static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the 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 subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = deadline_contentfilterTypeSupport.get_type_name();
try {
deadline_contentfilterTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example deadline_contentfilter",
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 reader --- //
//// Start changes for Deadline
// Set up content filtered topic to show interaction with deadline
DDS.StringSeq parameters = new DDS.StringSeq(1);
// need to specify length otherwise create_contentfilteredtopic will
// throw an unhandled exception error!
if (parameters.ensure_length(1, 1) == false)
{
Console.WriteLine("ensure_length error\n");
}
parameters.set_at(0, "2");
DDS.ContentFilteredTopic cft = participant.create_contentfilteredtopic(
"ContentFilteredTopic", topic, "code < %0", parameters);
/* Create a data reader listener */
deadline_contentfilterListener reader_listener =
new deadline_contentfilterListener();
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
cft,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
/* If you want to change the DataReader's QoS programmatically rather than
* using the XML file, you will need to add the following lines to your
* code and comment out the create_datareader call above.
*
* In this case, we set the deadline period to 2 seconds to trigger
* a deadline if the DataWriter does not update often enough, or if
* the content-filter filters out data so there is no data available
* with 2 seconds.
*/
/*
* DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
* subscriber.get_default_datareader_qos(datareader_qos);
* if (datareader_qos == null)
* {
* shutdown(participant);
* reader_listener = null;
* throw new ApplicationException("get_default_datareader_qos error");
* }
*
* // Set deadline QoS to be 2 sec
* datareader_qos.deadline.period.sec = 2;
* datareader_qos.deadline.period.nanosec = 0;
*
* DDS.DataReader reader = subscriber.create_datareader(
* topic,
* datareader_qos, //DDS.Subscriber.DATAREADER_QOS_DEFAULT,
* reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
* if (reader == null)
* {
* shutdown(participant);
* reader_listener = null;
* throw new ApplicationException("create_datareader error");
* }
*/
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
// After 10 seconds, change content filter to accept only
// instance 0
if (count == 10)
{
Console.WriteLine("Starting to filter out instance1\n");
parameters.set_at(0, "1");
cft.set_expression_parameters(parameters);
}
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the 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 subscriber --- //
/* To customize the subscriber QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null) {
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = deadline_contentfilterTypeSupport.get_type_name();
try {
deadline_contentfilterTypeSupport.register_type(
participant, type_name);
}
catch(DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example deadline_contentfilter",
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 reader --- //
//// Start changes for Deadline
// Set up content filtered topic to show interaction with deadline
DDS.StringSeq parameters = new DDS.StringSeq(1);
// need to specify length otherwise create_contentfilteredtopic will
// throw an unhandled exception error!
if (parameters.ensure_length(1, 1) == false)
{
Console.WriteLine("ensure_length error\n");
}
parameters.set_at(0, "2");
DDS.ContentFilteredTopic cft = participant.create_contentfilteredtopic(
"ContentFilteredTopic", topic, "code < %0", parameters);
/* Create a data reader listener */
deadline_contentfilterListener reader_listener =
new deadline_contentfilterListener();
/* To customize the data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
cft,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null) {
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
/* If you want to change the DataReader's QoS programmatically rather than
* using the XML file, you will need to add the following lines to your
* code and comment out the create_datareader call above.
*
* In this case, we set the deadline period to 2 seconds to trigger
* a deadline if the DataWriter does not update often enough, or if
* the content-filter filters out data so there is no data available
* with 2 seconds.
*/
/*
DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
subscriber.get_default_datareader_qos(datareader_qos);
if (datareader_qos == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("get_default_datareader_qos error");
}
// Set deadline QoS to be 2 sec
datareader_qos.deadline.period.sec = 2;
datareader_qos.deadline.period.nanosec = 0;
DDS.DataReader reader = subscriber.create_datareader(
topic,
datareader_qos, //DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
*/
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count=0;
(sample_count == 0) || (count < sample_count);
++count) {
// After 10 seconds, change content filter to accept only
// instance 0
if (count == 10)
{
Console.WriteLine("Starting to filter out instance1\n");
parameters.set_at(0, "1");
cft.set_expression_parameters(parameters);
}
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
