static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null) {
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null) {
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = tbfTypeSupport.get_type_name();
try {
tbfTypeSupport.register_type(
participant, type_name);
}
catch(DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example tbf",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null) {
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* Create a data reader listener */
tbfListener reader_listener =
new tbfListener();
/* To customize the data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null) {
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- Wait for data --- //
/* If you want to change the time-based filter programmatically (e.g.,
* to 2 seconds) rather than using the XML file, you will need to add
* the following lines to your code and comment out the
* create_datareader call above. */
/*
DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
try
{
subscriber.get_default_datareader_qos(datareader_qos);
}
catch (DDS.Exception e)
{
Console.WriteLine("get_default_datareader_qos error {0}", e);
shutdown(participant);
throw e;
}
DDS.Duration_t minsep = new DDS.Duration_t();
minsep.sec = 2; // 2 sec
datareader_qos.time_based_filter.minimum_separation = minsep;
try
{
subscriber.delete_datareader(ref reader);
}
catch (DDS.Exception e)
{
Console.WriteLine("delete_datareader (default qos) error {0}", e);
shutdown(participant);
throw e;
}
reader = subscriber.create_datareader(topic,
datareader_qos, reader_listener, DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
*/
/* Results table header: (1) source timestamp of the sample received;
* (2) instance id (instance.code value); and (3) value of x
* (instance.x).
*/
Console.WriteLine("================================================");
Console.WriteLine("Source timestamp\tInstance\tX");
Console.WriteLine("================================================");
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count=0;
(sample_count == 0) || (count < sample_count);
++count) {
/* Console.WriteLine(
"tbf subscriber sleeping for {0} sec...",
receive_period / 1000);
*/
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = tbfTypeSupport.get_type_name();
try {
tbfTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example tbf",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* Create a data reader listener */
tbfListener reader_listener =
new tbfListener();
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- Wait for data --- //
/* If you want to change the time-based filter programmatically (e.g.,
* to 2 seconds) rather than using the XML file, you will need to add
* the following lines to your code and comment out the
* create_datareader call above. */
/*
* DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
* try
* {
* subscriber.get_default_datareader_qos(datareader_qos);
* }
* catch (DDS.Exception e)
* {
* Console.WriteLine("get_default_datareader_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
*
* DDS.Duration_t minsep = new DDS.Duration_t();
* minsep.sec = 2; // 2 sec
* datareader_qos.time_based_filter.minimum_separation = minsep;
*
* try
* {
* subscriber.delete_datareader(ref reader);
* }
* catch (DDS.Exception e)
* {
* Console.WriteLine("delete_datareader (default qos) error {0}", e);
* shutdown(participant);
* throw e;
* }
*
* reader = subscriber.create_datareader(topic,
* datareader_qos, reader_listener, DDS.StatusMask.STATUS_MASK_ALL);
* if (reader == null)
* {
* shutdown(participant);
* throw new ApplicationException("create_datareader error");
* }
*/
/* Results table header: (1) source timestamp of the sample received;
* (2) instance id (instance.code value); and (3) value of x
* (instance.x).
*/
Console.WriteLine("================================================");
Console.WriteLine("Source timestamp\tInstance\tX");
Console.WriteLine("================================================");
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
/* Console.WriteLine(
* "tbf subscriber sleeping for {0} sec...",
* receive_period / 1000);
*/
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
