public void setContentFilter(string cft_name, string expression, DDS.StringWrapper[] param_list) { DDS.StringSeq parameters = new DDS.StringSeq(param_list.Length); parameters.from_array(param_list); cftTopic = participant.create_contentfilteredtopic(cft_name, topic, expression, parameters); if (cftTopic == null) { throw new ApplicationException( "create_contentfilteredtopic error"); } }
/* Called when Custom Filter is created, or when parameters are changed */ public void compile(ref object compile_data, string expression, DDS.StringSeq parameters, DDS.TypeCode type_code, string type_class_name, object old_compile_data) { /* We expect an expression of the form "%0 %1 <var>" * where %1 = "divides" or "greater-than" * and <var> is an integral member of the msg structure. * * We don't actually check that <var> has the correct typecode, * (or even that it exists!). See example Typecodes to see * how to work with typecodes. * * The compile information is a structure including the first filter * parameter (%0) and a function pointer to evaluate the sample */ if (expression.StartsWith("%0 %1 ") && expression.Length > 6 && parameters.length > 1) // Enought parameters? { long p = Convert.ToInt64(parameters.get_at(0)); if (String.Compare(parameters.get_at(1), "greater-than") == 0) { compile_data = new gt_test(p); return; } else if (String.Compare(parameters.get_at(1), "divides") == 0) { compile_data = new divide_test(p); return; } } Console.WriteLine("CustomFilter: Unable to compile expresssion '" + expression + "'"); Console.WriteLine(" with parameters '" + parameters.get_at(0) + "' '" + parameters.get_at(1) + "'"); //throw (new DDS.Retcode_BadParameter()); }
static void subscribe(int domain_id, int sample_count) { // --- Create participant --- // /* To customize the participant QoS, use the configuration file USER_QOS_PROFILES.xml */ DDS.DomainParticipant participant = DDS.DomainParticipantFactory.get_instance().create_participant( domain_id, DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (participant == null) { shutdown(participant); throw new ApplicationException("create_participant error"); } // --- Create subscriber --- // /* To customize the subscriber QoS, use the configuration file USER_QOS_PROFILES.xml */ DDS.Subscriber subscriber = participant.create_subscriber( DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (subscriber == null) { shutdown(participant); throw new ApplicationException("create_subscriber error"); } // --- Create topic --- // /* Register the type before creating the topic */ System.String type_name = deadline_contentfilterTypeSupport.get_type_name(); try { deadline_contentfilterTypeSupport.register_type( participant, type_name); } catch(DDS.Exception e) { Console.WriteLine("register_type error {0}", e); shutdown(participant); throw e; } /* To customize the topic QoS, use the configuration file USER_QOS_PROFILES.xml */ DDS.Topic topic = participant.create_topic( "Example deadline_contentfilter", type_name, DDS.DomainParticipant.TOPIC_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (topic == null) { shutdown(participant); throw new ApplicationException("create_topic error"); } // --- Create reader --- // //// Start changes for Deadline // Set up content filtered topic to show interaction with deadline DDS.StringSeq parameters = new DDS.StringSeq(1); // need to specify length otherwise create_contentfilteredtopic will // throw an unhandled exception error! if (parameters.ensure_length(1, 1) == false) { Console.WriteLine("ensure_length error\n"); } parameters.set_at(0, "2"); DDS.ContentFilteredTopic cft = participant.create_contentfilteredtopic( "ContentFilteredTopic", topic, "code < %0", parameters); /* Create a data reader listener */ deadline_contentfilterListener reader_listener = new deadline_contentfilterListener(); /* To customize the data reader QoS, use the configuration file USER_QOS_PROFILES.xml */ DDS.DataReader reader = subscriber.create_datareader( cft, DDS.Subscriber.DATAREADER_QOS_DEFAULT, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); if (reader == null) { shutdown(participant); reader_listener = null; throw new ApplicationException("create_datareader error"); } /* If you want to change the DataReader's QoS programmatically rather than * using the XML file, you will need to add the following lines to your * code and comment out the create_datareader call above. * * In this case, we set the deadline period to 2 seconds to trigger * a deadline if the DataWriter does not update often enough, or if * the content-filter filters out data so there is no data available * with 2 seconds. */ /* DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos(); subscriber.get_default_datareader_qos(datareader_qos); if (datareader_qos == null) { shutdown(participant); reader_listener = null; throw new ApplicationException("get_default_datareader_qos error"); } // Set deadline QoS to be 2 sec datareader_qos.deadline.period.sec = 2; datareader_qos.deadline.period.nanosec = 0; DDS.DataReader reader = subscriber.create_datareader( topic, datareader_qos, //DDS.Subscriber.DATAREADER_QOS_DEFAULT, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); if (reader == null) { shutdown(participant); reader_listener = null; throw new ApplicationException("create_datareader error"); } */ // --- Wait for data --- // /* Main loop */ const System.Int32 receive_period = 1000; // milliseconds for (int count=0; (sample_count == 0) || (count < sample_count); ++count) { // After 10 seconds, change content filter to accept only // instance 0 if (count == 10) { Console.WriteLine("Starting to filter out instance1\n"); parameters.set_at(0, "1"); cft.set_expression_parameters(parameters); } System.Threading.Thread.Sleep(receive_period); } // --- Shutdown --- // /* Delete all entities */ shutdown(participant); reader_listener = null; }
static void subscribe(int domain_id, int sample_count) { // --- Create participant --- // /* To customize the participant QoS, use the configuration file USER_QOS_PROFILES.xml */ DDS.DomainParticipant participant = DDS.DomainParticipantFactory.get_instance().create_participant( domain_id, DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (participant == null) { shutdown(participant); throw new ApplicationException("create_participant error"); } // --- Create subscriber --- // /* To customize the subscriber QoS, use the configuration file USER_QOS_PROFILES.xml */ DDS.Subscriber subscriber = participant.create_subscriber( DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (subscriber == null) { shutdown(participant); throw new ApplicationException("create_subscriber error"); } // --- Create topic --- // /* Register the type before creating the topic */ System.String type_name = queryconditionTypeSupport.get_type_name(); try { queryconditionTypeSupport.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 querycondition", 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 --- // /* 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, null, DDS.StatusMask.STATUS_MASK_ALL); if (reader == null) { shutdown(participant); throw new ApplicationException("create_datareader error"); } /* If you want to change datareader_qos.history programmatically rather * than using the XML file, you will need to add the following lines to your * code and comment out the create_datareader call above. */ /*DDS.DataReaderQos reader_qos = new DDS.DataReaderQos(); subscriber.get_default_datareader_qos(reader_qos); reader_qos.history.kind = DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS; reader_qos.history.depth = 6; DDS.DataReader reader = subscriber.create_datareader( topic, reader_qos, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); if (reader == null) { shutdown(participant); reader_listener = null; throw new ApplicationException("create_datareader error"); } */ // --- Wait for data --- // /* NOTE: There must be single-quotes in the query parameters around * any strings! The single-quotes do NOT go in the query condition * itself. */ DDS.QueryCondition query_for_guid2; DDS.StringSeq query_parameters = new DDS.StringSeq(); query_parameters.ensure_length(1, 1); query_parameters.set_at(0, "'GUID2'"); queryconditionDataReader querycondition_reader = (queryconditionDataReader)reader; query_for_guid2 = querycondition_reader.create_querycondition( DDS.SampleStateKind.ANY_SAMPLE_STATE, DDS.ViewStateKind.ANY_VIEW_STATE, DDS.InstanceStateKind.ALIVE_INSTANCE_STATE, "id MATCH %0", query_parameters); /* Main loop */ const System.Int32 receive_period = 4000; // milliseconds for (int count=0; (sample_count == 0) || (count < sample_count); ++count) { System.Threading.Thread.Sleep(receive_period); queryconditionSeq data_seq = new queryconditionSeq(); DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq(); try { querycondition_reader.read_w_condition( data_seq, info_seq, DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED, query_for_guid2); } catch (DDS.Retcode_NoData e) { continue; } catch (DDS.Exception e) { shutdown(participant); throw e; } int len = 0; double sum = 0; /* Iterate through the samples read using the read_w_condition() method, * accessing only the samples of GUID2. Then, show the number of samples * received and, adding the value of x on each of them to calculate the * average afterwards. */ for (int i = 0; i < data_seq.length; ++i) { if (!info_seq.get_at(i).valid_data) continue; len++; sum += data_seq.get_at(i).value; Console.WriteLine("Guid = {0}\n", data_seq.get_at(i).id); } if (len > 0) { Console.WriteLine("Got {0} samples. Avg = {1}\n", len, sum / len); } try { querycondition_reader.return_loan(data_seq, info_seq); } catch (DDS.Exception e) { Console.WriteLine("return loan error {0}", e); } } // --- Shutdown --- // /* Delete all entities */ shutdown(participant); }
private static void Subscribe(int domainId, int sampleCount) { // --- Create participant --- // DDS.DomainParticipant participant = DDS.DomainParticipantFactory.get_instance().create_participant( domainId, DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (participant == null) { Shutdown(participant); throw new Exception("create_participant error"); } // --- Create subscriber --- // 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. string typeName = FlightTypeSupport.get_type_name(); try { FlightTypeSupport.register_type(participant, typeName); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); Shutdown(participant); throw e; } DDS.Topic topic = participant.create_topic( "Example Flight", typeName, 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 --- // DDS.DataReader reader = subscriber.create_datareader( topic, DDS.Subscriber.DATAREADER_QOS_DEFAULT, null, DDS.StatusMask.STATUS_MASK_ALL); if (reader == null) { Shutdown(participant); throw new ApplicationException("create_datareader error"); } FlightDataReader flightReader = (FlightDataReader)reader; // Query for company named 'CompanyA' and for flights in cruise // (about 30,000ft). The company parameter will be changed in // run-time. NOTE: There must be single-quotes in the query // parameters around-any strings! The single-quote do NOT go in the // query condition itself. DDS.StringSeq queryParameters = new DDS.StringSeq(); queryParameters.ensure_length(2, 2); queryParameters.set_at(0, "'CompanyA'"); queryParameters.set_at(1, "30000"); Console.WriteLine( "Setting parameters to company: {0} and altitude >= {1}\n", queryParameters.get_at(0), queryParameters.get_at(1)); // Create the query condition with an expession to MATCH the id // field in the structure and a numeric comparison. DDS.QueryCondition queryCondition = reader.create_querycondition( DDS.SampleStateKind.ANY_SAMPLE_STATE, DDS.ViewStateKind.ANY_VIEW_STATE, DDS.InstanceStateKind.ALIVE_INSTANCE_STATE, "company MATCH %0 AND altitude >= %1", queryParameters); // --- Wait for data --- // const int receivePeriod = 1000; // Milliseconds bool update = false; for (int count = 0; (sampleCount == 0) || (count < sampleCount); count++) { // Poll for new samples every second. System.Threading.Thread.Sleep(receivePeriod); // Change the filter parameter after 5 seconds. if ((count + 1) % 10 == 5) { queryParameters.set_at(0, "'CompanyB'"); update = true; } else if ((count + 1) % 10 == 0) { queryParameters.set_at(0, "'CompanyA'"); update = true; } // Set new parameters. if (update) { Console.WriteLine("Changing parameter to {0}", queryParameters.get_at(0)); queryCondition.set_query_parameters(queryParameters); update = false; } // Iterate through the samples using read_w_condition. FlightSeq dataSeq = new FlightSeq(); DDS.SampleInfoSeq infoSeq = new DDS.SampleInfoSeq(); try { flightReader.read_w_condition( dataSeq, infoSeq, DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED, queryCondition); } catch (DDS.Retcode_NoData) { continue; } catch (DDS.Exception e) { Shutdown(participant); throw e; } for (int i = 0; i < dataSeq.length; i++) { DDS.SampleInfo info = (DDS.SampleInfo)infoSeq.get_at(i); if (info.valid_data) { Flight flight_info = (Flight)dataSeq.get_at(i); Console.WriteLine( "\t[trackId: {0}, company: {1}, altitude: {2}]\n", flight_info.trackId, flight_info.company, flight_info.altitude); } } try { flightReader.return_loan(dataSeq, infoSeq); } catch (DDS.Exception e) { Console.WriteLine("return loan error {0}", e); } } // Delete all entities Shutdown(participant); }
private static void Subscribe(int domainId, int sampleCount) { // --- Create participant --- // DDS.DomainParticipant participant = DDS.DomainParticipantFactory.get_instance().create_participant( domainId, DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (participant == null) { Shutdown(participant); throw new Exception("create_participant error"); } // --- Create subscriber --- // 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. string typeName = FlightTypeSupport.get_type_name(); try { FlightTypeSupport.register_type(participant, typeName); } catch(DDS.Exception e) { Console.WriteLine("register_type error {0}", e); Shutdown(participant); throw e; } DDS.Topic topic = participant.create_topic( "Example Flight", typeName, 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 --- // DDS.DataReader reader = subscriber.create_datareader( topic, DDS.Subscriber.DATAREADER_QOS_DEFAULT, null, DDS.StatusMask.STATUS_MASK_ALL); if (reader == null) { Shutdown(participant); throw new ApplicationException("create_datareader error"); } FlightDataReader flightReader = (FlightDataReader)reader; // Query for company named 'CompanyA' and for flights in cruise // (about 30,000ft). The company parameter will be changed in // run-time. NOTE: There must be single-quotes in the query // parameters around-any strings! The single-quote do NOT go in the // query condition itself. DDS.StringSeq queryParameters = new DDS.StringSeq(); queryParameters.ensure_length(2, 2); queryParameters.set_at(0, "'CompanyA'"); queryParameters.set_at(1, "30000"); Console.WriteLine( "Setting parameters to company: {0} and altitude >= {1}\n", queryParameters.get_at(0), queryParameters.get_at(1)); // Create the query condition with an expession to MATCH the id // field in the structure and a numeric comparison. DDS.QueryCondition queryCondition = reader.create_querycondition( DDS.SampleStateKind.ANY_SAMPLE_STATE, DDS.ViewStateKind.ANY_VIEW_STATE, DDS.InstanceStateKind.ALIVE_INSTANCE_STATE, "company MATCH %0 AND altitude >= %1", queryParameters); // --- Wait for data --- // const int receivePeriod = 1000; // Milliseconds bool update = false; for (int count = 0; (sampleCount == 0) || (count < sampleCount); count++) { // Poll for new samples every second. System.Threading.Thread.Sleep(receivePeriod); // Change the filter parameter after 5 seconds. if ((count + 1) % 10 == 5) { queryParameters.set_at(0, "'CompanyB'"); update = true; } else if ((count + 1) % 10 == 0) { queryParameters.set_at(0, "'CompanyA'"); update = true; } // Set new parameters. if (update) { Console.WriteLine("Changing parameter to {0}", queryParameters.get_at(0)); queryCondition.set_query_parameters(queryParameters); update = false; } // Iterate through the samples using read_w_condition. FlightSeq dataSeq = new FlightSeq(); DDS.SampleInfoSeq infoSeq = new DDS.SampleInfoSeq(); try { flightReader.read_w_condition( dataSeq, infoSeq, DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED, queryCondition); } catch (DDS.Retcode_NoData) { continue; } catch (DDS.Exception e) { Shutdown(participant); throw e; } for (int i = 0; i < dataSeq.length; i++) { DDS.SampleInfo info = (DDS.SampleInfo)infoSeq.get_at(i); if (info.valid_data) { Flight flight_info = (Flight)dataSeq.get_at(i); Console.WriteLine( "\t[trackId: {0}, company: {1}, altitude: {2}]\n", flight_info.trackId, flight_info.company, flight_info.altitude); } } try { flightReader.return_loan(dataSeq, infoSeq); } catch (DDS.Exception e) { Console.WriteLine("return loan error {0}", e); } } // Delete all entities Shutdown(participant); }
static void subscribe(int domain_id, int sample_count, int sel_cft) { // --- 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 = cftTypeSupport.get_type_name(); try { cftTypeSupport.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 cft", 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"); } /* For this filter we only allow 1 parameter */ DDS.StringSeq parameters = new DDS.StringSeq(1); /* The default parameter list that we will include in the * sequence of parameters will be "SOME_STRING" */ DDS.StringWrapper[] param_list = new DDS.StringWrapper[1] { "SOME_STRING" }; parameters.from_array(param_list); DDS.ContentFilteredTopic cft = null; if (sel_cft == 1) { /* create_contentfilteredtopic_with_filter */ cft = participant.create_contentfilteredtopic_with_filter( "ContentFilteredTopic", topic, "name MATCH %0", parameters, DDS.DomainParticipant.STRINGMATCHFILTER_NAME); if (cft == null) { shutdown(participant); throw new ApplicationException( "create_contentfilteredtopic_with_filter error"); } } // --- Create reader --- // /* Create a data reader listener */ cftListener reader_listener = new cftListener(); DDS.DataReader reader = null; if (sel_cft != 0) { Console.WriteLine("Using ContentFiltered Topic"); reader = subscriber.create_datareader(cft, DDS.Subscriber.DATAREADER_QOS_DEFAULT, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); } else { Console.WriteLine("Using Normal Topic"); 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"); } /* If you want to set the reliability and history QoS settings * programmatically rather than using the XML, you will need to add * the following lines to your code and comment out the * create_datareader calls 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; * } * * datareader_qos.reliability.kind = * DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS; * datareader_qos.durability.kind = * DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS; * datareader_qos.history.kind = * DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS; * datareader_qos.history.depth = 20; * * if (sel_cft != 0) { * Console.WriteLine("Using ContentFiltered Topic"); * reader = subscriber.create_datareader(cft, * datareader_qos, reader_listener, * DDS.StatusMask.STATUS_MASK_ALL); * } else { * Console.WriteLine("Using Normal Topic"); * reader = subscriber.create_datareader(topic, * datareader_qos, reader_listener, * DDS.StatusMask.STATUS_MASK_ALL); * } * * if (reader == null) { * shutdown(participant); * reader_listener = null; * throw new ApplicationException("create_datareader error"); * } * */ /* Change the filter */ if (sel_cft == 1) { Console.WriteLine(">>> Now setting a new filter: name MATCH \"EVEN\""); try { cft.append_to_expression_parameter(0, "EVEN"); } catch (DDS.Exception e) { Console.WriteLine("append_to_expression_parameter error {0}", e); shutdown(participant); throw e; } } // --- Wait for data --- // /* Main loop */ const System.Int32 receive_period = 1000; // milliseconds for (int count = 0; (sample_count == 0) || (count < sample_count); ++count) { System.Threading.Thread.Sleep(receive_period); if (sel_cft == 0) { continue; } if (count == 10) { Console.WriteLine("\n==========================="); Console.WriteLine("Changing filter parameters"); Console.WriteLine("Append 'ODD' filter"); Console.WriteLine("==========================="); try { cft.append_to_expression_parameter(0, "ODD"); } catch (DDS.Exception e) { Console.WriteLine( "append_to_expression_parameter error {0}", e); shutdown(participant); throw e; } } if (count == 20) { Console.WriteLine("\n==========================="); Console.WriteLine("Changing filter parameters"); Console.WriteLine("Removing 'EVEN' filter"); Console.WriteLine("==========================="); try { cft.remove_from_expression_parameter(0, "EVEN"); } catch (DDS.Exception e) { Console.WriteLine( "append_to_expression_parameter error {0}", e); shutdown(participant); throw e; } } } // --- 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 = queryconditionTypeSupport.get_type_name(); try { queryconditionTypeSupport.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 querycondition", 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 --- // /* 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, null, DDS.StatusMask.STATUS_MASK_ALL); if (reader == null) { shutdown(participant); throw new ApplicationException("create_datareader error"); } /* If you want to change datareader_qos.history programmatically rather * than using the XML file, you will need to add the following lines to your * code and comment out the create_datareader call above. */ /*DDS.DataReaderQos reader_qos = new DDS.DataReaderQos(); * subscriber.get_default_datareader_qos(reader_qos); * * reader_qos.history.kind = DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS; * reader_qos.history.depth = 6; * * DDS.DataReader reader = subscriber.create_datareader( * topic, * reader_qos, * reader_listener, * DDS.StatusMask.STATUS_MASK_ALL); * if (reader == null) * { * shutdown(participant); * reader_listener = null; * throw new ApplicationException("create_datareader error"); * } */ // --- Wait for data --- // /* NOTE: There must be single-quotes in the query parameters around * any strings! The single-quotes do NOT go in the query condition * itself. */ DDS.QueryCondition query_for_guid2; DDS.StringSeq query_parameters = new DDS.StringSeq(); query_parameters.ensure_length(1, 1); query_parameters.set_at(0, "'GUID2'"); queryconditionDataReader querycondition_reader = (queryconditionDataReader)reader; query_for_guid2 = querycondition_reader.create_querycondition( DDS.SampleStateKind.ANY_SAMPLE_STATE, DDS.ViewStateKind.ANY_VIEW_STATE, DDS.InstanceStateKind.ALIVE_INSTANCE_STATE, "id MATCH %0", query_parameters); /* Main loop */ const System.Int32 receive_period = 4000; // milliseconds for (int count = 0; (sample_count == 0) || (count < sample_count); ++count) { System.Threading.Thread.Sleep(receive_period); queryconditionSeq data_seq = new queryconditionSeq(); DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq(); try { querycondition_reader.read_w_condition( data_seq, info_seq, DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED, query_for_guid2); } catch (DDS.Retcode_NoData e) { continue; } catch (DDS.Exception e) { shutdown(participant); throw e; } int len = 0; double sum = 0; /* Iterate through the samples read using the read_w_condition() method, * accessing only the samples of GUID2. Then, show the number of samples * received and, adding the value of x on each of them to calculate the * average afterwards. */ for (int i = 0; i < data_seq.length; ++i) { if (!info_seq.get_at(i).valid_data) { continue; } len++; sum += data_seq.get_at(i).value; Console.WriteLine("Guid = {0}\n", data_seq.get_at(i).id); } if (len > 0) { Console.WriteLine("Got {0} samples. Avg = {1}\n", len, sum / len); } try { querycondition_reader.return_loan(data_seq, info_seq); } catch (DDS.Exception e) { Console.WriteLine("return loan error {0}", e); } } // --- Shutdown --- // /* Delete all entities */ shutdown(participant); }
static void subscribe(int domain_id, int sample_count, String participant_auth, String reader_auth) { // --- Create participant --- // /* Start changes for programmatically qos */ /* If you want to change the Participant's QoS programmatically rather * than using the XML file, you will need to add the following lines to * your code and comment out the participant call above. */ /* Set user_data qos field for participant */ /* Get default participant QoS to customize */ DDS.DomainParticipantQos participant_qos = new DDS.DomainParticipantQos(); DDS.DomainParticipantFactory.get_instance(). get_default_participant_qos(participant_qos); DDS.StringSeq temp = new DDS.StringSeq(0); participant_qos.discovery.multicast_receive_addresses = temp; // user_data is opaque to DDS, so we include trailing \0 for string int len = participant_auth.Length; int max = participant_qos.resource_limits.participant_user_data_max_length; if (len > max) { Console.WriteLine( "error, participant user_data exceeds resource limits"); } else { /* Byte type is defined to be 8 bits. If chars are not 8 bits * on your system, this will not work. */ participant_qos.user_data.value.from_array( System.Text.Encoding.Default.GetBytes(participant_auth)); } DDS.DomainParticipant participant = DDS.DomainParticipantFactory.get_instance().create_participant( domain_id, participant_qos, null, DDS.StatusMask.STATUS_MASK_NONE); if (participant == null) { shutdown(participant); throw new ApplicationException("create_participant error"); } /* End changes for programmatically qos */ /* The participant is disabled by default. We enable it now */ try { participant.enable(); } catch (DDS.Exception e) { Console.WriteLine("failed to enable participant {0}", e); shutdown(participant); throw e; } // --- 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 = msgTypeSupport.get_type_name(); try { msgTypeSupport.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 msg", 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 */ msgListener reader_listener = new msgListener(); /* Start changes for Builtin_Topics */ /* Set user_data qos field for datareader */ DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos(); subscriber.get_default_datareader_qos(datareader_qos); /* user_data is opaque to DDS, so we include trailing \0 for string */ len = reader_auth.Length; max = participant_qos.resource_limits.reader_user_data_max_length; if (len > max) { Console.WriteLine( "error, datareader user_data exceeds resource limits"); } else { /* Byte type is defined to be 8 bits. If chars are not 8 bits * on your system, this will not work. */ datareader_qos.user_data.value.from_array( System.Text.Encoding.Default.GetBytes(reader_auth)); } /* To customize the data reader QoS, use the configuration file USER_QOS_PROFILES.xml */ DDS.DataReader reader = subscriber.create_datareader( topic, datareader_qos, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); if (reader == null) { shutdown(participant); reader_listener = null; throw new ApplicationException("create_datareader error"); } // --- Wait for data --- // /* Main loop */ const System.Int32 receive_period = 1000; // milliseconds for (int count=0; (sample_count == 0) || (count < sample_count); ++count) { 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 = market_dataTypeSupport.get_type_name(); try { market_dataTypeSupport.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 market_data", 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"); } /* Start changes for MultiChannel */ DDS.StringSeq expression_parameters = new DDS.StringSeq(1); DDS.ContentFilteredTopic filtered_topic = participant.create_contentfilteredtopic_with_filter( "Example market_data", topic, "Symbol MATCH 'A'", expression_parameters, DDS.DomainParticipant.STRINGMATCHFILTER_NAME); // --- Create reader --- // /* Create a data reader listener */ market_dataListener reader_listener = new market_dataListener(); /* To customize the data reader QoS, use the configuration file USER_QOS_PROFILES.xml */ DDS.DataReader reader = subscriber.create_datareader( filtered_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 --- // /* Main loop */ const System.Int32 receive_period = 4000; // milliseconds for (int count = 0; (sample_count == 0) || (count < sample_count); ++count) { /* Console.WriteLine( * "market_data subscriber sleeping for {0} sec...", * receive_period / 1000); * * System.Threading.Thread.Sleep(receive_period); */ if (count == 3) { filtered_topic.append_to_expression_parameter(0, "D"); Console.WriteLine("changed filter to Symbol MATCH 'AD'"); } if (count == 6) { filtered_topic.remove_from_expression_parameter(0, "A"); Console.WriteLine("changed filter to Symbol MATCH 'D'"); } System.Threading.Thread.Sleep(receive_period); } /* End changes for MultiChannel */ // --- Shutdown --- // /* Delete all entities */ shutdown(participant); reader_listener = null; }
static void subscribe(int domain_id, int sample_count) { /* Auxiliary variables */ String odd_string = "'ODD'"; String even_string = "'EVEN'"; // --- 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 = waitset_query_condTypeSupport.get_type_name(); try { waitset_query_condTypeSupport.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 waitset_query_cond", 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 --- // /* 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, null, DDS.StatusMask.STATUS_MASK_NONE); if (reader == null) { shutdown(participant); throw new ApplicationException("create_datareader error"); } waitset_query_condDataReader waitset_query_cond_reader = (waitset_query_condDataReader)reader; /* Create query condition */ DDS.StringSeq query_parameters = new DDS.StringSeq(1); query_parameters.ensure_length(1, 1); /* The initial value of the parameters is EVEN string */ query_parameters.set_at(0, even_string); String query_expression = "name MATCH %0"; DDS.QueryCondition query_condition = waitset_query_cond_reader.create_querycondition( DDS.SampleStateKind.NOT_READ_SAMPLE_STATE, DDS.ViewStateKind.ANY_VIEW_STATE, DDS.InstanceStateKind.ANY_INSTANCE_STATE, query_expression, query_parameters); if (query_condition == null) { shutdown(participant); throw new ApplicationException("create_querycondition error"); } DDS.WaitSet waitset = new DDS.WaitSet(); if (waitset == null) { shutdown(participant); throw new ApplicationException("create waitset error"); } /* Attach Query Conditions */ try { waitset.attach_condition((DDS.Condition)query_condition); } catch (DDS.Exception e) { Console.WriteLine("attach_condition error {0}", e); shutdown(participant); throw e; } DDS.Duration_t wait_timeout; wait_timeout.nanosec = (uint)500000000; wait_timeout.sec = 1; Console.WriteLine("\n>>>Timeout: {0} sec", wait_timeout.sec, wait_timeout.nanosec); Console.WriteLine(">>> Query conditions: name MATCH %0"); Console.WriteLine("\t%0 = {0}", query_parameters.get_at(0)); Console.WriteLine("---------------------------------\n"); // --- Wait for data --- // /* Main loop */ for (int count = 0; (sample_count == 0) || (count < sample_count); ++count) { DDS.ConditionSeq active_conditions_seq = new DDS.ConditionSeq(); /* We set a new parameter in the Query Condition after 7 secs */ if (count == 7) { query_parameters.set_at(0, odd_string); Console.WriteLine("CHANGING THE QUERY CONDITION"); Console.WriteLine("\n>>> Query conditions: name MATCH %0"); Console.WriteLine("\t%0 = {0}", query_parameters.get_at(0)); Console.WriteLine(">>> We keep one sample in the history"); Console.WriteLine("-------------------------------------\n"); query_condition.set_query_parameters(query_parameters); } /* wait() blocks execution of the thread until one or more attached * Conditions become true, or until a user-specified timeout * expires. */ try { waitset.wait(active_conditions_seq, wait_timeout); } catch (DDS.Retcode_Timeout) { Console.WriteLine("Wait timed out!! No conditions were " + "triggered."); continue; } catch (DDS.Exception e) { Console.WriteLine("wait error {0}", e); break; } waitset_query_condSeq data_seq = new waitset_query_condSeq(); DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq(); bool follow = true; while (follow) { try { waitset_query_cond_reader.take_w_condition( data_seq, info_seq, DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED, query_condition); for (int i = 0; i < data_seq.length; ++i) { if (!info_seq.get_at(i).valid_data) { Console.WriteLine("Got metadata"); continue; } waitset_query_condTypeSupport.print_data( data_seq.get_at(i)); } } catch (DDS.Retcode_NoData) { /* When there isn't data, the subscriber stop to * take samples */ follow = false; } finally { waitset_query_cond_reader.return_loan(data_seq, info_seq); } } } // --- Shutdown --- // /* Delete all entities */ shutdown(participant); }
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 = ChatObjectTypeSupport.get_type_name(); try { ChatObjectTypeSupport.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( My.CHAT_TOPIC_NAME.VALUE, /*>>><<<*/ 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 ContentFiltered Topic */ DDS.StringWrapper[] cft_param_list = new DDS.StringWrapper[] { "'Rajive'", "'Shannon'", "'Jaromy'" }; DDS.StringSeq cft_parameters = new DDS.StringSeq(3); cft_parameters.from_array(cft_param_list); DDS.ContentFilteredTopic cft = participant.create_contentfilteredtopic("Chat/filtered", topic, "(id = %0 OR id = %1 OR id = %2)", cft_parameters); if (cft == null) { Console.WriteLine("create_contentfilteredtopic error\n"); shutdown(participant); throw new ApplicationException("create_contentfilteredtopic error"); } /* <<< */ // --- Create reader --- // /* Create a data reader listener */ ChatObjectListener reader_listener = new ChatObjectListener(); /* To customize the data reader QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.DataReader reader = subscriber.create_datareader( cft, /*>>><<<*/ DDS.Subscriber.DATAREADER_QOS_DEFAULT, null, /*>>><<<*/ DDS.StatusMask.STATUS_MASK_NONE); /*>>><<<*/ if (reader == null) { shutdown(participant); reader_listener = null; throw new ApplicationException("create_datareader error"); } /* >>> Setup StatusCondition */ DDS.StatusCondition status_condition = reader.get_statuscondition(); if (status_condition.Equals(null)) { Console.WriteLine("get_statuscondition error\n"); shutdown(participant); throw new ApplicationException("get_statuscondition error"); } try { status_condition.set_enabled_statuses((DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS); } catch { Console.WriteLine("set_enabled_statuses error\n"); shutdown(participant); throw new ApplicationException("set_enabled_statuses error"); } /* <<< */ /* >>> Setup WaitSet */ DDS.WaitSet waitset = new DDS.WaitSet(); try { waitset.attach_condition(status_condition); } catch { // ... error waitset.Dispose(); waitset = null; shutdown(participant); reader_listener.Dispose(); reader_listener = null; return; } // holder for active conditions DDS.ConditionSeq active_conditions = new DDS.ConditionSeq(); /* <<< */ // --- Wait for data --- // /* Main loop */ const System.Int32 receive_period = 4000; // milliseconds for (int count = 0; (sample_count == 0) || (count < sample_count); ++count) { Console.WriteLine( "ChatObject subscriber sleeping ...", receive_period / 1000); /* >>> Wait */ /* Wait for condition to trigger */ try { waitset.wait(active_conditions, DDS.Duration_t.DURATION_INFINITE); reader_listener.on_data_available(reader); } catch { } /* <<< */ // System.Threading.Thread.Sleep(receive_period); /*>>><<<*/ } // --- Shutdown --- // /* Delete all entities */ waitset.Dispose(); waitset = null; /*>>><<<*/ shutdown(participant); reader_listener = null; }
static void subscribe(int domain_id, int sample_count, int sel_cft) { // --- 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 = cftTypeSupport.get_type_name(); try { cftTypeSupport.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 cft", 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"); } /* For this filter we only allow 1 parameter */ DDS.StringSeq parameters = new DDS.StringSeq(1); /* The default parameter list that we will include in the * sequence of parameters will be "SOME_STRING" */ DDS.StringWrapper[] param_list = new DDS.StringWrapper[1] { "SOME_STRING" }; parameters.from_array(param_list); DDS.ContentFilteredTopic cft = null; if (sel_cft == 1) { /* create_contentfilteredtopic_with_filter */ cft = participant.create_contentfilteredtopic_with_filter( "ContentFilteredTopic", topic, "name MATCH %0", parameters, DDS.DomainParticipant.STRINGMATCHFILTER_NAME); if (cft == null) { shutdown(participant); throw new ApplicationException( "create_contentfilteredtopic_with_filter error"); } } // --- Create reader --- // /* Create a data reader listener */ cftListener reader_listener = new cftListener(); DDS.DataReader reader = null; if (sel_cft != 0) { Console.WriteLine("Using ContentFiltered Topic"); reader = subscriber.create_datareader(cft, DDS.Subscriber.DATAREADER_QOS_DEFAULT, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); } else { Console.WriteLine("Using Normal Topic"); 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"); } /* If you want to set the reliability and history QoS settings * programmatically rather than using the XML, you will need to add * the following lines to your code and comment out the * create_datareader calls 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; } datareader_qos.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS; datareader_qos.durability.kind = DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS; datareader_qos.history.kind = DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS; datareader_qos.history.depth = 20; if (sel_cft != 0) { Console.WriteLine("Using ContentFiltered Topic"); reader = subscriber.create_datareader(cft, datareader_qos, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); } else { Console.WriteLine("Using Normal Topic"); reader = subscriber.create_datareader(topic, datareader_qos, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); } if (reader == null) { shutdown(participant); reader_listener = null; throw new ApplicationException("create_datareader error"); } */ /* Change the filter */ if (sel_cft == 1) { Console.WriteLine(">>> Now setting a new filter: name MATCH \"EVEN\""); try { cft.append_to_expression_parameter(0, "EVEN"); } catch (DDS.Exception e) { Console.WriteLine("append_to_expression_parameter error {0}", e); shutdown(participant); throw e; } } // --- Wait for data --- // /* Main loop */ const System.Int32 receive_period = 1000; // milliseconds for (int count=0; (sample_count == 0) || (count < sample_count); ++count) { System.Threading.Thread.Sleep(receive_period); if (sel_cft == 0) { continue; } if (count == 10) { Console.WriteLine("\n==========================="); Console.WriteLine("Changing filter parameters"); Console.WriteLine("Append 'ODD' filter"); Console.WriteLine("==========================="); try { cft.append_to_expression_parameter(0, "ODD"); } catch (DDS.Exception e) { Console.WriteLine( "append_to_expression_parameter error {0}", e); shutdown(participant); throw e; } } if (count == 20) { Console.WriteLine("\n==========================="); Console.WriteLine("Changing filter parameters"); Console.WriteLine("Removing 'EVEN' filter"); Console.WriteLine("==========================="); try { cft.remove_from_expression_parameter(0, "EVEN"); } catch (DDS.Exception e) { Console.WriteLine( "append_to_expression_parameter error {0}", e); shutdown(participant); throw e; } } } // --- Shutdown --- // /* Delete all entities */ shutdown(participant); reader_listener = null; }
static void subscribe(int domain_id, int sample_count, int sel_cft) { // --- 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 = cftTypeSupport.get_type_name(); try { cftTypeSupport.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 cft", 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"); } /* Sequence of parameters for the content filter expression */ DDS.StringSeq parameters = new DDS.StringSeq(2); /* The default parameter list that we will include in the * sequence of parameters will be "1","4" (i.e., 1 <= x <= 4). */ DDS.StringWrapper[] param_list = new DDS.StringWrapper[2] {"1", "4"}; parameters.from_array(param_list); /* Create the content filtered topic in case sel_cft * is true. * The Content Filter Expresion has two parameters: * - %0 -- x must be greater or equal than %0. * - %1 -- x must be less or equal than %1. */ DDS.ContentFilteredTopic cft = null; if (sel_cft != 0) { cft = participant.create_contentfilteredtopic( "ContentFilteredTopic", topic, "(x >= %0 and x <= %1)", parameters); if (cft == null) { shutdown(participant); throw new ApplicationException( "create_contentfilteredtopic error"); } } // --- Create reader --- // /* Create a data reader listener */ cftListener reader_listener = new cftListener(); /* Here we create the reader either using a Content Filtered Topic or * a normal topic */ DDS.DataReader reader = null; if (sel_cft != 0) { Console.WriteLine("Using ContentFiltered Topic"); reader = subscriber.create_datareader(cft, DDS.Subscriber.DATAREADER_QOS_DEFAULT, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); } else { Console.WriteLine("Using Normal Topic"); 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"); } /* If you want to set the reliability and history QoS settings * programmatically rather than using the XML, you will need to add * the following lines to your code and comment out the * create_datareader calls 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; } datareader_qos.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS; datareader_qos.durability.kind = DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS; datareader_qos.history.kind = DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS; datareader_qos.history.depth = 20; if (sel_cft != 0) { Console.WriteLine("Using ContentFiltered Topic"); reader = subscriber.create_datareader(cft, datareader_qos, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); } else { Console.WriteLine("Using Normal Topic"); reader = subscriber.create_datareader(topic, datareader_qos, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); } if (reader == null) { shutdown(participant); reader_listener = null; throw new ApplicationException("create_datareader error"); } */ if (sel_cft != 0) { Console.WriteLine("\n=========================="); Console.WriteLine("Using CFT\nFilter: 1 <= x <= 4"); Console.WriteLine("=========================="); } // --- Wait for data --- // /* Main loop */ const System.Int32 receive_period = 1000; // milliseconds for (int count=0; (sample_count == 0) || (count < sample_count); ++count) { Console.WriteLine( "cft subscriber sleeping for {0} sec...", receive_period / 1000); System.Threading.Thread.Sleep(receive_period); if (sel_cft == 0) { continue; } if (count == 10) { Console.WriteLine("\n=========================="); Console.WriteLine("Changing filter parameters"); Console.WriteLine("Filter: 5 <= x <= 9"); Console.WriteLine("==========================="); parameters.set_at(0, "5"); parameters.set_at(1, "9"); try { cft.set_expression_parameters(parameters); } catch (DDS.Exception e) { Console.WriteLine("set_expression_parameters error {0}", e); shutdown(participant); throw e; } } else if (count == 20) { Console.WriteLine("\n=========================="); Console.WriteLine("Changing filter parameters"); Console.WriteLine("Filter: 3 <= x <= 9"); Console.WriteLine("==========================="); DDS.StringSeq oldParameters = new DDS.StringSeq(); cft.get_expression_parameters(oldParameters); oldParameters.set_at(0, "3"); try { cft.set_expression_parameters(oldParameters); } catch (DDS.Exception e) { Console.WriteLine("set_expression_parameters error {0}", e); shutdown(participant); throw e; } } } // --- 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 = ccfTypeSupport.get_type_name(); try { ccfTypeSupport.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 ccf", 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"); } /* Start changes for Custom Content Filter */ /* Create and register custom filter */ custom_filter_type custom_filter = new custom_filter_type(); try { participant.register_contentfilter("CustomFilter", custom_filter); } catch (DDS.Exception e) { Console.WriteLine("write error {0}", e); } DDS.StringSeq parameters = new DDS.StringSeq(2); DDS.StringWrapper[] param_list = { "2", "divides" }; parameters.from_array(param_list); /* Create content filtered topic */ DDS.ContentFilteredTopic cft = participant.create_contentfilteredtopic_with_filter( "ContentFilteredTopic", topic, "%0 %1 x", parameters, "CustomFilter"); // custom filter name if (cft == null) { shutdown(participant); throw new ApplicationException( "create_contentfilteredtopic_with_filter error"); } Console.WriteLine("Filter: 2 divides x"); /* Also note that we pass 'cft' rather than 'topic' to the * datareader below */ /* End changes for Custom Contet Filter */ // --- Create reader --- // /* Create a data reader listener */ ccfListener reader_listener = new ccfListener(); /* * NOTE THAT WE USE THE PREVIOUSLY CREATED CUSTOM FILTERED * TOPIC TO READ NEW SAMPLES */ /* To customize the data reader QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.DataReader reader = subscriber.create_datareader( cft, DDS.Subscriber.DATAREADER_QOS_DEFAULT, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); if (reader == null) { shutdown(participant); reader_listener = null; throw new ApplicationException("create_datareader error"); } // --- Wait for data --- // /* Main loop */ const System.Int32 receive_period = 1000; // milliseconds for (int count = 0; (sample_count == 0) || (count < sample_count); ++count) { if (count == 10) { Console.WriteLine("changing filter parameters"); Console.WriteLine("Filter: 15 greater-than x"); parameters.set_at(0, "15"); parameters.set_at(1, "greater-than"); cft.set_expression_parameters(parameters); } else if (count == 20) { Console.WriteLine("changing filter parameters"); Console.WriteLine("Filter: 3 divides x"); DDS.StringSeq old_parameters = new DDS.StringSeq(); cft.get_expression_parameters(old_parameters); old_parameters.set_at(0, "3"); old_parameters.set_at(1, "divides"); cft.set_expression_parameters(old_parameters); } System.Threading.Thread.Sleep(receive_period); } // --- Shutdown --- // /* Delete all entities */ shutdown(participant); reader_listener = null; }
static void subscribe(int domain_id, int sample_count) { // --- Create participant --- // /* To customize the participant QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.DomainParticipant participant = DDS.DomainParticipantFactory.get_instance().create_participant( domain_id, DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (participant == null) { shutdown(participant); throw new ApplicationException("create_participant error"); } // --- Create subscriber --- // /* To customize the subscriber QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.Subscriber subscriber = participant.create_subscriber( DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (subscriber == null) { shutdown(participant); throw new ApplicationException("create_subscriber error"); } // --- Create topic --- // /* Register the type before creating the topic */ System.String type_name = market_dataTypeSupport.get_type_name(); try { market_dataTypeSupport.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 market_data", 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"); } /* Start changes for MultiChannel */ DDS.StringSeq expression_parameters = new DDS.StringSeq(1); DDS.ContentFilteredTopic filtered_topic = participant.create_contentfilteredtopic_with_filter( "Example market_data", topic, "Symbol MATCH 'A'", expression_parameters, DDS.DomainParticipant.STRINGMATCHFILTER_NAME); // --- Create reader --- // /* Create a data reader listener */ market_dataListener reader_listener = new market_dataListener(); /* To customize the data reader QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.DataReader reader = subscriber.create_datareader( filtered_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 --- // /* Main loop */ const System.Int32 receive_period = 4000; // milliseconds for (int count = 0; (sample_count == 0) || (count < sample_count); ++count) { /* Console.WriteLine( * "market_data subscriber sleeping for {0} sec...", * receive_period / 1000); * * System.Threading.Thread.Sleep(receive_period); */ if (count == 3) { filtered_topic.append_to_expression_parameter(0, "D"); Console.WriteLine("changed filter to Symbol MATCH 'AD'"); } if (count == 6) { filtered_topic.remove_from_expression_parameter(0, "A"); Console.WriteLine("changed filter to Symbol MATCH 'D'"); } System.Threading.Thread.Sleep(receive_period); } /* End changes for MultiChannel */ // --- Shutdown --- // /* Delete all entities */ shutdown(participant); reader_listener = null; }
static void subscribe(int domain_id, int sample_count, int sel_cft) { // --- 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 = cftTypeSupport.get_type_name(); try { cftTypeSupport.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 cft", 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"); } /* Sequence of parameters for the content filter expression */ DDS.StringSeq parameters = new DDS.StringSeq(2); /* The default parameter list that we will include in the * sequence of parameters will be "1","4" (i.e., 1 <= x <= 4). */ DDS.StringWrapper[] param_list = new DDS.StringWrapper[2] { "1", "4" }; parameters.from_array(param_list); /* Create the content filtered topic in case sel_cft * is true. * The Content Filter Expresion has two parameters: * - %0 -- x must be greater or equal than %0. * - %1 -- x must be less or equal than %1. */ DDS.ContentFilteredTopic cft = null; if (sel_cft != 0) { cft = participant.create_contentfilteredtopic( "ContentFilteredTopic", topic, "(x >= %0 and x <= %1)", parameters); if (cft == null) { shutdown(participant); throw new ApplicationException( "create_contentfilteredtopic error"); } } // --- Create reader --- // /* Create a data reader listener */ cftListener reader_listener = new cftListener(); /* Here we create the reader either using a Content Filtered Topic or * a normal topic */ DDS.DataReader reader = null; if (sel_cft != 0) { Console.WriteLine("Using ContentFiltered Topic"); reader = subscriber.create_datareader(cft, DDS.Subscriber.DATAREADER_QOS_DEFAULT, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); } else { Console.WriteLine("Using Normal Topic"); 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"); } /* If you want to set the reliability and history QoS settings * programmatically rather than using the XML, you will need to add * the following lines to your code and comment out the * create_datareader calls 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; * } * * datareader_qos.reliability.kind = * DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS; * datareader_qos.durability.kind = * DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS; * datareader_qos.history.kind = * DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS; * datareader_qos.history.depth = 20; * * if (sel_cft != 0) { * Console.WriteLine("Using ContentFiltered Topic"); * reader = subscriber.create_datareader(cft, * datareader_qos, reader_listener, * DDS.StatusMask.STATUS_MASK_ALL); * } else { * Console.WriteLine("Using Normal Topic"); * reader = subscriber.create_datareader(topic, * datareader_qos, reader_listener, * DDS.StatusMask.STATUS_MASK_ALL); * } * * if (reader == null) { * shutdown(participant); * reader_listener = null; * throw new ApplicationException("create_datareader error"); * } * */ if (sel_cft != 0) { Console.WriteLine("\n=========================="); Console.WriteLine("Using CFT\nFilter: 1 <= x <= 4"); Console.WriteLine("=========================="); } // --- Wait for data --- // /* Main loop */ const System.Int32 receive_period = 1000; // milliseconds for (int count = 0; (sample_count == 0) || (count < sample_count); ++count) { Console.WriteLine( "cft subscriber sleeping for {0} sec...", receive_period / 1000); System.Threading.Thread.Sleep(receive_period); if (sel_cft == 0) { continue; } if (count == 10) { Console.WriteLine("\n=========================="); Console.WriteLine("Changing filter parameters"); Console.WriteLine("Filter: 5 <= x <= 9"); Console.WriteLine("==========================="); parameters.set_at(0, "5"); parameters.set_at(1, "9"); try { cft.set_expression_parameters(parameters); } catch (DDS.Exception e) { Console.WriteLine("set_expression_parameters error {0}", e); shutdown(participant); throw e; } } else if (count == 20) { Console.WriteLine("\n=========================="); Console.WriteLine("Changing filter parameters"); Console.WriteLine("Filter: 3 <= x <= 9"); Console.WriteLine("==========================="); DDS.StringSeq oldParameters = new DDS.StringSeq(); cft.get_expression_parameters(oldParameters); oldParameters.set_at(0, "3"); try { cft.set_expression_parameters(oldParameters); } catch (DDS.Exception e) { Console.WriteLine("set_expression_parameters error {0}", e); shutdown(participant); throw e; } } } // --- Shutdown --- // /* Delete all entities */ shutdown(participant); reader_listener = null; }
static void subscribe(int domain_id, int sample_count) { // --- Create participant --- // /* To customize the participant QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.DomainParticipant participant = DDS.DomainParticipantFactory.get_instance().create_participant( domain_id, DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (participant == null) { shutdown(participant); throw new ApplicationException("create_participant error"); } // --- Create subscriber --- // /* To customize the subscriber QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.Subscriber subscriber = participant.create_subscriber( DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (subscriber == null) { shutdown(participant); throw new ApplicationException("create_subscriber error"); } // --- Create topic --- // /* Register the type before creating the topic */ System.String type_name = deadline_contentfilterTypeSupport.get_type_name(); try { deadline_contentfilterTypeSupport.register_type( participant, type_name); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); shutdown(participant); throw e; } /* To customize the topic QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.Topic topic = participant.create_topic( "Example deadline_contentfilter", type_name, DDS.DomainParticipant.TOPIC_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (topic == null) { shutdown(participant); throw new ApplicationException("create_topic error"); } // --- Create reader --- // //// Start changes for Deadline // Set up content filtered topic to show interaction with deadline DDS.StringSeq parameters = new DDS.StringSeq(1); // need to specify length otherwise create_contentfilteredtopic will // throw an unhandled exception error! if (parameters.ensure_length(1, 1) == false) { Console.WriteLine("ensure_length error\n"); } parameters.set_at(0, "2"); DDS.ContentFilteredTopic cft = participant.create_contentfilteredtopic( "ContentFilteredTopic", topic, "code < %0", parameters); /* Create a data reader listener */ deadline_contentfilterListener reader_listener = new deadline_contentfilterListener(); /* To customize the data reader QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.DataReader reader = subscriber.create_datareader( cft, DDS.Subscriber.DATAREADER_QOS_DEFAULT, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); if (reader == null) { shutdown(participant); reader_listener = null; throw new ApplicationException("create_datareader error"); } /* If you want to change the DataReader's QoS programmatically rather than * using the XML file, you will need to add the following lines to your * code and comment out the create_datareader call above. * * In this case, we set the deadline period to 2 seconds to trigger * a deadline if the DataWriter does not update often enough, or if * the content-filter filters out data so there is no data available * with 2 seconds. */ /* * DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos(); * subscriber.get_default_datareader_qos(datareader_qos); * if (datareader_qos == null) * { * shutdown(participant); * reader_listener = null; * throw new ApplicationException("get_default_datareader_qos error"); * } * * // Set deadline QoS to be 2 sec * datareader_qos.deadline.period.sec = 2; * datareader_qos.deadline.period.nanosec = 0; * * DDS.DataReader reader = subscriber.create_datareader( * topic, * datareader_qos, //DDS.Subscriber.DATAREADER_QOS_DEFAULT, * reader_listener, * DDS.StatusMask.STATUS_MASK_ALL); * if (reader == null) * { * shutdown(participant); * reader_listener = null; * throw new ApplicationException("create_datareader error"); * } */ // --- Wait for data --- // /* Main loop */ const System.Int32 receive_period = 1000; // milliseconds for (int count = 0; (sample_count == 0) || (count < sample_count); ++count) { // After 10 seconds, change content filter to accept only // instance 0 if (count == 10) { Console.WriteLine("Starting to filter out instance1\n"); parameters.set_at(0, "1"); cft.set_expression_parameters(parameters); } System.Threading.Thread.Sleep(receive_period); } // --- Shutdown --- // /* Delete all entities */ shutdown(participant); reader_listener = null; }
static void subscribe(int domain_id, int sample_count) { /* Auxiliary variables */ String odd_string = "'ODD'"; String even_string = "'EVEN'"; // --- 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 = waitset_query_condTypeSupport.get_type_name(); try { waitset_query_condTypeSupport.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 waitset_query_cond", 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 --- // /* 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, null, DDS.StatusMask.STATUS_MASK_NONE); if (reader == null) { shutdown(participant); throw new ApplicationException("create_datareader error"); } waitset_query_condDataReader waitset_query_cond_reader = (waitset_query_condDataReader)reader; /* Create query condition */ DDS.StringSeq query_parameters = new DDS.StringSeq(1); query_parameters.ensure_length(1, 1); /* The initial value of the parameters is EVEN string */ query_parameters.set_at(0, even_string); String query_expression = "name MATCH %0"; DDS.QueryCondition query_condition = waitset_query_cond_reader.create_querycondition( DDS.SampleStateKind.NOT_READ_SAMPLE_STATE, DDS.ViewStateKind.ANY_VIEW_STATE, DDS.InstanceStateKind.ANY_INSTANCE_STATE, query_expression, query_parameters); if (query_condition == null) { shutdown(participant); throw new ApplicationException("create_querycondition error"); } DDS.WaitSet waitset = new DDS.WaitSet(); if (waitset == null) { shutdown(participant); throw new ApplicationException("create waitset error"); } /* Attach Query Conditions */ try { waitset.attach_condition((DDS.Condition)query_condition); } catch (DDS.Exception e) { Console.WriteLine("attach_condition error {0}", e); shutdown(participant); throw e; } DDS.Duration_t wait_timeout; wait_timeout.nanosec = (uint)500000000; wait_timeout.sec = 1; Console.WriteLine("\n>>>Timeout: {0} sec", wait_timeout.sec, wait_timeout.nanosec); Console.WriteLine(">>> Query conditions: name MATCH %0"); Console.WriteLine("\t%0 = {0}", query_parameters.get_at(0)); Console.WriteLine("---------------------------------\n"); // --- Wait for data --- // /* Main loop */ for (int count=0; (sample_count == 0) || (count < sample_count); ++count) { DDS.ConditionSeq active_conditions_seq = new DDS.ConditionSeq(); /* We set a new parameter in the Query Condition after 7 secs */ if (count == 7) { query_parameters.set_at(0,odd_string); Console.WriteLine("CHANGING THE QUERY CONDITION"); Console.WriteLine("\n>>> Query conditions: name MATCH %0"); Console.WriteLine("\t%0 = {0}", query_parameters.get_at(0)); Console.WriteLine(">>> We keep one sample in the history"); Console.WriteLine("-------------------------------------\n"); query_condition.set_query_parameters(query_parameters); } /* wait() blocks execution of the thread until one or more attached * Conditions become true, or until a user-specified timeout * expires. */ try { waitset.wait(active_conditions_seq, wait_timeout); } catch (DDS.Retcode_Timeout) { Console.WriteLine("Wait timed out!! No conditions were " + "triggered."); continue; } catch (DDS.Exception e) { Console.WriteLine("wait error {0}", e); break; } waitset_query_condSeq data_seq = new waitset_query_condSeq(); DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq(); bool follow = true; while (follow) { try { waitset_query_cond_reader.take_w_condition( data_seq, info_seq, DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED, query_condition); for (int i = 0; i < data_seq.length; ++i) { if (!info_seq.get_at(i).valid_data) { Console.WriteLine("Got metadata"); continue; } waitset_query_condTypeSupport.print_data( data_seq.get_at(i)); } } catch (DDS.Retcode_NoData) { /* When there isn't data, the subscriber stop to * take samples */ follow = false; } finally { waitset_query_cond_reader.return_loan(data_seq, info_seq); } } } // --- Shutdown --- // /* Delete all entities */ shutdown(participant); }