public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
DDS.QosProvider qosProvider = null;
DDS.DomainParticipantQos participantQos =
test.sacs.QosComparer.defaultDomainParticipantQos;
DDS.TopicQos topicQos =
test.sacs.QosComparer.defaultTopicQos;
DDS.SubscriberQos subscriberQos =
test.sacs.QosComparer.defaultSubscriberQos;
DDS.DataReaderQos readerQos =
test.sacs.QosComparer.defaultDataReaderQos;
DDS.PublisherQos publisherQos =
test.sacs.QosComparer.defaultPublisherQos;
DDS.DataWriterQos writerQos =
test.sacs.QosComparer.defaultDataWriterQos;
DDS.DomainParticipantQos xmlParticipantQos = new DDS.DomainParticipantQos ();
DDS.TopicQos xmlTopicQos = new DDS.TopicQos ();
DDS.SubscriberQos xmlSubscriberQos = new DDS.SubscriberQos ();
DDS.DataReaderQos xmlReaderQos = new DDS.DataReaderQos ();
DDS.PublisherQos xmlPublisherQos = new DDS.PublisherQos ();
DDS.DataWriterQos xmlWriterQos = new DDS.DataWriterQos ();
qosProvider = new DDS.QosProvider (this.uri, null);
if (qosProvider.GetParticipantQos (ref xmlParticipantQos, null) != 0 ||
qosProvider.GetTopicQos (ref xmlTopicQos, null) != 0 ||
qosProvider.GetSubscriberQos (ref xmlSubscriberQos, null) != 0 ||
qosProvider.GetDataReaderQos (ref xmlReaderQos, null) != 0 ||
qosProvider.GetPublisherQos (ref xmlPublisherQos, null) != 0 ||
qosProvider.GetDataWriterQos (ref xmlWriterQos, null) != 0)
{
result = new Test.Framework.TestResult (
"QosProvider should successfully parse XML file",
"QosProvider did not parse XML file " + uri,
Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
} else if (!QosComparer.DomainParticipantQosEquals (xmlParticipantQos, participantQos) ||
!QosComparer.TopicQosEquals (xmlTopicQos, topicQos) ||
!QosComparer.SubscriberQosEquals (xmlSubscriberQos, subscriberQos) ||
!QosComparer.DataReaderQosEquals (xmlReaderQos, readerQos) ||
!QosComparer.PublisherQosEquals (xmlPublisherQos, publisherQos) ||
!QosComparer.DataWriterQosEquals (xmlWriterQos, writerQos))
{
result = new Test.Framework.TestResult (
"QosProvider should successfully parse XML file",
"QosProvider did not correctly parse XML file " + uri,
Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
} else {
result = new Test.Framework.TestResult (
"QosProvider should successfully parse XML file",
"QosProvider correctly parsed XML file " + uri,
Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Pass);
}
return result;
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
Test.Framework.TestVerdict expVerdict = Test.Framework.TestVerdict.Pass;
string expResult = "Setting/resolving default TopicQos succeeded.";
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
DDS.TopicQos tqosHolder = null;
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);
}
if (participant.GetDefaultTopicQos(ref tqosHolder) != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "Topic qos could not be resolved."
, 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()
{
DDS.TopicQos tQos = null;
DDS.DataWriterQos dwQos = null;
DDS.ReturnCode rc;
string expResult = "Initialization success";
Test.Framework.TestResult result = new Test.Framework.TestResult(
expResult,
string.Empty,
Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
bce.typeSupport2 = new mod.embeddedStructTypeTypeSupport();
rc = bce.typeSupport2.RegisterType(bce.participant, "embeddedStructType");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Typesupport could not be registered.";
return(result);
}
rc = bce.participant.GetDefaultTopicQos(ref tQos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
return(result);
}
bce.topic2 = bce.participant.CreateTopic("embeddedStruct", "embeddedStructType", tQos);
if (bce.topic2 == null)
{
result.Result = "Topic could not be created.";
return(result);
}
rc = bce.publisher.GetDefaultDataWriterQos(ref dwQos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Default DataWriterQos could not be resolved.";
return(result);
}
bce.datawriter2 = (mod.embeddedStructTypeDataWriter)bce.publisher.CreateDataWriter(bce.topic2, dwQos);
if (bce.datawriter2 == null)
{
result.Result = "DataWriter could not be created.";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
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()
{
DDS.ISubscriber subscriber;
DDS.DataReaderQos dataReaderQos = null;
DDS.IDomainParticipant participant;
DDS.DataReaderQos qosHolder1 = null;
DDS.ITopic topic;
string expResult = "copy_from_topic_qos rejects TOPIC_QOS_DEFAULT with correct code.";
Test.Framework.TestResult result;
DDS.ReturnCode rc = DDS.ReturnCode.Error;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
subscriber = (DDS.ISubscriber) this.ResolveObject("subscriber");
participant = (DDS.IDomainParticipant) this.ResolveObject("participant");
topic = (DDS.ITopic) this.ResolveObject("topic");
if (subscriber.GetDefaultDataReaderQos(ref dataReaderQos) != DDS.ReturnCode.Ok)
{
result.Result = "Could not retrieve default DataReaderQos";
return(result);
}
dataReaderQos.History.Kind = DDS.HistoryQosPolicyKind.KeepAllHistoryQos;
dataReaderQos.History.Depth = 150;
// TODO: JLS, Verify the intent of this BadParameter test.
DDS.TopicQos topicQosHolder = null;
rc = subscriber.CopyFromTopicQos(ref qosHolder1, topicQosHolder);
if (rc != DDS.ReturnCode.BadParameter)
{
result.Result = "copy_from_topic_qos returns wrong code (RETCODE = " + rc + ").";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
/*
* P I N G
*/
public void run(String[] args)
{
System.Console.WriteLine("starting PING");
DDS.ICondition[] conditionList = null;
DDS.IWaitSet w;
DDS.DomainParticipantQos dpQos;
DDS.TopicQos tQos;
DDS.PublisherQos pQos;
DDS.DataWriterQos dwQos;
DDS.SubscriberQos sQos;
DDS.DataReaderQos drQos;
DDS.Duration wait_timeout = new DDS.Duration(3, 0);
DDS.ReturnCode result;
Boolean finish_flag = false;
Boolean timeout_flag = false;
Boolean terminate = false;
int imax = 1;
int i;
uint block;
int nof_cycles = 100;
int nof_blocks = 20;
/**
* Command Line argument processing
*/
if (args.Length != 0)
{
if (args.Length != 5)
{
System.Console.WriteLine("Invalid.....");
System.Console.WriteLine("Usage: ping blocks blocksize topic_id WRITE_PARTITION READ_PARTITION ");
Environment.Exit(1);
}
nof_blocks = int.Parse(args[0]);
nof_cycles = int.Parse(args[1]);
topic_id = args[2][0];
write_partition = args[3];
read_partition = args[4];
}
/*
* Create WaitSet
*/
w = new DDS.WaitSet();
/*
* Initialize Qos variables
*/
dpQos = new DDS.DomainParticipantQos();
tQos = new DDS.TopicQos();
pQos = new DDS.PublisherQos();
dwQos = new DDS.DataWriterQos();
sQos = new DDS.SubscriberQos();
drQos = new DDS.DataReaderQos();
/*
* Create participant
*/
dpf = DDS.DomainParticipantFactory.Instance;
dpf.GetDefaultParticipantQos(ref dpQos);
ErrorHandler.checkHandle(dpf, "DDS.DomainParticipantFactory.Instance");
dp = dpf.CreateParticipant(myDomain, dpQos);
if (dp == null)
{
System.Console.WriteLine("PING: ERROR - Splice Daemon not running");
return;
}
/*
* Create PING publisher
*/
dp.GetDefaultPublisherQos(ref pQos);
pQos.Partition.Name = new String[1];
pQos.Partition.Name[0] = write_partition;
p = dp.CreatePublisher(pQos);
/*
* Create PONG subscriber
*/
dp.GetDefaultSubscriberQos(ref sQos);
sQos.Partition.Name = new String[1];
sQos.Partition.Name[0] = read_partition;
s = dp.CreateSubscriber(sQos);
/*
* Get default DataReader and DataWriter QoS settings
*/
p.GetDefaultDataWriterQos(ref dwQos);
s.GetDefaultDataReaderQos(ref drQos);
/*
* Get default Topic Qos settings
*/
dp.GetDefaultTopicQos(ref tQos);
/*match data reader/writer qos with topic qos*/
p.CopyFromTopicQos(ref dwQos, tQos);
s.CopyFromTopicQos(ref drQos, tQos);
/*
* PP_min_msg
*/
/* Create Topic */
PP_min_dt = new pingpong.PP_min_msgTypeSupport();
PP_min_dt.RegisterType(dp, "pingpong::PP_min_msg");
PP_min_topic = dp.CreateTopic("PP_min_topic", "pingpong::PP_min_msg", tQos);
/* Create datawriter */
PP_min_writer = p.CreateDataWriter(PP_min_topic, dwQos) as pingpong.PP_min_msgDataWriter;
/* Create datareader */
PP_min_reader = s.CreateDataReader(PP_min_topic, drQos) as pingpong.PP_min_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_min_sc = PP_min_reader.StatusCondition;
PP_min_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_min_sc);
ErrorHandler.checkStatus(result, "attach condition pp_min_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_seq_msg
*/
/* Create Topic */
PP_seq_dt = new pingpong.PP_seq_msgTypeSupport();
PP_seq_dt.RegisterType(dp, "pingpong::PP_seq_msg");
PP_seq_topic = dp.CreateTopic("PP_seq_topic", "pingpong::PP_seq_msg", tQos);
/* Create datawriter */
PP_seq_writer = p.CreateDataWriter(PP_seq_topic, dwQos) as pingpong.PP_seq_msgDataWriter;
/* Create datareader */
PP_seq_reader = s.CreateDataReader(PP_seq_topic, drQos) as pingpong.PP_seq_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_seq_sc = PP_seq_reader.StatusCondition;
PP_seq_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_seq_sc);
ErrorHandler.checkStatus(result, "attach condition pp_seq_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_string_msg
*/
/* Create Topic */
PP_string_dt = new pingpong.PP_string_msgTypeSupport();
PP_string_dt.RegisterType(dp, "pingpong::PP_string_msg");
PP_string_topic = dp.CreateTopic("PP_string_topic", "pingpong::PP_string_msg", tQos);
/* Create datawriter */
PP_string_writer = p.CreateDataWriter(PP_string_topic, dwQos) as pingpong.PP_string_msgDataWriter;
/* Create datareader */
PP_string_reader = s.CreateDataReader(PP_string_topic, drQos) as pingpong.PP_string_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_string_sc = PP_string_reader.StatusCondition;
PP_string_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_string_sc);
ErrorHandler.checkStatus(result, "attach condition pp_string_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_fixed_msg
*/
/* Create Topic */
PP_fixed_dt = new pingpong.PP_fixed_msgTypeSupport();
PP_fixed_dt.RegisterType(dp, "pingpong::PP_fixed_msg");
PP_fixed_topic = dp.CreateTopic("PP_fixed_topic", "pingpong::PP_fixed_msg", tQos);
/* Create datawriter */
PP_fixed_writer = p.CreateDataWriter(PP_fixed_topic, dwQos) as pingpong.PP_fixed_msgDataWriter;
/* Create datareader */
PP_fixed_reader = s.CreateDataReader(PP_fixed_topic, drQos) as pingpong.PP_fixed_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_fixed_sc = PP_fixed_reader.StatusCondition;
PP_fixed_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_fixed_sc);
ErrorHandler.checkStatus(result, "attach condition pp_fixed_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_array_msg
*/
/* Create Topic */
PP_array_dt = new pingpong.PP_array_msgTypeSupport();
PP_array_dt.RegisterType(dp, "pingpong::PP_array_msg");
PP_array_topic = dp.CreateTopic("PP_array_topic", "pingpong::PP_array_msg", tQos);
/* Create datawriter */
PP_array_writer = p.CreateDataWriter(PP_array_topic, dwQos) as pingpong.PP_array_msgDataWriter;
/* Create datareader */
PP_array_reader = s.CreateDataReader(PP_array_topic, drQos) as pingpong.PP_array_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_array_sc = PP_array_reader.StatusCondition;
PP_array_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_array_sc);
ErrorHandler.checkStatus(result, "attach condition pp_array_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_quit_msg
*/
/* Create Topic */
PP_quit_dt = new pingpong.PP_quit_msgTypeSupport();
PP_quit_dt.RegisterType(dp, "pingpong::PP_quit_msg");
PP_quit_topic = dp.CreateTopic("PP_quit_topic", "pingpong::PP_quit_msg", tQos);
/* Create datawriter */
PP_quit_writer = p.CreateDataWriter(PP_quit_topic, dwQos) as pingpong.PP_quit_msgDataWriter;
for (block = 0; block < nof_blocks; block++)
{
while (!finish_flag)
{
/*
* Send Initial message
*/
timeout_flag = false;
switch (topic_id)
{
case 'm':
{
/* System.Console.WriteLine ("PING: sending initial ping_min"); */
pingpong.PP_min_msg PPdata = new pingpong.PP_min_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_min_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 'q':
{
/* System.Console.WriteLine ("PING: sending initial ping_seq"); */
pingpong.PP_seq_msg PPdata = new pingpong.PP_seq_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_seq_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 's':
{
//System.Console.WriteLine ("PING: sending initial ping_string");
pingpong.PP_string_msg PPdata = new pingpong.PP_string_msg();
PPdata.count = 0;
PPdata.block = block;
PPdata.a_string = "a_string " + block.ToString();
preWriteTime.timeGet();
result = PP_string_writer.Write(PPdata);
ErrorHandler.checkStatus(result, "writing PPData in case S");
postWriteTime.timeGet();
}
break;
case 'f':
{
/* System.Console.WriteLine ("PING: sending initial ping_fixed"); */
pingpong.PP_fixed_msg PPdata = new pingpong.PP_fixed_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_fixed_writer
.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 'a':
{
/* System.Console.WriteLine ("PING: sending initial ping_array"); */
pingpong.PP_array_msg PPdata = new pingpong.PP_array_msg();
PPdata.count = 0;
PPdata.block = block;
PPdata.str_arr_char = new char[10];
PPdata.str_arr_octet = new byte[10];
PPdata.str_arr_short = new short[10];
PPdata.str_arr_ushort = new ushort[10];
PPdata.str_arr_long = new int[10];
PPdata.str_arr_ulong = new uint[10];
PPdata.str_arr_longlong = new long[10];
PPdata.str_arr_ulonglong = new ulong[10];
PPdata.str_arr_float = new float[10];
PPdata.str_arr_double = new double[10];
PPdata.str_arr_boolean = new Boolean[11];
preWriteTime.timeGet();
result = PP_array_writer
.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 't':
{
/* System.Console.WriteLine ("PING: sending initial ping_quit"); */
pingpong.PP_quit_msg PPdata = new pingpong.PP_quit_msg();
PPdata.quit = true;
terminate = true;
finish_flag = true;
preWriteTime.timeGet();
result = PP_quit_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
default:
System.Console.WriteLine("Invalid topic-id");
return;
}
if (!terminate)
{
roundTripTime.set(preWriteTime.get());
write_access.add_stats(postWriteTime.sub(preWriteTime));
/*
* Wait for response, calculate timing, and send another
* data if not ready
*/
while (!(timeout_flag || finish_flag))
{
result = w.Wait(ref conditionList, wait_timeout);
//ErrorHandler.checkStatus(result, "wait did not work condition list is probably null!");
if (conditionList != null)
{
imax = conditionList.Length;
if (imax != 0)
{
for (i = 0; i < imax; i++)
{
if (conditionList[i] == PP_min_sc)
{
finish_flag = PP_min_handler(nof_cycles);
}
else if (conditionList[i] == PP_seq_sc)
{
finish_flag = PP_seq_handler(nof_cycles);
}
else if (conditionList[i] == PP_string_sc)
{
finish_flag = PP_string_handler(nof_cycles);
}
else if (conditionList[i] == PP_fixed_sc)
{
finish_flag = PP_fixed_handler(nof_cycles);
}
else if (conditionList[i] == PP_array_sc)
{
finish_flag = PP_array_handler(nof_cycles);
}
else
{
System.Console.WriteLine("PING: unexpected condition triggered: "
+ conditionList[i]);
}
}
}
else
{
System.Console.WriteLine("PING: TIMEOUT - message lost (1)");
timeout_flag = true;
}
}
else
{
System.Console.WriteLine("PING: TIMEOUT - message lost (2)");
timeout_flag = true;
}
}
}
}
if (!terminate)
{
finish_flag = false;
if (block == 0)
{
System.Console.WriteLine("# PING PONG measurements (in us)");
System.Console.WriteLine("# Executed at: ");
System.Console.WriteLine("# Roundtrip time [us] Write-access time [us] Read-access time [us]");
System.Console.WriteLine("# Block Count mean min max Count mean min max Count mean min max");
}
System.Console.WriteLine(String.Format("{0,-6} {1, 10} {2, 6} {3, 6} {4, 6} {5, 10} {6, 6} {7, 6} {8, 6} {9, 10} {10, 6} {11, 6} {12, 6}",
block,roundtrip.count,roundtrip.average,roundtrip.min, roundtrip.max,write_access.count,
write_access.average,write_access.min, write_access.max, read_access.count, read_access.average,
read_access.min, read_access.max));
Console.Out.Flush();
write_access.init_stats();
read_access.init_stats();
roundtrip.init_stats();
}
}
result = s.DeleteDataReader(PP_min_reader);
result = p.DeleteDataWriter(PP_min_writer);
result = s.DeleteDataReader(PP_seq_reader);
result = p.DeleteDataWriter(PP_seq_writer);
result = s.DeleteDataReader(PP_string_reader);
result = p.DeleteDataWriter(PP_string_writer);
result = s.DeleteDataReader(PP_fixed_reader);
result = p.DeleteDataWriter(PP_fixed_writer);
result = s.DeleteDataReader(PP_array_reader);
result = p.DeleteDataWriter(PP_array_writer);
result = p.DeleteDataWriter(PP_quit_writer);
result = dp.DeleteSubscriber(s);
result = dp.DeletePublisher(p);
result = dp.DeleteTopic(PP_min_topic);
result = dp.DeleteTopic(PP_seq_topic);
result = dp.DeleteTopic(PP_string_topic);
result = dp.DeleteTopic(PP_fixed_topic);
result = dp.DeleteTopic(PP_array_topic);
result = dp.DeleteTopic(PP_quit_topic);
result = dpf.DeleteParticipant(dp);
return;
}
public void run(String[] args)
{
String myDomain = null;
DDS.DomainParticipantFactory dpf;
DDS.IDomainParticipant dp;
DDS.IPublisher p;
DDS.ISubscriber s;
pingpong.PP_min_msgDataWriter PP_min_writer;
pingpong.PP_seq_msgDataWriter PP_seq_writer;
pingpong.PP_string_msgDataWriter PP_string_writer;
pingpong.PP_fixed_msgDataWriter PP_fixed_writer;
pingpong.PP_array_msgDataWriter PP_array_writer;
pingpong.PP_min_msgDataReader PP_min_reader;
pingpong.PP_seq_msgDataReader PP_seq_reader;
pingpong.PP_string_msgDataReader PP_string_reader;
pingpong.PP_fixed_msgDataReader PP_fixed_reader;
pingpong.PP_array_msgDataReader PP_array_reader;
pingpong.PP_quit_msgDataReader PP_quit_reader;
pingpong.PP_min_msgTypeSupport PP_min_dt;
pingpong.PP_seq_msgTypeSupport PP_seq_dt;
pingpong.PP_string_msgTypeSupport PP_string_dt;
pingpong.PP_fixed_msgTypeSupport PP_fixed_dt;
pingpong.PP_array_msgTypeSupport PP_array_dt;
pingpong.PP_quit_msgTypeSupport PP_quit_dt;
pingpong.PP_min_msg[] PP_min_dataList = null;
pingpong.PP_seq_msg[] PP_seq_dataList = null;
pingpong.PP_string_msg[] PP_string_dataList = null;
pingpong.PP_fixed_msg[] PP_fixed_dataList = null;
pingpong.PP_array_msg[] PP_array_dataList = null;
pingpong.PP_quit_msg[] PP_quit_dataList = null;
DDS.IStatusCondition PP_min_sc;
DDS.IStatusCondition PP_seq_sc;
DDS.IStatusCondition PP_string_sc;
DDS.IStatusCondition PP_fixed_sc;
DDS.IStatusCondition PP_array_sc;
DDS.IStatusCondition PP_quit_sc;
DDS.ITopic PP_min_topic;
DDS.ITopic PP_seq_topic;
DDS.ITopic PP_string_topic;
DDS.ITopic PP_fixed_topic;
DDS.ITopic PP_array_topic;
DDS.ITopic PP_quit_topic;
DDS.ICondition[] conditionList = null;
DDS.SampleInfo[] infoList = null;
DDS.IWaitSet w;
DDS.DomainParticipantQos dpQos;
DDS.TopicQos tQos;
DDS.PublisherQos pQos;
DDS.DataWriterQos dwQos;
DDS.SubscriberQos sQos;
DDS.DataReaderQos drQos;
Boolean terminate = false;
DDS.ReturnCode result;
int i;
int imax;
int j;
int jmax;
/*
* Evaluate cmdline arguments
*/
if (args.Length != 0)
{
if (args.Length != 2)
{
System.Console.WriteLine("Invalid.....");
System.Console.WriteLine("Usage: pong [READ_PARTITION WRITE_PARTITION]");
Environment.Exit(1);
}
read_partition = args[0];
write_partition = args[1];
}
/*
* Create WaitSet
*/
w = new DDS.WaitSet();
/*
* Initialize Qos variables
*/
dpQos = new DDS.DomainParticipantQos();
tQos = new DDS.TopicQos();
pQos = new DDS.PublisherQos();
dwQos = new DDS.DataWriterQos();
sQos = new DDS.SubscriberQos();
drQos = new DDS.DataReaderQos();
/*
* Create participant
*/
dpf = DDS.DomainParticipantFactory.Instance;
dpf.GetDefaultParticipantQos(ref dpQos);
dp = dpf.CreateParticipant(myDomain, dpQos, null, DDS.StatusKind.Any);
if (dp == null)
{
System.Console.WriteLine("PING: ERROR - Splice Daemon not running");
return;
}
/*
* Create PONG publisher
*/
dp.GetDefaultPublisherQos(ref pQos);
pQos.Partition.Name = new String[1];
pQos.Partition.Name[0] = write_partition;
p = dp.CreatePublisher(pQos);
/*
* Create PING subscriber
*/
dp.GetDefaultSubscriberQos(ref sQos);
sQos.Partition.Name = new String[1];
sQos.Partition.Name[0] = read_partition;
s = dp.CreateSubscriber(sQos);
/*
* Get default DataReader and DataWriter QoS settings
*/
p.GetDefaultDataWriterQos(ref dwQos);
s.GetDefaultDataReaderQos(ref drQos);
/*
* Get default Topic Qos settings
*/
dp.GetDefaultTopicQos(ref tQos);
/* match data reader/writer qos with topic qos */
p.CopyFromTopicQos(ref dwQos, tQos);
s.CopyFromTopicQos(ref drQos, tQos);
/*
* PP_min_msg
*/
/* Create Topic */
PP_min_dt = new pingpong.PP_min_msgTypeSupport();
PP_min_dt.RegisterType(dp, "pingpong::PP_min_msg");
PP_min_topic = dp.CreateTopic("PP_min_topic", "pingpong::PP_min_msg", tQos);
/* Create datawriter */
PP_min_writer = p.CreateDataWriter(PP_min_topic, dwQos) as pingpong.PP_min_msgDataWriter;
/* Create datareader */
PP_min_reader = s.CreateDataReader(PP_min_topic, drQos) as pingpong.PP_min_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_min_sc = PP_min_reader.StatusCondition;
PP_min_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_min_sc);
// assert(result == RETCODE_OK.value);
/*
* PP_seq_msg
*/
/* Create Topic */
PP_seq_dt = new pingpong.PP_seq_msgTypeSupport();
PP_seq_dt.RegisterType(dp, "pingpong::PP_seq_msg");
PP_seq_topic = dp.CreateTopic("PP_seq_topic", "pingpong::PP_seq_msg", tQos);
/* Create datawriter */
PP_seq_writer = p.CreateDataWriter(PP_seq_topic, dwQos) as pingpong.PP_seq_msgDataWriter;
/* Create datareader */
PP_seq_reader = s.CreateDataReader(PP_seq_topic, drQos) as pingpong.PP_seq_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_seq_sc = PP_seq_reader.StatusCondition;
PP_seq_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_seq_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_string_msg
*/
/* Create Topic */
PP_string_dt = new pingpong.PP_string_msgTypeSupport();
PP_string_dt.RegisterType(dp, "pingpong::PP_string_msg");
PP_string_topic = dp.CreateTopic("PP_string_topic", "pingpong::PP_string_msg", tQos);
/* Create datawriter */
PP_string_writer = p.CreateDataWriter(PP_string_topic, dwQos) as pingpong.PP_string_msgDataWriter;
/* Create datareader */
PP_string_reader = s.CreateDataReader(PP_string_topic,drQos) as pingpong.PP_string_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_string_sc = PP_string_reader.StatusCondition;
PP_string_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_string_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_fixed_msg
*/
/* Create Topic */
PP_fixed_dt = new pingpong.PP_fixed_msgTypeSupport();
PP_fixed_dt.RegisterType(dp, "pingpong::PP_fixed_msg");
PP_fixed_topic = dp.CreateTopic("PP_fixed_topic", "pingpong::PP_fixed_msg", tQos);
/* Create datawriter */
PP_fixed_writer = p.CreateDataWriter(PP_fixed_topic, dwQos) as pingpong.PP_fixed_msgDataWriter;
/* Create datareader */
PP_fixed_reader = s.CreateDataReader(PP_fixed_topic, drQos) as pingpong.PP_fixed_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_fixed_sc = PP_fixed_reader.StatusCondition;
PP_fixed_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_fixed_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_array_msg
*/
/* Create Topic */
PP_array_dt = new pingpong.PP_array_msgTypeSupport();
PP_array_dt.RegisterType(dp, "pingpong::PP_array_msg");
PP_array_topic = dp.CreateTopic("PP_array_topic", "pingpong::PP_array_msg", tQos);
/* Create datawriter */
PP_array_writer = p.CreateDataWriter(PP_array_topic, dwQos) as pingpong.PP_array_msgDataWriter;
/* Create datareader */
PP_array_reader = s.CreateDataReader(PP_array_topic, drQos) as pingpong.PP_array_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_array_sc = PP_array_reader.StatusCondition;
PP_array_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_array_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_quit_msg
*/
/* Create Topic */
PP_quit_dt = new pingpong.PP_quit_msgTypeSupport();
PP_quit_dt.RegisterType(dp, "pingpong::PP_quit_msg");
PP_quit_topic = dp.CreateTopic("PP_quit_topic", "pingpong::PP_quit_msg", tQos);
/* Create datareader */
PP_quit_reader = s.CreateDataReader(PP_quit_topic, drQos) as pingpong.PP_quit_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_quit_sc = PP_quit_reader.StatusCondition;
PP_quit_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_quit_sc);
//assert(result == RETCODE_OK.value);
while (!terminate)
{
DDS.Duration wait_timeout = new DDS.Duration(DDS.Duration.InfiniteSec, DDS.Duration.InfiniteSec);
result = w.Wait(ref conditionList, wait_timeout);
ErrorHandler.checkStatus(result, "wait did not succeeed");
if (result == DDS.ReturnCode.AlreadyDeleted)
{
terminate = true;
continue;
}
if (conditionList != null)
{
imax = conditionList.Length;
for (i = 0; i < imax; i++)
{
if (conditionList[i] == PP_min_sc)
{
result = PP_min_reader.Take(ref PP_min_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_min_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_min_writer.Write(PP_min_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_min_reader.ReturnLoan(ref PP_min_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_min triggered, but no data available");
}
}
else if (conditionList[i] == PP_seq_sc)
{
/* System.Console.WriteLine ("PONG: PING_seq arrived"); */
result = PP_seq_reader.Take(ref PP_seq_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_seq_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_seq_writer.Write(PP_seq_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_seq_reader.ReturnLoan(ref PP_seq_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_seq triggered, but no data available");
}
}
else if (conditionList[i] == PP_string_sc)
{
/* System.Console.WriteLine ("PONG: PING_string arrived"); */
result = PP_string_reader.Take(ref PP_string_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_string_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_string_writer.Write(PP_string_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_string_reader.ReturnLoan(ref PP_string_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_string triggered, but no data available");
}
}
else if (conditionList[i] == PP_fixed_sc)
{
/* System.Console.WriteLine ("PONG: PING_fixed arrived"); */
result = PP_fixed_reader.Take(ref PP_fixed_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_fixed_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_fixed_writer.Write(PP_fixed_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_fixed_reader.ReturnLoan(ref PP_fixed_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_fixed triggered, but no data available");
}
}
else if (conditionList[i] == PP_array_sc)
{
/* System.Console.WriteLine ("PONG: PING_array arrived"); */
result = PP_array_reader.Take(ref PP_array_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_array_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_array_writer.Write(PP_array_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_array_reader.ReturnLoan(ref PP_array_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_array triggered, but no data available");
}
}
else if (conditionList[i] == PP_quit_sc)
{
/* System.Console.WriteLine ("PONG: PING_quit arrived"); */
result = PP_quit_reader.Take(ref PP_quit_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_quit_dataList.Length;
if (jmax != 0)
{
result = PP_quit_reader.ReturnLoan(ref PP_quit_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_quit triggered, but no data available");
}
terminate = true;
}
else
{
System.Console.WriteLine("PONG: unknown condition triggered: " + conditionList[i]);
}
}
}
else
{
System.Console.WriteLine("PONG: unknown condition triggered");
}
}
result = s.DeleteDataReader(PP_min_reader);
result = p.DeleteDataWriter(PP_min_writer);
result = s.DeleteDataReader(PP_seq_reader);
result = p.DeleteDataWriter(PP_seq_writer);
result = s.DeleteDataReader(PP_string_reader);
result = p.DeleteDataWriter(PP_string_writer);
result = s.DeleteDataReader(PP_fixed_reader);
result = p.DeleteDataWriter(PP_fixed_writer);
result = s.DeleteDataReader(PP_array_reader);
result = p.DeleteDataWriter(PP_array_writer);
result = s.DeleteDataReader(PP_quit_reader);
result = dp.DeleteSubscriber(s);
result = dp.DeletePublisher(p);
result = dp.DeleteTopic(PP_min_topic);
result = dp.DeleteTopic(PP_seq_topic);
result = dp.DeleteTopic(PP_string_topic);
result = dp.DeleteTopic(PP_fixed_topic);
result = dp.DeleteTopic(PP_array_topic);
result = dp.DeleteTopic(PP_quit_topic);
result = dpf.DeleteParticipant(dp);
return;
}
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 void run(String[] args)
{
int myDomain = DDS.DomainId.Default;
DDS.DomainParticipantFactory dpf;
DDS.IDomainParticipant dp;
DDS.IPublisher p;
DDS.ISubscriber s;
pingpong.PP_min_msgDataWriter PP_min_writer;
pingpong.PP_seq_msgDataWriter PP_seq_writer;
pingpong.PP_string_msgDataWriter PP_string_writer;
pingpong.PP_fixed_msgDataWriter PP_fixed_writer;
pingpong.PP_array_msgDataWriter PP_array_writer;
pingpong.PP_min_msgDataReader PP_min_reader;
pingpong.PP_seq_msgDataReader PP_seq_reader;
pingpong.PP_string_msgDataReader PP_string_reader;
pingpong.PP_fixed_msgDataReader PP_fixed_reader;
pingpong.PP_array_msgDataReader PP_array_reader;
pingpong.PP_quit_msgDataReader PP_quit_reader;
pingpong.PP_min_msgTypeSupport PP_min_dt;
pingpong.PP_seq_msgTypeSupport PP_seq_dt;
pingpong.PP_string_msgTypeSupport PP_string_dt;
pingpong.PP_fixed_msgTypeSupport PP_fixed_dt;
pingpong.PP_array_msgTypeSupport PP_array_dt;
pingpong.PP_quit_msgTypeSupport PP_quit_dt;
pingpong.PP_min_msg[] PP_min_dataList = null;
pingpong.PP_seq_msg[] PP_seq_dataList = null;
pingpong.PP_string_msg[] PP_string_dataList = null;
pingpong.PP_fixed_msg[] PP_fixed_dataList = null;
pingpong.PP_array_msg[] PP_array_dataList = null;
pingpong.PP_quit_msg[] PP_quit_dataList = null;
DDS.IStatusCondition PP_min_sc;
DDS.IStatusCondition PP_seq_sc;
DDS.IStatusCondition PP_string_sc;
DDS.IStatusCondition PP_fixed_sc;
DDS.IStatusCondition PP_array_sc;
DDS.IStatusCondition PP_quit_sc;
DDS.ITopic PP_min_topic;
DDS.ITopic PP_seq_topic;
DDS.ITopic PP_string_topic;
DDS.ITopic PP_fixed_topic;
DDS.ITopic PP_array_topic;
DDS.ITopic PP_quit_topic;
DDS.ICondition[] conditionList = null;
DDS.SampleInfo[] infoList = null;
DDS.IWaitSet w;
DDS.DomainParticipantQos dpQos;
DDS.TopicQos tQos;
DDS.PublisherQos pQos;
DDS.DataWriterQos dwQos;
DDS.SubscriberQos sQos;
DDS.DataReaderQos drQos;
Boolean terminate = false;
DDS.ReturnCode result;
int i;
int imax;
int j;
int jmax;
/*
* Evaluate cmdline arguments
*/
if (args.Length != 0)
{
if (args.Length != 2)
{
System.Console.WriteLine("Invalid.....");
System.Console.WriteLine("Usage: pong [READ_PARTITION WRITE_PARTITION]");
Environment.Exit(1);
}
read_partition = args[0];
write_partition = args[1];
}
/*
* Create WaitSet
*/
w = new DDS.WaitSet();
/*
* Initialize Qos variables
*/
dpQos = new DDS.DomainParticipantQos();
tQos = new DDS.TopicQos();
pQos = new DDS.PublisherQos();
dwQos = new DDS.DataWriterQos();
sQos = new DDS.SubscriberQos();
drQos = new DDS.DataReaderQos();
/*
* Create participant
*/
dpf = DDS.DomainParticipantFactory.Instance;
dpf.GetDefaultParticipantQos(ref dpQos);
dp = dpf.CreateParticipant(myDomain, dpQos, null, DDS.StatusKind.Any);
if (dp == null)
{
System.Console.WriteLine("PING: ERROR - Splice Daemon not running");
return;
}
/*
* Create PONG publisher
*/
dp.GetDefaultPublisherQos(ref pQos);
pQos.Partition.Name = new String[1];
pQos.Partition.Name[0] = write_partition;
p = dp.CreatePublisher(pQos);
/*
* Create PING subscriber
*/
dp.GetDefaultSubscriberQos(ref sQos);
sQos.Partition.Name = new String[1];
sQos.Partition.Name[0] = read_partition;
s = dp.CreateSubscriber(sQos);
/*
* Get default DataReader and DataWriter QoS settings
*/
p.GetDefaultDataWriterQos(ref dwQos);
s.GetDefaultDataReaderQos(ref drQos);
/*
* Get default Topic Qos settings
*/
dp.GetDefaultTopicQos(ref tQos);
/* match data reader/writer qos with topic qos */
p.CopyFromTopicQos(ref dwQos, tQos);
s.CopyFromTopicQos(ref drQos, tQos);
/*
* PP_min_msg
*/
/* Create Topic */
PP_min_dt = new pingpong.PP_min_msgTypeSupport();
PP_min_dt.RegisterType(dp, "pingpong::PP_min_msg");
PP_min_topic = dp.CreateTopic("PP_min_topic", "pingpong::PP_min_msg", tQos);
/* Create datawriter */
PP_min_writer = p.CreateDataWriter(PP_min_topic, dwQos) as pingpong.PP_min_msgDataWriter;
/* Create datareader */
PP_min_reader = s.CreateDataReader(PP_min_topic, drQos) as pingpong.PP_min_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_min_sc = PP_min_reader.StatusCondition;
PP_min_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_min_sc);
// assert(result == RETCODE_OK.value);
/*
* PP_seq_msg
*/
/* Create Topic */
PP_seq_dt = new pingpong.PP_seq_msgTypeSupport();
PP_seq_dt.RegisterType(dp, "pingpong::PP_seq_msg");
PP_seq_topic = dp.CreateTopic("PP_seq_topic", "pingpong::PP_seq_msg", tQos);
/* Create datawriter */
PP_seq_writer = p.CreateDataWriter(PP_seq_topic, dwQos) as pingpong.PP_seq_msgDataWriter;
/* Create datareader */
PP_seq_reader = s.CreateDataReader(PP_seq_topic, drQos) as pingpong.PP_seq_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_seq_sc = PP_seq_reader.StatusCondition;
PP_seq_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_seq_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_string_msg
*/
/* Create Topic */
PP_string_dt = new pingpong.PP_string_msgTypeSupport();
PP_string_dt.RegisterType(dp, "pingpong::PP_string_msg");
PP_string_topic = dp.CreateTopic("PP_string_topic", "pingpong::PP_string_msg", tQos);
/* Create datawriter */
PP_string_writer = p.CreateDataWriter(PP_string_topic, dwQos) as pingpong.PP_string_msgDataWriter;
/* Create datareader */
PP_string_reader = s.CreateDataReader(PP_string_topic, drQos) as pingpong.PP_string_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_string_sc = PP_string_reader.StatusCondition;
PP_string_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_string_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_fixed_msg
*/
/* Create Topic */
PP_fixed_dt = new pingpong.PP_fixed_msgTypeSupport();
PP_fixed_dt.RegisterType(dp, "pingpong::PP_fixed_msg");
PP_fixed_topic = dp.CreateTopic("PP_fixed_topic", "pingpong::PP_fixed_msg", tQos);
/* Create datawriter */
PP_fixed_writer = p.CreateDataWriter(PP_fixed_topic, dwQos) as pingpong.PP_fixed_msgDataWriter;
/* Create datareader */
PP_fixed_reader = s.CreateDataReader(PP_fixed_topic, drQos) as pingpong.PP_fixed_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_fixed_sc = PP_fixed_reader.StatusCondition;
PP_fixed_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_fixed_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_array_msg
*/
/* Create Topic */
PP_array_dt = new pingpong.PP_array_msgTypeSupport();
PP_array_dt.RegisterType(dp, "pingpong::PP_array_msg");
PP_array_topic = dp.CreateTopic("PP_array_topic", "pingpong::PP_array_msg", tQos);
/* Create datawriter */
PP_array_writer = p.CreateDataWriter(PP_array_topic, dwQos) as pingpong.PP_array_msgDataWriter;
/* Create datareader */
PP_array_reader = s.CreateDataReader(PP_array_topic, drQos) as pingpong.PP_array_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_array_sc = PP_array_reader.StatusCondition;
PP_array_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_array_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_quit_msg
*/
/* Create Topic */
PP_quit_dt = new pingpong.PP_quit_msgTypeSupport();
PP_quit_dt.RegisterType(dp, "pingpong::PP_quit_msg");
PP_quit_topic = dp.CreateTopic("PP_quit_topic", "pingpong::PP_quit_msg", tQos);
/* Create datareader */
PP_quit_reader = s.CreateDataReader(PP_quit_topic, drQos) as pingpong.PP_quit_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_quit_sc = PP_quit_reader.StatusCondition;
PP_quit_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_quit_sc);
//assert(result == RETCODE_OK.value);
while (!terminate)
{
DDS.Duration wait_timeout = new DDS.Duration(DDS.Duration.InfiniteSec, DDS.Duration.InfiniteSec);
result = w.Wait(ref conditionList, wait_timeout);
ErrorHandler.checkStatus(result, "wait did not succeeed");
if (result == DDS.ReturnCode.AlreadyDeleted)
{
terminate = true;
continue;
}
if (conditionList != null)
{
imax = conditionList.Length;
for (i = 0; i < imax; i++)
{
if (conditionList[i] == PP_min_sc)
{
result = PP_min_reader.Take(ref PP_min_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_min_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_min_writer.Write(PP_min_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_min_reader.ReturnLoan(ref PP_min_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_min triggered, but no data available");
}
}
else if (conditionList[i] == PP_seq_sc)
{
/* System.Console.WriteLine ("PONG: PING_seq arrived"); */
result = PP_seq_reader.Take(ref PP_seq_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_seq_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_seq_writer.Write(PP_seq_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_seq_reader.ReturnLoan(ref PP_seq_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_seq triggered, but no data available");
}
}
else if (conditionList[i] == PP_string_sc)
{
/* System.Console.WriteLine ("PONG: PING_string arrived"); */
result = PP_string_reader.Take(ref PP_string_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_string_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_string_writer.Write(PP_string_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_string_reader.ReturnLoan(ref PP_string_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_string triggered, but no data available");
}
}
else if (conditionList[i] == PP_fixed_sc)
{
/* System.Console.WriteLine ("PONG: PING_fixed arrived"); */
result = PP_fixed_reader.Take(ref PP_fixed_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_fixed_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_fixed_writer.Write(PP_fixed_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_fixed_reader.ReturnLoan(ref PP_fixed_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_fixed triggered, but no data available");
}
}
else if (conditionList[i] == PP_array_sc)
{
/* System.Console.WriteLine ("PONG: PING_array arrived"); */
result = PP_array_reader.Take(ref PP_array_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_array_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_array_writer.Write(PP_array_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_array_reader.ReturnLoan(ref PP_array_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_array triggered, but no data available");
}
}
else if (conditionList[i] == PP_quit_sc)
{
/* System.Console.WriteLine ("PONG: PING_quit arrived"); */
result = PP_quit_reader.Take(ref PP_quit_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_quit_dataList.Length;
if (jmax != 0)
{
result = PP_quit_reader.ReturnLoan(ref PP_quit_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_quit triggered, but no data available");
}
terminate = true;
}
else
{
System.Console.WriteLine("PONG: unknown condition triggered: " + conditionList[i]);
}
}
}
else
{
System.Console.WriteLine("PONG: unknown condition triggered");
}
}
result = s.DeleteDataReader(PP_min_reader);
result = p.DeleteDataWriter(PP_min_writer);
result = s.DeleteDataReader(PP_seq_reader);
result = p.DeleteDataWriter(PP_seq_writer);
result = s.DeleteDataReader(PP_string_reader);
result = p.DeleteDataWriter(PP_string_writer);
result = s.DeleteDataReader(PP_fixed_reader);
result = p.DeleteDataWriter(PP_fixed_writer);
result = s.DeleteDataReader(PP_array_reader);
result = p.DeleteDataWriter(PP_array_writer);
result = s.DeleteDataReader(PP_quit_reader);
result = dp.DeleteSubscriber(s);
result = dp.DeletePublisher(p);
result = dp.DeleteTopic(PP_min_topic);
result = dp.DeleteTopic(PP_seq_topic);
result = dp.DeleteTopic(PP_string_topic);
result = dp.DeleteTopic(PP_fixed_topic);
result = dp.DeleteTopic(PP_array_topic);
result = dp.DeleteTopic(PP_quit_topic);
result = dpf.DeleteParticipant(dp);
return;
}
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 = "set/get default_qos test succeeded.";
DDS.ReturnCode rc;
DDS.IDomainParticipant participant;
DDS.PublisherQos pholder;
DDS.SubscriberQos sholder;
DDS.TopicQos tholder;
DDS.PublisherQos pqos;
DDS.SubscriberQos sqos;
DDS.TopicQos tqos;
DDS.PartitionQosPolicy pqp;
participant = (DDS.IDomainParticipant)this.ResolveObject("participant");
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
pholder = new DDS.PublisherQos();
sholder = new DDS.SubscriberQos();
tholder = new DDS.TopicQos();
if (participant.GetDefaultPublisherQos(ref pholder) != DDS.ReturnCode.Ok)
{
result.Result = "get_default_publisher_qos failed.";
return result;
}
pqos = pholder;
string[] partitions = new string[2];
partitions[0] = "partition";
partitions[1] = "partition2";
pqp = new DDS.PartitionQosPolicy();
pqp.Name = partitions;
pqos.Partition = pqp;
rc = participant.SetDefaultPublisherQos(pqos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "set_default_publisher_qos failed (1).";
return result;
}
if (participant.GetDefaultPublisherQos(ref pholder) != DDS.ReturnCode.Ok)
{
result.Result = "get_default_publisher_qos failed (2).";
return result;
}
if (!test.sacs.QosComparer.PublisherQosEquals(pqos, pholder))
{
result.Result = "resolved qos does not match the applied one.";
return result;
}
if (participant.GetDefaultSubscriberQos(ref sholder) != DDS.ReturnCode.Ok)
{
result.Result = "get_default_subscriber_qos failed.";
return result;
}
sqos = sholder;
sqos.Partition = pqp;
rc = participant.SetDefaultSubscriberQos(sqos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "set_default_subscriber_qos failed (1).";
return result;
}
if (participant.GetDefaultSubscriberQos(ref sholder) != DDS.ReturnCode.Ok)
{
result.Result = "get_default_subscriber_qos failed (2).";
return result;
}
if (!test.sacs.QosComparer.SubscriberQosEquals(sqos, sholder))
{
result.Result = "resolved qos does not match the applied one (2).";
return result;
}
if (participant.GetDefaultTopicQos(ref tholder) != DDS.ReturnCode.Ok)
{
result.Result = "get_default_topic_qos failed.";
return result;
}
tqos = tholder;
tqos.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
rc = participant.SetDefaultTopicQos(tqos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "set_default_topic_qos failed (1).";
return result;
}
if (participant.GetDefaultTopicQos(ref tholder) != DDS.ReturnCode.Ok)
{
result.Result = "get_default_topic_qos failed (2).";
return result;
}
if (!test.sacs.QosComparer.TopicQosEquals(tqos, tholder))
{
result.Result = "resolved qos does not match the applied one (3).";
return result;
}
result.Verdict = Test.Framework.TestVerdict.Pass;
result.Result = expResult;
return result;
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
string expResult = "set/get default_qos test succeeded.";
DDS.ReturnCode rc;
DDS.IDomainParticipant participant;
DDS.PublisherQos pholder;
DDS.SubscriberQos sholder;
DDS.TopicQos tholder;
DDS.PublisherQos pqos;
DDS.SubscriberQos sqos;
DDS.TopicQos tqos;
DDS.PartitionQosPolicy pqp;
participant = (DDS.IDomainParticipant) this.ResolveObject("participant");
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
pholder = new DDS.PublisherQos();
sholder = new DDS.SubscriberQos();
tholder = new DDS.TopicQos();
if (participant.GetDefaultPublisherQos(ref pholder) != DDS.ReturnCode.Ok)
{
result.Result = "get_default_publisher_qos failed.";
return(result);
}
pqos = pholder;
string[] partitions = new string[2];
partitions[0] = "partition";
partitions[1] = "partition2";
pqp = new DDS.PartitionQosPolicy();
pqp.Name = partitions;
pqos.Partition = pqp;
rc = participant.SetDefaultPublisherQos(pqos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "set_default_publisher_qos failed (1).";
return(result);
}
if (participant.GetDefaultPublisherQos(ref pholder) != DDS.ReturnCode.Ok)
{
result.Result = "get_default_publisher_qos failed (2).";
return(result);
}
if (!test.sacs.QosComparer.PublisherQosEquals(pqos, pholder))
{
result.Result = "resolved qos does not match the applied one.";
return(result);
}
if (participant.GetDefaultSubscriberQos(ref sholder) != DDS.ReturnCode.Ok)
{
result.Result = "get_default_subscriber_qos failed.";
return(result);
}
sqos = sholder;
sqos.Partition = pqp;
rc = participant.SetDefaultSubscriberQos(sqos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "set_default_subscriber_qos failed (1).";
return(result);
}
if (participant.GetDefaultSubscriberQos(ref sholder) != DDS.ReturnCode.Ok)
{
result.Result = "get_default_subscriber_qos failed (2).";
return(result);
}
if (!test.sacs.QosComparer.SubscriberQosEquals(sqos, sholder))
{
result.Result = "resolved qos does not match the applied one (2).";
return(result);
}
if (participant.GetDefaultTopicQos(ref tholder) != DDS.ReturnCode.Ok)
{
result.Result = "get_default_topic_qos failed.";
return(result);
}
tqos = tholder;
tqos.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
rc = participant.SetDefaultTopicQos(tqos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "set_default_topic_qos failed (1).";
return(result);
}
if (participant.GetDefaultTopicQos(ref tholder) != DDS.ReturnCode.Ok)
{
result.Result = "get_default_topic_qos failed (2).";
return(result);
}
if (!test.sacs.QosComparer.TopicQosEquals(tqos, tholder))
{
result.Result = "resolved qos does not match the applied one (3).";
return(result);
}
result.Verdict = Test.Framework.TestVerdict.Pass;
result.Result = expResult;
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 static bool TopicQosEqual(DDS.TopicQos qos1, DDS.TopicQos qos2)
{
if (!DurationEqual(qos1.Deadline.Period, qos2.Deadline.Period))
{
System.Console.Error.WriteLine("'deadline.Period' values do not match");
return(false);
}
if (qos1.DestinationOrder.Kind != qos2.DestinationOrder.Kind)
{
System.Console.Error.WriteLine("'destination_order.kind' values do not match");
return(false);
}
if (qos1.Durability.Kind != qos2.Durability.Kind)
{
System.Console.Error.WriteLine("'durability.kind' values do not match");
return(false);
}
if (!DurationEqual(qos1.DurabilityService.ServiceCleanupDelay, qos2.DurabilityService.ServiceCleanupDelay))
{
System.Console.Error.WriteLine("'durability.ServiceCleanupDelay' values do not match"
);
return(false);
}
if (qos1.DurabilityService.HistoryKind != qos2.DurabilityService.HistoryKind)
{
System.Console.Error.WriteLine("'durability_service.HistoryKind' values do not match"
);
return(false);
}
if (qos1.DurabilityService.HistoryDepth != qos2.DurabilityService.HistoryDepth)
{
System.Console.Error.WriteLine("'durability_service.HistoryDepth' values do not match"
);
return(false);
}
if (qos1.DurabilityService.MaxInstances != qos2.DurabilityService.MaxInstances)
{
System.Console.Error.WriteLine("'durability_service.MaxInstances' values do not match"
);
return(false);
}
if (qos1.DurabilityService.MaxSamples != qos2.DurabilityService.MaxSamples)
{
System.Console.Error.WriteLine("'durability_service.MaxSamples' values do not match"
);
return(false);
}
if (qos1.DurabilityService.MaxSamplesPerInstance != qos2.DurabilityService.MaxSamplesPerInstance)
{
System.Console.Error.WriteLine("'durability_service.MaxSamplesPerInstance' values do not match"
);
return(false);
}
if (qos1.History.Depth != qos2.History.Depth)
{
System.Console.Error.WriteLine("'history.Depth' values do not match");
return(false);
}
if (qos1.History.Kind != qos2.History.Kind)
{
System.Console.Error.WriteLine("'history.kind' values do not match");
return(false);
}
if (!DurationEqual(qos1.LatencyBudget.Duration, qos2.LatencyBudget.Duration))
{
System.Console.Error.WriteLine("'latency_budget.Duration' values do not match");
return(false);
}
if (!DurationEqual(qos1.Lifespan.Duration, qos2.Lifespan.Duration))
{
System.Console.Error.WriteLine("'lifespan.Duration' values do not match");
return(false);
}
if (qos1.Liveliness.Kind != qos2.Liveliness.Kind)
{
System.Console.Error.WriteLine("'liveliness.kind' values do not match");
return(false);
}
if (!DurationEqual(qos1.Liveliness.LeaseDuration, qos2.Liveliness.LeaseDuration
))
{
System.Console.Error.WriteLine("'liveliness.LeaseDuration' values do not match");
return(false);
}
if (qos1.Ownership.Kind != qos2.Ownership.Kind)
{
System.Console.Error.WriteLine("'ownership.kind' values do not match");
return(false);
}
if (qos1.Reliability.Kind != qos2.Reliability.Kind)
{
System.Console.Error.WriteLine("'reliability.kind' values do not match");
return(false);
}
if (!DurationEqual(qos1.Reliability.MaxBlockingTime, qos2.Reliability.MaxBlockingTime
))
{
System.Console.Error.WriteLine("'reliability.MaxBlockingTime' values do not match"
);
return(false);
}
if (qos1.ResourceLimits.MaxInstances != qos2.ResourceLimits.MaxInstances)
{
System.Console.Error.WriteLine("'resource_limits.MaxInstances' values do not match"
);
return(false);
}
if (qos1.ResourceLimits.MaxSamples != qos2.ResourceLimits.MaxSamples)
{
System.Console.Error.WriteLine("'resource_limits.MaxSamples' values do not match"
);
return(false);
}
if (qos1.ResourceLimits.MaxSamplesPerInstance != qos2.ResourceLimits.MaxSamplesPerInstance)
{
System.Console.Error.WriteLine("'resource_limits.MaxSamplesPerInstance' values do not match"
);
return(false);
}
if (!ByteArrayEqual(qos1.TopicData.Value, qos2.TopicData.Value))
{
System.Console.Error.WriteLine("'topic_data.Value' values do not match");
return(false);
}
if (qos1.TransportPriority.Value != qos2.TransportPriority.Value)
{
System.Console.Error.WriteLine("'transport_priority.Value' values do not match");
return(false);
}
return(true);
}
/*
* P I N G
*/
public void run(String[] args)
{
System.Console.WriteLine("starting PING");
DDS.ICondition[] conditionList = null;
DDS.IWaitSet w;
DDS.DomainParticipantQos dpQos;
DDS.TopicQos tQos;
DDS.PublisherQos pQos;
DDS.DataWriterQos dwQos;
DDS.SubscriberQos sQos;
DDS.DataReaderQos drQos;
DDS.Duration wait_timeout = new DDS.Duration(3, 0);
DDS.ReturnCode result;
Boolean finish_flag = false;
Boolean timeout_flag = false;
Boolean terminate = false;
int imax = 1;
int i;
uint block;
int nof_cycles = 100;
int nof_blocks = 20;
/**
* Command Line argument processing
*/
if (args.Length != 0)
{
if (args.Length != 5)
{
System.Console.WriteLine("Invalid.....");
System.Console.WriteLine("Usage: ping blocks blocksize topic_id WRITE_PARTITION READ_PARTITION ");
Environment.Exit(1);
}
nof_blocks = int.Parse(args[0]);
nof_cycles = int.Parse(args[1]);
topic_id = args[2][0];
write_partition = args[3];
read_partition = args[4];
}
/*
* Create WaitSet
*/
w = new DDS.WaitSet();
/*
* Initialize Qos variables
*/
dpQos = new DDS.DomainParticipantQos();
tQos = new DDS.TopicQos();
pQos = new DDS.PublisherQos();
dwQos = new DDS.DataWriterQos();
sQos = new DDS.SubscriberQos();
drQos = new DDS.DataReaderQos();
/*
* Create participant
*/
dpf = DDS.DomainParticipantFactory.Instance;
dpf.GetDefaultParticipantQos(ref dpQos);
ErrorHandler.checkHandle(dpf, "DDS.DomainParticipantFactory.Instance");
dp = dpf.CreateParticipant(myDomain, dpQos);
if (dp == null)
{
System.Console.WriteLine("PING: ERROR - Splice Daemon not running");
return;
}
/*
* Create PING publisher
*/
dp.GetDefaultPublisherQos(ref pQos);
pQos.Partition.Name = new String[1];
pQos.Partition.Name[0] = write_partition;
p = dp.CreatePublisher(pQos);
/*
* Create PONG subscriber
*/
dp.GetDefaultSubscriberQos(ref sQos);
sQos.Partition.Name = new String[1];
sQos.Partition.Name[0] = read_partition;
s = dp.CreateSubscriber(sQos);
/*
* Get default DataReader and DataWriter QoS settings
*/
p.GetDefaultDataWriterQos(ref dwQos);
s.GetDefaultDataReaderQos(ref drQos);
/*
* Get default Topic Qos settings
*/
dp.GetDefaultTopicQos(ref tQos);
/*match data reader/writer qos with topic qos*/
p.CopyFromTopicQos(ref dwQos, tQos);
s.CopyFromTopicQos(ref drQos, tQos);
/*
* PP_min_msg
*/
/* Create Topic */
PP_min_dt = new pingpong.PP_min_msgTypeSupport();
PP_min_dt.RegisterType(dp, "pingpong::PP_min_msg");
PP_min_topic = dp.CreateTopic("PP_min_topic", "pingpong::PP_min_msg", tQos);
/* Create datawriter */
PP_min_writer = p.CreateDataWriter(PP_min_topic, dwQos) as pingpong.PP_min_msgDataWriter;
/* Create datareader */
PP_min_reader = s.CreateDataReader(PP_min_topic, drQos) as pingpong.PP_min_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_min_sc = PP_min_reader.StatusCondition;
PP_min_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_min_sc);
ErrorHandler.checkStatus(result, "attach condition pp_min_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_seq_msg
*/
/* Create Topic */
PP_seq_dt = new pingpong.PP_seq_msgTypeSupport();
PP_seq_dt.RegisterType(dp, "pingpong::PP_seq_msg");
PP_seq_topic = dp.CreateTopic("PP_seq_topic", "pingpong::PP_seq_msg", tQos);
/* Create datawriter */
PP_seq_writer = p.CreateDataWriter(PP_seq_topic, dwQos) as pingpong.PP_seq_msgDataWriter;
/* Create datareader */
PP_seq_reader = s.CreateDataReader(PP_seq_topic, drQos) as pingpong.PP_seq_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_seq_sc = PP_seq_reader.StatusCondition;
PP_seq_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_seq_sc);
ErrorHandler.checkStatus(result, "attach condition pp_seq_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_string_msg
*/
/* Create Topic */
PP_string_dt = new pingpong.PP_string_msgTypeSupport();
PP_string_dt.RegisterType(dp, "pingpong::PP_string_msg");
PP_string_topic = dp.CreateTopic("PP_string_topic", "pingpong::PP_string_msg", tQos);
/* Create datawriter */
PP_string_writer = p.CreateDataWriter(PP_string_topic, dwQos) as pingpong.PP_string_msgDataWriter;
/* Create datareader */
PP_string_reader = s.CreateDataReader(PP_string_topic, drQos) as pingpong.PP_string_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_string_sc = PP_string_reader.StatusCondition;
PP_string_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_string_sc);
ErrorHandler.checkStatus(result, "attach condition pp_string_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_fixed_msg
*/
/* Create Topic */
PP_fixed_dt = new pingpong.PP_fixed_msgTypeSupport();
PP_fixed_dt.RegisterType(dp, "pingpong::PP_fixed_msg");
PP_fixed_topic = dp.CreateTopic("PP_fixed_topic", "pingpong::PP_fixed_msg", tQos);
/* Create datawriter */
PP_fixed_writer = p.CreateDataWriter(PP_fixed_topic, dwQos) as pingpong.PP_fixed_msgDataWriter;
/* Create datareader */
PP_fixed_reader = s.CreateDataReader(PP_fixed_topic, drQos) as pingpong.PP_fixed_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_fixed_sc = PP_fixed_reader.StatusCondition;
PP_fixed_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_fixed_sc);
ErrorHandler.checkStatus(result, "attach condition pp_fixed_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_array_msg
*/
/* Create Topic */
PP_array_dt = new pingpong.PP_array_msgTypeSupport();
PP_array_dt.RegisterType(dp, "pingpong::PP_array_msg");
PP_array_topic = dp.CreateTopic("PP_array_topic", "pingpong::PP_array_msg", tQos);
/* Create datawriter */
PP_array_writer = p.CreateDataWriter(PP_array_topic, dwQos) as pingpong.PP_array_msgDataWriter;
/* Create datareader */
PP_array_reader = s.CreateDataReader(PP_array_topic, drQos) as pingpong.PP_array_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_array_sc = PP_array_reader.StatusCondition;
PP_array_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_array_sc);
ErrorHandler.checkStatus(result, "attach condition pp_array_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_quit_msg
*/
/* Create Topic */
PP_quit_dt = new pingpong.PP_quit_msgTypeSupport();
PP_quit_dt.RegisterType(dp, "pingpong::PP_quit_msg");
PP_quit_topic = dp.CreateTopic("PP_quit_topic", "pingpong::PP_quit_msg", tQos);
/* Create datawriter */
PP_quit_writer = p.CreateDataWriter(PP_quit_topic, dwQos) as pingpong.PP_quit_msgDataWriter;
for (block = 0; block < nof_blocks && !terminate; block++)
{
while (!finish_flag)
{
/*
* Send Initial message
*/
timeout_flag = false;
switch (topic_id)
{
case 'm':
{
/* System.Console.WriteLine ("PING: sending initial ping_min"); */
pingpong.PP_min_msg PPdata = new pingpong.PP_min_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_min_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 'q':
{
/* System.Console.WriteLine ("PING: sending initial ping_seq"); */
pingpong.PP_seq_msg PPdata = new pingpong.PP_seq_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_seq_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 's':
{
//System.Console.WriteLine ("PING: sending initial ping_string");
pingpong.PP_string_msg PPdata = new pingpong.PP_string_msg();
PPdata.count = 0;
PPdata.block = block;
PPdata.a_string = "a_string " + block.ToString();
preWriteTime.timeGet();
result = PP_string_writer.Write(PPdata);
ErrorHandler.checkStatus(result, "writing PPData in case S");
postWriteTime.timeGet();
}
break;
case 'f':
{
/* System.Console.WriteLine ("PING: sending initial ping_fixed"); */
pingpong.PP_fixed_msg PPdata = new pingpong.PP_fixed_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_fixed_writer
.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 'a':
{
/* System.Console.WriteLine ("PING: sending initial ping_array"); */
pingpong.PP_array_msg PPdata = new pingpong.PP_array_msg();
PPdata.count = 0;
PPdata.block = block;
PPdata.str_arr_char = new char[10];
PPdata.str_arr_octet = new byte[10];
PPdata.str_arr_short = new short[10];
PPdata.str_arr_ushort = new ushort[10];
PPdata.str_arr_long = new int[10];
PPdata.str_arr_ulong = new uint[10];
PPdata.str_arr_longlong = new long[10];
PPdata.str_arr_ulonglong = new ulong[10];
PPdata.str_arr_float = new float[10];
PPdata.str_arr_double = new double[10];
PPdata.str_arr_boolean = new Boolean[11];
preWriteTime.timeGet();
result = PP_array_writer
.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 't':
{
/* System.Console.WriteLine ("PING: sending initial ping_quit"); */
pingpong.PP_quit_msg PPdata = new pingpong.PP_quit_msg();
PPdata.quit = true;
terminate = true;
finish_flag = true;
System.Threading.Thread.Sleep(1000);
preWriteTime.timeGet();
result = PP_quit_writer.Write(PPdata);
postWriteTime.timeGet();
System.Threading.Thread.Sleep(1000);
}
break;
default:
System.Console.WriteLine("Invalid topic-id");
return;
}
if (!terminate)
{
roundTripTime.set(preWriteTime.get());
write_access.add_stats(postWriteTime.sub(preWriteTime));
/*
* Wait for response, calculate timing, and send another
* data if not ready
*/
while (!(timeout_flag || finish_flag))
{
result = w.Wait(ref conditionList, wait_timeout);
if (result == DDS.ReturnCode.Ok || result == DDS.ReturnCode.NoData || result == DDS.ReturnCode.Timeout)
{
//ErrorHandler.checkStatus(result, "wait did not work condition list is probably null!");
if (conditionList != null)
{
imax = conditionList.Length;
if (imax != 0)
{
for (i = 0; i < imax; i++)
{
if (conditionList[i] == PP_min_sc)
{
finish_flag = PP_min_handler(nof_cycles);
}
else if (conditionList[i] == PP_seq_sc)
{
finish_flag = PP_seq_handler(nof_cycles);
}
else if (conditionList[i] == PP_string_sc)
{
finish_flag = PP_string_handler(nof_cycles);
}
else if (conditionList[i] == PP_fixed_sc)
{
finish_flag = PP_fixed_handler(nof_cycles);
}
else if (conditionList[i] == PP_array_sc)
{
finish_flag = PP_array_handler(nof_cycles);
}
else
{
System.Console.WriteLine("PING: unexpected condition triggered: "
+ conditionList[i]);
}
}
}
else
{
System.Console.WriteLine("PING: TIMEOUT - message lost (1)");
timeout_flag = true;
}
}
else
{
System.Console.WriteLine("PING: TIMEOUT - message lost (2)");
timeout_flag = true;
}
}
else
{
System.Console.WriteLine("PING: Waitset wait failed (code " + result + "), terminating");
finish_flag = true;
terminate = true;
}
}
}
}
if (!terminate)
{
finish_flag = false;
if (block == 0)
{
System.Console.WriteLine("# PING PONG measurements (in us)");
System.Console.WriteLine("# Executed at: ");
System.Console.WriteLine("# Roundtrip time [us] Write-access time [us] Read-access time [us]");
System.Console.WriteLine("# Block Count mean min max Count mean min max Count mean min max");
}
System.Console.WriteLine(String.Format("{0,-6} {1, 10} {2, 6} {3, 6} {4, 6} {5, 10} {6, 6} {7, 6} {8, 6} {9, 10} {10, 6} {11, 6} {12, 6}",
block, roundtrip.count, roundtrip.average, roundtrip.min, roundtrip.max, write_access.count,
write_access.average, write_access.min, write_access.max, read_access.count, read_access.average,
read_access.min, read_access.max));
Console.Out.Flush();
write_access.init_stats();
read_access.init_stats();
roundtrip.init_stats();
}
}
result = s.DeleteDataReader(PP_min_reader);
result = p.DeleteDataWriter(PP_min_writer);
result = s.DeleteDataReader(PP_seq_reader);
result = p.DeleteDataWriter(PP_seq_writer);
result = s.DeleteDataReader(PP_string_reader);
result = p.DeleteDataWriter(PP_string_writer);
result = s.DeleteDataReader(PP_fixed_reader);
result = p.DeleteDataWriter(PP_fixed_writer);
result = s.DeleteDataReader(PP_array_reader);
result = p.DeleteDataWriter(PP_array_writer);
result = p.DeleteDataWriter(PP_quit_writer);
result = dp.DeleteSubscriber(s);
result = dp.DeletePublisher(p);
result = dp.DeleteTopic(PP_min_topic);
result = dp.DeleteTopic(PP_seq_topic);
result = dp.DeleteTopic(PP_string_topic);
result = dp.DeleteTopic(PP_fixed_topic);
result = dp.DeleteTopic(PP_array_topic);
result = dp.DeleteTopic(PP_quit_topic);
result = dpf.DeleteParticipant(dp);
return;
}
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()
{
DDS.IDomainParticipant participant;
DDS.ISubscriber subscriber;
DDS.ISubscriber subscriber2;
DDS.SubscriberQos subscriberQos = null;
DDS.DataReaderQos qos = null;
DDS.DataReaderQos qosHolder = null;
DDS.IDataReader reader;
DDS.IDataReader reader2;
DDS.IDataReader reader3;
DDS.ITopic topic;
DDS.ITopic otherTopic;
DDS.TopicQos topicQos = null;
string expResult = "DataReader creation and deletion test succeeded";
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");
subscriber = (DDS.ISubscriber) this.ResolveObject("subscriber");
subscriberQos = (DDS.SubscriberQos) this.ResolveObject("subscriberQos");
topic = (DDS.ITopic) this.ResolveObject("topic");
otherTopic = (DDS.ITopic) this.ResolveObject("otherTopic");
topicQos = (DDS.TopicQos) this.ResolveObject("topicQos");
rc = subscriber.GetDefaultDataReaderQos(ref qosHolder);
qos = qosHolder;
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Could not retrieve default DataReaderQos.";
return(result);
}
reader = subscriber.CreateDataReader(null, qos);//, null, 0);
if (reader != null)
{
result.Result = "Created a DataReader without a Topic (1).";
return(result);
}
subscriber2 = participant.CreateSubscriber(subscriberQos);//, null, 0);
if (subscriber2 == null)
{
result.Result = "Could not create a new Subscriber (2).";
return(result);
}
rc = participant.DeleteSubscriber(subscriber2);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Could not delete a Subscriber (2).";
return(result);
}
reader = subscriber2.CreateDataReader(topic, qos);//, null, 0);
if (reader != null)
{
result.Result = "Created a DataReader on a deleted Subscriber (2).";
return(result);
}
topic = participant.CreateTopic("subscriber3tc_topic", "my_type", topicQos);//, null
//, 0);
if (topic == null)
{
result.Result = "Could not create a new Topic (3).";
return(result);
}
rc = participant.DeleteTopic(topic);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Could not delete a Topic (3).";
return(result);
}
reader = subscriber.CreateDataReader(topic, qos);//, null, 0);
if (reader != null)
{
result.Result = "Created a DataReader with a deleted Topic (3).";
return(result);
}
topic = (DDS.ITopic) this.ResolveObject("topic");
reader = subscriber.CreateDataReader(topic, qos);//, null, 0);
if (reader == null)
{
result.Result = "Could not create a DataReader (4).";
return(result);
}
rc = subscriber.DeleteDataReader(reader);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Expected RETCODE_OK but recieved " + rc + " after deleting a DataReader (5).";
return(result);
}
qos.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
qos.History.Kind = DDS.HistoryQosPolicyKind.KeepAllHistoryQos;
reader = subscriber.CreateDataReader(topic, qos);//, null, 0);
if (reader == null)
{
result.Result = "Could not create a DataReader with TRANSIENT DurabilityQosPolicy (6).";
return(result);
}
qos.History.Kind = DDS.HistoryQosPolicyKind.KeepLastHistoryQos;
qos.Durability.Kind = DDS.DurabilityQosPolicyKind.PersistentDurabilityQos;
reader2 = subscriber.CreateDataReader(otherTopic, qos);//, null, 0);
if (reader2 == null)
{
result.Result = "Could not create a DataReader with PERSISTENT DurabilityQosPolicy (7).";
return(result);
}
qos.Durability.Kind = DDS.DurabilityQosPolicyKind.VolatileDurabilityQos;
subscriber2 = participant.CreateSubscriber(subscriberQos);//, null, 0);
if (subscriber2 == null)
{
result.Result = "Could not create a Subscriber (8).";
return(result);
}
reader3 = subscriber2.CreateDataReader(otherTopic, qos);//, null, 0);
if (reader3 == null)
{
result.Result = "Could not create a DataReader (8).";
return(result);
}
rc = subscriber2.DeleteDataReader(reader);
if (rc == DDS.ReturnCode.Ok)
{
result.Result = "Could delete a DataReader on a wrong subscriber (9).";
return(result);
}
rc = subscriber2.DeleteDataReader(reader3);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Expected RETCODE_OK but recieved " + rc + " after deleting a DataReader (10).";
return(result);
}
rc = subscriber.DeleteDataReader(reader2);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Expected RETCODE_OK but recieved " + rc + " after deleting a DataReader (11).";
return(result);
}
rc = subscriber.DeleteDataReader(reader);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Expected RETCODE_OK but recieved " + rc + " after deleting a DataReader (12).";
return(result);
}
rc = participant.DeleteSubscriber(subscriber2);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Expected RETCODE_OK but recieved " + rc + " after deleting a Subscriber (13).";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
Test.Framework.TestVerdict expVerdict = Test.Framework.TestVerdict.Pass;
string expResult = "get_discovered_xxx succeeded.";
DDS.DomainParticipantFactory dpf;
DDS.IDomainParticipant dp1;
DDS.IDomainParticipant dp2;
DDS.IDomainParticipant dp3;
DDS.ITopic topic1;
DDS.ITopic topic2;
DDS.TopicQos tQos;
tc_get_discovered_xxx.Type1TypeSupport type1_ts;
bool dp1res = false;
bool dp2res = false;
bool dp3res = false;
bool t1res = false;
bool t2res = false;
DDS.ReturnCode returnCode;
DDS.ParticipantBuiltinTopicData participant_data = null;
DDS.TopicBuiltinTopicData topic_data = null;
DDS.SampleInfo[] sample_infos = null;
DDS.DomainParticipantQos dpQos = null;
DDS.InstanceHandle[] sequence = null;
DDS.InstanceHandle[] sequence1 = null;
System.Text.ASCIIEncoding encoding = new System.Text.ASCIIEncoding();
tQos = new DDS.TopicQos();
dpf = DDS.DomainParticipantFactory.Instance;
if (dpf == null)
{
result = new Test.Framework.TestResult(expResult, "DomainParticipantFactory could not be initialised."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
result = new Test.Framework.TestResult(expResult, "DomainParticipantFactory could be initialised."
, expVerdict, Test.Framework.TestVerdict.Pass);
if (dpf.GetDefaultParticipantQos(ref dpQos) != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "Default DomainParticipantQos could not be resolved."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
dpQos.UserData.Value = encoding.GetBytes("dp1");
dp1 = dpf.CreateParticipant(DDS.DomainId.Default, dpQos, null, 0);
if (dp1 == null)
{
result = new Test.Framework.TestResult(expResult, "Test case failed. Failed to create dp1 participant"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
dpQos.UserData.Value = encoding.GetBytes("dp2");
dp2 = dpf.CreateParticipant(DDS.DomainId.Default, dpQos, null, 0);
if (dp2 == null)
{
result = new Test.Framework.TestResult(expResult, "Test case failed. Failed to create dp2 participant"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
dpQos.UserData.Value = encoding.GetBytes("dp3");
dp3 = dpf.CreateParticipant(DDS.DomainId.Default, dpQos, null, 0);
if (dp3 == null)
{
result = new Test.Framework.TestResult(expResult, "Test case failed. Failed to create dp3 participant"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
/*
* Get default Topic Qos settings
*/
dp1.GetDefaultTopicQos(ref tQos);
/* Create Topic */
type1_ts = new tc_get_discovered_xxx.Type1TypeSupport();
type1_ts.RegisterType(dp1, "tc_get_discovered_xxx::Type1");
topic1 = dp1.CreateTopic("Topic1", "tc_get_discovered_xxx::Type1", tQos);
if (topic1 == null)
{
result = new Test.Framework.TestResult(expResult, "Test case failed. Failed to create Topic1"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
topic2 = dp1.CreateTopic("Topic2", "tc_get_discovered_xxx::Type1", tQos);
if (topic2 == null)
{
result = new Test.Framework.TestResult(expResult, "Test case failed. Failed to create Topic2"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
returnCode = dp1.GetDiscoveredParticipants(ref sequence);
if (returnCode != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "get_discovered_participants returned not OK."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
else
{
/* the test should find 5 participants:
* buildinParticipant
* spliced
* dp1
* dp2
* dp3
*/
if (sequence.Length != 5)
{
result = new Test.Framework.TestResult(expResult, "get_discovered_participants failed found: " + sequence.Length + " expected 5"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
/* read from each handle the UserDataQos and check the result against the made participant names*/
for (int i = 0; i < sequence.Length; i++)
{
returnCode = dp1.GetDiscoveredParticipantData(ref participant_data, sequence[i]);
if (returnCode == DDS.ReturnCode.Ok)
{
if (participant_data.UserData.Value.Length > 0)
{
if (encoding.GetString(participant_data.UserData.Value).CompareTo("dp1") == 0)
{
dp1res = true;
}
else if (encoding.GetString(participant_data.UserData.Value).CompareTo("dp2") == 0)
{
dp2res = true;
}
else if (encoding.GetString(participant_data.UserData.Value).CompareTo("dp3") == 0)
{
dp3res = true;
}
}
// returnCode = dataReader.ReturnLoan(ref data_values, ref sample_infos);
}
else
{
result = new Test.Framework.TestResult(
expResult, "read instance failed",
expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
}
if (!dp1res || !dp2res || !dp3res)
{
result = new Test.Framework.TestResult(
expResult, "failed to discover all participants",
expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
}
returnCode = dp1.GetDiscoveredTopics(ref sequence1);
if (returnCode != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "get_discovered_topics returned not OK."
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
else
{
if (sequence1.Length != 15)
{
result = new Test.Framework.TestResult(expResult, "get_discovered_topics failed found: " + sequence1.Length + " expected 15"
, expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
/* read from each handle the name and check the result against the made topic names*/
for (int i = 0; i < sequence1.Length; i++)
{
returnCode = dp1.GetDiscoveredTopicData(ref topic_data, sequence1[i]);
if (returnCode == DDS.ReturnCode.Ok)
{
if (topic_data.Name.CompareTo("Topic1") == 0)
{
t1res = true;
}
else if (topic_data.Name.CompareTo("Topic2") == 0)
{
t2res = true;
}
}
else
{
result = new Test.Framework.TestResult(
expResult, "get discovered topic data failed",
expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
}
if (!t1res || !t2res)
{
result = new Test.Framework.TestResult(
expResult, "failed to discover all topics",
expVerdict, Test.Framework.TestVerdict.Fail);
return(result);
}
result = new Test.Framework.TestResult(expResult, expResult, expVerdict, expVerdict);
return(result);
}
}
/// <summary>
/// Tests the initial default DataWriterQos and the getting and setting
/// of the default DataWriterQos in the Publisher.
/// </summary>
/// <remarks>
/// Tests the initial default DataWriterQos and the getting and setting
/// of the default DataWriterQos in the Publisher.
/// </remarks>
public override Test.Framework.TestResult Run()
{
DDS.IPublisher publisher;
DDS.DataWriterQos qosHolder = null;
DDS.TopicQos topicQos = null;
string expResult = "copy_from_topic_qos test succeeded";
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
publisher = (DDS.IPublisher) this.ResolveObject("publisher");
topicQos = (DDS.TopicQos) this.ResolveObject("topicQos");
publisher.GetDefaultDataWriterQos(ref qosHolder);
rc = publisher.CopyFromTopicQos(ref qosHolder, topicQos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "copy_from_topic_qos failed.";
return(result);
}
if (!test.sacs.QosComparer.DeadlineQosPolicyEquals(qosHolder.Deadline, topicQos.Deadline))
{
result.Result = "deadLineQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DestinationOrderQosPolicyEquals(qosHolder.DestinationOrder, topicQos.DestinationOrder))
{
result.Result = "destinationQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DurabilityQosPolicyEquals(qosHolder.Durability, topicQos.Durability))
{
result.Result = "durabilityQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.HistoryQosPolicyEquals(qosHolder.History, topicQos.History))
{
result.Result = "historyQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LatencyBudgetQosPolicyEquals(qosHolder.LatencyBudget, topicQos.LatencyBudget))
{
result.Result = "latencyBudgetQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LifespanQosPolicyEquals(qosHolder.Lifespan, topicQos.Lifespan))
{
result.Result = "lifespanQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LivelinessQosPolicyEquals(qosHolder.Liveliness, topicQos.Liveliness))
{
result.Result = "livelinessQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ReliabilityQosPolicyEquals(qosHolder.Reliability, topicQos.Reliability))
{
result.Result = "reliabilityQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ResourceLimitsQosPolicyEquals(qosHolder.ResourceLimits, topicQos.ResourceLimits))
{
result.Result = "resourceLimitsQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.TransportPriorityQosPolicyEquals(qosHolder.TransportPriority, topicQos.TransportPriority))
{
result.Result = "transportPriorityQosPolicy not valid.";
return(result);
}
byte[] bytes = new byte[] { 1, 2, 3 };
DDS.UserDataQosPolicy udp = new DDS.UserDataQosPolicy();
udp.Value = bytes;
qosHolder.UserData.Value = bytes;
DDS.OwnershipStrengthQosPolicy osp = new DDS.OwnershipStrengthQosPolicy();
osp.Value = 11;
qosHolder.OwnershipStrength.Value = 11;
DDS.WriterDataLifecycleQosPolicy wlp = new DDS.WriterDataLifecycleQosPolicy();
wlp.AutodisposeUnregisteredInstances = true;
qosHolder.WriterDataLifecycle.AutodisposeUnregisteredInstances = true;
DDS.DataWriterQos wqos = qosHolder;
rc = publisher.CopyFromTopicQos(ref qosHolder, topicQos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "copy_from_topic_qos failed.";
return(result);
}
if (!test.sacs.QosComparer.UserDataQosPolicyEquals(qosHolder.UserData, udp))
{
result.Result = "userDataQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.OwnershipStrengthQosPolicyEquals(qosHolder.OwnershipStrength, osp))
{
result.Result = "ownershipStrengthQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.WriterDataLifecycleQosPolicyEquals(qosHolder.WriterDataLifecycle, wlp))
{
result.Result = "writerDataLifecycleQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DeadlineQosPolicyEquals(qosHolder.Deadline, topicQos.Deadline))
{
result.Result = "deadLineQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DestinationOrderQosPolicyEquals(qosHolder.DestinationOrder, topicQos.DestinationOrder))
{
result.Result = "destinationQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DurabilityQosPolicyEquals(qosHolder.Durability, topicQos.Durability))
{
result.Result = "durabilityQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.HistoryQosPolicyEquals(qosHolder.History, topicQos.History))
{
result.Result = "historyQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LatencyBudgetQosPolicyEquals(qosHolder.LatencyBudget, topicQos.LatencyBudget))
{
result.Result = "latencyBudgetQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LifespanQosPolicyEquals(qosHolder.Lifespan, topicQos.Lifespan))
{
result.Result = "lifespanQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LivelinessQosPolicyEquals(qosHolder.Liveliness, topicQos.Liveliness))
{
result.Result = "livelinessQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ReliabilityQosPolicyEquals(qosHolder.Reliability, topicQos.Reliability))
{
result.Result = "reliabilityQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ResourceLimitsQosPolicyEquals(qosHolder.ResourceLimits, topicQos.ResourceLimits))
{
result.Result = "resourceLimitsQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.TransportPriorityQosPolicyEquals(qosHolder.TransportPriority, topicQos.TransportPriority))
{
result.Result = "transportPriorityQosPolicy not valid.";
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()
{
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()
{
DDS.ISubscriber subscriber;
DDS.DataReaderQos qosHolder = null;
DDS.TopicQos topicQos = null;
string expResult = "copy_from_topic_qos test succeeded";
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
subscriber = (DDS.ISubscriber) this.ResolveObject("subscriber");
topicQos = (DDS.TopicQos) this.ResolveObject("topicQos");
rc = subscriber.CopyFromTopicQos(ref qosHolder, topicQos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "copy_from_topic_qos failed.";
return(result);
}
if (!test.sacs.QosComparer.DeadlineQosPolicyEquals(qosHolder.Deadline, topicQos.Deadline))
{
result.Result = "deadLineQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DestinationOrderQosPolicyEquals(qosHolder.DestinationOrder, topicQos.DestinationOrder))
{
result.Result = "destinationQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DurabilityQosPolicyEquals(qosHolder.Durability, topicQos.Durability))
{
result.Result = "durabilityQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.HistoryQosPolicyEquals(qosHolder.History, topicQos.History))
{
result.Result = "historyQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LatencyBudgetQosPolicyEquals(qosHolder.LatencyBudget, topicQos.LatencyBudget))
{
result.Result = "latencyBudgetQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LivelinessQosPolicyEquals(qosHolder.Liveliness, topicQos.Liveliness))
{
result.Result = "livelinessQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ReliabilityQosPolicyEquals(qosHolder.Reliability, topicQos.Reliability))
{
result.Result = "reliabilityQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ResourceLimitsQosPolicyEquals(qosHolder.ResourceLimits, topicQos.ResourceLimits))
{
result.Result = "resourceLimitsQosPolicy not valid.";
return(result);
}
byte[] bytes = new byte[] { 1, 2, 3 };
DDS.Duration duration = new DDS.Duration(10, 9);
DDS.UserDataQosPolicy udp = new DDS.UserDataQosPolicy();
udp.Value = bytes;
qosHolder.UserData.Value = bytes;
DDS.TimeBasedFilterQosPolicy tfp = new DDS.TimeBasedFilterQosPolicy();
tfp.MinimumSeparation = duration;
qosHolder.TimeBasedFilter.MinimumSeparation = duration;
DDS.ReaderDataLifecycleQosPolicy rlp = new DDS.ReaderDataLifecycleQosPolicy();
rlp.AutopurgeDisposedSamplesDelay = duration;
rlp.AutopurgeNowriterSamplesDelay = duration;
rlp.AutopurgeDisposeAll = false;
rlp.EnableInvalidSamples = true;
qosHolder.ReaderDataLifecycle.AutopurgeDisposedSamplesDelay = duration;
qosHolder.ReaderDataLifecycle.AutopurgeNowriterSamplesDelay = duration;
qosHolder.ReaderDataLifecycle.AutopurgeDisposeAll = false;
qosHolder.ReaderDataLifecycle.EnableInvalidSamples = true;
rc = subscriber.CopyFromTopicQos(ref qosHolder, topicQos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "copy_from_topic_qos failed.";
return(result);
}
if (!test.sacs.QosComparer.UserDataQosPolicyEquals(qosHolder.UserData, udp))
{
result.Result = "userDataQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.TimeBasedFilterQosPolicyEquals(qosHolder.TimeBasedFilter, tfp))
{
result.Result = "timeBasedFilterQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ReaderDataLifecycleQosPolicyEquals(qosHolder.ReaderDataLifecycle, rlp))
{
result.Result = "readerDataLifecycleQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DeadlineQosPolicyEquals(qosHolder.Deadline, topicQos.Deadline))
{
result.Result = "deadLineQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DestinationOrderQosPolicyEquals(qosHolder.DestinationOrder, topicQos.DestinationOrder))
{
result.Result = "destinationQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DurabilityQosPolicyEquals(qosHolder.Durability, topicQos.Durability))
{
result.Result = "durabilityQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.HistoryQosPolicyEquals(qosHolder.History, topicQos.History))
{
result.Result = "historyQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LatencyBudgetQosPolicyEquals(qosHolder.LatencyBudget, topicQos.LatencyBudget))
{
result.Result = "latencyBudgetQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LivelinessQosPolicyEquals(qosHolder.Liveliness, topicQos.Liveliness))
{
result.Result = "livelinessQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ReliabilityQosPolicyEquals(qosHolder.Reliability, topicQos.Reliability))
{
result.Result = "reliabilityQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ResourceLimitsQosPolicyEquals(qosHolder.ResourceLimits, topicQos.ResourceLimits))
{
result.Result = "resourceLimitsQosPolicy not valid.";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
DDS.QosProvider qosProvider = null;
DDS.DomainParticipantQos participantQos =
test.sacs.QosComparer.defaultDomainParticipantQos;
DDS.TopicQos topicQos =
test.sacs.QosComparer.defaultTopicQos;
DDS.SubscriberQos subscriberQos =
test.sacs.QosComparer.defaultSubscriberQos;
DDS.DataReaderQos readerQos =
test.sacs.QosComparer.defaultDataReaderQos;
DDS.PublisherQos publisherQos =
test.sacs.QosComparer.defaultPublisherQos;
DDS.DataWriterQos writerQos =
test.sacs.QosComparer.defaultDataWriterQos;
DDS.DomainParticipantQos xmlParticipantQos = new DDS.DomainParticipantQos();
DDS.TopicQos xmlTopicQos = new DDS.TopicQos();
DDS.SubscriberQos xmlSubscriberQos = new DDS.SubscriberQos();
DDS.DataReaderQos xmlReaderQos = new DDS.DataReaderQos();
DDS.PublisherQos xmlPublisherQos = new DDS.PublisherQos();
DDS.DataWriterQos xmlWriterQos = new DDS.DataWriterQos();
qosProvider = new DDS.QosProvider(this.uri, string.Empty);
if (qosProvider.GetParticipantQos(ref xmlParticipantQos, null) != 0 ||
qosProvider.GetTopicQos(ref xmlTopicQos, null) != 0 ||
qosProvider.GetSubscriberQos(ref xmlSubscriberQos, null) != 0 ||
qosProvider.GetDataReaderQos(ref xmlReaderQos, null) != 0 ||
qosProvider.GetPublisherQos(ref xmlPublisherQos, null) != 0 ||
qosProvider.GetDataWriterQos(ref xmlWriterQos, null) != 0)
{
result = new Test.Framework.TestResult(
"QosProvider should successfully parse XML file",
"QosProvider did not parse XML file " + uri,
Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
}
else if (!QosComparer.DomainParticipantQosEquals(xmlParticipantQos, participantQos) ||
!QosComparer.TopicQosEquals(xmlTopicQos, topicQos) ||
!QosComparer.SubscriberQosEquals(xmlSubscriberQos, subscriberQos) ||
!QosComparer.DataReaderQosEquals(xmlReaderQos, readerQos) ||
!QosComparer.PublisherQosEquals(xmlPublisherQos, publisherQos) ||
!QosComparer.DataWriterQosEquals(xmlWriterQos, writerQos))
{
result = new Test.Framework.TestResult(
"QosProvider should successfully parse XML file",
"QosProvider did not correctly parse XML file " + uri,
Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
}
else
{
result = new Test.Framework.TestResult(
"QosProvider should successfully parse XML file",
"QosProvider correctly parsed XML file " + uri,
Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Pass);
}
return(result);
}
private void Form1_Load(object sender, EventArgs e)
{
participant = DDS.DomainParticipantFactory.get_instance().create_participant(
0, DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topics --- //
/* OpenClose */
/* Register type before creating topic */
System.String type_name = cow.OpenCloseTypeSupport.get_type_name();
try
{
cow.OpenCloseTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception ex)
{
MessageBox.Show("register_type error " + ex.Message);
shutdown(participant);
throw ex;
}
/* Customize QoS settings */
DDS.TopicQos topicQos = new DDS.TopicQos();
participant.get_default_topic_qos(topicQos);
topicQos.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
topicQos.durability.kind = DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS;
DDS.Topic openCloseTopic = participant.create_topic(
"OpenClose", type_name, topicQos,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (openCloseTopic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriterQos datawriterQos = new DDS.DataWriterQos();
publisher.get_default_datawriter_qos(datawriterQos);
publisher.copy_from_topic_qos(datawriterQos, topicQos);
DDS.DataWriter writer = publisher.create_datawriter(
openCloseTopic, datawriterQos,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
openCloseWriter = (cow.OpenCloseDataWriter)writer;
/* SetWatts */
/* Register type before creating topic */
type_name = cow.SetWattsTypeSupport.get_type_name();
try
{
cow.SetWattsTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception ex)
{
MessageBox.Show("register_type error " + ex.Message);
shutdown(participant);
throw ex;
}
/* To customize topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.Topic setWattsTopic = participant.create_topic(
"SetWatts", type_name, topicQos,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (setWattsTopic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
the configuration file USER_QOS_PROFILES.xml */
writer = publisher.create_datawriter(
setWattsTopic, datawriterQos,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
setWattsWriter = (cow.SetWattsDataWriter)writer;
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
Test.Framework.TestVerdict expVerdict = Test.Framework.TestVerdict.Pass;
string expResult = "get_discovered_xxx succeeded.";
DDS.DomainParticipantFactory dpf;
DDS.IDomainParticipant dp1;
DDS.IDomainParticipant dp2;
DDS.IDomainParticipant dp3;
DDS.ITopic topic1;
DDS.ITopic topic2;
DDS.TopicQos tQos;
tc_get_discovered_xxx.Type1TypeSupport type1_ts;
bool dp1res = false;
bool dp2res = false;
bool dp3res = false;
bool t1res = false;
bool t2res = false;
DDS.ReturnCode returnCode;
DDS.ParticipantBuiltinTopicData participant_data = null;
DDS.TopicBuiltinTopicData topic_data = null;
DDS.SampleInfo[] sample_infos = null;
DDS.DomainParticipantQos dpQos = null;
DDS.InstanceHandle[] sequence = null;
DDS.InstanceHandle[] sequence1 = null;
System.Text.ASCIIEncoding encoding = new System.Text.ASCIIEncoding();
tQos = new DDS.TopicQos();
dpf = DDS.DomainParticipantFactory.Instance;
if (dpf == null)
{
result = new Test.Framework.TestResult(expResult, "DomainParticipantFactory could not be initialised."
, expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
result = new Test.Framework.TestResult(expResult, "DomainParticipantFactory could be initialised."
, expVerdict, Test.Framework.TestVerdict.Pass);
if (dpf.GetDefaultParticipantQos(ref dpQos) != DDS.ReturnCode.Ok)
{
result = new Test.Framework.TestResult(expResult, "Default DomainParticipantQos could not be resolved."
, expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
dpQos.UserData.Value = encoding.GetBytes("dp1");
dp1 = dpf.CreateParticipant (DDS.DomainId.Default, dpQos, null, 0);
if (dp1 == null) {
result = new Test.Framework.TestResult(expResult, "Test case failed. Failed to create dp1 participant"
, expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
dpQos.UserData.Value = encoding.GetBytes("dp2");
dp2 = dpf.CreateParticipant (DDS.DomainId.Default, dpQos, null, 0);
if (dp2 == null) {
result = new Test.Framework.TestResult(expResult, "Test case failed. Failed to create dp2 participant"
, expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
dpQos.UserData.Value = encoding.GetBytes("dp3");
dp3 = dpf.CreateParticipant (DDS.DomainId.Default, dpQos, null, 0);
if (dp3 == null) {
result = new Test.Framework.TestResult(expResult, "Test case failed. Failed to create dp3 participant"
, expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
/*
* Get default Topic Qos settings
*/
dp1.GetDefaultTopicQos(ref tQos);
/* Create Topic */
type1_ts = new tc_get_discovered_xxx.Type1TypeSupport();
type1_ts.RegisterType(dp1, "tc_get_discovered_xxx::Type1");
topic1 = dp1.CreateTopic("Topic1", "tc_get_discovered_xxx::Type1", tQos);
if (topic1 == null) {
result = new Test.Framework.TestResult(expResult, "Test case failed. Failed to create Topic1"
, expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
topic2 = dp1.CreateTopic("Topic2", "tc_get_discovered_xxx::Type1", tQos);
if (topic2 == null) {
result = new Test.Framework.TestResult(expResult, "Test case failed. Failed to create Topic2"
, expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
returnCode = dp1.GetDiscoveredParticipants(ref sequence);
if (returnCode != DDS.ReturnCode.Ok) {
result = new Test.Framework.TestResult(expResult, "get_discovered_participants returned not OK."
, expVerdict, Test.Framework.TestVerdict.Fail);
return result;
} else {
/* the test should find 5 participants:
* buildinParticipant
* spliced
* dp1
* dp2
* dp3
*/
if (sequence.Length != 5) {
result = new Test.Framework.TestResult(expResult, "get_discovered_participants failed found: "+sequence.Length+" expected 5"
, expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
/* read from each handle the UserDataQos and check the result against the made participant names*/
for (int i=0; i<sequence.Length;i++) {
returnCode = dp1.GetDiscoveredParticipantData(ref participant_data,sequence[i]);
if (returnCode == DDS.ReturnCode.Ok) {
if (participant_data.UserData.Value.Length >0) {
if ( encoding.GetString(participant_data.UserData.Value).CompareTo("dp1") == 0) {
dp1res = true;
} else if (encoding.GetString(participant_data.UserData.Value).CompareTo("dp2") == 0) {
dp2res= true;
} else if (encoding.GetString(participant_data.UserData.Value).CompareTo("dp3") == 0) {
dp3res = true;
}
}
// returnCode = dataReader.ReturnLoan(ref data_values, ref sample_infos);
} else {
result = new Test.Framework.TestResult(
expResult, "read instance failed",
expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
}
if (!dp1res || !dp2res || !dp3res) {
result = new Test.Framework.TestResult(
expResult, "failed to discover all participants",
expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
}
returnCode = dp1.GetDiscoveredTopics(ref sequence1);
if (returnCode != DDS.ReturnCode.Ok) {
result = new Test.Framework.TestResult(expResult, "get_discovered_topics returned not OK."
, expVerdict, Test.Framework.TestVerdict.Fail);
return result;
} else {
if (sequence1.Length != 10) {
result = new Test.Framework.TestResult(expResult, "get_discovered_topics failed found: "+sequence1.Length+" expected 10"
, expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
/* read from each handle the name and check the result against the made topic names*/
for (int i=0; i<sequence1.Length;i++) {
returnCode = dp1.GetDiscoveredTopicData(ref topic_data,sequence1[i]);
if (returnCode == DDS.ReturnCode.Ok) {
if ( topic_data.Name.CompareTo("Topic1") == 0) {
t1res = true;
} else if (topic_data.Name.CompareTo("Topic2") == 0) {
t2res= true;
}
} else {
result = new Test.Framework.TestResult(
expResult, "get discovered topic data failed",
expVerdict, Test.Framework.TestVerdict.Fail);
return result;
}
}
if (!t1res || !t2res) {
result = new Test.Framework.TestResult(
expResult, "failed to discover all topics",
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.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.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.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.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()
{
DDS.DomainParticipantQos pqos = null;
DDS.PublisherQos pubQos = null;
DDS.TopicQos tQos = null;
DDS.DataWriterQos dwQos = null;
DDS.ReturnCode rc;
string expResult = "Initialization success";
Test.Framework.TestResult result = new Test.Framework.TestResult(
expResult,
string.Empty,
Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
bce.factory = DDS.DomainParticipantFactory.Instance;
if (bce.factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return(result);
}
rc = bce.factory.GetDefaultParticipantQos(ref pqos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return(result);
}
bce.participant = bce.factory.CreateParticipant(string.Empty, pqos);
if (bce.participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return(result);
}
bce.typeSupport = new mod.boundsTypeTypeSupport();
rc = bce.typeSupport.RegisterType(bce.participant, "boundsType");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Typesupport could not be registered.";
return(result);
}
rc = bce.participant.GetDefaultTopicQos(ref tQos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
return(result);
}
bce.topic = bce.participant.CreateTopic("bounds", "boundsType", tQos);
if (bce.topic == null)
{
result.Result = "Topic could not be created.";
return(result);
}
rc = bce.participant.GetDefaultPublisherQos(ref pubQos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Default PublisherQos could not be resolved.";
return(result);
}
bce.publisher = bce.participant.CreatePublisher(pubQos);
if (bce.publisher == null)
{
result.Result = "Publisher could not be created.";
return(result);
}
rc = bce.publisher.GetDefaultDataWriterQos(ref dwQos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Default DataWriterQos could not be resolved.";
return(result);
}
bce.datawriter = (mod.boundsTypeDataWriter)bce.publisher.CreateDataWriter(bce.topic, dwQos);
if (bce.datawriter == null)
{
result.Result = "DataWriter could not be created.";
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.";
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()
{
DDS.ITopic topic;
DDS.TopicQos qos;
DDS.TopicQos qos2;
string expResult = "Topic test succeeded";
DDS.TopicQos topQosHolder = null;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
string typeName;
string typeName2;
string name;
string name2;
DDS.IDomainParticipant participant;
DDS.IDomainParticipant participant2;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
topic = (DDS.ITopic) this.ResolveObject("topic");
qos2 = (DDS.TopicQos) this.ResolveObject("topicQos");
participant = (DDS.IDomainParticipant) this.ResolveObject("participant");
name = (string)this.ResolveObject("topicName");
typeName = (string)this.ResolveObject("topicTypeName");
rc = topic.GetQos(ref topQosHolder);
qos = topQosHolder;
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Get TopicQos failed.";
return(result);
}
if (!test.sacs.TopicQosComparer.TopicQosEqual(qos, qos2))
{
result.Result = "TopicQosses not equal.";
return(result);
}
qos.Deadline.Period.NanoSec = 1234;
qos.Deadline.Period.Sec = 9;
rc = topic.SetQos(qos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Set TopicQos failed (2).";
return(result);
}
topic.GetQos(ref topQosHolder);
qos2 = topQosHolder;
if (!test.sacs.TopicQosComparer.TopicQosEqual(qos, qos2))
{
result.Result = "TopicQosses not equal (2).";
return(result);
}
name2 = topic.Name;
if (!name.Equals(name2))
{
result.Result = "Resolved Topic name is not correct. ('" + name + "' != '" + name2
+ "')";
return(result);
}
participant2 = topic.Participant;
if (participant != participant2)
{
result.Result = "Resolved DomainParticipant is not correct.";
return(result);
}
typeName2 = topic.TypeName;
if (!typeName.Equals(typeName2))
{
result.Result = "Resolved Topic type name is not correct. ('" + typeName + "' != '"
+ typeName2 + "')";
System.Console.Out.WriteLine("NOTE\t\t: See STR/CP: TH020");
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
