static void Main(string[] args)
{
DDSEntityManager mgr = new DDSEntityManager("WaitSet");
String partitionName = "WaitSet example";
// create Domain Participant
mgr.createParticipant(partitionName);
// create Type
MsgTypeSupport msgTS = new MsgTypeSupport();
mgr.registerType(msgTS);
// create Topic
mgr.createTopic("WaitSetData_Msg");
// create Publisher
mgr.createPublisher();
// create DataWriter
mgr.createWriter();
// Publish Events
IDataWriter dwriter = mgr.getWriter();
MsgDataWriter WaitSetWriter = dwriter as MsgDataWriter;
// Write the first message
Msg msgInstance = new Msg();
msgInstance.userID = 1;
msgInstance.message = "First hello";
Console.WriteLine("=== [Publisher] writing a message containing :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : \" {0} ", msgInstance.message);
ReturnCode status = WaitSetWriter.Write(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsgDataWriter.Write");
Thread.Sleep(500);
// Write another message
msgInstance.message = "Hello again";
status = WaitSetWriter.Write(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsgDataWriter.Write");
Console.WriteLine("=== [Publisher] writing a message containing :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : {0}", msgInstance.message);
Thread.Sleep(500);
// Clean up
mgr.getPublisher().DeleteDataWriter(WaitSetWriter);
mgr.deletePublisher();
mgr.deleteTopic();
mgr.deleteParticipant();
}
static void Main(string[] args)
{
DDSEntityManager mgr = new DDSEntityManager("Listener");
String partitionName = "Listener Example";
// create Domain Participant
mgr.createParticipant(partitionName);
// create Type
MsgTypeSupport msgTS = new MsgTypeSupport();
mgr.registerType(msgTS);
// create Topic
mgr.createTopic("ListenerData_Msg");
// create Publisher
mgr.createPublisher();
// create DataWriter
mgr.createWriter();
// Publish Events
IDataWriter dwriter = mgr.getWriter();
MsgDataWriter listenerWriter = dwriter as MsgDataWriter;
ReturnCode status = ReturnCode.Error;
Msg msgInstance = new Msg();
msgInstance.userID = 1;
msgInstance.message = "Hello World";
Console.WriteLine("=== [ListenerDataPublisher] writing a message containing :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : \"" + msgInstance.message + "\"");
InstanceHandle msgHandle = listenerWriter.RegisterInstance(msgInstance);
ErrorHandler.checkHandle(msgHandle, "DataWriter.RegisterInstance");
status = listenerWriter.Write(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "DataWriter.Write");
Thread.Sleep(2);
// clean up
status = listenerWriter.Dispose(msgInstance, msgHandle);
ErrorHandler.checkStatus(status, "DataWriter.Dispose");
status = listenerWriter.UnregisterInstance(msgInstance, msgHandle);
ErrorHandler.checkStatus(status, "DataWriter.UnregisterInstance");
mgr.getPublisher().DeleteDataWriter(listenerWriter);
mgr.deletePublisher();
mgr.deleteTopic();
mgr.deleteParticipant();
}
static void Main(string[] args)
{
DDSEntityManager mgr = new DDSEntityManager("HelloWorld");
String partitionName = "HelloWorld example";
// create Domain Participant
mgr.createParticipant(partitionName);
mgr.setAutoDispose(false);
// create Type
MsgTypeSupport msgTS = new MsgTypeSupport();
mgr.registerType(msgTS);
// create Topic
mgr.createTopic("HelloWorldData_Msg");
// create Publisher
mgr.createPublisher();
// create DataWriter
mgr.createWriter();
// Publish Events
IDataWriter dwriter = mgr.getWriter();
MsgDataWriter helloWorldWriter = dwriter as MsgDataWriter;
Msg msgInstance = new Msg();
msgInstance.userID = 1;
msgInstance.message = "Hello World";
InstanceHandle handle = helloWorldWriter.RegisterInstance(msgInstance);
ErrorHandler.checkHandle(handle, "MsgDataWriter.RegisterInstance");
Console.WriteLine("=== [Publisher] writing a message containing :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : \" {0} \"", msgInstance.message);
ReturnCode status = helloWorldWriter.Write(msgInstance, handle);
ErrorHandler.checkStatus(status, "MsgDataWriter.Write");
try
{
Thread.Sleep(2);
}
catch (ArgumentOutOfRangeException ex)
{
Console.WriteLine(ex.ToString());
Console.WriteLine(ex.StackTrace);
}
status = helloWorldWriter.UnregisterInstance(msgInstance, handle);
// Clean up
mgr.getPublisher().DeleteDataWriter(helloWorldWriter);
mgr.deletePublisher();
mgr.deleteTopic();
mgr.deleteParticipant();
}
static void Main(string[] args)
{
if (args.Length != 3)
{
Console.WriteLine("Insufficient number of arguments.");
usage();
Environment.Exit(-1);
}
else
{
String durabilityKind = args[0];
Boolean autodisposeFlag = Boolean.Parse(args[1].ToString());
Boolean automaticFlag = Boolean.Parse(args[2].ToString());
DDSEntityManager mgr = new DDSEntityManager("Durability");
String partitionName = "Durability example";
// Set the Durability Kind
mgr.setDurabilityKind(durabilityKind);
// Set the auto dispose flag
mgr.setAutoDispose(autodisposeFlag);
Thread.Sleep(1000);
// create Domain Participant
mgr.createParticipant(partitionName);
// create Type
MsgTypeSupport stkTS = new MsgTypeSupport();
mgr.registerType(stkTS);
// create Topic
mgr.createTopic("DurabilityData_Msg");
// create Publisher
mgr.createPublisher();
// create DataWriter
mgr.createWriter();
// Publish Events
IDataWriter dwriter = mgr.getWriter();
MsgDataWriter msgWriter = dwriter as MsgDataWriter;
Msg [] DurabilityDataMsg = new Msg[10];
InstanceHandle [] handle = new InstanceHandle [10];
ReturnCode status = ReturnCode.Error;
for (int x = 0; x < 10; x++)
{
DurabilityDataMsg[x] = new Msg();
DurabilityDataMsg[x].id = x;
DurabilityDataMsg[x].content = x.ToString();
Console.WriteLine("Storing {0}", DurabilityDataMsg[x].content);
handle[x] = msgWriter.RegisterInstance(DurabilityDataMsg[x]);
ErrorHandler.checkHandle(handle[x], "DataWriter.RegisterInstance");
status = msgWriter.Write(DurabilityDataMsg[x], handle[x]);
ErrorHandler.checkStatus(status, "DataWriter.Write");
}
if (!automaticFlag)
{
char c = (char)0;
Console.WriteLine("Enter E to exit");
while (c != 'E')
{
c = (char)Console.Read();
}
}
else
{
Console.WriteLine("=== sleeping 10s...");
Thread.Sleep(10000);
}
// Clean up
status = mgr.getPublisher().DeleteDataWriter(msgWriter);
ErrorHandler.checkStatus(status, "Publisher.DeleteDatWriter");
mgr.deletePublisher();
mgr.deleteTopic();
mgr.deleteParticipant();
}
}
// Create the DDS worker thread here.
public static void OpenSpliceWorker(Form mainForm)
{// Initialize the DDS Code first
bool done = false;
DDSEntityManager mgr = new DDSEntityManager("HelloWorld");
// String partitionName = "";
// if (GlobalData.DDSPartitionName.Length > 0)
// {// Use the glbal name
// partitionName = GlobalData.DDSPartitionName;
// } else
// {
// partitionName = "ADLINK";
// }
//
// create default Hello World Topic
//
// create Domain Participant
// set QOS for entity manager...
mgr.setDurabilityKind("transient");
mgr.createParticipant(GlobalData.DDSPartitionName);
mgr.setAutoDispose(false);
// create Type
MsgTypeSupport msgTS = new MsgTypeSupport();
mgr.registerType(msgTS);
// create Topic
mgr.createTopic("HelloWorldData_Msg");
// create Publisher
mgr.createPublisher();
// create DataWriter
mgr.createWriter();
//
// NOW CREATE NEW DDS DATA RECEIVER
//
// NOW Create another HelloWorld.Msg with a different topic name.
//
DDSEntityManager ADSBDatamgr = new DDSEntityManager("ADSBLinesData");
// create Domain Participant
ADSBDatamgr.createParticipant(GlobalData.DDSPartitionName);
// create Type DM::Aircraft_Config
Aircraft_ConfigTypeSupport AircraftConfigMsg = new DM.Aircraft_ConfigTypeSupport();
//MsgTypeSupport msgTS2 = new MsgTypeSupport();
ADSBDatamgr.registerType(AircraftConfigMsg);
//ADSBDatamgr.registerType(msgTS2);
// create Topic
ADSBDatamgr.createTopic("ADSBLinesData");
// create Subscriber
ADSBDatamgr.createSubscriber();
// ADSBDatamgr.createPublisher();
// create DataReader
ADSBDatamgr.createReader(false);
IDataReader ADSBLinesReader = ADSBDatamgr.getReader();
Aircraft_ConfigDataReader ADSBLinesDataReader = ADSBLinesReader as Aircraft_ConfigDataReader;
Aircraft_Config ADSBLinesmsg = null;
Aircraft_Config[] ADSBLinesmsgSeq = null;
DDS.SampleInfo[] ADSBLinesinfoSeq = null;
// Publish Events
IDataWriter dwriter = mgr.getWriter();
MsgDataWriter helloWorldWriter = dwriter as MsgDataWriter;
Msg msgInstance = new Msg();
msgInstance.userID = 1;
msgInstance.message = "Update Locations"; // "Hello World";
InstanceHandle handle = helloWorldWriter.RegisterInstance(msgInstance);
ErrorHandler.checkHandle(handle, "MsgDataWriter.RegisterInstance");
Console.WriteLine("=== [Publisher] writing a message containing :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : \" {0} \"", msgInstance.message);
ReturnCode status = helloWorldWriter.Write(msgInstance, handle);
ErrorHandler.checkStatus(status, "MsgDataWriter.Write");
// main write loop here...
//try
//{
// Thread.Sleep(2);
//}
//catch (ArgumentOutOfRangeException ex)
//{
// Console.WriteLine(ex.ToString());
// Console.WriteLine(ex.StackTrace);
//}
while (!done)
{// sleep and write samples from the main screen.
Thread.Sleep(500);
if (GlobalData.ischanged == true)
{// main thread has written data values, so update data
Console.WriteLine("GLOBAL DATA HAS CHANGED!!!");
msgInstance.lattitued_ul = GlobalData.upleft_lat;
msgInstance.longitude_ul = GlobalData.upleft_lng;
msgInstance.lattitude_lr = GlobalData.btmright_lat;
msgInstance.longitude_lr = GlobalData.btmright_lng;
Console.WriteLine("Upper left Lat" + msgInstance.lattitued_ul.ToString());
Console.WriteLine("Upper left Lng" + msgInstance.longitude_ul.ToString());
Console.WriteLine("Lower Right Lat" + msgInstance.lattitude_lr.ToString());
Console.WriteLine("Lower Right Lng" + msgInstance.longitude_lr.ToString());
ReturnCode dds_status = helloWorldWriter.Write(msgInstance, handle);
Console.WriteLine("HELLO WORLD DDS WRITE ERROR = " + dds_status.ToString());
ErrorHandler.checkStatus(dds_status, "MsgDataWriter.Write");
GlobalData.ischanged = false;
} // globaldata.ischange = true
// now read DDS Data lines topic.
//
// get new DDS Values here...
status = ADSBLinesDataReader.Take(ref ADSBLinesmsgSeq, ref ADSBLinesinfoSeq, Length.Unlimited, SampleStateKind.Any, ViewStateKind.Any, InstanceStateKind.Any);
ErrorHandler.checkStatus(status, "DataReader.Take");
if (ADSBLinesmsgSeq.Length > 0)
{
for (int x = 0; x < ADSBLinesmsgSeq.Length; x++)
{
if (ADSBLinesinfoSeq[x].ValidData)
{// read the data!
ADSBLinesmsg = ADSBLinesmsgSeq[x];
GlobalData.DDS_Lines = ADSBLinesmsg.tailNumber;
GlobalData.DDS_Data_Received = true;
/* Console.WriteLine("=== [Subscriber] message received : " + x.ToString());
* Console.WriteLine(" lattitued_ul : " + msgSeq[x].lattitued_ul.ToString());
* Console.WriteLine(" longitude_ul : " + msgSeq[x].longitude_ul.ToString());
* Console.WriteLine(" lattitued_lr : " + msgSeq[x].lattitude_lr.ToString());
* Console.WriteLine(" longitude_lr : " + msgSeq[x].longitude_lr.ToString());
* Console.WriteLine(" Message : \"" + msgSeq[x].message + "\"");
*/
// status = HelloWorldDataReader.ReturnLoan(ref msgSeq, ref infoSeq);
//ErrorHandler.checkStatus(status, "DataReader.ReturnLoan");
// System.Threading.Thread.Sleep(2000);
/* lamin = msgSeq[x].lattitude_lr; //32.3382F;
* lomin = msgSeq[x].longitude_ul; //- 121.8863F;
* lamax = msgSeq[x].lattitued_ul; //35.3382F;
* lomax = msgSeq[x].longitude_lr; // - 116.8863F; */}
}
}
if (GlobalData.WorkerThreadIsRunning == false)
{// signal thread to shut down...
done = true;
}
}
// end of main write loop
// Clean up
status = helloWorldWriter.UnregisterInstance(msgInstance, handle);
mgr.getPublisher().DeleteDataWriter(helloWorldWriter);
mgr.deletePublisher();
mgr.deleteTopic();
mgr.deleteParticipant();
return;
}
static void Main(string[] args)
{
bool autodispose_flag = false;
String writer_action;
ReturnCode status = ReturnCode.Error;
if (args.Length < 2)
{
usage();
}
else if ((!args[0].Equals("true")) &&
(!args[0].Equals("false")) &&
(!args[1].Equals("dispose")) &&
(!args[1].Equals("unregister")) &&
(!args[1].Equals("stoppub")))
{
usage();
}
else
{
autodispose_flag = Boolean.Parse(args[0]);
writer_action = args[1];
// DDS Helper class instance for Msg Topic
DDSEntityManager mgr = new DDSEntityManager("Lifecycle");
// Create domain participant
String partitionName = "Lifecycle example";
mgr.createParticipant(partitionName);
// Set AutoDispose Flag
mgr.setAutoDispose(autodispose_flag);
// Create type
MsgTypeSupport mt = new MsgTypeSupport();
mgr.registerType(mt);
// Create Topic
String topicName = "Lifecycle_Msg";
mgr.createTopic(topicName);
// Create Publisher
mgr.createPublisher();
// Create DataWriter(s)
mgr.createWriter();
// Publish Samples
IDataWriter dwriter = mgr.getWriter();
MsgDataWriter LifecycleWriter = dwriter as MsgDataWriter;
IDataWriter dwriter_stopper = mgr.getWriterStopper();
MsgDataWriter LifecycleWriter_stopper = dwriter_stopper as MsgDataWriter;
if (writer_action.Equals("dispose"))
{
// Send Msg (topic to monitor)
Msg msgInstance = new Msg();
msgInstance.userID = 1;
msgInstance.message = "Lifecycle_1";
msgInstance.writerStates = "SAMPLE_SENT -> INSTANCE_DISPOSED -> DATAWRITER_DELETED";
Console.WriteLine("=== [Publisher] :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : \"{0}\"", msgInstance.message);
Console.WriteLine(" writerStates : \"{0}\"", msgInstance.writerStates);
status = LifecycleWriter.Write(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsDataWriter.Write");
Thread.Sleep(500);
Console.WriteLine("=== [Publisher] : SAMPLE_SENT");
// Dispose instance
status = LifecycleWriter.Dispose(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsDataWriter.Dispose");
Console.WriteLine("=== [Publisher] : INSTANCE_DISPOSED");
}
else if (writer_action.Equals("unregister"))
{
// Send Msg (topic to monitor)
Msg msgInstance = new Msg();
msgInstance.userID = 2;
msgInstance.message = "Lifecycle_2";
msgInstance.writerStates = "SAMPLE_SENT -> INSTANCE_UNREGISTERED -> DATAWRITER_DELETED";
Console.WriteLine("=== [Publisher] :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : \"{0}\"", msgInstance.message);
Console.WriteLine(" writerStates : \"{0}\"", msgInstance.writerStates);
status = LifecycleWriter.Write(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsDataWriter.Write");
Thread.Sleep(500);
Console.WriteLine("=== [Publisher] : SAMPLE_SENT");
// Unregister instance : the auto_dispose_unregistered_instances flag
// is currently ignored and the instance is never disposed automatically
status = LifecycleWriter.UnregisterInstance(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsDataWriter.UnregisterInstance");
Console.WriteLine("=== [Publisher] : INSTANCE_UNREGISTERED");
}
else if (writer_action.Equals("stoppub"))
{
Msg msgInstance = new Msg();
msgInstance.userID = 3;
msgInstance.message = "Lifecycle_3";
msgInstance.writerStates = "SAMPLE_SENT -> DATAWRITER_DELETED";
Console.WriteLine("=== [Publisher] :");
Console.WriteLine(" userID : {0}", msgInstance.userID);
Console.WriteLine(" Message : \"{0}\"", msgInstance.message);
Console.WriteLine(" writerStates : \"{0}\"", msgInstance.writerStates);
status = LifecycleWriter.Write(msgInstance, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsDataWriter.Write");
Thread.Sleep(500);
Console.WriteLine("=== [Publisher] : SAMPLE_SENT");
}
// Let the subscriber treat the previous writer state !!!
Console.WriteLine("=== [Publisher] waiting 500ms to let the subscriber treat the previous write state ...");
Thread.Sleep(500);
// Remove the DataWriter
mgr.deleteWriter(LifecycleWriter);
Thread.Sleep(500);
Console.WriteLine("=== [Publisher] : DATAWRITER_DELETED");
// Stop the subscriber
Msg stopMsg = new Msg();
stopMsg.userID = 4;
stopMsg.message = "Lifecycle_4";
stopMsg.writerStates = "STOPPING_SUBSCRIBER";
Console.WriteLine("=== [Publisher] :");
Console.WriteLine(" userID : {0}", stopMsg.userID);
Console.WriteLine(" Message : \"{0}\"", stopMsg.message);
Console.WriteLine(" writerStates : \"{0}\"", stopMsg.writerStates);
status = LifecycleWriter_stopper.Write(stopMsg, InstanceHandle.Nil);
ErrorHandler.checkStatus(status, "MsDataWriter.Write");
Thread.Sleep(500);
// Remove the DataWriter stopper
mgr.deleteWriter(LifecycleWriter_stopper);
// Remove the Publisher
mgr.deletePublisher();
// Remove the Topic
mgr.deleteTopic();
// Remove the participant
mgr.deleteParticipant();
}
}
