public void Dispose()
{
_subscriber.DeleteDataReader(_dataReader);
_dataWriter.UnregisterInstance(_dataToSend, _dataToSendHandle);
_publisher.DeleteDataWriter(_dataWriter);
_participant.DeleteTopic(_receiverTopic);
_participant.DeleteTopic(_senderTopic);
_participant.DeletePublisher(_publisher);
_participant.DeleteSubscriber(_subscriber);
}
private void RemoveDataWriter()
{
if (DataWriter == null)
{
return;
}
ReturnCode status = topicPublisher.DeleteDataWriter(DataWriter);
ErrorHandler.CheckStatus(
status, "topicPublisher.DeleteDataWriter (RemoveDataWriter)");
}
public ReturnCode DeleteSimulatedMultitopic(ITopicDescription smt)
{
ReturnCode status;
/* Remove the DataWriter */
status = multiPub.DeleteDataWriter(msgListener.NamedMessageDW);
ErrorHandler.checkStatus(status, "DDS.Publisher.DeleteDatawriter");
/* Remove the Publisher. */
status = realParticipant.DeletePublisher(multiPub);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.DeletePublisher");
/* Remove the QueryCondition. */
status = msgListener.NameServiceDR.DeleteReadCondition(
msgListener.NameFinder);
ErrorHandler.checkStatus(
status, "DDS.DataReader.DeleteReadcondition");
/* Remove the DataReaders. */
status = multiSub.DeleteDataReader(msgListener.NameServiceDR);
ErrorHandler.checkStatus(status, "DDS.Subscriber.DeleteDatareader");
status = multiSub.DeleteDataReader(msgListener.ChatMessageDR);
ErrorHandler.checkStatus(status, "DDS.Subscriber.DeleteDatareader");
/* Remove the Subscriber. */
status = realParticipant.DeleteSubscriber(multiSub);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.DeleteSubscriber");
/* Remove the ContentFilteredTopic. */
status = realParticipant.DeleteContentFilteredTopic(
filteredMessageTopic);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.DeleteContentfilteredtopic");
/* Remove all other topics. */
status = realParticipant.DeleteTopic(namedMessageTopic);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.DeleteTopic (namedMessageTopic)");
status = realParticipant.DeleteTopic(nameServiceTopic);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.DeleteTopic (nameServiceTopic)");
status = realParticipant.DeleteTopic(chatMessageTopic);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.DeleteTopic (chatMessageTopic)");
return(status);
}
static void Main(string[] args)
{
int ownID = 1;
string chatterName = null;
int domain = DDS.DomainId.Default;
string partitionName = "ChatRoom";
/* Options: Chatter [ownID [name]] */
if (args.Length > 0)
{
ownID = int.Parse(args[0]);
if (args.Length > 1)
{
chatterName = args[1];
}
}
/* Create a DomainParticipantFactory and a DomainParticipant
* (using Default QoS settings. */
DomainParticipantFactory dpf = DomainParticipantFactory.Instance;
ErrorHandler.checkHandle(dpf, "DDS.DomainParticipantFactory.Instance");
IDomainParticipant participant = dpf.CreateParticipant(domain, null, StatusKind.Any);
ErrorHandler.checkHandle(participant, "DDS.DomainParticipantFactory.CreateParticipant");
/* Register the required datatype for ChatMessage. */
ChatMessageTypeSupport chatMessageTS = new ChatMessageTypeSupport();
string chatMessageTypeName = chatMessageTS.TypeName;
ReturnCode status = chatMessageTS.RegisterType(
participant, chatMessageTypeName);
ErrorHandler.checkStatus(
status, "Chat.ChatMessageTypeSupport.RegisterType");
/* Register the required datatype for NameService. */
NameServiceTypeSupport nameServiceTS = new NameServiceTypeSupport();
string nameServiceTypeName = nameServiceTS.TypeName;
status = nameServiceTS.RegisterType(
participant, nameServiceTypeName);
ErrorHandler.checkStatus(
status, "Chat.NameServiceTypeSupport.RegisterType");
/* Initialise Qos variables */
TopicQos reliableTopicQos = new TopicQos();
TopicQos settingTopicQos = new TopicQos();
PublisherQos pubQos = new PublisherQos();
DataWriterQos dwQos = new DataWriterQos();
DataWriterQos nsDwQos = new DataWriterQos();
/* Set the ReliabilityQosPolicy to RELIABLE. */
status = participant.GetDefaultTopicQos(ref reliableTopicQos);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.GetDefaultTopicQos");
reliableTopicQos.Reliability.Kind = ReliabilityQosPolicyKind.ReliableReliabilityQos;
/* Make the tailored QoS the new default. */
status = participant.SetDefaultTopicQos(reliableTopicQos);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.SetDefaultTopicQos");
/* Use the changed policy when defining the ChatMessage topic */
ITopic chatMessageTopic = participant.CreateTopic(
"Chat_ChatMessage",
chatMessageTypeName,
reliableTopicQos);
ErrorHandler.checkHandle(
chatMessageTopic,
"DDS.DomainParticipant.CreateTopic (ChatMessage)");
/* Set the DurabilityQosPolicy to TRANSIENT. */
status = participant.GetDefaultTopicQos(ref settingTopicQos);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.GetDefaultTopicQos");
settingTopicQos.Durability.Kind = DurabilityQosPolicyKind.TransientDurabilityQos;
/* Create the NameService Topic. */
ITopic nameServiceTopic = participant.CreateTopic(
"Chat_NameService",
nameServiceTypeName,
settingTopicQos);
ErrorHandler.checkHandle(
nameServiceTopic,
"DDS.DomainParticipant.CreateTopic (NameService)");
/* Adapt the default PublisherQos to write into the
* "ChatRoom" Partition. */
status = participant.GetDefaultPublisherQos(ref pubQos);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.GetDefaultPublisherQos");
pubQos.Partition.Name = new string[1];
pubQos.Partition.Name[0] = partitionName;
/* Create a Publisher for the chatter application. */
IPublisher chatPublisher = participant.CreatePublisher(pubQos);
ErrorHandler.checkHandle(
chatPublisher, "DDS.DomainParticipant.CreatePublisher");
/* Create a DataWriter for the ChatMessage Topic
* (using the appropriate QoS). */
chatPublisher.GetDefaultDataWriterQos(ref dwQos);
status = chatPublisher.CopyFromTopicQos(ref dwQos, reliableTopicQos);
ErrorHandler.checkStatus(status, "DDS.Publisher.CopyFromTopicQos");
IDataWriter parentWriter = chatPublisher.CreateDataWriter(chatMessageTopic, dwQos);
ErrorHandler.checkHandle(
parentWriter, "DDS.Publisher.CreateDatawriter (chatMessage)");
/* Narrow the abstract parent into its typed representative. */
ChatMessageDataWriter talker = parentWriter as ChatMessageDataWriter;
ErrorHandler.checkHandle(
talker, "Chat.ChatMessageDataWriter");
/* Create a DataWriter for the NameService Topic
* (using the appropriate QoS). */
status = chatPublisher.GetDefaultDataWriterQos(ref nsDwQos);
ErrorHandler.checkStatus(
status, "DDS.Publisher.GetDefaultDatawriterQos");
status = chatPublisher.CopyFromTopicQos(ref nsDwQos, settingTopicQos);
ErrorHandler.checkStatus(status, "DDS.Publisher.CopyFromTopicQos");
WriterDataLifecycleQosPolicy writerDataLifecycle = nsDwQos.WriterDataLifecycle;
writerDataLifecycle.AutodisposeUnregisteredInstances = false;
IDataWriter nsParentWriter = chatPublisher.CreateDataWriter(nameServiceTopic, nsDwQos);
ErrorHandler.checkHandle(
nsParentWriter, "DDS.Publisher.CreateDatawriter (NameService)");
/* Narrow the abstract parent into its typed representative. */
NameServiceDataWriter nameServer = nsParentWriter as NameServiceDataWriter;
ErrorHandler.checkHandle(
nameServer, "Chat.NameServiceDataWriterHelper");
/* Initialize the NameServer attributes. */
NameService ns = new NameService();
ns.userID = ownID;
if (chatterName != null)
{
ns.name = chatterName;
}
else
{
ns.name = "Chatter " + ownID;
}
/* Write the user-information into the system
* (registering the instance implicitly). */
status = nameServer.Write(ns);
ErrorHandler.checkStatus(status, "Chat.ChatMessageDataWriter.Write");
/* Initialize the chat messages. */
ChatMessage msg = new ChatMessage();
msg.userID = ownID;
msg.index = 0;
if (ownID == TERMINATION_MESSAGE)
{
msg.content = "Termination message.";
}
else
{
msg.content = "Hi there, I will send you " +
NUM_MSG + " more messages.";
}
System.Console.WriteLine("Writing message: \"" + msg.content + "\"");
/* Register a chat message for this user
* (pre-allocating resources for it!!) */
InstanceHandle userHandle = talker.RegisterInstance(msg);
/* Write a message using the pre-generated instance handle. */
status = talker.Write(msg, userHandle);
ErrorHandler.checkStatus(status, "Chat.ChatMessageDataWriter.Write");
Thread.Sleep(1000);
/* Write any number of messages . */
for (int i = 1; i <= NUM_MSG && ownID != TERMINATION_MESSAGE; i++)
{
msg.index = i;
msg.content = "Message no. " + i;
Console.WriteLine("Writing message: \"" + msg.content + "\"");
status = talker.Write(msg, userHandle);
ErrorHandler.checkStatus(status, "Chat.ChatMessageDataWriter.Write");
Thread.Sleep(1000); /* do not run so fast! */
}
/* Leave the room by disposing and unregistering the message instance */
status = talker.Dispose(msg, userHandle);
ErrorHandler.checkStatus(
status, "Chat.ChatMessageDataWriter.Dispose");
status = talker.UnregisterInstance(msg, userHandle);
ErrorHandler.checkStatus(
status, "Chat.ChatMessageDataWriter.unregister_instance");
/* Also unregister our name. */
status = nameServer.UnregisterInstance(ns, InstanceHandle.Nil);
ErrorHandler.checkStatus(
status, "Chat.NameServiceDataWriter.unregister_instance");
/* Remove the DataWriters */
status = chatPublisher.DeleteDataWriter(talker);
ErrorHandler.checkStatus(
status, "DDS.Publisher.DeleteDatawriter (talker)");
status = chatPublisher.DeleteDataWriter(nameServer);
ErrorHandler.checkStatus(status,
"DDS.Publisher.DeleteDatawriter (nameServer)");
/* Remove the Publisher. */
status = participant.DeletePublisher(chatPublisher);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.DeletePublisher");
/* Remove the Topics. */
status = participant.DeleteTopic(nameServiceTopic);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.DeleteTopic (nameServiceTopic)");
status = participant.DeleteTopic(chatMessageTopic);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.DeleteTopic (chatMessageTopic)");
/* Remove the DomainParticipant. */
status = dpf.DeleteParticipant(participant);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipantFactory.DeleteParticipant");
}
/// <summary>
/// Method to delete a data writer.
/// </summary>
/// <param name="dataWriter">The DataWriter instance to delete.</param>
public void deleteWriter(IDataWriter dataWriter)
{
status = publisher.DeleteDataWriter(dataWriter);
ErrorHandler.checkStatus(status, "Publisher.DeleteDataWriter");
}
