public override void on_data_on_readers(
DDS.Subscriber sub)
{
/* IMPORTANT for GROUP access scope: Invoking begin_access() */
sub.begin_access();
/* Obtain DataReaders. We obtain a sequence of DataReaders that specifies
the order in which each sample should be read */
try {
sub.get_datareaders(my_datareaders,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
} catch (DDS.Exception e) {
Console.WriteLine("get_datareaders error {0}", e);
my_datareaders.ensure_length(0, 0);
sub.end_access();
return;
}
/* Read the samples received, following the DataReaders sequence */
try {
for (int i = 0; i < my_datareaders.length; ++i) {
try {
ordered_group_reader = (ordered_groupDataReader)
my_datareaders.get_at(i);
} catch (DDS.Exception e) {
Console.WriteLine("my_datareaders.get_at error {0}", e);
sub.end_access();
return;
}
/* IMPORTANT. Use take_next_sample(). We need to take only
* one sample each time, as we want to follow the sequence
* of DataReaders. This way the samples will be returned in
* the order in which they were modified
*/
ordered_group_reader.take_next_sample(data, info);
if (info.valid_data) {
ordered_groupTypeSupport.print_data(data);
}
my_datareaders.ensure_length(0, 0);
/* IMPORTANT for GROUP access scope: Invoking end_access() */
sub.end_access();
}
} catch (DDS.Retcode_NoData noData) {
//No data to process
}
}
