private static void Subscribe(int domainId, int sampleCount) { // --- Create participant --- // DDS.DomainParticipant participant = DDS.DomainParticipantFactory.get_instance().create_participant( domainId, DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (participant == null) { Shutdown(participant); throw new Exception("create_participant error"); } // --- Create subscriber --- // DDS.Subscriber subscriber = participant.create_subscriber( DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (subscriber == null) { Shutdown(participant); throw new ApplicationException("create_subscriber error"); } // --- Create topic --- // // Register the type before creating the topic. string typeName = FlightTypeSupport.get_type_name(); try { FlightTypeSupport.register_type(participant, typeName); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); Shutdown(participant); throw e; } DDS.Topic topic = participant.create_topic( "Example Flight", typeName, DDS.DomainParticipant.TOPIC_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (topic == null) { Shutdown(participant); throw new ApplicationException("create_topic error"); } // --- Create reader --- // DDS.DataReader reader = subscriber.create_datareader( topic, DDS.Subscriber.DATAREADER_QOS_DEFAULT, null, DDS.StatusMask.STATUS_MASK_ALL); if (reader == null) { Shutdown(participant); throw new ApplicationException("create_datareader error"); } FlightDataReader flightReader = (FlightDataReader)reader; // Query for company named 'CompanyA' and for flights in cruise // (about 30,000ft). The company parameter will be changed in // run-time. NOTE: There must be single-quotes in the query // parameters around-any strings! The single-quote do NOT go in the // query condition itself. DDS.StringSeq queryParameters = new DDS.StringSeq(); queryParameters.ensure_length(2, 2); queryParameters.set_at(0, "'CompanyA'"); queryParameters.set_at(1, "30000"); Console.WriteLine( "Setting parameters to company: {0} and altitude >= {1}\n", queryParameters.get_at(0), queryParameters.get_at(1)); // Create the query condition with an expession to MATCH the id // field in the structure and a numeric comparison. DDS.QueryCondition queryCondition = reader.create_querycondition( DDS.SampleStateKind.ANY_SAMPLE_STATE, DDS.ViewStateKind.ANY_VIEW_STATE, DDS.InstanceStateKind.ALIVE_INSTANCE_STATE, "company MATCH %0 AND altitude >= %1", queryParameters); // --- Wait for data --- // const int receivePeriod = 1000; // Milliseconds bool update = false; for (int count = 0; (sampleCount == 0) || (count < sampleCount); count++) { // Poll for new samples every second. System.Threading.Thread.Sleep(receivePeriod); // Change the filter parameter after 5 seconds. if ((count + 1) % 10 == 5) { queryParameters.set_at(0, "'CompanyB'"); update = true; } else if ((count + 1) % 10 == 0) { queryParameters.set_at(0, "'CompanyA'"); update = true; } // Set new parameters. if (update) { Console.WriteLine("Changing parameter to {0}", queryParameters.get_at(0)); queryCondition.set_query_parameters(queryParameters); update = false; } // Iterate through the samples using read_w_condition. FlightSeq dataSeq = new FlightSeq(); DDS.SampleInfoSeq infoSeq = new DDS.SampleInfoSeq(); try { flightReader.read_w_condition( dataSeq, infoSeq, DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED, queryCondition); } catch (DDS.Retcode_NoData) { continue; } catch (DDS.Exception e) { Shutdown(participant); throw e; } for (int i = 0; i < dataSeq.length; i++) { DDS.SampleInfo info = (DDS.SampleInfo)infoSeq.get_at(i); if (info.valid_data) { Flight flight_info = (Flight)dataSeq.get_at(i); Console.WriteLine( "\t[trackId: {0}, company: {1}, altitude: {2}]\n", flight_info.trackId, flight_info.company, flight_info.altitude); } } try { flightReader.return_loan(dataSeq, infoSeq); } catch (DDS.Exception e) { Console.WriteLine("return loan error {0}", e); } } // Delete all entities Shutdown(participant); }
private static void Publish(int domainId, int sampleCount) { // --- Create participant --- // DDS.DomainParticipant participant = DDS.DomainParticipantFactory.get_instance().create_participant( domainId, DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (participant == null) { Shutdown(participant); throw new Exception("create_participant error"); } // --- Create publisher --- // 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 Exception("create_publisher error"); } // --- Create topic --- // // Register type before creating topic. string typeName = FlightTypeSupport.get_type_name(); try { FlightTypeSupport.register_type(participant, typeName); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); Shutdown(participant); throw e; } DDS.Topic topic = participant.create_topic( "Example Flight", typeName, DDS.DomainParticipant.TOPIC_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (topic == null) { Shutdown(participant); throw new Exception("create_topic error"); } // --- Create writer --- // DDS.DataWriter writer = publisher.create_datawriter( topic, DDS.Publisher.DATAWRITER_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (writer == null) { Shutdown(participant); throw new Exception("create_datawriter error"); } FlightDataWriter flightWriter = (FlightDataWriter)writer; // --- Write --- // // Create data sample for writing. Flight[] flights_info = new Flight[4]; flights_info[0] = new Flight(); flights_info[0].trackId = 1111; flights_info[0].company = "CompanyA"; flights_info[0].altitude = 15000; flights_info[1] = new Flight(); flights_info[1].trackId = 2222; flights_info[1].company = "CompanyB"; flights_info[1].altitude = 20000; flights_info[2] = new Flight(); flights_info[2].trackId = 3333; flights_info[2].company = "CompanyA"; flights_info[2].altitude = 30000; flights_info[3] = new Flight(); flights_info[3].trackId = 4444; flights_info[3].company = "CompanyB"; flights_info[3].altitude = 25000; // For a data type that has a key, if the same instance is going to // be written multiple times, initialize the key here and register // the keyed instance prior to writing. DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL; // Main loop const int sendPeriod = 1000; // Milliseconds for (int count = 0; (sampleCount == 0) || (count < sampleCount); count++) { // Update flight info latitude and write. Console.WriteLine("Updating and sending values"); for (int i = 0; i < flights_info.Length; i++) { // Set the plane altitude lineally (usually the max is // at 41,000ft). int altitude = flights_info[i].altitude + count * 100; flights_info[i].altitude = altitude >= 41000 ? 41000 : altitude; Console.WriteLine( "\t[trackId: {0}, company: {1}, altitude: {2}]", flights_info[i].trackId, flights_info[i].company, flights_info[i].altitude); try { flightWriter.write(flights_info[i], ref instance_handle); } catch (DDS.Exception e) { Console.WriteLine("write error {0}", e); } } System.Threading.Thread.Sleep(sendPeriod); } // Delete all entities Shutdown(participant); }