplice/DomainParticipant.cs",
DDS.ErrorCode.Error,
"Failed to register builtin topic: DCPSSubscription");
}
return(result);
}
public FooDataWriter(DatabaseMarshaler marshaler)
{
sampleMarshaler = marshaler as TMarshaler;
}
