static void Main(string[] args)
{
int domain = DDS.DomainId.Default;
/* Create a DomainParticipant */
DomainParticipantFactory dpf = DomainParticipantFactory.Instance;
IDomainParticipant participant = dpf.CreateParticipant(
domain,
null,
StatusKind.Any);
ErrorHandler.checkHandle(
participant, "DDS.DomainParticipantFactory.CreateParticipant");
/* Register the required datatype for ChatMessage. */
ChatMessageTypeSupport chatMessageTS = new ChatMessageTypeSupport();
string chatMessageTypeName = chatMessageTS.TypeName;
ReturnCode status = chatMessageTS.RegisterType(
participant, chatMessageTypeName);
ErrorHandler.checkStatus(
status, "Chat.ChatMessageTypeSupport.RegisterType");
/* Register the required datatype for NameService. */
NameServiceTypeSupport nameServiceTS = new NameServiceTypeSupport();
ErrorHandler.checkHandle(
nameServiceTS, "new NameServiceTypeSupport");
string nameServiceTypeName = nameServiceTS.TypeName;
status = nameServiceTS.RegisterType(
participant, nameServiceTypeName);
ErrorHandler.checkStatus(
status, "Chat.NameServiceTypeSupport.RegisterType");
/* Set the ReliabilityQosPolicy to RELIABLE. */
TopicQos reliableTopicQos = new TopicQos();
status = participant.GetDefaultTopicQos(ref reliableTopicQos);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.get_DefaultTopicQos");
reliableTopicQos.Reliability.Kind = ReliabilityQosPolicyKind.ReliableReliabilityQos;
/* Make the tailored QoS the new default. */
status = participant.SetDefaultTopicQos(reliableTopicQos);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.SetDefaultTopicQos");
/* Use the changed policy when defining the ChatMessage topic */
ITopic chatMessageTopic = participant.CreateTopic(
"Chat_ChatMessage",
chatMessageTypeName,
reliableTopicQos);
ErrorHandler.checkHandle(
chatMessageTopic,
"DDS.DomainParticipant.CreateTopic (ChatMessage)");
/* Set the DurabilityQosPolicy to TRANSIENT. */
TopicQos settingTopicQos = new TopicQos();
status = participant.GetDefaultTopicQos(ref settingTopicQos);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.GetDefaultTopicQos");
settingTopicQos.Durability.Kind = DurabilityQosPolicyKind.TransientDurabilityQos;
/* Create the NameService Topic. */
ITopic nameServiceTopic = participant.CreateTopic(
"Chat_NameService",
nameServiceTypeName,
settingTopicQos);
ErrorHandler.checkHandle(
nameServiceTopic, "DDS.DomainParticipant.CreateTopic");
/* Adapt the default SubscriberQos to read from the
* "ChatRoom" Partition. */
SubscriberQos subQos = new SubscriberQos();
status = participant.GetDefaultSubscriberQos(ref subQos);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.GetDefaultSubscriberQos");
subQos.Partition.Name = new string[1];
subQos.Partition.Name[0] = "ChatRoom";
/* Create a Subscriber for the UserLoad application. */
ISubscriber chatSubscriber = participant.CreateSubscriber(subQos);
ErrorHandler.checkHandle(
chatSubscriber, "DDS.DomainParticipant.CreateSubscriber");
/* Create a DataReader for the NameService Topic
* (using the appropriate QoS). */
DataReaderQos nsQos = null;
status = chatSubscriber.GetDefaultDataReaderQos(ref nsQos);
ErrorHandler.checkStatus(
status, "DDS.Subscriber.GetDefaultDataReaderQos");
status = chatSubscriber.CopyFromTopicQos(ref nsQos, settingTopicQos);
ErrorHandler.checkStatus(
status, "DDS.Subscriber.CopyFromTopicQos");
IDataReader parentReader = chatSubscriber.CreateDataReader(
nameServiceTopic,
nsQos,
null,
StatusKind.Any);
ErrorHandler.checkHandle(
parentReader, "DDS.Subscriber.CreateDatareader (NameService)");
NameServiceDataReader nameServer = parentReader as NameServiceDataReader;
/* Adapt the DataReaderQos for the ChatMessageDataReader to
* keep track of all messages. */
DataReaderQos messageQos = new DataReaderQos();
status = chatSubscriber.GetDefaultDataReaderQos(ref messageQos);
ErrorHandler.checkStatus(
status, "DDS.Subscriber.GetDefaultDataReaderQos");
status = chatSubscriber.CopyFromTopicQos(
ref messageQos, reliableTopicQos);
ErrorHandler.checkStatus(
status, "DDS.Subscriber.CopyFromTopicQos");
messageQos.History.Kind = HistoryQosPolicyKind.KeepAllHistoryQos;
/* Create a DataReader for the ChatMessage Topic
* (using the appropriate QoS). */
parentReader = chatSubscriber.CreateDataReader(
chatMessageTopic,
messageQos);
ErrorHandler.checkHandle(
parentReader, "DDS.Subscriber.CreateDataReader (ChatMessage)");
/* Narrow the abstract parent into its typed representative. */
ChatMessageDataReader loadAdmin = parentReader as ChatMessageDataReader;
/* Initialize the Query Arguments. */
string[] parameters = { "0" };
/* Create a QueryCondition that will contain all messages
* with userID=ownID */
IQueryCondition singleUser = loadAdmin.CreateQueryCondition("userID=%0", parameters);
ErrorHandler.checkHandle(singleUser, "DDS.DataReader.CreateQuerycondition");
/* Create a ReadCondition that will contain new users only */
IReadCondition newUser = nameServer.CreateReadCondition(SampleStateKind.NotRead, ViewStateKind.New, InstanceStateKind.Alive);
ErrorHandler.checkHandle(newUser, "DDS.DataReader.create_readcondition");
/* Obtain a StatusCondition that triggers only when a Writer
* changes Liveliness */
IStatusCondition leftUser = loadAdmin.StatusCondition;
ErrorHandler.checkHandle(leftUser, "DDS.DataReader.GetStatusCondition");
status = leftUser.SetEnabledStatuses(StatusKind.LivelinessChanged);
ErrorHandler.checkStatus(status, "DDS.StatusCondition.SetEnabledStatuses");
/* Create a bare guard which will be used to close the room */
escape = new GuardCondition();
/* Create a waitset and add the ReadConditions */
WaitSet userLoadWS = new WaitSet();
status = userLoadWS.AttachCondition(newUser);
ErrorHandler.checkStatus(status, "DDS.WaitSet.AttachCondition (newUser)");
status = userLoadWS.AttachCondition(leftUser);
ErrorHandler.checkStatus(status, "DDS.WaitSet.AttachCondition (leftUser)");
status = userLoadWS.AttachCondition(escape);
ErrorHandler.checkStatus(status, "DDS.WaitSet.AttachCondition (escape)");
/* Initialize and pre-allocate the GuardList used to obtain
* the triggered Conditions. */
ICondition[] guardList = new ICondition[3];
/* Remove all known Users that are not currently active. */
NameService[] nsMsgs = null;
SampleInfo[] nsInfos = null;
status = nameServer.Take(ref nsMsgs,
ref nsInfos,
Length.Unlimited,
SampleStateKind.Any,
ViewStateKind.Any,
InstanceStateKind.NotAlive);
ErrorHandler.checkStatus(
status, "Chat.NameServiceDataReader.Take");
status = nameServer.ReturnLoan(ref nsMsgs, ref nsInfos);
ErrorHandler.checkStatus(
status, "Chat.NameServiceDataReader.ReturnLoan");
/* Start the sleeper thread. */
new Thread(new UserLoad().doWait).Start();
bool closed = false;
int prevCount = 0;
ChatMessage[] msgs = null;
SampleInfo[] msgInfos = null;
while (!closed)
{
/* Wait until at least one of the Conditions in the
* waitset triggers. */
status = userLoadWS.Wait(ref guardList, Duration.Infinite);
ErrorHandler.checkStatus(status, "DDS.WaitSet.Wait");
/* Walk over all guards to display information */
foreach (ICondition guard in guardList)
{
if (guard == newUser)
{
/* The newUser ReadCondition contains data */
status = nameServer.ReadWithCondition(ref nsMsgs, ref nsInfos, newUser);
ErrorHandler.checkStatus(status, "Chat.NameServiceDataReader.read_w_condition");
foreach (NameService ns in nsMsgs)
{
Console.WriteLine("New user: "******"Chat.NameServiceDataReader.ReturnLoan");
}
else if (guard == leftUser)
{
// Some liveliness has changed (either a DataWriter
// joined or a DataWriter left)
LivelinessChangedStatus livelinessStatus = new LivelinessChangedStatus();
status = loadAdmin.GetLivelinessChangedStatus(ref livelinessStatus);
ErrorHandler.checkStatus(status, "DDS.DataReader.getLivelinessChangedStatus");
if (livelinessStatus.AliveCount < prevCount)
{
/* A user has left the ChatRoom, since a DataWriter
* lost its liveliness. Take the effected users
* so they will not appear in the list later on. */
status = nameServer.Take(
ref nsMsgs,
ref nsInfos,
Length.Unlimited,
SampleStateKind.Any,
ViewStateKind.Any,
InstanceStateKind.NotAliveNoWriters);
ErrorHandler.checkStatus(status, "Chat.NameServiceDataReader.Take");
foreach (NameService nsMsg in nsMsgs)
{
/* re-apply query arguments */
parameters[0] = nsMsg.userID.ToString();
status = singleUser.SetQueryParameters(parameters);
ErrorHandler.checkStatus(status, "DDS.QueryCondition.SetQueryParameters");
/* Read this user's history */
status = loadAdmin.TakeWithCondition(
ref msgs,
ref msgInfos,
singleUser);
ErrorHandler.checkStatus(
status,
"Chat.ChatMessageDataReader.TakeWithCondition");
/* Display the user and his history */
Console.WriteLine("Departed user {0} has sent {1} messages ", nsMsg.name, msgs.Length);
status = loadAdmin.ReturnLoan(ref msgs, ref msgInfos);
ErrorHandler.checkStatus(status, "Chat.ChatMessageDataReader.ReturnLoan");
}
status = nameServer.ReturnLoan(ref nsMsgs, ref nsInfos);
ErrorHandler.checkStatus(status, "Chat.NameServiceDataReader.ReturnLoan");
}
prevCount = livelinessStatus.AliveCount;
}
else if (guard == escape)
{
Console.WriteLine("UserLoad has terminated.");
closed = true;
}
else
{
//System.Diagnostics.Debug.Fail("Unknown Condition");
}
} /* for */
} /* while (!closed) */
/* Remove all Conditions from the WaitSet. */
status = userLoadWS.DetachCondition(escape);
ErrorHandler.checkStatus(status, "DDS.WaitSet.DetachCondition (escape)");
status = userLoadWS.DetachCondition(leftUser);
ErrorHandler.checkStatus(status, "DDS.WaitSet.DetachCondition (leftUser)");
status = userLoadWS.DetachCondition(newUser);
ErrorHandler.checkStatus(status, "DDS.WaitSet.DetachCondition (newUser)");
/* Free all resources */
status = participant.DeleteContainedEntities();
ErrorHandler.checkStatus(status, "DDS.DomainParticipant.DeleteContainedEntities");
status = dpf.DeleteParticipant(participant);
ErrorHandler.checkStatus(status, "DDS.DomainParticipantFactory.DeleteParticipant");
}
public ReturnCode DeleteContainedEntities()
{
return(realParticipant.DeleteContainedEntities());
}
public void Run()
{
#if DBCallTests
DDS.Test.DatabaseTests();
#endif
Console.WriteLine("Press enter to enter...");
Console.ReadLine();
Data.DataTest detectionData = new Data.DataTest();
detectionData.TestId = 3214;
detectionData.Emergency = true;
detectionData.TestStr = "not really";
//detectionData.SeqInt[3] = 23;
#if TestMarshaling
//Tactical.DetectionTypeSupport support = new Tactical.DetectionTypeSupport();
//Tactical.Detection cachedObj = new Tactical.Detection();
//support.Copy(cachedObj, detectionData);
//SampleMarshaler marshaler = SampleMarshalerFactory.CreateMarshaler(detectionData);
//using (SampleMarshalHelper helper = new SampleMarshalHelper(marshaler))
//{
// DDS.OpenSplice.Gapi.Test.test_detection(helper.GapiPtr);
// Tactical.Detection detectionData2 = new Tactical.Detection();
// SampleMarshaler marshaler2 = SampleMarshalerFactory.CreateMarshaler(detectionData2);
// marshaler2.CopyOut(helper.GapiPtr, 0);
//}
//Duration d = new Duration(234, 2343);
//int sec;
//uint nanosec;
//DDS.OpenSplice.Gapi.Test.test_duration(d, out sec, out nanosec);
//LivelinessChangedStatus status;
//DDS.OpenSplice.Gapi.Test.get_liveliness_changed_status(out status);
//Time t = new Time(1, 2);
//int size = Marshal.SizeOf(t);
//IntPtr ptr = Marshal.AllocHGlobal(size);
//Marshal.StructureToPtr(t, ptr, true);
#endif
//DDS.Test.TestDataReaderQos();
//DDS.Test.TestTopicQos();
// Create a DomainParticipantFactory
DomainParticipantFactory dpf = DomainParticipantFactory.Instance;
Console.WriteLine("DomainParticipantFactory: " + dpf);
// Tailor the DomainPartipantFactoryQos;
DomainParticipantFactoryQos dpfQos = null;
ReturnCode result = dpf.GetQos(ref dpfQos);
Console.WriteLine("DomainParticipantFactory.get_qos: {0}", result);
Console.WriteLine("DomainParticipantFactoryQos.entity_factory.autoenable_created_entities: " + dpfQos.EntityFactory.AutoenableCreatedEntities);
dpfQos.EntityFactory.AutoenableCreatedEntities = false;
result = dpf.SetQos(dpfQos);
Console.WriteLine("DomainParticipantFactory.set_qos: {0}", result);
// Get the QOS settings for the Factory... Check values without additional changes
DomainParticipantFactoryQos dpf2Qos = null;
result = dpf.GetQos(ref dpf2Qos);
Console.WriteLine("DomainParticipantFactory.get_qos: {0}", result);
Console.WriteLine("DomainParticipantFactoryQos.entity_factory.autoenable_created_entities: " + dpf2Qos.EntityFactory.AutoenableCreatedEntities);
// Create the domainParticipant itself.
DomainParticipantQos dpQos = new DomainParticipantQos();
dpQos.UserData.Value = new byte[] { (byte)1, (byte)2, (byte)3 };
dpQos.EntityFactory.AutoenableCreatedEntities = true;
dpQos.ListenerScheduling.SchedulingClass.Kind = SchedulingClassQosPolicyKind.ScheduleDefault;
dpQos.ListenerScheduling.SchedulingPriorityKind.Kind = SchedulingPriorityQosPolicyKind.PriorityRelative;
dpQos.ListenerScheduling.SchedulingPriority = 0;
dpQos.WatchdogScheduling.SchedulingClass.Kind = SchedulingClassQosPolicyKind.ScheduleDefault;
dpQos.WatchdogScheduling.SchedulingPriorityKind.Kind = SchedulingPriorityQosPolicyKind.PriorityRelative;
dpQos.WatchdogScheduling.SchedulingPriority = 4;
IDomainParticipant dp = dpf.CreateParticipant(null, dpQos);
Console.Write("DomainParticipant: ");
Console.WriteLine(dp != null ? "yes" : "no");
if (dp.ContainsEntity(0))
{
Console.WriteLine("contains_entity with nil handle incorrect");
}
if (dp.ContainsEntity(100))
{
Console.WriteLine("contains_entity with incorrect handle incorrect");
}
Time currentTime;
dp.GetCurrentTime(out currentTime);
Console.WriteLine("Current Local Time: {0}", currentTime.ToDatetime().ToLocalTime());
// And look up this DomainParticipant.
IDomainParticipant dp2 = dpf.LookupParticipant(null);
DomainParticipantQos dp2Qos = null;
Console.Write("lookup DomainParticipant: ");
Console.WriteLine(dp2 != null ? "Success" : "Fail");
result = dp2.GetQos(ref dp2Qos);
Console.WriteLine("DomainParticipant.get_qos: {0}", result);
Console.WriteLine("DomainParticipantQos.entity_factory.autoenable_created_entities: " + dp2Qos.EntityFactory.AutoenableCreatedEntities);
// Create a new PublisherQos and set some values...
PublisherQos publisherQos = new PublisherQos();
publisherQos.EntityFactory.AutoenableCreatedEntities = true;
publisherQos.Partition.Name = new string[] { "howdy" }; //, "neighbor", "partition" };
// true not supported in 4.1 ??
publisherQos.Presentation.OrderedAccess = false;
// Create the Publisher
dp.Enable();
IPublisher publisher = dp.CreatePublisher(publisherQos);
Console.WriteLine("Create Publisher: {0}", publisher);
//DataWriterQos dwQos;
//publisher.GetDefaultDataWriterQos(out dwQos);
// Create a Detection Type Support and register it's type
Data.DataTestTypeSupport support = new Data.DataTestTypeSupport();
string test2 = support.TypeName;
Console.WriteLine("Register Typesupport");
result = support.RegisterType(dp, support.TypeName);
Console.WriteLine("Register Typesupport Result: {0}", result);
// Create a topic for the Detection type
TopicQos topicQos = null;
result = dp.GetDefaultTopicQos(ref topicQos);
//topicQos.Ownership.Kind = OwnershipQosPolicyKind.ExclusiveOwnershipQos;
//DDS.Test.TestTopicQos2(ref topicQos);
// Add a listener to the topic
ITopic topic = dp.CreateTopic("Data_DataTest", support.TypeName, topicQos,
this, StatusKind.InconsistentTopic);
topicQos.History.Depth = 5;
ITopic topic2 = dp.CreateTopic("Data_DataTest", support.TypeName, topicQos);
// ErrorCode errorCode;
// string msg;
// result = ErrorInfo.Update();
// result = ErrorInfo.GetCode(out errorCode);
// result = ErrorInfo.GetMessage(out msg);
// Create a DataWriter for the topic
Data.IDataTestDataWriter dataWriter = publisher.CreateDataWriter(topic) as Data.IDataTestDataWriter;
// Create a SubscriberQos object and set the partition name
SubscriberQos subscriberQos = null;
result = dp.GetDefaultSubscriberQos(ref subscriberQos);
subscriberQos.Partition.Name = new string[] { "howdy" };
// Create the subscriber
ISubscriber sub = dp.CreateSubscriber(subscriberQos);
// Verify that the subsciber was created...
if (sub == null)
{
Console.WriteLine("Subscriber not created");
return;
}
DDS.DataReaderQos readerQos = null;
sub.GetDefaultDataReaderQos(ref readerQos);
//readerQos.SubscriptionKeys.KeyList = new string[] { "test" };
//readerQos.Durability.Kind = DurabilityQosPolicyKind.TransientDurabilityQos;
//readerQos.Reliability.Kind = ReliabilityQosPolicyKind.ReliableReliabilityQos;
// Create a DataReader for the Detection topic
Data.IDataTestDataReader dataReader = sub.CreateDataReader(topic, readerQos, this, StatusKind.DataAvailable)
as Data.IDataTestDataReader;
// Create a filtered detection topic (only read detections that have an id != 4)
IContentFilteredTopic filteredTopic = dp.CreateContentFilteredTopic("Another", topic, "TestId <> %0", "4");
string[] testParams = null;
result = filteredTopic.GetExpressionParameters(ref testParams);
result = filteredTopic.SetExpressionParameters("hello", "test");
result = filteredTopic.GetExpressionParameters(ref testParams);
// Create a DataReader to read the filtered topic
IDataReader reader2 = sub.CreateDataReader(filteredTopic);
IQueryCondition queryCondition = dataReader.CreateQueryCondition(
"TestId = %0",
"234");
// just for testing...
//GC.Collect();
// WaitSet
WaitSet waitSet = new WaitSet();
// either use status conditions...or
IStatusCondition sc = reader2.StatusCondition;
sc.SetEnabledStatuses(StatusKind.DataAvailable);
waitSet.AttachCondition(sc);
IStatusCondition sc2 = reader2.StatusCondition;
// read conditions...
// IReadCondition readCond = reader2.CreateReadCondition();
// waitSet.AttachCondition(readCond);
ICondition[] cond = null;
//waitSet.Wait(ref cond, Duration.Infinite);
Console.WriteLine("Press enter to write data");
Console.ReadLine();
detectionData.SequenceTest = new int[1];// new System.Collections.Generic.List<int>();
//detectionData.SequenceTest.Add(4);
detectionData.SequenceTest[0] = 4;
// Write detection data
result = dataWriter.Write(detectionData);
detectionData = new Data.DataTest();
detectionData.TestId = 234;
dataWriter.Write(detectionData, InstanceHandle.Nil);
detectionData = new Data.DataTest();
detectionData.TestId = 235;
dataWriter.Write(detectionData);
detectionData = new Data.DataTest();
detectionData.TestId = 236;
dataWriter.Write(detectionData);
detectionData = new Data.DataTest();
detectionData.TestId = 237;
dataWriter.Write(detectionData);
Console.WriteLine("Press enter to read data");
Console.ReadLine();
// Read the data
SampleInfo[] infos = null;
Data.DataTest[] dataValues = null;
// result = dataReader.ReadWithCondition(ref dataValues, ref infos, DDS.Length.Unlimited, queryCondition);
result = dataReader.Read(ref dataValues, ref infos);
Console.WriteLine("dataReader: {0}", dataReader);
if (dataValues != null)
{
Console.WriteLine("Number of samples received: {0}", dataValues.Length);
for (int index = 0; index < dataValues.Length; index++)
{
Console.WriteLine("TestId: {0}, ProviderId: {1}, Emergency: {2}, TestStr: {3}", dataValues[index].TestId,
dataValues[index].ProviderId, dataValues[index].Emergency, dataValues[index].TestStr);
Console.WriteLine("info: ValidData: {0}, InstHandle: {1}, PubHandle:{2}, SourceTS: {3}, ArrivalTS: {4}, sample: {5}, view: {6}, instance: {7}",
infos[index].ValidData,
infos[index].InstanceHandle, infos[index].PublicationHandle,
infos[index].SourceTimestamp, infos[index].ArrivalTimestamp,
infos[index].SampleState, infos[index].ViewState, infos[index].InstanceState);
}
}
Console.WriteLine("Press enter to cleanup");
Console.ReadLine();
Console.WriteLine("DeleteContainedEntities");
result = dp.DeleteContainedEntities();
// If you don't use DeleteContainedEntities then you must delete everything that was created
//result = sub.DeleteDataReader(dataReader);
//result = publisher.DeleteDataWriter(dataWriter);
//result = dp.DeleteTopic(topic);
//result = dp.DeletePublisher(publisher);
//result = dp.DeleteSubscriber(sub);
Console.WriteLine("DeleteParticipant");
result = dpf.DeleteParticipant(dp);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
}