public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
Test.Framework.TestVerdict expVerdict = Test.Framework.TestVerdict.Pass;
string expResult = "type is registered.";
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
mod.tstTypeSupport typesupport;
DDS.ReturnCode returnCode;
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result = new Test.Framework.TestResult(expResult, "DomainParticipantFactory could not be initialised."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "Default DomainParticipantQos could not be resolved."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
participant = factory.CreateParticipant(string.Empty, pqosHolder);//, null, 0);
if (participant == null)
{
result = new Test.Framework.TestResult(expResult, "Creation of DomainParticipant failed."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
typesupport = new mod.tstTypeSupport();
if (typesupport == null)
{
result = new Test.Framework.TestResult(expResult, "TypeSupport is not constructed."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
returnCode = typesupport.RegisterType(participant, "mod::tst");
if (returnCode != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "TypeSupport is not registered."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
returnCode = factory.DeleteParticipant(participant);
if (returnCode != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "Deletion of DomainParticipant failed."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
result = new Test.Framework.TestResult(expResult, expResult, expVerdict, expVerdict
);
return(result);
}
public virtual Test.Framework.TestResult Init()
{
DDS.ReturnCode rc;
string name;
string typeName;
Test.Framework.TestResult result = new Test.Framework.TestResult("Initialization success"
, string.Empty, TestVerdict.Pass, TestVerdict.Fail
);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return(result);
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return(result);
}
participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return(result);
}
typeSupport = new mod.tstTypeSupport();
if (typeSupport == null)
{
result.Result = "Creation of tstTypeSupport failed.";
return(result);
}
name = "my_topic";
typeName = "my_type";
rc = typeSupport.RegisterType(participant, typeName);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
return(result);
}
if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
return(result);
}
topic = participant.CreateTopic(name, typeName, topQosHolder);//, null, 0);
if (topic == null)
{
result.Result = "Topic could not be created.";
return(result);
}
result.Result = "Initialization success.";
result.Verdict = TestVerdict.Pass;
return(null);
}
public virtual Test.Framework.TestResult Init()
{
DDS.ReturnCode rc;
string name;
string typeName;
Test.Framework.TestResult result = new Test.Framework.TestResult("Initialization success"
, string.Empty, TestVerdict.Pass, TestVerdict.Fail
);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return result;
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return result;
}
participant = factory.CreateParticipant(string.Empty, pqosHolder);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return result;
}
typeSupport = new mod.tstTypeSupport();
if (typeSupport == null)
{
result.Result = "Creation of tstTypeSupport failed.";
return result;
}
name = "my_topic";
typeName = "my_type";
rc = typeSupport.RegisterType(participant, typeName);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
return result;
}
if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
return result;
}
topic = participant.CreateTopic(name, typeName, topQosHolder);//, null, 0);
if (topic == null)
{
result.Result = "Topic could not be created.";
return result;
}
result.Result = "Initialization success.";
result.Verdict = TestVerdict.Pass;
return null;
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
Test.Framework.TestVerdict expVerdict = Test.Framework.TestVerdict.Pass;
string expResult = "type is registered.";
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
mod.tstTypeSupport typesupport;
DDS.ReturnCode returnCode;
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result = new Test.Framework.TestResult(expResult, "DomainParticipantFactory could not be initialised."
, expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "Default DomainParticipantQos could not be resolved."
, expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
participant = factory.CreateParticipant(string.Empty, pqosHolder);//, null, 0);
if (participant == null)
{
result = new Test.Framework.TestResult(expResult, "Creation of DomainParticipant failed."
, expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
typesupport = new mod.tstTypeSupport();
if (typesupport == null)
{
result = new Test.Framework.TestResult(expResult, "TypeSupport is not constructed."
, expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
returnCode = typesupport.RegisterType(participant, "mod::tst");
if (returnCode != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "TypeSupport is not registered."
, expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
returnCode = factory.DeleteParticipant(participant);
if (returnCode != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "Deletion of DomainParticipant failed."
, expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
result = new Test.Framework.TestResult(expResult, expResult, expVerdict, expVerdict
);
return result;
}
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase)
{
DDS.IDomainParticipant participant;
DDS.TopicQos topQosHolder = null;
DDS.ITopic topic;
mod.tstTypeSupport typeSupport = null;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
participant = (DDS.IDomainParticipant)testCase.ResolveObject("participant");
typeSupport = new mod.tstTypeSupport();
if (typeSupport == null)
{
result.Result = "Creation of tstTypeSupport failed.";
return(result);
}
rc = typeSupport.RegisterType(participant, "my_type");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
return(result);
}
if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
return(result);
}
topic = participant.CreateTopic("my_topic", "my_type", topQosHolder);//, null, 0);
if (topic == null)
{
result.Result = "Topic could not be created.";
return(result);
}
testCase.RegisterObject("topic", topic);
testCase.RegisterObject("topicQos", topQosHolder);
testCase.RegisterObject("typeSupport", typeSupport);
result.Result = "Initialization success.";
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase)
{
DDS.IDomainParticipant participant;
mod.tstTypeSupport typeSupport;
DDS.TopicQos topQosHolder = null;
DDS.ITopic topic;
DDS.ReturnCode rc;
Test.Framework.TestResult result;
participant = (DDS.IDomainParticipant)testCase.ResolveObject("participant");
typeSupport = new mod.tstTypeSupport();
result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
if (typeSupport == null)
{
result.Result = "Creation of tstTypeSupport failed.";
return result;
}
rc = typeSupport.RegisterType(participant, "my_type");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
return result;
}
if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
return result;
}
topic = participant.CreateTopic("my_topic", "my_type", topQosHolder);//, null, 0);
if (topic == null)
{
result.Result = "Topic could not be created.";
return result;
}
testCase.RegisterObject("topic", topic);
testCase.RegisterObject("topicQos", topQosHolder);
testCase.RegisterObject("typeSupport", typeSupport);
result.Result = "Initialization success.";
result.Verdict = Test.Framework.TestVerdict.Pass;
return result;
}
public override Test.Framework.TestResult Run()
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
DDS.TopicQos topQosHolder = null;
DDS.ITopic topic;
mod.tstTypeSupport typeSupport = null;
mod.tstDataReader datareader;
test.sacs.MyDataReaderListener listener;
DDS.ISubscriber subscriber;
DDS.SubscriberQos sqosHolder = null;
DDS.DataReaderQos dqosHolder = null;
DDS.IPublisher publisher;
DDS.PublisherQos pubQosHolder = null;
mod.tstDataWriter datawriter;
DDS.DataWriterQos wqosHolder = null;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
string expResult = "DataReaderListener test succeeded.";
semaphores = new Dictionary <DDS.StatusKind, Semaphore>();
semaphores.Add(DDS.StatusKind.DataAvailable, new Semaphore(0, 1));
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return(result);
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return(result);
}
participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return(result);
}
typeSupport = new mod.tstTypeSupport();
if (typeSupport == null)
{
result.Result = "Creation of tstTypeSupport failed.";
this.Cleanup(factory, participant);
return(result);
}
rc = typeSupport.RegisterType(participant, "my_type");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
topic = participant.CreateTopic("my_topic", "my_type", topQosHolder);//, null,
//0);
if (topic == null)
{
result.Result = "Topic could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultSubscriberQos(ref sqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default SubscriberQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
subscriber = participant.CreateSubscriber(sqosHolder);//, null, 0);
if (subscriber == null)
{
result.Result = "Subscriber could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (subscriber.GetDefaultDataReaderQos(ref dqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataReaderQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
datareader = (mod.tstDataReader)subscriber.CreateDataReader(topic, dqosHolder);//, null, 0);
if (datareader == null)
{
result.Result = "DataReader could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default PublisherQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
publisher = participant.CreatePublisher(pubQosHolder);//, null, 0);
if (publisher == null)
{
result.Result = "Publisher could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (publisher.GetDefaultDataWriterQos(ref wqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataWriterQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, wqosHolder);//, null, 0);
if (datawriter == null)
{
result.Result = "DataWriter could not be created.";
this.Cleanup(factory, participant);
return(result);
}
listener = new test.sacs.MyDataReaderListener(semaphores);
rc = datareader.SetListener(listener, DDS.StatusKind.LivelinessChanged | DDS.StatusKind.DataAvailable);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Set listener failed.";
return(result);
}
mod.tst t = new mod.tst();
t.long_1 = 1;
t.long_2 = 2;
t.long_3 = 3;
rc = datawriter.Write(t, DDS.InstanceHandle.Nil);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Data could not be written.";
this.Cleanup(factory, participant);
return(result);
}
if (semaphores[DDS.StatusKind.DataAvailable].WaitOne(10000))
{
if (!listener.onDataAvailableCalled)
{
result.Result = "on_data_available does not work properly.";
this.Cleanup(factory, participant);
return(result);
}
}
else
{
result.Result = "on_data_available did not trigger";
this.Cleanup(factory, participant);
return(result);
}
listener.Reset();
rc = publisher.DeleteDataWriter(datawriter);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "DataWriter could not be deleted.";
this.Cleanup(factory, participant);
return(result);
}
rc = participant.DeleteContainedEntities();
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Delete contained entities failed.";
this.Cleanup(factory, participant);
return(result);
}
rc = factory.DeleteParticipant(participant);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Delete DomainParticipant failed.";
this.Cleanup(factory, participant);
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase)
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
DDS.TopicQos topQosHolder = null;
DDS.ITopic topic;
mod.tstTypeSupport typeSupport = null;
Test.Framework.TestResult result;
string name;
string typeName;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return(result);
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return(result);
}
participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return(result);
}
typeSupport = new mod.tstTypeSupport();
if (typeSupport == null)
{
result.Result = "Creation of tstTypeSupport failed.";
return(result);
}
name = "my_topic";
typeName = "my_type";
rc = typeSupport.RegisterType(participant, typeName);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
return(result);
}
if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
return(result);
}
topic = participant.CreateTopic(name, typeName, topQosHolder);//, null, 0);
if (topic == null)
{
result.Result = "Topic could not be created.";
return(result);
}
testCase.RegisterObject("factory", factory);
testCase.RegisterObject("participantQos", pqosHolder);
testCase.RegisterObject("participant", participant);
testCase.RegisterObject("topic", topic);
testCase.RegisterObject("topicQos", topQosHolder);
testCase.RegisterObject("typeSupport", typeSupport);
testCase.RegisterObject("topicName", name);
testCase.RegisterObject("topicTypeName", typeName);
result.Result = "Initialization success.";
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
string expResult = "register_typesupport tests pass";
DDS.DomainParticipantFactory factory;
DDS.DomainParticipantQos participantQosHolder = null;
DDS.IDomainParticipant participant;
mod.tstTypeSupport typeSupport;
DDS.ReturnCode rc;
Test.Framework.TestResult result;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory.get_instance() did not return a factory (1)";
return(result);
}
if (factory.GetDefaultParticipantQos(ref participantQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "factory.get_default_participant_qos() did not return a qos (2)";
return(result);
}
participant = factory.CreateParticipant(string.Empty, participantQosHolder);//, null, 0);
if (participant == null)
{
result.Result = "factory.create_participant() did not return a participant (2)";
return(result);
}
typeSupport = new mod.tstTypeSupport();
rc = typeSupport.RegisterType(null, null);
if (rc == DDS.ReturnCode.Ok)
{
result.Result = "could register a type on a null participant and with a null name (3)";
return(result);
}
rc = typeSupport.RegisterType(participant, null);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not register a type with a null name (4)";
return(result);
}
rc = typeSupport.RegisterType(participant, string.Empty);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not register a type with an empty name (5)";
return(result);
}
rc = typeSupport.RegisterType(null, "type_name6");
if (rc == DDS.ReturnCode.Ok)
{
result.Result = "could register a type on a null participant (6)";
return(result);
}
rc = factory.DeleteParticipant(participant);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not delete a participant (7)";
return(result);
}
rc = typeSupport.RegisterType(null, "type_name8");
if (rc == DDS.ReturnCode.Ok)
{
result.Result = "could register a type on a null participant (8)";
return(result);
}
rc = typeSupport.RegisterType(participant, "type_name9");
if (rc == DDS.ReturnCode.Ok)
{
result.Result = "could register a type on a deleted participant (9)";
return(result);
}
participant = factory.CreateParticipant(string.Empty, participantQosHolder);//, null, 0);
if (participant == null)
{
result.Result = "factory.create_participant() did not return a participant (10)";
return(result);
}
rc = typeSupport.RegisterType(participant, " ");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not register a type with all spaces (11)";
return(result);
}
rc = factory.DeleteParticipant(participant);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "participant could not be deleted (12)";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
DDS.TopicQos topQosHolder = null;
DDS.ITopic topic;
mod.tstTypeSupport typeSupport = null;
mod.tstDataReader datareader;
test.sacs.MyDataReaderListener listener;
DDS.ISubscriber subscriber;
DDS.SubscriberQos sqosHolder = null;
DDS.DataReaderQos dqosHolder = null;
DDS.IPublisher publisher;
DDS.PublisherQos pubQosHolder = null;
mod.tstDataWriter datawriter;
DDS.DataWriterQos wqosHolder = null;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
string expResult = "DataReaderListener test succeeded.";
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return(result);
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return(result);
}
participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return(result);
}
typeSupport = new mod.tstTypeSupport();
if (typeSupport == null)
{
result.Result = "Creation of tstTypeSupport failed.";
this.Cleanup(factory, participant);
return(result);
}
rc = typeSupport.RegisterType(participant, "my_type");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
topQosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
topic = participant.CreateTopic("my_topic_t", "my_type", topQosHolder);//, null, 0);
if (topic == null)
{
result.Result = "Topic could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default PublisherQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
publisher = participant.CreatePublisher(pubQosHolder);//, null, 0);
if (publisher == null)
{
result.Result = "Publisher could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (publisher.GetDefaultDataWriterQos(ref wqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataWriterQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
wqosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, wqosHolder);//, null, 0);
if (datawriter == null)
{
result.Result = "DataWriter could not be created.";
this.Cleanup(factory, participant);
return(result);
}
mod.tst t = new mod.tst();
t.long_1 = 1;
t.long_2 = 2;
t.long_3 = 3;
rc = datawriter.Write(t, DDS.InstanceHandle.Nil);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Data could not be written.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultSubscriberQos(ref sqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default SubscriberQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
subscriber = participant.CreateSubscriber(sqosHolder);//, null, 0);
if (subscriber == null)
{
result.Result = "Subscriber could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (subscriber.GetDefaultDataReaderQos(ref dqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataReaderQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
dqosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
listener = new test.sacs.MyDataReaderListener();
datareader = (mod.tstDataReader)subscriber.CreateDataReader(topic, dqosHolder, listener, DDS.StatusKind.Any);
if (datareader == null)
{
result.Result = "DataReader could not be created.";
this.Cleanup(factory, participant);
return(result);
}
try
{
System.Threading.Thread.Sleep(3000);
}
catch (System.Exception e)
{
System.Console.WriteLine(e);
}
if (!listener.onLivelinessChangedCalled)
{
result.Result = "on_liveliness_changed does not work properly.";
this.Cleanup(factory, participant);
return(result);
}
if (!listener.onDataAvailableCalled)
{
result.Result = "on_data_available does not work properly.";
this.Cleanup(factory, participant);
return(result);
}
rc = participant.DeleteContainedEntities();
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Delete contained entities failed.";
this.Cleanup(factory, participant);
return(result);
}
rc = factory.DeleteParticipant(participant);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Delete DomainParticipant failed.";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
string expResult = "get_type_name returns the correct name";
DDS.DomainParticipantFactory factory;
DDS.DomainParticipantQos participantQosHolder = null;
DDS.IDomainParticipant participant;
mod.tstTypeSupport typeSupport;
DDS.ReturnCode rc;
Test.Framework.TestResult result;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory.get_instance() did not return a factory";
return(result);
}
if (factory.GetDefaultParticipantQos(ref participantQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "factory.get_default_participant_qos() did not return a qos";
return(result);
}
participant = factory.CreateParticipant(string.Empty, participantQosHolder);//, null, 0);
if (participant == null)
{
result.Result = "factory.create_participant() did not return a participant";
return(result);
}
typeSupport = new mod.tstTypeSupport();
string typeName = typeSupport.TypeName;
if (typeName == null)
{
result.Result = "get_type_name returned null (1)";
return(result);
}
if (!typeName.Equals("mod::tst"))
{
result.Result = "get_type_name returned incorrect typename (1)";
return(result);
}
rc = typeSupport.RegisterType(participant, "type1");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not register a type";
return(result);
}
typeName = typeSupport.TypeName;
if (typeName == null)
{
result.Result = "get_type_name returned null (2)";
return(result);
}
if (!typeName.Equals("mod::tst"))
{
result.Result = "get_type_name returned incorrect typename (2)";
return(result);
}
mod.otherTypeTypeSupport typeSupport2 = new mod.otherTypeTypeSupport();
typeName = typeSupport2.TypeName;
if (typeName == null)
{
result.Result = "get_type_name returned null (3)";
return(result);
}
if (!typeName.Equals("mod::otherType"))
{
result.Result = "get_type_name returned incorrect typename (3)";
return(result);
}
rc = factory.DeleteParticipant(participant);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "participant could not be deleted (12)";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
DDS.IDomainParticipant participant;
DDS.IPublisher publisher;
DDS.IPublisher publisher2;
DDS.PublisherQos qos = null;
DDS.IDataWriter writer;
DDS.IDataWriter writer2;
DDS.DataWriterQos dataWriterQosHolder = null;
DDS.DataWriterQos dataWriterQos = null;
DDS.ITopic topic;
DDS.ITopic topic2;
DDS.TopicQos defaultTopicQos = null;
mod.tstTypeSupport typeSupport;
string expResult = "Successful creation and deletion of DataWriters";
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
participant = (DDS.IDomainParticipant) this.ResolveObject("participant");
publisher = (DDS.IPublisher) this.ResolveObject("publisher");
qos = (DDS.PublisherQos) this.ResolveObject("publisherQos");
topic = (DDS.ITopic) this.ResolveObject("topic");
defaultTopicQos = (DDS.TopicQos) this.ResolveObject("topicQos");
publisher.GetDefaultDataWriterQos(ref dataWriterQosHolder);
writer = publisher.CreateDataWriter(topic, dataWriterQosHolder);//, null, 0);
if (writer == null)
{
result.Result = "could not create a writer (1).";
return(result);
}
rc = publisher.DeleteDataWriter(writer);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not delete a writer (2).";
return(result);
}
try
{
writer = publisher.CreateDataWriter(null, dataWriterQosHolder);//, null, 0);
}
catch (System.NullReferenceException)
{
writer = null;
}
if (writer != null)
{
result.Result = "could create a writer with invalid topic (3).";
return(result);
}
typeSupport = new mod.tstTypeSupport();
if (typeSupport == null)
{
result.Result = "Creation of tstTypeSupport failed.";
return(result);
}
rc = typeSupport.RegisterType(participant, "my_other_type");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
return(result);
}
publisher2 = participant.CreatePublisher(qos);//, null, 0);
if (publisher2 == null)
{
result.Result = "creation of a second publisher failed.";
return(result);
}
topic2 = participant.CreateTopic("my_other_topic", "my_other_type", defaultTopicQos);//, null, 0);
if (topic2 == null)
{
result.Result = "Topic2 could not be created.";
return(result);
}
writer = publisher.CreateDataWriter(topic2, dataWriterQosHolder);//, null, 0);
if (writer == null)
{
result.Result = "could not create a writer with another topic (4).";
return(result);
}
writer2 = publisher.LookupDataWriter("my_other_topic");
if (writer2 == null)
{
result.Result = "could not lookup writer (5).";
return(result);
}
if (writer2 != writer)
{
result.Result = "looked-up writer != initial writer (6).";
return(result);
}
writer2 = null;
writer2 = publisher.LookupDataWriter("unknown_topic_name");
if (writer2 != null)
{
result.Result = "could lookup writer with unknown topic name (7).";
return(result);
}
rc = publisher2.DeleteDataWriter(writer);
if (rc != DDS.ReturnCode.PreconditionNotMet)
{
result.Result = "Expected returncode PRECONDITION_NOT_MET instead of " + rc + " after deleting a writer on wrong publisher (8).";
return(result);
}
rc = publisher.DeleteDataWriter(writer);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not delete a writer (9).";
return(result);
}
rc = participant.DeleteTopic(topic2);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not delete a topic (10).";
return(result);
}
writer = publisher.CreateDataWriter(topic2, dataWriterQosHolder);//, null, 0);
if (writer != null)
{
result.Result = "could create a writer with an already deleted topic (11).";
return(result);
}
dataWriterQos = dataWriterQosHolder;
dataWriterQos.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
dataWriterQos.History.Kind = DDS.HistoryQosPolicyKind.KeepAllHistoryQos;
writer = publisher.CreateDataWriter(topic, dataWriterQos);//, null, 0);
if (writer == null)
{
result.Result = "could not create a writer with TRANSIENT durabilityQosPolicy (12).";
return(result);
}
rc = publisher.DeleteDataWriter(writer);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not delete a writer (13).";
return(result);
}
dataWriterQos.Durability.Kind = DDS.DurabilityQosPolicyKind.PersistentDurabilityQos;
writer = publisher.CreateDataWriter(topic, dataWriterQos);//, null, 0);
if (writer == null)
{
result.Result = "could not create a writer with PERSISTENT durabilityQosPolicy (14).";
return(result);
}
rc = publisher.DeleteDataWriter(writer);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not delete a writer (15).";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
DDS.IDomainParticipant participant;
DDS.IPublisher publisher;
DDS.IPublisher publisher2;
DDS.PublisherQos qos = null;
DDS.IDataWriter writer;
DDS.IDataWriter writer2;
DDS.DataWriterQos dataWriterQosHolder = null;
DDS.DataWriterQos dataWriterQos = null;
DDS.ITopic topic;
DDS.ITopic topic2;
DDS.TopicQos defaultTopicQos = null;
mod.tstTypeSupport typeSupport;
string expResult = "Successful creation and deletion of DataWriters";
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
participant = (DDS.IDomainParticipant)this.ResolveObject("participant");
publisher = (DDS.IPublisher)this.ResolveObject("publisher");
qos = (DDS.PublisherQos)this.ResolveObject("publisherQos");
topic = (DDS.ITopic)this.ResolveObject("topic");
defaultTopicQos = (DDS.TopicQos)this.ResolveObject("topicQos");
publisher.GetDefaultDataWriterQos(ref dataWriterQosHolder);
writer = publisher.CreateDataWriter(topic, dataWriterQosHolder);//, null, 0);
if (writer == null)
{
result.Result = "could not create a writer (1).";
return result;
}
rc = publisher.DeleteDataWriter(writer);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not delete a writer (2).";
return result;
}
try
{
writer = publisher.CreateDataWriter(null, dataWriterQosHolder);//, null, 0);
}
catch (System.NullReferenceException)
{
writer = null;
}
if (writer != null)
{
result.Result = "could create a writer with invalid topic (3).";
return result;
}
typeSupport = new mod.tstTypeSupport();
if (typeSupport == null)
{
result.Result = "Creation of tstTypeSupport failed.";
return result;
}
rc = typeSupport.RegisterType(participant, "my_other_type");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
return result;
}
publisher2 = participant.CreatePublisher(qos);//, null, 0);
if (publisher2 == null)
{
result.Result = "creation of a second publisher failed.";
return result;
}
topic2 = participant.CreateTopic("my_other_topic", "my_other_type", defaultTopicQos);//, null, 0);
if (topic2 == null)
{
result.Result = "Topic2 could not be created.";
return result;
}
writer = publisher.CreateDataWriter(topic2, dataWriterQosHolder);//, null, 0);
if (writer == null)
{
result.Result = "could not create a writer with another topic (4).";
return result;
}
writer2 = publisher.LookupDataWriter("my_other_topic");
if (writer2 == null)
{
result.Result = "could not lookup writer (5).";
return result;
}
if (writer2 != writer)
{
result.Result = "looked-up writer != initial writer (6).";
return result;
}
writer2 = null;
writer2 = publisher.LookupDataWriter("unknown_topic_name");
if (writer2 != null)
{
result.Result = "could lookup writer with unknown topic name (7).";
return result;
}
rc = publisher2.DeleteDataWriter(writer);
if (rc != DDS.ReturnCode.PreconditionNotMet)
{
result.Result = "Expected returncode PRECONDITION_NOT_MET instead of " + rc + " after deleting a writer on wrong publisher (8).";
return result;
}
rc = publisher.DeleteDataWriter(writer);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not delete a writer (9).";
return result;
}
rc = participant.DeleteTopic(topic2);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not delete a topic (10).";
return result;
}
writer = publisher.CreateDataWriter(topic2, dataWriterQosHolder);//, null, 0);
if (writer != null)
{
result.Result = "could create a writer with an already deleted topic (11).";
return result;
}
dataWriterQos = dataWriterQosHolder;
dataWriterQos.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
dataWriterQos.History.Kind = DDS.HistoryQosPolicyKind.KeepAllHistoryQos;
writer = publisher.CreateDataWriter(topic, dataWriterQos);//, null, 0);
if (writer == null)
{
result.Result = "could not create a writer with TRANSIENT durabilityQosPolicy (12).";
return result;
}
rc = publisher.DeleteDataWriter(writer);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not delete a writer (13).";
return result;
}
dataWriterQos.Durability.Kind = DDS.DurabilityQosPolicyKind.PersistentDurabilityQos;
writer = publisher.CreateDataWriter(topic, dataWriterQos);//, null, 0);
if (writer == null)
{
result.Result = "could not create a writer with PERSISTENT durabilityQosPolicy (14).";
return result;
}
rc = publisher.DeleteDataWriter(writer);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not delete a writer (15).";
return result;
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return result;
}
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase)
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
mod.tstTypeSupport typeSupport;
DDS.TopicQos topicQos = null;
DDS.ITopic topic;
DDS.DomainParticipantQos pqos = null;
DDS.ReturnCode rc;
Test.Framework.TestResult result;
result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return result;
}
if (factory.GetDefaultParticipantQos(ref pqos) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return result;
}
participant = factory.CreateParticipant(string.Empty, pqos);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return result;
}
typeSupport = new mod.tstTypeSupport();
if (typeSupport == null)
{
result.Result = "Creation of tstTypeSupport failed.";
return result;
}
rc = typeSupport.RegisterType(participant, "my_type");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "register_type failed.";
return result;
}
if (participant.GetDefaultTopicQos(ref topicQos) != DDS.ReturnCode.Ok)
{
result.Result = "participant.get_default_topic_qos failed.";
return result;
}
topic = participant.CreateTopic("my_topic", "my_type", topicQos);//, null, 0);
if (topic == null)
{
result.Result = "participant.create_topic failed.";
return result;
}
testCase.RegisterObject("factory", factory);
testCase.RegisterObject("participantQos", pqos);
testCase.RegisterObject("participant", participant);
testCase.RegisterObject("topic", topic);
result.Result = "Initialization success.";
result.Verdict = Test.Framework.TestVerdict.Pass;
return result;
}
public override Test.Framework.TestResult Run()
{
string expResult = "register_typesupport tests pass";
DDS.DomainParticipantFactory factory;
DDS.DomainParticipantQos participantQosHolder = null;
DDS.IDomainParticipant participant;
mod.tstTypeSupport typeSupport;
mod.otherTypeTypeSupport otherTypeTypeSupport;
DDS.ReturnCode rc;
Test.Framework.TestResult result;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory.get_instance() did not return a factory (1)";
return(result);
}
if (factory.GetDefaultParticipantQos(ref participantQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "factory.get_default_participant_qos() did not return a qos (2)";
return(result);
}
participant = factory.CreateParticipant(string.Empty, participantQosHolder);//, null, 0);
if (participant == null)
{
result.Result = "factory.create_participant() did not return a participant (2)";
return(result);
}
typeSupport = new mod.tstTypeSupport();
otherTypeTypeSupport = new mod.otherTypeTypeSupport();
rc = typeSupport.RegisterType(participant, "type1");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not register a type (3)";
return(result);
}
rc = typeSupport.RegisterType(participant, "type1");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not register the same type a second time (4)";
return(result);
}
rc = otherTypeTypeSupport.RegisterType(participant, "type2");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could register a different type (5)";
return(result);
}
rc = otherTypeTypeSupport.RegisterType(participant, "type1");
if (rc != DDS.ReturnCode.PreconditionNotMet)
{
result.Result = "Expected RETCODE_PRECONDITION_NOT_MET but recieved " + rc + " after calling register_type using an already used name for a different type (6)";
return(result);
}
rc = factory.DeleteParticipant(participant);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not delete a participant (7)";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
string expResult = "register_typesupport tests pass";
DDS.DomainParticipantFactory factory;
DDS.DomainParticipantQos participantQosHolder = null;
DDS.IDomainParticipant participant;
mod.tstTypeSupport typeSupport;
DDS.ReturnCode rc;
Test.Framework.TestResult result;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory.get_instance() did not return a factory (1)";
return result;
}
if (factory.GetDefaultParticipantQos(ref participantQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "factory.get_default_participant_qos() did not return a qos (2)";
return result;
}
participant = factory.CreateParticipant(string.Empty, participantQosHolder);//, null, 0);
if (participant == null)
{
result.Result = "factory.create_participant() did not return a participant (2)";
return result;
}
typeSupport = new mod.tstTypeSupport();
rc = typeSupport.RegisterType(null, null);
if (rc == DDS.ReturnCode.Ok)
{
result.Result = "could register a type on a null participant and with a null name (3)";
return result;
}
rc = typeSupport.RegisterType(participant, null);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not register a type with a null name (4)";
return result;
}
rc = typeSupport.RegisterType(participant, string.Empty);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not register a type with an empty name (5)";
return result;
}
rc = typeSupport.RegisterType(null, "type_name6");
if (rc == DDS.ReturnCode.Ok)
{
result.Result = "could register a type on a null participant (6)";
return result;
}
rc = factory.DeleteParticipant(participant);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not delete a participant (7)";
return result;
}
rc = typeSupport.RegisterType(null, "type_name8");
if (rc == DDS.ReturnCode.Ok)
{
result.Result = "could register a type on a null participant (8)";
return result;
}
rc = typeSupport.RegisterType(participant, "type_name9");
if (rc == DDS.ReturnCode.Ok)
{
result.Result = "could register a type on a deleted participant (9)";
return result;
}
participant = factory.CreateParticipant(string.Empty, participantQosHolder);//, null, 0);
if (participant == null)
{
result.Result = "factory.create_participant() did not return a participant (10)";
return result;
}
rc = typeSupport.RegisterType(participant, " ");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not register a type with all spaces (11)";
return result;
}
rc = factory.DeleteParticipant(participant);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "participant could not be deleted (12)";
return result;
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return result;
}
public override Test.Framework.TestResult Run()
{
string expResult = "get_type_name returns the correct name";
DDS.DomainParticipantFactory factory;
DDS.DomainParticipantQos participantQosHolder = null;
DDS.IDomainParticipant participant;
mod.tstTypeSupport typeSupport;
DDS.ReturnCode rc;
Test.Framework.TestResult result;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory.get_instance() did not return a factory";
return result;
}
if (factory.GetDefaultParticipantQos(ref participantQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "factory.get_default_participant_qos() did not return a qos";
return result;
}
participant = factory.CreateParticipant(string.Empty, participantQosHolder);//, null, 0);
if (participant == null)
{
result.Result = "factory.create_participant() did not return a participant";
return result;
}
typeSupport = new mod.tstTypeSupport();
string typeName = typeSupport.TypeName;
if (typeName == null)
{
result.Result = "get_type_name returned null (1)";
return result;
}
if (!typeName.Equals("mod::tst"))
{
result.Result = "get_type_name returned incorrect typename (1)";
return result;
}
rc = typeSupport.RegisterType(participant, "type1");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not register a type";
return result;
}
typeName = typeSupport.TypeName;
if (typeName == null)
{
result.Result = "get_type_name returned null (2)";
return result;
}
if (!typeName.Equals("mod::tst"))
{
result.Result = "get_type_name returned incorrect typename (2)";
return result;
}
mod.otherTypeTypeSupport typeSupport2 = new mod.otherTypeTypeSupport();
typeName = typeSupport2.TypeName;
if (typeName == null)
{
result.Result = "get_type_name returned null (3)";
return result;
}
if (!typeName.Equals("mod::otherType"))
{
result.Result = "get_type_name returned incorrect typename (3)";
return result;
}
rc = factory.DeleteParticipant(participant);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "participant could not be deleted (12)";
return result;
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return result;
}
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase)
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
DDS.SubscriberQos subQosHolder = null;
DDS.DataReaderQos drQosHolder = null;
DDS.ISubscriber subscriber;
DDS.PublisherQos pubQosHolder = null;
DDS.IPublisher publisher;
mod.tstTypeSupport typeSupport;
DDS.TopicQos tQosHolder = null;
DDS.ITopic topic;
DDS.DataWriterQos dwQosHolder = null;
mod.tstDataWriter datawriter;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return(result);
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return(result);
}
participant = factory.CreateParticipant(string.Empty, pqosHolder);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return(result);
}
if (participant.GetDefaultSubscriberQos(ref subQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default SubscriberQos could not be resolved.";
return(result);
}
subQosHolder.Partition.Name = new string[1];
subQosHolder.Partition.Name[0] = "testPartition";
subscriber = participant.CreateSubscriber(subQosHolder);//, null, 0);
if (subscriber == null)
{
result.Result = "Subscriber could not be created.";
return(result);
}
typeSupport = new mod.tstTypeSupport();
rc = typeSupport.RegisterType(participant, "tstType");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Typesupport could not be registered.";
return(result);
}
if (participant.GetDefaultTopicQos(ref tQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
return(result);
}
tQosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
tQosHolder.Reliability.Kind = DDS.ReliabilityQosPolicyKind.ReliableReliabilityQos;
topic = participant.CreateTopic("tst", "tstType", tQosHolder);//, null, 0);
if (topic == null)
{
result.Result = "Topic could not be created.";
return(result);
}
if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default PublisherQos could not be resolved.";
return(result);
}
pubQosHolder.Partition.Name = new string[1];
pubQosHolder.Partition.Name[0] = "testPartition";
publisher = participant.CreatePublisher(pubQosHolder);//, null, 0);
if (publisher == null)
{
result.Result = "Publisher could not be created.";
return(result);
}
if (publisher.CopyFromTopicQos(ref dwQosHolder, tQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataWriterQos could not be resolved.";
return(result);
}
dwQosHolder.WriterDataLifecycle.AutodisposeUnregisteredInstances = true;
datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, dwQosHolder);//, null, 0);
if (datawriter == null)
{
result.Result = "DataWriter could not be created.";
return(result);
}
if (subscriber.CopyFromTopicQos(ref drQosHolder, tQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataReaderQos could not be resolved.";
return(result);
}
drQosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.VolatileDurabilityQos;
testCase.RegisterObject("factory", factory);
testCase.RegisterObject("participantQos", pqosHolder);
testCase.RegisterObject("participant", participant);
testCase.RegisterObject("topic", topic);
testCase.RegisterObject("topicQos", tQosHolder);
testCase.RegisterObject("subscriber", subscriber);
testCase.RegisterObject("subscriberQos", subQosHolder);
testCase.RegisterObject("datareaderQos", drQosHolder);
testCase.RegisterObject("publisher", publisher);
testCase.RegisterObject("publisherQos", pubQosHolder);
testCase.RegisterObject("datawriter", datawriter);
testCase.RegisterObject("datawriterQos", dwQosHolder);
result.Result = "Initialization success.";
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
string expResult = "contains_entity returns the correct result";
DDS.IDomainParticipant participant;
DDS.DomainParticipantFactory factory;
DDS.TopicQos tHolder = new DDS.TopicQos();
DDS.PublisherQos pHolder = new DDS.PublisherQos();
DDS.SubscriberQos sHolder = new DDS.SubscriberQos();
DDS.DataWriterQos wHolder = new DDS.DataWriterQos();
DDS.DataReaderQos rHolder = new DDS.DataReaderQos();
DDS.ITopic topic;
DDS.IPublisher publisher;
DDS.ISubscriber subscriber;
mod.tstDataWriter writer;
mod.tstDataReader reader;
long handle;
DDS.ReturnCode rc;
participant = (DDS.IDomainParticipant)this.ResolveObject("participant");
factory = (DDS.DomainParticipantFactory)this.ResolveObject("factory");
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
if (participant.ContainsEntity(0))
{
result.Result = "contains_entity with nil handle incorrect";
return result;
}
if (participant.ContainsEntity(100))
{
result.Result = "contains_entity with incorrect handle incorrect";
return result;
}
handle = participant.InstanceHandle;
if (handle == DDS.InstanceHandle.Nil)
{
result.Result = "get_instance_handle returned 0";
return result;
}
if (participant.ContainsEntity(handle))
{
result.Result = "contains_entity with own handle incorrect";
return result;
}
mod.tstTypeSupport typeSupport = new mod.tstTypeSupport();
rc = typeSupport.RegisterType(participant, "type1");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
return result;
}
participant.GetDefaultTopicQos(ref tHolder);
topic = participant.CreateTopic("TestTopic", "type1", tHolder);//, null, 0);
if (topic == null)
{
result.Result = "Create Topic failed.";
return result;
}
participant.GetDefaultPublisherQos(ref pHolder);
publisher = participant.CreatePublisher(pHolder);//, null, 0);
if (publisher == null)
{
result.Result = "Create Publisher failed.";
return result;
}
participant.GetDefaultSubscriberQos(ref sHolder);
subscriber = participant.CreateSubscriber(sHolder);//, null, 0);
if (subscriber == null)
{
result.Result = "Create Subscriber failed.";
return result;
}
publisher.GetDefaultDataWriterQos(ref wHolder);
writer = publisher.CreateDataWriter(topic, wHolder) as mod.tstDataWriter;
if (writer == null)
{
result.Result = "Create Writer failed.";
return result;
}
subscriber.GetDefaultDataReaderQos(ref rHolder);
reader = subscriber.CreateDataReader(topic, rHolder) as mod.tstDataReader;
if (reader == null)
{
result.Result = "Create Reader failed.";
return result;
}
handle = topic.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (topic) returned 0";
return result;
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with topic handle incorrect";
return result;
}
handle = publisher.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (publisher) returned != 0";
return result;
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with publisher handle incorrect";
return result;
}
handle = subscriber.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (subscriber) returned != 0";
return result;
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with subscriber handle incorrect";
return result;
}
handle = writer.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (writer) returned 0";
return result;
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with writer handle incorrect";
return result;
}
handle = reader.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (reader) returned 0";
return result;
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with reader handle incorrect";
return result;
}
rc = participant.DeleteContainedEntities();
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "delete_contained_entities failed.";
return result;
}
if (participant.ContainsEntity(handle))
{
result.Result = "contains_entity of deleted reader incorrect";
return result;
}
result.Verdict = Test.Framework.TestVerdict.Pass;
result.Result = expResult;
return result;
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
DDS.IDomainParticipant participant;
DDS.DomainParticipantFactory factory;
DDS.DomainParticipantQos qos;
string expResult = "Default topicQos is used when TOPIC_QOS_DEFAULT is specified.";
DDS.TopicQos topQosHolder1;
DDS.TopicQos topQosHolder2;
mod.tstTypeSupport typeSupport;
DDS.ITopic topic;
DDS.ReturnCode returnCode;
factory = (DDS.DomainParticipantFactory) this.ResolveObject("factory");
qos = (DDS.DomainParticipantQos) this.ResolveObject("participantQos");
participant = (DDS.IDomainParticipant) this.ResolveObject("participant");
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
typeSupport = new mod.tstTypeSupport();
topQosHolder1 = new DDS.TopicQos();
topQosHolder2 = new DDS.TopicQos();
typeSupport.RegisterType(participant, "My_Type");
if (participant.GetDefaultTopicQos(ref topQosHolder1) != DDS.ReturnCode.Ok)
{
result.Result = "Get default TopicQos failed (1).";
return(result);
}
topQosHolder1.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
topQosHolder1.Liveliness.Kind = DDS.LivelinessQosPolicyKind.AutomaticLivelinessQos;
topQosHolder1.Reliability.Kind = DDS.ReliabilityQosPolicyKind.ReliableReliabilityQos;
topQosHolder1.DestinationOrder.Kind = DDS.DestinationOrderQosPolicyKind.ByReceptionTimestampDestinationorderQos;
topQosHolder1.History.Kind = DDS.HistoryQosPolicyKind.KeepAllHistoryQos;
topQosHolder1.Ownership.Kind = DDS.OwnershipQosPolicyKind.SharedOwnershipQos;
participant.SetDefaultTopicQos(topQosHolder1);
typeSupport = new mod.tstTypeSupport();
returnCode = typeSupport.RegisterType(participant, "myTopicType");
if (returnCode != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
return(result);
}
topic = participant.CreateTopic("MyDCPSTopic", "myTopicType");
if (topic == null)
{
result.Result = "Create topic failed.";
return(result);
}
topic.GetQos(ref topQosHolder2);
if (!test.sacs.QosComparer.TopicQosEquals(topQosHolder1, topQosHolder2))
{
result.Result = "Default topicQos is not used when TOPIC_QOS_DEFAULT is specified.";
return(result);
}
returnCode = participant.DeleteTopic(topic);
if (returnCode != DDS.ReturnCode.Ok)
{
result.Result = "Delete Topic failed.";
return(result);
}
result.Verdict = Test.Framework.TestVerdict.Pass;
result.Result = expResult;
return(result);
}
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase)
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
DDS.SubscriberQos subQosHolder = null;
DDS.ISubscriber subscriber;
DDS.PublisherQos pubQosHolder = null;
DDS.IPublisher publisher;
mod.tstTypeSupport typeSupport;
DDS.TopicQos tQosHolder = null;
DDS.ITopic topic;
DDS.DataReaderQos drQosHolder = null;
mod.tstDataReader datareader;
DDS.DataWriterQos dwQosHolder = null;
mod.tstDataWriter datawriter;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return result;
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return result;
}
participant = factory.CreateParticipant(string.Empty, pqosHolder, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return result;
}
if (participant.GetDefaultSubscriberQos(ref subQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default SubscriberQos could not be resolved.";
return result;
}
subscriber = participant.CreateSubscriber(subQosHolder, null, 0);
if (subscriber == null)
{
result.Result = "Subscriber could not be created.";
return result;
}
typeSupport = new mod.tstTypeSupport();
rc = typeSupport.RegisterType(participant, "tstType");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Typesupport could not be registered.";
return result;
}
if (participant.GetDefaultTopicQos(ref tQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
return result;
}
topic = participant.CreateTopic("tst", "tstType", tQosHolder, null, 0);
if (topic == null)
{
result.Result = "Topic could not be created.";
return result;
}
if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default PublisherQos could not be resolved.";
return result;
}
publisher = participant.CreatePublisher(pubQosHolder, null, 0);
if (publisher == null)
{
result.Result = "Publisher could not be created.";
return result;
}
if (publisher.GetDefaultDataWriterQos(ref dwQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataWriterQos could not be resolved.";
return result;
}
datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, dwQosHolder, null, 0);
if (subscriber.GetDefaultDataReaderQos(ref drQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataReaderQos could not be resolved.";
return result;
}
datareader = (mod.tstDataReader)subscriber.CreateDataReader(topic, drQosHolder, null, 0);
if (datareader == null)
{
result.Result = "DataReader could not be created.";
return result;
}
testCase.RegisterObject("factory", factory);
testCase.RegisterObject("participantQos", pqosHolder);
testCase.RegisterObject("participant", participant);
testCase.RegisterObject("topic", topic);
testCase.RegisterObject("topicQos", tQosHolder);
testCase.RegisterObject("subscriber", subscriber);
testCase.RegisterObject("subscriberQos", subQosHolder);
testCase.RegisterObject("datareader", datareader);
testCase.RegisterObject("datareaderQos", drQosHolder);
testCase.RegisterObject("publisher", publisher);
testCase.RegisterObject("publisherQos", pubQosHolder);
testCase.RegisterObject("datawriter", datawriter);
testCase.RegisterObject("datawriterQos", dwQosHolder);
result.Result = "Initialization success.";
result.Verdict = Test.Framework.TestVerdict.Pass;
return result;
}
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase)
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
DDS.SubscriberQos subQosHolder = null;
DDS.DataReaderQos drQosHolder = null;
DDS.ISubscriber subscriber;
DDS.PublisherQos pubQosHolder = null;
DDS.IPublisher publisher;
mod.tstTypeSupport typeSupport;
DDS.TopicQos tQosHolder = null;
DDS.ITopic topic;
DDS.DataWriterQos dwQosHolder = null;
mod.tstDataWriter datawriter;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return result;
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return result;
}
participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return result;
}
if (participant.GetDefaultSubscriberQos(ref subQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default SubscriberQos could not be resolved.";
return result;
}
subQosHolder.Partition.Name = new string[1];
subQosHolder.Partition.Name[0] = "testPartition";
subscriber = participant.CreateSubscriber(subQosHolder);//, null, 0);
if (subscriber == null)
{
result.Result = "Subscriber could not be created.";
return result;
}
typeSupport = new mod.tstTypeSupport();
rc = typeSupport.RegisterType(participant, "tstType");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Typesupport could not be registered.";
return result;
}
if (participant.GetDefaultTopicQos(ref tQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
return result;
}
tQosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
tQosHolder.Reliability.Kind = DDS.ReliabilityQosPolicyKind.ReliableReliabilityQos;
topic = participant.CreateTopic("tst", "tstType", tQosHolder);//, null, 0);
if (topic == null)
{
result.Result = "Topic could not be created.";
return result;
}
if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default PublisherQos could not be resolved.";
return result;
}
pubQosHolder.Partition.Name = new string[1];
pubQosHolder.Partition.Name[0] = "testPartition";
publisher = participant.CreatePublisher(pubQosHolder);//, null, 0);
if (publisher == null)
{
result.Result = "Publisher could not be created.";
return result;
}
if (publisher.CopyFromTopicQos(ref dwQosHolder, tQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataWriterQos could not be resolved.";
return result;
}
dwQosHolder.WriterDataLifecycle.AutodisposeUnregisteredInstances = true;
datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, dwQosHolder);//, null, 0);
if (datawriter == null)
{
result.Result = "DataWriter could not be created.";
return result;
}
if (subscriber.CopyFromTopicQos(ref drQosHolder, tQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataReaderQos could not be resolved.";
return result;
}
drQosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.VolatileDurabilityQos;
testCase.RegisterObject("factory", factory);
testCase.RegisterObject("participantQos", pqosHolder);
testCase.RegisterObject("participant", participant);
testCase.RegisterObject("topic", topic);
testCase.RegisterObject("topicQos", tQosHolder);
testCase.RegisterObject("subscriber", subscriber);
testCase.RegisterObject("subscriberQos", subQosHolder);
testCase.RegisterObject("datareaderQos", drQosHolder);
testCase.RegisterObject("publisher", publisher);
testCase.RegisterObject("publisherQos", pubQosHolder);
testCase.RegisterObject("datawriter", datawriter);
testCase.RegisterObject("datawriterQos", dwQosHolder);
result.Result = "Initialization success.";
result.Verdict = Test.Framework.TestVerdict.Pass;
return result;
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
DDS.IDomainParticipant participant;
DDS.IDomainParticipant participant2;
DDS.DomainParticipantFactory factory;
DDS.DomainParticipantQos qos = null;
string expResult = "Topic test succeeded.";
DDS.TopicQos topQosHolder1 = null;
DDS.TopicQos topQosHolder2 = null;
mod.tstTypeSupport typeSupport;
DDS.ITopic topic;
DDS.ITopic topic2;
DDS.ITopic topic3;
DDS.ITopic topic4;
DDS.ITopicDescription description;
DDS.ReturnCode returnCode;
factory = (DDS.DomainParticipantFactory) this.ResolveObject("factory");
qos = (DDS.DomainParticipantQos) this.ResolveObject("participantQos");
participant = (DDS.IDomainParticipant) this.ResolveObject("participant");
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
typeSupport = new mod.tstTypeSupport();
typeSupport.RegisterType(participant, "My_Type");
if (participant.GetDefaultTopicQos(ref topQosHolder1) != DDS.ReturnCode.Ok)
{
result.Result = "Get default TopicQos failed (1).";
return(result);
}
if (!test.sacs.QosComparer.TopicQosEquals(topQosHolder1, test.sacs.QosComparer.defaultTopicQos))
{
result.Result = "Get default TopicQos did not return the default qos (1).";
return(result);
}
topQosHolder1.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
topQosHolder1.Liveliness.Kind = DDS.LivelinessQosPolicyKind.AutomaticLivelinessQos;
topQosHolder1.Reliability.Kind = DDS.ReliabilityQosPolicyKind.ReliableReliabilityQos;
topQosHolder1.DestinationOrder.Kind = DDS.DestinationOrderQosPolicyKind.ByReceptionTimestampDestinationorderQos;
topQosHolder1.History.Kind = DDS.HistoryQosPolicyKind.KeepAllHistoryQos;
topQosHolder1.Ownership.Kind = DDS.OwnershipQosPolicyKind.SharedOwnershipQos;
typeSupport = new mod.tstTypeSupport();
returnCode = typeSupport.RegisterType(participant, "myTopicType");
if (returnCode != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
return(result);
}
topic = participant.CreateTopic("MyDCPSTopic", "myTopicType", topQosHolder1);//, null, 0);
if (topic == null)
{
result.Result = "Create topic failed (3)";
return(result);
}
description = participant.LookupTopicDescription("MyDCPSTopic");
if (topic != description)
{
result.Result = "Lookup topic failed (4)";
return(result);
}
topic2 = participant.FindTopic("MyDCPSTopic", new DDS.Duration());
if (topic2 == null)
{
result.Result = "Find topic failed (5)";
return(result);
}
topic2.GetQos(ref topQosHolder2);
if (!test.sacs.QosComparer.TopicQosEquals(topQosHolder1, topQosHolder2))
{
result.Result = "Find Topic did not find the correct Topic. (5)";
return(result);
}
topic3 = participant.CreateTopic("MyDCPSTopic", "myTopicType");
if (topic3 != null)
{
result.Result = "Create Topic with BAD_PARAM succeeded (6).";
return(result);
}
topic4 = participant.CreateTopic("MyDCPSTopic", "myTopicType");
if (topic4 != null)
{
result.Result = "Create Topic with BAD_PARAM succeeded (7).";
return(result);
}
returnCode = participant.DeleteTopic(topic3);
if (returnCode != DDS.ReturnCode.BadParameter)
{
result.Result = "Expected RETCODE_BAD_PARAMETER but received " + returnCode + " after deleting a non exisiting topic (8).";
return(result);
}
returnCode = participant.DeleteTopic(topic4);
if (returnCode != DDS.ReturnCode.BadParameter)
{
result.Result = "Expected RETCODE_BAD_PARAMETER but received " + returnCode + " after deleting a non exisiting topic (9).";
return(result);
}
participant2 = factory.CreateParticipant(DDS.DomainId.Default, qos);//, null, 0);
if (participant2 == null)
{
result.Result = "Create Participant failed (10).";
return(result);
}
returnCode = participant2.DeleteTopic(topic);
if (returnCode == DDS.ReturnCode.Ok)
{
result.Result = "Delete Topic on wrong Participant succeeded (11).";
return(result);
}
returnCode = factory.DeleteParticipant(participant2);
if (returnCode != DDS.ReturnCode.Ok)
{
result.Result = "Delete Participant failed (12).";
return(result);
}
returnCode = participant.DeleteTopic(topic);
if (returnCode != DDS.ReturnCode.Ok)
{
result.Result = "Delete Topic failed (13).";
return(result);
}
returnCode = participant.DeleteTopic(topic2);
if (returnCode != DDS.ReturnCode.Ok)
{
result.Result = "Delete Topic failed (14).";
return(result);
}
returnCode = participant.DeleteTopic(topic);
if (returnCode == DDS.ReturnCode.Ok)
{
result.Result = "Delete of already deleted Topic succeeded (15).";
return(result);
}
returnCode = participant.DeleteTopic(null);
if (returnCode == DDS.ReturnCode.Ok)
{
result.Result = "Delete null Topic succeeded (16).";
return(result);
}
returnCode = participant.IgnoreParticipant(-10);
if (returnCode == DDS.ReturnCode.Ok)
{
result.Result = "Ignore invalid participant succeeded.";
return(result);
}
returnCode = participant.IgnorePublication(-10);
if (returnCode == DDS.ReturnCode.Ok)
{
result.Result = "Ignore invalid publication succeeded.";
return(result);
}
returnCode = participant.IgnoreSubscription(-10);
if (returnCode == DDS.ReturnCode.Ok)
{
result.Result = "Ignore invalid subscription succeeded.";
return(result);
}
returnCode = participant.IgnoreTopic(-10);
if (returnCode == DDS.ReturnCode.Ok)
{
result.Result = "Ignore invalid topic succeeded.";
return(result);
}
result.Verdict = Test.Framework.TestVerdict.Pass;
result.Result = expResult;
return(result);
}
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase)
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqos = null;
DDS.SubscriberQos subQos = null;
DDS.ISubscriber subscriber;
DDS.PublisherQos pubQos = null;
DDS.IPublisher publisher;
mod.tstTypeSupport typeSupport;
DDS.TopicQos tQos = null;
DDS.ITopic topic;
DDS.DataReaderQos drQos = null;
mod.tstDataReader datareader;
DDS.DataWriterQos dwQos = null;
mod.tstDataWriter datawriter;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return(result);
}
if (factory.GetDefaultParticipantQos(ref pqos) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return(result);
}
participant = factory.CreateParticipant(DDS.DomainId.Default, pqos);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return(result);
}
if (participant.GetDefaultSubscriberQos(ref subQos) != DDS.ReturnCode.Ok)
{
result.Result = "Default SubscriberQos could not be resolved.";
return(result);
}
subscriber = participant.CreateSubscriber(subQos);//, null, 0);
if (subscriber == null)
{
result.Result = "Subscriber could not be created.";
return(result);
}
typeSupport = new mod.tstTypeSupport();
rc = typeSupport.RegisterType(participant, "tstType");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Typesupport could not be registered.";
return(result);
}
if (participant.GetDefaultTopicQos(ref tQos) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
return(result);
}
topic = participant.CreateTopic("tst", "tstType", tQos);//, null, 0);
if (topic == null)
{
result.Result = "Topic could not be created.";
return(result);
}
if (participant.GetDefaultPublisherQos(ref pubQos) != DDS.ReturnCode.Ok)
{
result.Result = "Default PublisherQos could not be resolved.";
return(result);
}
publisher = participant.CreatePublisher(pubQos);//, null, 0);
if (publisher == null)
{
result.Result = "Publisher could not be created.";
return(result);
}
if (subscriber.GetDefaultDataReaderQos(ref drQos) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataReaderQos could not be resolved.";
return(result);
}
datareader = (mod.tstDataReader)subscriber.CreateDataReader(topic, drQos);//, null, 0);
if (datareader == null)
{
result.Result = "DataReader could not be created.";
return(result);
}
if (publisher.GetDefaultDataWriterQos(ref dwQos) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataWriterQos could not be resolved.";
return(result);
}
datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, dwQos);//, null, 0);
testCase.RegisterObject("factory", factory);
testCase.RegisterObject("participantQos", pqos);
testCase.RegisterObject("participant", participant);
testCase.RegisterObject("topic", topic);
testCase.RegisterObject("topicQos", tQos);
testCase.RegisterObject("subscriber", subscriber);
testCase.RegisterObject("subscriberQos", subQos);
testCase.RegisterObject("datareader", datareader);
testCase.RegisterObject("datareaderQos", drQos);
testCase.RegisterObject("publisher", publisher);
testCase.RegisterObject("publisherQos", pubQos);
testCase.RegisterObject("datawriter", datawriter);
testCase.RegisterObject("datawriterQos", dwQos);
result.Result = "Initialization success.";
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
string expResult = "contains_entity returns the correct result";
DDS.IDomainParticipant participant;
DDS.DomainParticipantFactory factory;
DDS.TopicQos tHolder = new DDS.TopicQos();
DDS.PublisherQos pHolder = new DDS.PublisherQos();
DDS.SubscriberQos sHolder = new DDS.SubscriberQos();
DDS.DataWriterQos wHolder = new DDS.DataWriterQos();
DDS.DataReaderQos rHolder = new DDS.DataReaderQos();
DDS.ITopic topic;
DDS.IPublisher publisher;
DDS.ISubscriber subscriber;
mod.tstDataWriter writer;
mod.tstDataReader reader;
long handle;
DDS.ReturnCode rc;
participant = (DDS.IDomainParticipant) this.ResolveObject("participant");
factory = (DDS.DomainParticipantFactory) this.ResolveObject("factory");
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
if (participant.ContainsEntity(0))
{
result.Result = "contains_entity with nil handle incorrect";
return(result);
}
if (participant.ContainsEntity(100))
{
result.Result = "contains_entity with incorrect handle incorrect";
return(result);
}
handle = participant.InstanceHandle;
if (handle == DDS.InstanceHandle.Nil)
{
result.Result = "get_instance_handle returned 0";
return(result);
}
if (participant.ContainsEntity(handle))
{
result.Result = "contains_entity with own handle incorrect";
return(result);
}
mod.tstTypeSupport typeSupport = new mod.tstTypeSupport();
rc = typeSupport.RegisterType(participant, "type1");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
return(result);
}
participant.GetDefaultTopicQos(ref tHolder);
topic = participant.CreateTopic("TestTopic", "type1", tHolder);//, null, 0);
if (topic == null)
{
result.Result = "Create Topic failed.";
return(result);
}
participant.GetDefaultPublisherQos(ref pHolder);
publisher = participant.CreatePublisher(pHolder);//, null, 0);
if (publisher == null)
{
result.Result = "Create Publisher failed.";
return(result);
}
participant.GetDefaultSubscriberQos(ref sHolder);
subscriber = participant.CreateSubscriber(sHolder);//, null, 0);
if (subscriber == null)
{
result.Result = "Create Subscriber failed.";
return(result);
}
publisher.GetDefaultDataWriterQos(ref wHolder);
writer = publisher.CreateDataWriter(topic, wHolder) as mod.tstDataWriter;
if (writer == null)
{
result.Result = "Create Writer failed.";
return(result);
}
subscriber.GetDefaultDataReaderQos(ref rHolder);
reader = subscriber.CreateDataReader(topic, rHolder) as mod.tstDataReader;
if (reader == null)
{
result.Result = "Create Reader failed.";
return(result);
}
handle = topic.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (topic) returned 0";
return(result);
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with topic handle incorrect";
return(result);
}
handle = publisher.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (publisher) returned != 0";
return(result);
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with publisher handle incorrect";
return(result);
}
handle = subscriber.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (subscriber) returned != 0";
return(result);
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with subscriber handle incorrect";
return(result);
}
handle = writer.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (writer) returned 0";
return(result);
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with writer handle incorrect";
return(result);
}
handle = reader.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (reader) returned 0";
return(result);
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with reader handle incorrect";
return(result);
}
rc = participant.DeleteContainedEntities();
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "delete_contained_entities failed.";
return(result);
}
if (participant.ContainsEntity(handle))
{
result.Result = "contains_entity of deleted reader incorrect";
return(result);
}
result.Verdict = Test.Framework.TestVerdict.Pass;
result.Result = expResult;
return(result);
}
public override Test.Framework.TestResult Run()
{
string expResult = "register_typesupport tests pass";
DDS.DomainParticipantFactory factory;
DDS.DomainParticipantQos participantQosHolder = null;
DDS.IDomainParticipant participant;
mod.tstTypeSupport typeSupport;
mod.otherTypeTypeSupport otherTypeTypeSupport;
DDS.ReturnCode rc;
Test.Framework.TestResult result;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory.get_instance() did not return a factory (1)";
return result;
}
if (factory.GetDefaultParticipantQos(ref participantQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "factory.get_default_participant_qos() did not return a qos (2)";
return result;
}
participant = factory.CreateParticipant(string.Empty, participantQosHolder);//, null, 0);
if (participant == null)
{
result.Result = "factory.create_participant() did not return a participant (2)";
return result;
}
typeSupport = new mod.tstTypeSupport();
otherTypeTypeSupport = new mod.otherTypeTypeSupport();
rc = typeSupport.RegisterType(participant, "type1");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not register a type (3)";
return result;
}
rc = typeSupport.RegisterType(participant, "type1");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not register the same type a second time (4)";
return result;
}
rc = otherTypeTypeSupport.RegisterType(participant, "type2");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could register a different type (5)";
return result;
}
rc = otherTypeTypeSupport.RegisterType(participant, "type1");
if (rc != DDS.ReturnCode.PreconditionNotMet)
{
result.Result = "Expected RETCODE_PRECONDITION_NOT_MET but recieved " + rc + " after calling register_type using an already used name for a different type (6)";
return result;
}
rc = factory.DeleteParticipant(participant);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "could not delete a participant (7)";
return result;
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return result;
}
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase)
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
mod.tstTypeSupport typeSupport;
DDS.TopicQos topicQos = null;
DDS.ITopic topic;
DDS.DomainParticipantQos pqos = null;
DDS.ReturnCode rc;
Test.Framework.TestResult result;
result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return(result);
}
if (factory.GetDefaultParticipantQos(ref pqos) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return(result);
}
participant = factory.CreateParticipant(string.Empty, pqos);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return(result);
}
typeSupport = new mod.tstTypeSupport();
if (typeSupport == null)
{
result.Result = "Creation of tstTypeSupport failed.";
return(result);
}
rc = typeSupport.RegisterType(participant, "my_type");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "register_type failed.";
return(result);
}
if (participant.GetDefaultTopicQos(ref topicQos) != DDS.ReturnCode.Ok)
{
result.Result = "participant.get_default_topic_qos failed.";
return(result);
}
topic = participant.CreateTopic("my_topic", "my_type", topicQos);//, null, 0);
if (topic == null)
{
result.Result = "participant.create_topic failed.";
return(result);
}
testCase.RegisterObject("factory", factory);
testCase.RegisterObject("participantQos", pqos);
testCase.RegisterObject("participant", participant);
testCase.RegisterObject("topic", topic);
result.Result = "Initialization success.";
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase)
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
DDS.TopicQos topQosHolder = null;
DDS.ITopic topic;
mod.tstTypeSupport typeSupport = null;
Test.Framework.TestResult result;
string name;
string typeName;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return result;
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return result;
}
participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return result;
}
typeSupport = new mod.tstTypeSupport();
if (typeSupport == null)
{
result.Result = "Creation of tstTypeSupport failed.";
return result;
}
name = "my_topic";
typeName = "my_type";
rc = typeSupport.RegisterType(participant, typeName);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
return result;
}
if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
return result;
}
topic = participant.CreateTopic(name, typeName, topQosHolder);//, null, 0);
if (topic == null)
{
result.Result = "Topic could not be created.";
return result;
}
testCase.RegisterObject("factory", factory);
testCase.RegisterObject("participantQos", pqosHolder);
testCase.RegisterObject("participant", participant);
testCase.RegisterObject("topic", topic);
testCase.RegisterObject("topicQos", topQosHolder);
testCase.RegisterObject("typeSupport", typeSupport);
testCase.RegisterObject("topicName", name);
testCase.RegisterObject("topicTypeName", typeName);
result.Result = "Initialization success.";
result.Verdict = Test.Framework.TestVerdict.Pass;
return result;
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
DDS.IDomainParticipant participant;
DDS.IDomainParticipant participant2;
DDS.DomainParticipantFactory factory;
DDS.DomainParticipantQos qos = null;
string expResult = "Topic test succeeded.";
DDS.TopicQos topQosHolder1 = null;
DDS.TopicQos topQosHolder2 = null;
mod.tstTypeSupport typeSupport;
DDS.ITopic topic;
DDS.ITopic topic2;
DDS.ITopic topic3;
DDS.ITopic topic4;
DDS.ITopicDescription description;
DDS.ReturnCode returnCode;
factory = (DDS.DomainParticipantFactory)this.ResolveObject("factory");
qos = (DDS.DomainParticipantQos)this.ResolveObject("participantQos");
participant = (DDS.IDomainParticipant)this.ResolveObject("participant");
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
typeSupport = new mod.tstTypeSupport();
typeSupport.RegisterType(participant, "My_Type");
if (participant.GetDefaultTopicQos(ref topQosHolder1) != DDS.ReturnCode.Ok)
{
result.Result = "Get default TopicQos failed (1).";
return result;
}
if (!test.sacs.QosComparer.TopicQosEquals(topQosHolder1, test.sacs.QosComparer.defaultTopicQos))
{
result.Result = "Get default TopicQos did not return the default qos (1).";
return result;
}
topQosHolder1.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
topQosHolder1.Liveliness.Kind = DDS.LivelinessQosPolicyKind.AutomaticLivelinessQos;
topQosHolder1.Reliability.Kind = DDS.ReliabilityQosPolicyKind.ReliableReliabilityQos;
topQosHolder1.DestinationOrder.Kind = DDS.DestinationOrderQosPolicyKind.ByReceptionTimestampDestinationorderQos;
topQosHolder1.History.Kind = DDS.HistoryQosPolicyKind.KeepAllHistoryQos;
topQosHolder1.Ownership.Kind = DDS.OwnershipQosPolicyKind.SharedOwnershipQos;
typeSupport = new mod.tstTypeSupport();
returnCode = typeSupport.RegisterType(participant, "myTopicType");
if (returnCode != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
return result;
}
topic = participant.CreateTopic("MyDCPSTopic", "myTopicType", topQosHolder1);//, null, 0);
if (topic == null)
{
result.Result = "Create topic failed (3)";
return result;
}
description = participant.LookupTopicDescription("MyDCPSTopic");
if (topic != description)
{
result.Result = "Lookup topic failed (4)";
return result;
}
topic2 = participant.FindTopic("MyDCPSTopic", new DDS.Duration());
if (topic2 == null)
{
result.Result = "Find topic failed (5)";
return result;
}
topic2.GetQos(ref topQosHolder2);
if (!test.sacs.QosComparer.TopicQosEquals(topQosHolder1, topQosHolder2))
{
result.Result = "Find Topic did not find the correct Topic. (5)";
return result;
}
topic3 = participant.CreateTopic("MyDCPSTopic", "myTopicType");
if (topic3 != null)
{
result.Result = "Create Topic with BAD_PARAM succeeded (6).";
return result;
}
topic4 = participant.CreateTopic("MyDCPSTopic", "myTopicType");
if (topic4 != null)
{
result.Result = "Create Topic with BAD_PARAM succeeded (7).";
return result;
}
returnCode = participant.DeleteTopic(topic3);
if (returnCode != DDS.ReturnCode.BadParameter)
{
result.Result = "Expected RETCODE_BAD_PARAMETER but received " + returnCode + " after deleting a non exisiting topic (8).";
return result;
}
returnCode = participant.DeleteTopic(topic4);
if (returnCode != DDS.ReturnCode.BadParameter)
{
result.Result = "Expected RETCODE_BAD_PARAMETER but received " + returnCode + " after deleting a non exisiting topic (9).";
return result;
}
participant2 = factory.CreateParticipant(string.Empty, qos);//, null, 0);
if (participant2 == null)
{
result.Result = "Create Participant failed (10).";
return result;
}
returnCode = participant2.DeleteTopic(topic);
if (returnCode == DDS.ReturnCode.Ok)
{
result.Result = "Delete Topic on wrong Participant succeeded (11).";
return result;
}
returnCode = factory.DeleteParticipant(participant2);
if (returnCode != DDS.ReturnCode.Ok)
{
result.Result = "Delete Participant failed (12).";
return result;
}
returnCode = participant.DeleteTopic(topic);
if (returnCode != DDS.ReturnCode.Ok)
{
result.Result = "Delete Topic failed (13).";
return result;
}
returnCode = participant.DeleteTopic(topic2);
if (returnCode != DDS.ReturnCode.Ok)
{
result.Result = "Delete Topic failed (14).";
return result;
}
returnCode = participant.DeleteTopic(topic);
if (returnCode == DDS.ReturnCode.Ok)
{
result.Result = "Delete of already deleted Topic succeeded (15).";
return result;
}
returnCode = participant.DeleteTopic(null);
if (returnCode == DDS.ReturnCode.Ok)
{
result.Result = "Delete null Topic succeeded (16).";
return result;
}
returnCode = participant.IgnoreParticipant(-10);
if (returnCode == DDS.ReturnCode.Ok)
{
result.Result = "Ignore invalid participant succeeded.";
return result;
}
returnCode = participant.IgnorePublication(-10);
if (returnCode == DDS.ReturnCode.Ok)
{
result.Result = "Ignore invalid publication succeeded.";
return result;
}
returnCode = participant.IgnoreSubscription(-10);
if (returnCode == DDS.ReturnCode.Ok)
{
result.Result = "Ignore invalid subscription succeeded.";
return result;
}
returnCode = participant.IgnoreTopic(-10);
if (returnCode == DDS.ReturnCode.Ok)
{
result.Result = "Ignore invalid topic succeeded.";
return result;
}
result.Verdict = Test.Framework.TestVerdict.Pass;
result.Result = expResult;
return result;
}
public override Test.Framework.TestResult Run()
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
DDS.TopicQos topQosHolder = null;
DDS.ITopic topic;
mod.tstTypeSupport typeSupport = null;
mod.tstDataReader datareader;
test.sacs.MyDataReaderListener listener;
DDS.ISubscriber subscriber;
DDS.SubscriberQos sqosHolder = null;
DDS.DataReaderQos dqosHolder = null;
DDS.IPublisher publisher;
DDS.PublisherQos pubQosHolder = null;
mod.tstDataWriter datawriter;
DDS.DataWriterQos wqosHolder = null;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
string expResult = "DataReaderListener test succeeded.";
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return result;
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return result;
}
participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return result;
}
typeSupport = new mod.tstTypeSupport();
if (typeSupport == null)
{
result.Result = "Creation of tstTypeSupport failed.";
this.Cleanup(factory, participant);
return result;
}
rc = typeSupport.RegisterType(participant, "my_type");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
this.Cleanup(factory, participant);
return result;
}
if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
this.Cleanup(factory, participant);
return result;
}
topQosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
topic = participant.CreateTopic("my_topic_t", "my_type", topQosHolder);//, null, 0);
if (topic == null)
{
result.Result = "Topic could not be created.";
this.Cleanup(factory, participant);
return result;
}
if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default PublisherQos could not be resolved.";
this.Cleanup(factory, participant);
return result;
}
publisher = participant.CreatePublisher(pubQosHolder);//, null, 0);
if (publisher == null)
{
result.Result = "Publisher could not be created.";
this.Cleanup(factory, participant);
return result;
}
if (publisher.GetDefaultDataWriterQos(ref wqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataWriterQos could not be resolved.";
this.Cleanup(factory, participant);
return result;
}
wqosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, wqosHolder);//, null, 0);
if (datawriter == null)
{
result.Result = "DataWriter could not be created.";
this.Cleanup(factory, participant);
return result;
}
mod.tst t = new mod.tst();
t.long_1 = 1;
t.long_2 = 2;
t.long_3 = 3;
rc = datawriter.Write(t, DDS.InstanceHandle.Nil);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Data could not be written.";
this.Cleanup(factory, participant);
return result;
}
if (participant.GetDefaultSubscriberQos(ref sqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default SubscriberQos could not be resolved.";
this.Cleanup(factory, participant);
return result;
}
subscriber = participant.CreateSubscriber(sqosHolder);//, null, 0);
if (subscriber == null)
{
result.Result = "Subscriber could not be created.";
this.Cleanup(factory, participant);
return result;
}
if (subscriber.GetDefaultDataReaderQos(ref dqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataReaderQos could not be resolved.";
this.Cleanup(factory, participant);
return result;
}
dqosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
listener = new test.sacs.MyDataReaderListener();
datareader = (mod.tstDataReader)subscriber.CreateDataReader(topic, dqosHolder, listener, DDS.StatusKind.Any);
if (datareader == null)
{
result.Result = "DataReader could not be created.";
this.Cleanup(factory, participant);
return result;
}
try
{
System.Threading.Thread.Sleep(3000);
}
catch (System.Exception e)
{
System.Console.WriteLine(e);
}
if (!listener.onLivelinessChangedCalled)
{
result.Result = "on_liveliness_changed does not work properly.";
this.Cleanup(factory, participant);
return result;
}
if (!listener.onDataAvailableCalled)
{
result.Result = "on_data_available does not work properly.";
this.Cleanup(factory, participant);
return result;
}
rc = participant.DeleteContainedEntities();
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Delete contained entities failed.";
this.Cleanup(factory, participant);
return result;
}
rc = factory.DeleteParticipant(participant);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Delete DomainParticipant failed.";
return result;
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return result;
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
DDS.IDomainParticipant participant;
DDS.DomainParticipantFactory factory;
DDS.DomainParticipantQos qos;
string expResult = "Default topicQos is used when TOPIC_QOS_DEFAULT is specified.";
DDS.TopicQos topQosHolder1;
DDS.TopicQos topQosHolder2;
mod.tstTypeSupport typeSupport;
DDS.ITopic topic;
DDS.ReturnCode returnCode;
factory = (DDS.DomainParticipantFactory)this.ResolveObject("factory");
qos = (DDS.DomainParticipantQos)this.ResolveObject("participantQos");
participant = (DDS.IDomainParticipant)this.ResolveObject("participant");
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
typeSupport = new mod.tstTypeSupport();
topQosHolder1 = new DDS.TopicQos();
topQosHolder2 = new DDS.TopicQos();
typeSupport.RegisterType(participant, "My_Type");
if (participant.GetDefaultTopicQos(ref topQosHolder1) != DDS.ReturnCode.Ok)
{
result.Result = "Get default TopicQos failed (1).";
return result;
}
topQosHolder1.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
topQosHolder1.Liveliness.Kind = DDS.LivelinessQosPolicyKind.AutomaticLivelinessQos;
topQosHolder1.Reliability.Kind = DDS.ReliabilityQosPolicyKind.ReliableReliabilityQos;
topQosHolder1.DestinationOrder.Kind = DDS.DestinationOrderQosPolicyKind.ByReceptionTimestampDestinationorderQos;
topQosHolder1.History.Kind = DDS.HistoryQosPolicyKind.KeepAllHistoryQos;
topQosHolder1.Ownership.Kind = DDS.OwnershipQosPolicyKind.SharedOwnershipQos;
participant.SetDefaultTopicQos(topQosHolder1);
typeSupport = new mod.tstTypeSupport();
returnCode = typeSupport.RegisterType(participant, "myTopicType");
if (returnCode != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
return result;
}
topic = participant.CreateTopic("MyDCPSTopic", "myTopicType");
if (topic == null)
{
result.Result = "Create topic failed.";
return result;
}
topic.GetQos(ref topQosHolder2);
if (!test.sacs.QosComparer.TopicQosEquals(topQosHolder1, topQosHolder2))
{
result.Result = "Default topicQos is not used when TOPIC_QOS_DEFAULT is specified.";
return result;
}
returnCode = participant.DeleteTopic(topic);
if (returnCode != DDS.ReturnCode.Ok)
{
result.Result = "Delete Topic failed.";
return result;
}
result.Verdict = Test.Framework.TestVerdict.Pass;
result.Result = expResult;
return result;
}
