public ReturnCode SetQos(PublisherQos qos)
{
ReturnCode result = DDS.ReturnCode.AlreadyDeleted;
ReportStack.Start();
if (this.rlReq_isAlive)
{
result = QosManager.checkQos(qos);
if (result == DDS.ReturnCode.Ok)
{
using (OpenSplice.CustomMarshalers.PublisherQosMarshaler marshaler =
new OpenSplice.CustomMarshalers.PublisherQosMarshaler())
{
result = marshaler.CopyIn(qos);
if (result == ReturnCode.Ok)
{
result = uResultToReturnCode(
User.Publisher.SetQos(rlReq_UserPeer, marshaler.UserPtr));
if (result != ReturnCode.Ok)
{
ReportStack.Report(result, "Could not apply PublisherQos.");
}
}
else
{
ReportStack.Report(result, "Could not copy PublisherQos.");
}
}
}
}
ReportStack.Flush(this, result != ReturnCode.Ok);
return(result);
}
public void TestInitialize()
{
_participant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN);
Assert.IsNotNull(_participant);
_participant.BindRtpsUdpTransportConfig();
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(_participant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
_listener = new MyTopicListener();
_topic = _participant.CreateTopic(TestContext.TestName, typeName, null, _listener);
Assert.IsNotNull(_topic);
Assert.IsNotNull(_topic.Listener);
Assert.AreEqual(TestContext.TestName, _topic.Name);
Assert.AreEqual(typeName, _topic.TypeName);
PublisherQos pQos = new PublisherQos();
pQos.EntityFactory.AutoenableCreatedEntities = false;
pQos.Presentation.OrderedAccess = true;
pQos.Presentation.CoherentAccess = true;
pQos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.InstancePresentationQos;
_publisher = _participant.CreatePublisher(pQos);
Assert.IsNotNull(_publisher);
_writer = _publisher.CreateDataWriter(_topic);
Assert.IsNotNull(_writer);
}
public ReturnCode GetQos(ref PublisherQos qos)
{
IntPtr userQos = IntPtr.Zero;
ReturnCode result = DDS.ReturnCode.AlreadyDeleted;
ReportStack.Start();
if (this.rlReq_isAlive)
{
result = uResultToReturnCode(
User.Publisher.GetQos(rlReq_UserPeer, ref userQos));
if (result == ReturnCode.Ok)
{
using (OpenSplice.CustomMarshalers.PublisherQosMarshaler marshaler =
new OpenSplice.CustomMarshalers.PublisherQosMarshaler(userQos, true))
{
marshaler.CopyOut(ref qos);
}
}
else
{
ReportStack.Report(result, "Could not copy PublisherQos.");
}
}
ReportStack.Flush(this, result != ReturnCode.Ok);
return(result);
}
internal ReturnCode init(DomainParticipant participant, string name, PublisherQos qos)
{
ReturnCode result;
ReportStack.Start();
MyDomainId = participant.MyDomainId;
using (OpenSplice.CustomMarshalers.PublisherQosMarshaler marshaler =
new OpenSplice.CustomMarshalers.PublisherQosMarshaler())
{
result = marshaler.CopyIn(qos);
if (result == ReturnCode.Ok)
{
IntPtr uPublisher = User.Publisher.New(participant.rlReq_UserPeer, name, marshaler.UserPtr, 0);
if (uPublisher != IntPtr.Zero)
{
result = base.init(uPublisher);
}
else
{
result = DDS.ReturnCode.Error;
ReportStack.Report(result, "Could not create Publisher.");
}
}
}
if (result == ReturnCode.Ok)
{
this.participant = participant;
}
ReportStack.Flush(this, result != ReturnCode.Ok);
return(result);
}
static void Main(string[] args)
{
_dpf = DomainParticipantFactory.Instance;
ErrorHandler.checkHandle(_dpf, "Domain Participant Factory");
_dp = _dpf.CreateParticipant(Domain);
//Initialize QOS
pQos = new PublisherQos();
dwQos = new DataWriterQos();
fdmDataType = new FDMTypeSupport();
string FDMDATATypeName = fdmDataType.TypeName;
ReturnCode status = fdmDataType.RegisterType(_dp, FDMDATATypeName);
ErrorHandler.checkStatus(status, "FDMDATA: Cannot Register Type");
//Create FDMDATA Topic
fdmDataTopic = _dp.FindTopic("FDMDATA", Duration.FromMilliseconds(1000));
if (fdmDataTopic == null)
{
fdmDataTopic = _dp.CreateTopic("FDMDATA", FDMDATATypeName);
}
ErrorHandler.checkHandle(fdmDataTopic, "Cannot Create Topic FDMDATA");
//Get Publisher QOS and Set Partition Name
_dp.GetDefaultPublisherQos(ref pQos);
pQos.Partition.Name = new String[1];
pQos.Partition.Name[0] = PartitionName;
//Create Subscriber for FDMDATA Topic
Publisher = _dp.CreatePublisher(pQos);
ErrorHandler.checkHandle(Publisher, "Cannot Create FDMDATA Publisher");
//Get Data Writer QOS and Set History Depth
Publisher.GetDefaultDataWriterQos(ref dwQos);
ErrorHandler.checkHandle(dwQos, "Cannot get Data Writer Qos");
dwQos.History.Depth = 5;
dwQos.Reliability.Kind = ReliabilityQosPolicyKind.BestEffortReliabilityQos;
//Create DataReader for FDMDATA Topic
parentWriter = Publisher.CreateDataWriter(fdmDataTopic, dwQos);
ErrorHandler.checkHandle(parentWriter, "Cannot Create FDMDATA Data Writer");
//Narrow abstract parentWriter into its typed representative
fdmDataWriter = parentWriter as FDMDataWriter;
ErrorHandler.checkHandle(fdmDataWriter, "Cannot Narrow FDMDATA Data Writer");
fdmData = new FDM();
while (true)
{
StartPublish();
Console.WriteLine("Publishing data! ");
Thread.Sleep(10);
}
}
GetPublisherQos(
ref PublisherQos publisherQos,
string id)
{
NamedPublisherQos pQos = new NamedPublisherQos();
GCHandle qosHandle = GCHandle.Alloc(pQos, GCHandleType.Normal);
ReturnCode result = OpenSplice.Common.QosProvider.GetPublisherQos(GapiPeer, id, GCHandle.ToIntPtr(qosHandle));
publisherQos = pQos.PublisherQos;
qosHandle.Free();
return(result);
}
/// <summary>
/// Creates a DomainParticipant, Topic, Publisher and DataWriters<Temperature>.
/// </summary>
public PublisherApplication(int domainId, bool useXmlQos = true)
{
// Start communicating in a domain, usually one participant per application
// Load QoS profile from USER_QOS_PROFILES.xml file
participant = DomainParticipantFactory.Instance.CreateParticipant(domainId);
// Create the topics
var alarmTopic = participant.CreateTopic <Alarm>("Alarm");
var heartRateTopic = participant.CreateTopic <HeartRate>("HeartRate");
var temperatureTopic = participant.CreateTopic <Temperature>("Temperature");
// Create a Publisher
PublisherQos publisherQos = null;
if (useXmlQos)
{
// Retrieve the Publisher QoS, from USER_QOS_PROFILES.xml
publisherQos = QosProvider.Default.GetPublisherQos();
}
else
{
// Set the Publisher QoS programatically, to the same effect
publisherQos = participant.DefaultPublisherQos
.WithPresentation(policy =>
{
policy.AccessScope = PresentationAccessScopeKind.Group;
policy.CoherentAccess = true;
policy.OrderedAccess = true;
});
}
publisher = participant.CreatePublisher(publisherQos);
// Create a DataWriter for each topic
DataWriterQos writerQos = null;
if (useXmlQos)
{
// Retrieve the DataWriter QoS, from USER_QOS_PROFILES.xml
writerQos = QosProvider.Default.GetDataWriterQos();
}
else
{
// Set the DataWriter QoS programatically, to the same effect
writerQos = publisher.DefaultDataWriterQos
.WithReliability(policy => policy.Kind = ReliabilityKind.Reliable)
.WithHistory(policy => policy.Kind = HistoryKind.KeepAll);
}
alarmWriter = publisher.CreateDataWriter(alarmTopic, writerQos);
heartRateWriter = publisher.CreateDataWriter(heartRateTopic, writerQos);
temperatureWriter = publisher.CreateDataWriter(temperatureTopic, writerQos);
}
public static void TestDefaultPublisherQos(PublisherQos qos)
{
Assert.IsNotNull(qos.EntityFactory);
Assert.IsNotNull(qos.GroupData);
Assert.IsNotNull(qos.Partition);
Assert.IsNotNull(qos.Presentation);
Assert.IsTrue(qos.EntityFactory.AutoenableCreatedEntities);
Assert.IsNotNull(qos.GroupData.Value);
Assert.AreEqual(0, qos.GroupData.Value.Count());
Assert.IsNotNull(qos.Partition.Name);
Assert.AreEqual(0, qos.Partition.Name.Count());
Assert.IsFalse(qos.Presentation.CoherentAccess);
Assert.IsFalse(qos.Presentation.OrderedAccess);
Assert.AreEqual(PresentationQosPolicyAccessScopeKind.InstancePresentationQos, qos.Presentation.AccessScope);
}
public ReturnCode SetDefaultPublisherQos(PublisherQos qos)
{
ReturnCode result;
using (OpenSplice.CustomMarshalers.PublisherQosMarshaler marshaler =
new OpenSplice.CustomMarshalers.PublisherQosMarshaler())
{
result = marshaler.CopyIn(qos);
if (result == ReturnCode.Ok)
{
result = Gapi.DomainParticipant.set_default_publisher_qos(
GapiPeer,
marshaler.GapiPtr);
}
}
return(result);
}
public static PublisherQos CreateNonDefaultPublisherQos()
{
PublisherQos qos = new PublisherQos();
qos.EntityFactory.AutoenableCreatedEntities = false;
qos.GroupData.Value = new List <byte> {
0x42
};
qos.Partition.Name = new List <string> {
"TestPartition"
};
qos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.GroupPresentationQos;
qos.Presentation.CoherentAccess = true;
qos.Presentation.OrderedAccess = true;
return(qos);
}
public ReturnCode SetQos(PublisherQos qos)
{
ReturnCode result;
using (OpenSplice.CustomMarshalers.PublisherQosMarshaler marshaler =
new OpenSplice.CustomMarshalers.PublisherQosMarshaler())
{
result = marshaler.CopyIn(qos);
if (result == ReturnCode.Ok)
{
// Invoke the corresponding gapi function.
result = Gapi.Publisher.set_qos(
GapiPeer,
marshaler.GapiPtr);
}
}
return(result);
}
public void TestGetQos()
{
// Create a non-default QoS and create a publisher with it
PublisherQos qos = TestHelper.CreateNonDefaultPublisherQos();
Publisher publisher = _participant.CreatePublisher(qos);
Assert.IsNotNull(publisher);
// Call GetQos and check the values received
qos = new PublisherQos();
ReturnCode result = publisher.GetQos(qos);
TestHelper.TestNonDefaultPublisherQos(qos);
// Test with null parameter
result = publisher.GetQos(null);
Assert.AreEqual(ReturnCode.BadParameter, result);
}
public ReturnCode GetQos(ref PublisherQos qos)
{
ReturnCode result;
using (OpenSplice.CustomMarshalers.PublisherQosMarshaler marshaler =
new OpenSplice.CustomMarshalers.PublisherQosMarshaler())
{
result = Gapi.Publisher.get_qos(
GapiPeer,
marshaler.GapiPtr);
if (result == ReturnCode.Ok)
{
marshaler.CopyOut(ref qos);
}
}
return(result);
}
public Publisher(Topic <T> topic, string partitionName, AdapterWriterQos desiredQos)
{
currentTopic = topic;
IDomainParticipant participant = topic.Participant;
var publisherQos = new PublisherQos();
ReturnCode status = participant.GetDefaultPublisherQos(ref publisherQos);
ErrorHandler.CheckStatus(status, "Publisher.GetDefaultSubscriberQos (Publisher)");
publisherQos.Partition.Name = new string[1];
publisherQos.Partition.Name[0] = partitionName;
// Create a Subscriber for the application.
topicPublisher = participant.CreatePublisher(publisherQos);
ErrorHandler.CheckHandle(
topicPublisher, "Publisher.CreateSubscriber (Publisher)");
InitializeWriter(desiredQos);
}
internal static ReturnCode checkQos(PublisherQos o)
{
ReturnCode result = DDS.ReturnCode.BadParameter;
if (o != null)
{
int errorCount = 0;
errorCount += countErrors(o.Presentation);
errorCount += countErrors(o.Partition);
errorCount += countErrors(o.GroupData);
errorCount += countErrors(o.EntityFactory);
if (errorCount == 0)
{
result = DDS.ReturnCode.Ok;
}
}
else
{
ReportStack.Report(result,
"PublisherQos 'null' is invalid.");
}
return(result);
}
GetPublisherQos(
ref PublisherQos publisherQos,
string id)
{
ReportStack.Start();
NamedPublisherQos pQos = new NamedPublisherQos();
GCHandle qosHandle = GCHandle.Alloc(pQos, GCHandleType.Normal);
ReturnCode result = qpResultToReturnCode(
OpenSplice.Common.QosProvider.GetPublisherQos(cmnQpPtr, id, GCHandle.ToIntPtr(qosHandle)));
if (result == ReturnCode.Ok)
{
publisherQos = pQos.PublisherQos;
}
else
{
ReportStack.Report(result, "Could not copy publisherQos.");
}
qosHandle.Free();
ReportStack.Flush(null, result != ReturnCode.Ok);
return(result);
}
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(DDS.DomainId.Default, 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();
}
public void TestBeginEndAccess()
{
// OpenDDS Issue: Coherent sets for PRESENTATION QoS not Currently implemented on RTPS.
// Just prepare the unit test for the moment.
// Initialize entities
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(_participant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
Topic topic = _participant.CreateTopic(nameof(TestNotifyDataReaders), typeName);
Assert.IsNotNull(topic);
Assert.IsNull(topic.GetListener());
Assert.AreEqual(nameof(TestNotifyDataReaders), topic.Name);
Assert.AreEqual(typeName, topic.TypeName);
Topic otherTopic = _participant.CreateTopic("Other" + nameof(TestNotifyDataReaders), typeName);
Assert.IsNotNull(otherTopic);
Assert.IsNull(otherTopic.GetListener());
Assert.AreEqual("Other" + nameof(TestNotifyDataReaders), otherTopic.Name);
Assert.AreEqual(typeName, otherTopic.TypeName);
PublisherQos pubQos = new PublisherQos();
pubQos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.GroupPresentationQos;
pubQos.Presentation.CoherentAccess = true;
pubQos.Presentation.OrderedAccess = true;
Publisher publisher = _participant.CreatePublisher(pubQos);
Assert.IsNotNull(publisher);
DataWriter writer = publisher.CreateDataWriter(topic);
Assert.IsNotNull(writer);
TestStructDataWriter dataWriter = new TestStructDataWriter(writer);
DataWriter otherWriter = publisher.CreateDataWriter(otherTopic);
Assert.IsNotNull(otherWriter);
TestStructDataWriter otherDataWriter = new TestStructDataWriter(otherWriter);
SubscriberQos subQos = new SubscriberQos();
subQos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.GroupPresentationQos;
subQos.Presentation.CoherentAccess = true;
subQos.Presentation.OrderedAccess = true;
MySubscriberListener listener = new MySubscriberListener();
listener.DataOnReaders += (sub) =>
{
result = sub.BeginAccess();
Assert.AreEqual(ReturnCode.Ok, result);
List <DataReader> list = new List <DataReader>();
result = sub.GetDataReaders(list);
// Here we should check that we received two DataReader
// read the data of each one and confirm tha the group coherent access
// is working as expected.
result = sub.EndAccess();
Assert.AreEqual(ReturnCode.Ok, result);
};
Subscriber subscriber = _participant.CreateSubscriber(subQos, listener);
Assert.IsNotNull(subscriber);
DataReader reader = subscriber.CreateDataReader(topic);
Assert.IsNotNull(reader);
TestStructDataReader dataReader = new TestStructDataReader(reader);
DataReader otherReader = subscriber.CreateDataReader(otherTopic);
Assert.IsNotNull(otherReader);
TestStructDataReader otherDataReader = new TestStructDataReader(otherReader);
// Call EndAccess without calling first BeginAccess
result = subscriber.EndAccess();
Assert.AreEqual(ReturnCode.PreconditionNotMet, result);
// Publish a samples in both topics
result = publisher.BeginCoherentChanges();
Assert.AreEqual(ReturnCode.Ok, result);
result = dataWriter.Write(new TestStruct
{
Id = 1
});
Assert.AreEqual(ReturnCode.Ok, result);
result = otherDataWriter.Write(new TestStruct
{
Id = 1
});
Assert.AreEqual(ReturnCode.Ok, result);
result = publisher.EndCoherentChanges();
Assert.AreEqual(ReturnCode.Ok, result);
// Give some time to the subscriber to process the messages
System.Threading.Thread.Sleep(500);
}
public ReturnCode GetDefaultPublisherQos(ref PublisherQos qos)
{
ReturnCode result;
using (OpenSplice.CustomMarshalers.PublisherQosMarshaler marshaler =
new OpenSplice.CustomMarshalers.PublisherQosMarshaler())
{
result = Gapi.DomainParticipant.get_default_publisher_qos(
GapiPeer,
marshaler.GapiPtr);
if (result == ReturnCode.Ok)
{
marshaler.CopyOut(ref qos);
}
}
return result;
}
internal DDS.ReturnCode CopyIn(PublisherQos from)
{
cleanupRequired = true;
return CopyIn(from, GapiPtr);
}
public ReturnCode SetDefaultPublisherQos(PublisherQos qos)
{
return(realParticipant.SetDefaultPublisherQos(qos));
}
public IPublisher CreatePublisher(PublisherQos qos)
{
return(realParticipant.CreatePublisher(qos));
}
public ReturnCode GetDefaultPublisherQos(ref PublisherQos qos)
{
return realParticipant.GetDefaultPublisherQos(ref qos);
}
public IPublisher CreatePublisher(PublisherQos qos, IPublisherListener listener, StatusKind mask)
{
return realParticipant.CreatePublisher(qos, listener, mask);
}
public void TestBeginEndCoherentChanges()
{
// Initialize entities
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(_participant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
Topic topic = _participant.CreateTopic(nameof(TestBeginEndCoherentChanges), typeName);
Assert.IsNotNull(topic);
Assert.IsNull(topic.GetListener());
Assert.AreEqual(nameof(TestBeginEndCoherentChanges), topic.Name);
Assert.AreEqual(typeName, topic.TypeName);
PublisherQos pQos = new PublisherQos();
pQos.Presentation.CoherentAccess = true;
pQos.Presentation.OrderedAccess = true;
pQos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.TopicPresentationQos;
Publisher publisher = _participant.CreatePublisher(pQos);
Assert.IsNotNull(publisher);
SubscriberQos sQos = new SubscriberQos();
sQos.Presentation.CoherentAccess = true;
sQos.Presentation.OrderedAccess = true;
sQos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.TopicPresentationQos;
Subscriber subscriber = _participant.CreateSubscriber(sQos);
Assert.IsNotNull(subscriber);
DataWriter writer = publisher.CreateDataWriter(topic);
Assert.IsNotNull(writer);
TestStructDataWriter dataWriter = new TestStructDataWriter(writer);
DataReaderQos drQos = new DataReaderQos();
drQos.Reliability.Kind = ReliabilityQosPolicyKind.ReliableReliabilityQos;
drQos.History.Kind = HistoryQosPolicyKind.KeepAllHistoryQos;
DataReader reader = subscriber.CreateDataReader(topic, drQos);
Assert.IsNotNull(reader);
TestStructDataReader dataReader = new TestStructDataReader(reader);
// Call EndCoherentChanges without calling first SuspendPublications
result = publisher.EndCoherentChanges();
Assert.AreEqual(ReturnCode.PreconditionNotMet, result);
// Begin coherent access and write samples
result = publisher.BeginCoherentChanges();
Assert.AreEqual(ReturnCode.Ok, result);
for (int i = 1; i <= 5; i++)
{
TestStruct sample = new TestStruct
{
Id = i,
ShortType = (short)i
};
InstanceHandle handle = dataWriter.RegisterInstance(sample);
Assert.AreNotEqual(InstanceHandle.HandleNil, handle);
result = dataWriter.Write(sample, handle);
Assert.AreEqual(ReturnCode.Ok, result);
}
System.Threading.Thread.Sleep(500);
// Check that not samples arrived
List <TestStruct> data = new List <TestStruct>();
List <SampleInfo> sampleInfos = new List <SampleInfo>();
#region OpenDDS Issue
// Coherent sets for PRESENTATION QoS not Currently implemented on RTPS
//result = dataReader.Read(data, sampleInfos);
//Assert.AreEqual(ReturnCode.NoData, result);
#endregion
// End coherent access and check the samples
result = publisher.EndCoherentChanges();
Assert.AreEqual(ReturnCode.Ok, result);
System.Threading.Thread.Sleep(500);
data = new List <TestStruct>();
sampleInfos = new List <SampleInfo>();
result = dataReader.Read(data, sampleInfos);
Assert.AreEqual(ReturnCode.Ok, result);
for (int i = 0; i < data.Count; i++)
{
Assert.IsTrue(sampleInfos[i].ValidData);
Assert.AreEqual(i + 1, data[i].Id);
Assert.AreEqual(i + 1, data[i].ShortType);
}
}
public ReturnCode GetQos(ref PublisherQos qos)
{
ReturnCode result;
using (OpenSplice.CustomMarshalers.PublisherQosMarshaler marshaler =
new OpenSplice.CustomMarshalers.PublisherQosMarshaler())
{
result = Gapi.Publisher.get_qos(
GapiPeer,
marshaler.GapiPtr);
if (result == ReturnCode.Ok)
{
marshaler.CopyOut(ref qos);
}
}
return result;
}
/// <summary>
/// This operation creates a Publisher with the desired QosPolicy settings and if applicable,
/// attaches the optionally specified PublisherListener to it.
/// </summary>
/// <remarks>
/// This operation creates a Publisher with the desired QosPolicy settings and if
/// applicable, attaches the optionally specified PublisherListener to it. When the
/// PublisherListener is not applicable, the NULL pointer must be supplied instead.
/// To delete the Publisher the operation DeletePublisher or
/// DeleteContainedEntities must be used.
/// In case the specified QosPolicy settings are not consistent, no Publisher is
/// created and the NULL pointer is returned.
/// </remarks>
/// <param name="qos">A collection of QosPolicy settings for the new Publisher.
/// In case these settings are not self consistent, no Publisher is created.</param>
/// <param name="listener">The PublisherListener instance which will be attached to the new Publisher.
/// It is permitted to use null as the value of the listener: this behaves as a PublisherListener
/// whose operations perform no action.</param>
/// <param name="mask">A bit-mask in which each bit enables the invocation of the PublisherListener
/// for a certain status.</param>
/// <returns>The newly created Publisher. In case of an error, a null Publisher is returned.</returns>
public IPublisher CreatePublisher(PublisherQos qos, IPublisherListener listener, StatusKind mask)
{
IPublisher publisher = null;
using (OpenSplice.CustomMarshalers.PublisherQosMarshaler marshaler =
new OpenSplice.CustomMarshalers.PublisherQosMarshaler())
{
// Note: we use the same gapi lister as the DataWriter since the
// publisher doesn't add anything unique
if (marshaler.CopyIn(qos) == ReturnCode.Ok)
{
if (listener != null)
{
Gapi.gapi_publisherDataWriterListener gapiListener;
PublisherDataWriterListenerHelper listenerHelper =
new PublisherDataWriterListenerHelper();
listenerHelper.Listener = listener;
listenerHelper.CreateListener(out gapiListener);
using (PublisherDataWriterListenerMarshaler listenerMarshaler =
new PublisherDataWriterListenerMarshaler(ref gapiListener))
{
IntPtr gapiPtr = Gapi.DomainParticipant.create_publisher(
GapiPeer,
marshaler.GapiPtr,
listenerMarshaler.GapiPtr,
mask);
if (gapiPtr != IntPtr.Zero)
{
publisher = new Publisher(gapiPtr, listenerHelper);
}
}
}
else
{
// Invoke the corresponding gapi function.
IntPtr gapiPtr = Gapi.DomainParticipant.create_publisher(
GapiPeer,
marshaler.GapiPtr,
IntPtr.Zero,
mask);
if (gapiPtr != IntPtr.Zero)
{
publisher = new Publisher(gapiPtr);
}
}
}
}
if (publisher != null)
{
DomainParticipantQos dpQos = null;
ReturnCode result = GetQos(ref dpQos);
if (result == ReturnCode.Ok)
{
if (dpQos.EntityFactory.AutoenableCreatedEntities)
{
publisher.Enable();
}
}
}
return(publisher);
}
public IPublisher CreatePublisher(PublisherQos qos)
{
return(CreatePublisher(qos, null, 0));
}
public IDataWriter CreateDataWriter(
ITopic topic,
IDataWriterListener listener,
StatusKind mask)
{
DataWriter dataWriter = null;
Topic topicObj = topic as Topic;
if (listener != null)
{
// Note: we use the same gapi lister as the DataWriter since the
// publisher doesn't add anything unique
OpenSplice.Gapi.gapi_publisherDataWriterListener gapiListener;
PublisherDataWriterListenerHelper listenerHelper = new PublisherDataWriterListenerHelper();
listenerHelper.Listener = listener;
listenerHelper.CreateListener(out gapiListener);
using (PublisherDataWriterListenerMarshaler listenerMarshaler =
new PublisherDataWriterListenerMarshaler(ref gapiListener))
{
IntPtr gapiPtr = Gapi.Publisher.create_datawriter(
GapiPeer,
topicObj.GapiPeer,
Gapi.NativeConstants.GapiDataWriterQosDefault,
listenerMarshaler.GapiPtr,
mask);
if (gapiPtr != IntPtr.Zero)
{
TypeSupport typeSupport = topic.Participant.GetTypeSupport(topic.TypeName)
as OpenSplice.TypeSupport;
dataWriter = typeSupport.CreateDataWriter(gapiPtr);
dataWriter.SetListener(listenerHelper);
}
}
}
else
{
IntPtr gapiPtr = Gapi.Publisher.create_datawriter(
GapiPeer,
topicObj.GapiPeer,
Gapi.NativeConstants.GapiDataWriterQosDefault,
IntPtr.Zero,
mask);
if (gapiPtr != IntPtr.Zero)
{
TypeSupport typeSupport = topic.Participant.GetTypeSupport(topic.TypeName)
as OpenSplice.TypeSupport;
dataWriter = typeSupport.CreateDataWriter(gapiPtr);
}
}
if (dataWriter != null)
{
PublisherQos pubQos = null;
ReturnCode result = GetQos(ref pubQos);
if (result == ReturnCode.Ok)
{
if (pubQos.EntityFactory.AutoenableCreatedEntities)
{
dataWriter.Enable();
}
}
}
return(dataWriter);
}
internal static void CopyOut(IntPtr from, ref PublisherQos to)
{
if (to == null) to = new PublisherQos();
PresentationQosPolicyMarshaler.CopyOut(from, ref to.Presentation, offset_presentation);
PartitionQosPolicyMarshaler.CopyOut(from, ref to.Partition, offset_partition);
GroupDataQosPolicyMarshaler.CopyOut(from, ref to.GroupData, offset_group_data);
EntityFactoryQosPolicyMarshaler.CopyOut(from, ref to.EntityFactory, offset_entity_factory);
}
internal static DDS.ReturnCode CopyIn(PublisherQos from, IntPtr to)
{
DDS.ReturnCode result;
if (from != null) {
result = PresentationQosPolicyMarshaler.CopyIn(
from.Presentation, to, offset_presentation);
if (result == DDS.ReturnCode.Ok) {
result = PartitionQosPolicyMarshaler.CopyIn(
from.Partition, to, offset_partition);
}
if (result == DDS.ReturnCode.Ok) {
result = GroupDataQosPolicyMarshaler.CopyIn(
from.GroupData, to, offset_group_data);
}
if (result == DDS.ReturnCode.Ok) {
result = EntityFactoryQosPolicyMarshaler.CopyIn(
from.EntityFactory, to, offset_entity_factory);
}
} else {
result = DDS.ReturnCode.BadParameter;
DDS.OpenSplice.OS.Report(
DDS.OpenSplice.ReportType.OS_ERROR,
"DDS.OpenSplice.CustomMarshalers.PublisherQosMarshaler.CopyIn",
"DDS/OpenSplice/CustomMarshalers/QosToplevelMarshalers.cs",
DDS.ErrorCode.InvalidValue,
"PublisherQos attribute may not be a null pointer.");
}
return result;
}
public ReturnCode SetQos(PublisherQos qos)
{
ReturnCode result;
using (OpenSplice.CustomMarshalers.PublisherQosMarshaler marshaler =
new OpenSplice.CustomMarshalers.PublisherQosMarshaler())
{
result = marshaler.CopyIn(qos);
if (result == ReturnCode.Ok)
{
// Invoke the corresponding gapi function.
result = Gapi.Publisher.set_qos(
GapiPeer,
marshaler.GapiPtr);
}
}
return result;
}
static void Main(string[] args)
{
int ownID = 1;
string chatterName = null;
int domain = DDS.DomainId.Default;
string partitionName = "ChatRoom";
/* Options: Chatter [ownID [name]] */
if (args.Length > 0)
{
ownID = int.Parse(args[0]);
if (args.Length > 1)
{
chatterName = args[1];
}
}
/* Create a DomainParticipantFactory and a DomainParticipant
(using Default QoS settings. */
DomainParticipantFactory dpf = DomainParticipantFactory.Instance;
ErrorHandler.checkHandle(dpf, "DDS.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();
string nameServiceTypeName = nameServiceTS.TypeName;
status = nameServiceTS.RegisterType(
participant, nameServiceTypeName);
ErrorHandler.checkStatus(
status, "Chat.NameServiceTypeSupport.RegisterType");
/* Initialise Qos variables */
TopicQos reliableTopicQos = new TopicQos();
TopicQos settingTopicQos = new TopicQos();
PublisherQos pubQos = new PublisherQos();
DataWriterQos dwQos = new DataWriterQos();
DataWriterQos nsDwQos = new DataWriterQos();
/* Set the ReliabilityQosPolicy to RELIABLE. */
status = participant.GetDefaultTopicQos(ref reliableTopicQos);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.GetDefaultTopicQos");
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. */
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 (NameService)");
/* Adapt the default PublisherQos to write into the
"ChatRoom" Partition. */
status = participant.GetDefaultPublisherQos(ref pubQos);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.GetDefaultPublisherQos");
pubQos.Partition.Name = new string[1];
pubQos.Partition.Name[0] = partitionName;
/* Create a Publisher for the chatter application. */
IPublisher chatPublisher = participant.CreatePublisher(pubQos);
ErrorHandler.checkHandle(
chatPublisher, "DDS.DomainParticipant.CreatePublisher");
/* Create a DataWriter for the ChatMessage Topic
(using the appropriate QoS). */
chatPublisher.GetDefaultDataWriterQos(ref dwQos);
status = chatPublisher.CopyFromTopicQos(ref dwQos, reliableTopicQos);
ErrorHandler.checkStatus(status, "DDS.Publisher.CopyFromTopicQos");
IDataWriter parentWriter = chatPublisher.CreateDataWriter(chatMessageTopic, dwQos);
ErrorHandler.checkHandle(
parentWriter, "DDS.Publisher.CreateDatawriter (chatMessage)");
/* Narrow the abstract parent into its typed representative. */
ChatMessageDataWriter talker = parentWriter as ChatMessageDataWriter;
ErrorHandler.checkHandle(
talker, "Chat.ChatMessageDataWriter");
/* Create a DataWriter for the NameService Topic
(using the appropriate QoS). */
status = chatPublisher.GetDefaultDataWriterQos(ref nsDwQos);
ErrorHandler.checkStatus(
status, "DDS.Publisher.GetDefaultDatawriterQos");
status = chatPublisher.CopyFromTopicQos(ref nsDwQos, settingTopicQos);
ErrorHandler.checkStatus(status, "DDS.Publisher.CopyFromTopicQos");
WriterDataLifecycleQosPolicy writerDataLifecycle = nsDwQos.WriterDataLifecycle;
writerDataLifecycle.AutodisposeUnregisteredInstances = false;
IDataWriter nsParentWriter = chatPublisher.CreateDataWriter(nameServiceTopic, nsDwQos);
ErrorHandler.checkHandle(
nsParentWriter, "DDS.Publisher.CreateDatawriter (NameService)");
/* Narrow the abstract parent into its typed representative. */
NameServiceDataWriter nameServer = nsParentWriter as NameServiceDataWriter;
ErrorHandler.checkHandle(
nameServer, "Chat.NameServiceDataWriterHelper");
/* Initialize the NameServer attributes. */
NameService ns = new NameService();
ns.userID = ownID;
if (chatterName != null)
{
ns.name = chatterName;
}
else
{
ns.name = "Chatter " + ownID;
}
/* Write the user-information into the system
(registering the instance implicitly). */
status = nameServer.Write(ns);
ErrorHandler.checkStatus(status, "Chat.ChatMessageDataWriter.Write");
/* Initialize the chat messages. */
ChatMessage msg = new ChatMessage();
msg.userID = ownID;
msg.index = 0;
if (ownID == TERMINATION_MESSAGE)
{
msg.content = "Termination message.";
}
else
{
msg.content = "Hi there, I will send you " +
NUM_MSG + " more messages.";
}
System.Console.WriteLine("Writing message: \"" + msg.content + "\"");
/* Register a chat message for this user
(pre-allocating resources for it!!) */
InstanceHandle userHandle = talker.RegisterInstance(msg);
/* Write a message using the pre-generated instance handle. */
status = talker.Write(msg, userHandle);
ErrorHandler.checkStatus(status, "Chat.ChatMessageDataWriter.Write");
Thread.Sleep(1000);
/* Write any number of messages . */
for (int i = 1; i <= NUM_MSG && ownID != TERMINATION_MESSAGE; i++)
{
msg.index = i;
msg.content = "Message no. " + i;
Console.WriteLine("Writing message: \"" + msg.content + "\"");
status = talker.Write(msg, userHandle);
ErrorHandler.checkStatus(status, "Chat.ChatMessageDataWriter.Write");
Thread.Sleep(1000); /* do not run so fast! */
}
/* Leave the room by disposing and unregistering the message instance */
status = talker.Dispose(msg, userHandle);
ErrorHandler.checkStatus(
status, "Chat.ChatMessageDataWriter.Dispose");
status = talker.UnregisterInstance(msg, userHandle);
ErrorHandler.checkStatus(
status, "Chat.ChatMessageDataWriter.unregister_instance");
/* Also unregister our name. */
status = nameServer.UnregisterInstance(ns, InstanceHandle.Nil);
ErrorHandler.checkStatus(
status, "Chat.NameServiceDataWriter.unregister_instance");
/* Remove the DataWriters */
status = chatPublisher.DeleteDataWriter(talker);
ErrorHandler.checkStatus(
status, "DDS.Publisher.DeleteDatawriter (talker)");
status = chatPublisher.DeleteDataWriter(nameServer);
ErrorHandler.checkStatus(status,
"DDS.Publisher.DeleteDatawriter (nameServer)");
/* Remove the Publisher. */
status = participant.DeletePublisher(chatPublisher);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.DeletePublisher");
/* Remove the Topics. */
status = participant.DeleteTopic(nameServiceTopic);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.DeleteTopic (nameServiceTopic)");
status = participant.DeleteTopic(chatMessageTopic);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.DeleteTopic (chatMessageTopic)");
/* Remove the DomainParticipant. */
status = dpf.DeleteParticipant(participant);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipantFactory.DeleteParticipant");
}
public IPublisher CreatePublisher(PublisherQos qos)
{
return realParticipant.CreatePublisher(qos);
}
GetPublisherQos (
ref PublisherQos publisherQos,
string id)
{
NamedPublisherQos pQos = new NamedPublisherQos();
GCHandle qosHandle = GCHandle.Alloc(pQos, GCHandleType.Normal);
ReturnCode result = OpenSplice.Common.QosProvider.GetPublisherQos(GapiPeer, id, GCHandle.ToIntPtr(qosHandle));
publisherQos = pQos.PublisherQos;
qosHandle.Free();
return result;
}
/***
* Operations
***/
public ITopic CreateSimulatedMultitopic(
string name,
string type_name,
string subscription_expression,
string[] expression_parameters)
{
/* Type-specific DDS entities */
ChatMessageDataReader chatMessageDR;
NameServiceDataReader nameServiceDR;
NamedMessageDataWriter namedMessageDW;
/* Query related stuff */
IQueryCondition nameFinder;
string[] nameFinderParams;
/* QosPolicy holders */
TopicQos namedMessageQos = new TopicQos();
SubscriberQos subQos = new SubscriberQos();
PublisherQos pubQos = new PublisherQos();
/* Others */
IDataReader parentReader;
IDataWriter parentWriter;
string partitionName = "ChatRoom";
string nameFinderExpr;
ReturnCode status;
/* Lookup both components that constitute the multi-topic. */
chatMessageTopic = realParticipant.FindTopic(
"Chat_ChatMessage", Duration.Infinite);
ErrorHandler.checkHandle(
chatMessageTopic,
"DDS.DomainParticipant.FindTopic (Chat_ChatMessage)");
nameServiceTopic = realParticipant.FindTopic(
"Chat_NameService", Duration.Infinite);
ErrorHandler.checkHandle(
nameServiceTopic,
"DDS.DomainParticipant.FindTopic (Chat_NameService)");
/* Create a ContentFilteredTopic to filter out
our own ChatMessages. */
filteredMessageTopic = realParticipant.CreateContentFilteredTopic(
"Chat_FilteredMessage",
chatMessageTopic,
"userID <> %0",
expression_parameters);
ErrorHandler.checkHandle(
filteredMessageTopic,
"DDS.DomainParticipant.CreateContentFilteredTopic");
/* Adapt the default SubscriberQos to read from the
"ChatRoom" Partition. */
status = realParticipant.GetDefaultSubscriberQos (ref subQos);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.GetDefaultSubscriberQos");
subQos.Partition.Name = new string[1];
subQos.Partition.Name[0] = partitionName;
/* Create a private Subscriber for the multitopic simulator. */
multiSub = realParticipant.CreateSubscriber(subQos);
ErrorHandler.checkHandle(
multiSub,
"DDS.DomainParticipant.CreateSubscriber (for multitopic)");
/* Create a DataReader for the FilteredMessage Topic
(using the appropriate QoS). */
DataReaderQos drQos = new DataReaderQos();
TopicQos topicQos = new TopicQos();
multiSub.GetDefaultDataReaderQos(ref drQos);
filteredMessageTopic.RelatedTopic.GetQos(ref topicQos);
multiSub.CopyFromTopicQos(ref drQos, topicQos);
parentReader = multiSub.CreateDataReader(filteredMessageTopic, drQos);
ErrorHandler.checkHandle(
parentReader, "DDS.Subscriber.create_datareader (ChatMessage)");
/* Narrow the abstract parent into its typed representative. */
chatMessageDR = parentReader as ChatMessageDataReader;
/* Allocate the DataReaderListener Implementation. */
msgListener = new DataReaderListenerImpl();
/* Attach the DataReaderListener to the DataReader,
only enabling the data_available event. */
status = chatMessageDR.SetListener(msgListener, StatusKind.DataAvailable);
ErrorHandler.checkStatus(status, "DDS.DataReader_set_listener");
/* Create a DataReader for the nameService Topic
(using the appropriate QoS). */
DataReaderQos nsDrQos = new DataReaderQos();
TopicQos nsQos = new TopicQos();
nameServiceTopic.GetQos(ref nsQos);
multiSub.CopyFromTopicQos(ref nsDrQos, nsQos);
parentReader = multiSub.CreateDataReader(nameServiceTopic, nsDrQos);
ErrorHandler.checkHandle(parentReader, "DDS.Subscriber.CreateDatareader (NameService)");
/* Narrow the abstract parent into its typed representative. */
nameServiceDR = parentReader as NameServiceDataReader;
/* Define the SQL expression (using a parameterized value). */
nameFinderExpr = "userID = %0";
/* Allocate and assign the query parameters. */
nameFinderParams = new string[1];
nameFinderParams[0] = expression_parameters[0];
/* Create a QueryCondition to only read corresponding
nameService information by key-value. */
nameFinder = nameServiceDR.CreateQueryCondition(
SampleStateKind.Any,
ViewStateKind.Any,
InstanceStateKind.Any,
nameFinderExpr,
nameFinderParams);
ErrorHandler.checkHandle(
nameFinder, "DDS.DataReader.create_querycondition (nameFinder)");
/* Create the Topic that simulates the multi-topic
(use Qos from chatMessage).*/
status = chatMessageTopic.GetQos(ref namedMessageQos);
ErrorHandler.checkStatus(status, "DDS.Topic.GetQos");
/* Create the NamedMessage Topic whose samples simulate
the MultiTopic */
namedMessageTopic = realParticipant.CreateTopic(
"Chat_NamedMessage",
type_name,
namedMessageQos);
ErrorHandler.checkHandle(
namedMessageTopic,
"DDS.DomainParticipant.CreateTopic (NamedMessage)");
/* Adapt the default PublisherQos to write into the
"ChatRoom" Partition. */
status = realParticipant.GetDefaultPublisherQos(ref pubQos);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.get_default_publisher_qos");
pubQos.Partition.Name = new string[1];
pubQos.Partition.Name[0] = partitionName;
/* Create a private Publisher for the multitopic simulator. */
multiPub = realParticipant.CreatePublisher(pubQos);
ErrorHandler.checkHandle(
multiPub,
"DDS.DomainParticipant.create_publisher (for multitopic)");
DataWriterQos nmDwQos = new DataWriterQos();
TopicQos nmQos = new TopicQos();
multiPub.GetDefaultDataWriterQos(ref nmDwQos);
namedMessageTopic.GetQos(ref nmQos);
multiPub.CopyFromTopicQos(ref nmDwQos, nmQos);
/* Create a DataWriter for the multitopic. */
parentWriter = multiPub.CreateDataWriter(namedMessageTopic, nmDwQos);
ErrorHandler.checkHandle(
parentWriter, "DDS.Publisher.CreateDatawriter (NamedMessage)");
/* Narrow the abstract parent into its typed representative. */
namedMessageDW = parentWriter as NamedMessageDataWriter;
/* Store the relevant Entities in our Listener. */
msgListener.ChatMessageDR = chatMessageDR;
msgListener.NameServiceDR = nameServiceDR;
msgListener.NamedMessageDW = namedMessageDW;
msgListener.NameFinder = nameFinder;
msgListener.NameFinderParams = nameFinderParams;
/* Return the simulated Multitopic. */
return namedMessageTopic;
}
/***
* Operations
***/
public ITopic CreateSimulatedMultitopic(
string name,
string type_name,
string subscription_expression,
string[] expression_parameters)
{
/* Type-specific DDS entities */
ChatMessageDataReader chatMessageDR;
NameServiceDataReader nameServiceDR;
NamedMessageDataWriter namedMessageDW;
/* Query related stuff */
IQueryCondition nameFinder;
string[] nameFinderParams;
/* QosPolicy holders */
TopicQos namedMessageQos = new TopicQos();
SubscriberQos subQos = new SubscriberQos();
PublisherQos pubQos = new PublisherQos();
/* Others */
IDataReader parentReader;
IDataWriter parentWriter;
string partitionName = "ChatRoom";
string nameFinderExpr;
ReturnCode status;
/* Lookup both components that constitute the multi-topic. */
chatMessageTopic = realParticipant.FindTopic(
"Chat_ChatMessage", Duration.Infinite);
ErrorHandler.checkHandle(
chatMessageTopic,
"DDS.DomainParticipant.FindTopic (Chat_ChatMessage)");
nameServiceTopic = realParticipant.FindTopic(
"Chat_NameService", Duration.Infinite);
ErrorHandler.checkHandle(
nameServiceTopic,
"DDS.DomainParticipant.FindTopic (Chat_NameService)");
/* Create a ContentFilteredTopic to filter out
* our own ChatMessages. */
filteredMessageTopic = realParticipant.CreateContentFilteredTopic(
"Chat_FilteredMessage",
chatMessageTopic,
"userID <> %0",
expression_parameters);
ErrorHandler.checkHandle(
filteredMessageTopic,
"DDS.DomainParticipant.CreateContentFilteredTopic");
/* Adapt the default SubscriberQos to read from the
* "ChatRoom" Partition. */
status = realParticipant.GetDefaultSubscriberQos(ref subQos);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.GetDefaultSubscriberQos");
subQos.Partition.Name = new string[1];
subQos.Partition.Name[0] = partitionName;
/* Create a private Subscriber for the multitopic simulator. */
multiSub = realParticipant.CreateSubscriber(subQos);
ErrorHandler.checkHandle(
multiSub,
"DDS.DomainParticipant.CreateSubscriber (for multitopic)");
/* Create a DataReader for the FilteredMessage Topic
* (using the appropriate QoS). */
DataReaderQos drQos = new DataReaderQos();
TopicQos topicQos = new TopicQos();
multiSub.GetDefaultDataReaderQos(ref drQos);
filteredMessageTopic.RelatedTopic.GetQos(ref topicQos);
multiSub.CopyFromTopicQos(ref drQos, topicQos);
parentReader = multiSub.CreateDataReader(filteredMessageTopic, drQos);
ErrorHandler.checkHandle(
parentReader, "DDS.Subscriber.create_datareader (ChatMessage)");
/* Narrow the abstract parent into its typed representative. */
chatMessageDR = parentReader as ChatMessageDataReader;
/* Allocate the DataReaderListener Implementation. */
msgListener = new DataReaderListenerImpl();
/* Attach the DataReaderListener to the DataReader,
* only enabling the data_available event. */
status = chatMessageDR.SetListener(msgListener, StatusKind.DataAvailable);
ErrorHandler.checkStatus(status, "DDS.DataReader_set_listener");
/* Create a DataReader for the nameService Topic
* (using the appropriate QoS). */
DataReaderQos nsDrQos = new DataReaderQos();
TopicQos nsQos = new TopicQos();
nameServiceTopic.GetQos(ref nsQos);
multiSub.CopyFromTopicQos(ref nsDrQos, nsQos);
parentReader = multiSub.CreateDataReader(nameServiceTopic, nsDrQos);
ErrorHandler.checkHandle(parentReader, "DDS.Subscriber.CreateDatareader (NameService)");
/* Narrow the abstract parent into its typed representative. */
nameServiceDR = parentReader as NameServiceDataReader;
/* Define the SQL expression (using a parameterized value). */
nameFinderExpr = "userID = %0";
/* Allocate and assign the query parameters. */
nameFinderParams = new string[1];
nameFinderParams[0] = expression_parameters[0];
/* Create a QueryCondition to only read corresponding
* nameService information by key-value. */
nameFinder = nameServiceDR.CreateQueryCondition(
SampleStateKind.Any,
ViewStateKind.Any,
InstanceStateKind.Any,
nameFinderExpr,
nameFinderParams);
ErrorHandler.checkHandle(
nameFinder, "DDS.DataReader.create_querycondition (nameFinder)");
/* Create the Topic that simulates the multi-topic
* (use Qos from chatMessage).*/
status = chatMessageTopic.GetQos(ref namedMessageQos);
ErrorHandler.checkStatus(status, "DDS.Topic.GetQos");
/* Create the NamedMessage Topic whose samples simulate
* the MultiTopic */
namedMessageTopic = realParticipant.CreateTopic(
"Chat_NamedMessage",
type_name,
namedMessageQos);
ErrorHandler.checkHandle(
namedMessageTopic,
"DDS.DomainParticipant.CreateTopic (NamedMessage)");
/* Adapt the default PublisherQos to write into the
* "ChatRoom" Partition. */
status = realParticipant.GetDefaultPublisherQos(ref pubQos);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.get_default_publisher_qos");
pubQos.Partition.Name = new string[1];
pubQos.Partition.Name[0] = partitionName;
/* Create a private Publisher for the multitopic simulator. */
multiPub = realParticipant.CreatePublisher(pubQos);
ErrorHandler.checkHandle(
multiPub,
"DDS.DomainParticipant.create_publisher (for multitopic)");
DataWriterQos nmDwQos = new DataWriterQos();
TopicQos nmQos = new TopicQos();
multiPub.GetDefaultDataWriterQos(ref nmDwQos);
namedMessageTopic.GetQos(ref nmQos);
multiPub.CopyFromTopicQos(ref nmDwQos, nmQos);
/* Create a DataWriter for the multitopic. */
parentWriter = multiPub.CreateDataWriter(namedMessageTopic, nmDwQos);
ErrorHandler.checkHandle(
parentWriter, "DDS.Publisher.CreateDatawriter (NamedMessage)");
/* Narrow the abstract parent into its typed representative. */
namedMessageDW = parentWriter as NamedMessageDataWriter;
/* Store the relevant Entities in our Listener. */
msgListener.ChatMessageDR = chatMessageDR;
msgListener.NameServiceDR = nameServiceDR;
msgListener.NamedMessageDW = namedMessageDW;
msgListener.NameFinder = nameFinder;
msgListener.NameFinderParams = nameFinderParams;
/* Return the simulated Multitopic. */
return(namedMessageTopic);
}
public ReturnCode SetDefaultPublisherQos(PublisherQos qos)
{
return realParticipant.SetDefaultPublisherQos(qos);
}
public void TestSetQos()
{
// Create a new DataWriter using the default QoS
DataWriter dataWriter = _publisher.CreateDataWriter(_topic);
Assert.IsNotNull(dataWriter);
// Get the qos to ensure that is using the default properties
DataWriterQos qos = new DataWriterQos();
ReturnCode result = dataWriter.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestDefaultDataWriterQos(qos);
// Try to change an immutable property
qos.Ownership.Kind = OwnershipQosPolicyKind.ExclusiveOwnershipQos;
result = dataWriter.SetQos(qos);
Assert.AreEqual(ReturnCode.ImmutablePolicy, result);
// Change some mutable properties and check them
qos = new DataWriterQos();
qos.OwnershipStrength.Value = 100;
result = dataWriter.SetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
qos = new DataWriterQos();
result = dataWriter.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
Assert.AreEqual(100, qos.OwnershipStrength.Value);
// Try to set immutable QoS properties before enable the datawriter
PublisherQos pubQos = new PublisherQos();
pubQos.EntityFactory.AutoenableCreatedEntities = false;
result = _publisher.SetQos(pubQos);
Assert.AreEqual(ReturnCode.Ok, result);
DataWriter otherDataWriter = _publisher.CreateDataWriter(_topic);
Assert.IsNotNull(otherDataWriter);
qos = new DataWriterQos();
qos.Ownership.Kind = OwnershipQosPolicyKind.ExclusiveOwnershipQos;
result = otherDataWriter.SetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
qos = new DataWriterQos();
result = otherDataWriter.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
Assert.AreEqual(OwnershipQosPolicyKind.ExclusiveOwnershipQos, qos.Ownership.Kind);
result = otherDataWriter.Enable();
Assert.AreEqual(ReturnCode.Ok, result);
// Set back the default publisher QoS
pubQos = new PublisherQos();
_publisher.SetQos(pubQos);
Assert.AreEqual(ReturnCode.Ok, result);
// Test SetQos with null parameter
result = dataWriter.SetQos(null);
Assert.AreEqual(ReturnCode.BadParameter, result);
}
public IPublisher CreatePublisher(PublisherQos qos, IPublisherListener listener, StatusKind mask)
{
return(realParticipant.CreatePublisher(qos, listener, mask));
}
/// <summary>
/// This operation creates a Publisher with the desired QosPolicy settings and if applicable,
/// attaches the optionally specified PublisherListener to it.
/// </summary>
/// <remarks>
/// This operation creates a Publisher with the desired QosPolicy settings and if
/// applicable, attaches the optionally specified PublisherListener to it. When the
/// PublisherListener is not applicable, the NULL pointer must be supplied instead.
/// To delete the Publisher the operation DeletePublisher or
/// DeleteContainedEntities must be used.
/// In case the specified QosPolicy settings are not consistent, no Publisher is
/// created and the NULL pointer is returned.
/// </remarks>
/// <param name="qos">A collection of QosPolicy settings for the new Publisher.
/// In case these settings are not self consistent, no Publisher is created.</param>
/// <param name="listener">The PublisherListener instance which will be attached to the new Publisher.
/// It is permitted to use null as the value of the listener: this behaves as a PublisherListener
/// whose operations perform no action.</param>
/// <param name="mask">A bit-mask in which each bit enables the invocation of the PublisherListener
/// for a certain status.</param>
/// <returns>The newly created Publisher. In case of an error, a null Publisher is returned.</returns>
public IPublisher CreatePublisher(PublisherQos qos, IPublisherListener listener, StatusKind mask)
{
IPublisher publisher = null;
using (OpenSplice.CustomMarshalers.PublisherQosMarshaler marshaler =
new OpenSplice.CustomMarshalers.PublisherQosMarshaler())
{
// Note: we use the same gapi lister as the DataWriter since the
// publisher doesn't add anything unique
if (marshaler.CopyIn(qos) == ReturnCode.Ok)
{
if (listener != null)
{
Gapi.gapi_publisherDataWriterListener gapiListener;
PublisherDataWriterListenerHelper listenerHelper =
new PublisherDataWriterListenerHelper();
listenerHelper.Listener = listener;
listenerHelper.CreateListener(out gapiListener);
using (PublisherDataWriterListenerMarshaler listenerMarshaler =
new PublisherDataWriterListenerMarshaler(ref gapiListener))
{
IntPtr gapiPtr = Gapi.DomainParticipant.create_publisher(
GapiPeer,
marshaler.GapiPtr,
listenerMarshaler.GapiPtr,
mask);
if (gapiPtr != IntPtr.Zero)
{
publisher = new Publisher(gapiPtr, listenerHelper);
}
}
}
else
{
// Invoke the corresponding gapi function.
IntPtr gapiPtr = Gapi.DomainParticipant.create_publisher(
GapiPeer,
marshaler.GapiPtr,
IntPtr.Zero,
mask);
if (gapiPtr != IntPtr.Zero)
{
publisher = new Publisher(gapiPtr);
}
}
}
}
if (publisher != null)
{
DomainParticipantQos dpQos = null;
ReturnCode result = GetQos(ref dpQos);
if (result == ReturnCode.Ok)
{
if (dpQos.EntityFactory.AutoenableCreatedEntities)
{
publisher.Enable();
}
}
}
return publisher;
}
public ReturnCode GetDefaultPublisherQos(ref PublisherQos qos)
{
return(realParticipant.GetDefaultPublisherQos(ref qos));
}
internal void CopyOut(ref PublisherQos to)
{
CopyOut(GapiPtr, ref to);
}
public void TestSetQos()
{
// Create a new Publisher using the default QoS
Publisher publisher = _participant.CreatePublisher();
// Get the qos to ensure that is using the default properties
PublisherQos qos = new PublisherQos();
ReturnCode result = publisher.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestDefaultPublisherQos(qos);
// Try to change an immutable property
qos.Presentation.CoherentAccess = true;
qos.Presentation.OrderedAccess = true;
qos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.GroupPresentationQos;
result = publisher.SetQos(qos);
Assert.AreEqual(ReturnCode.ImmutablePolicy, result);
// Change some mutable properties and check them
qos = new PublisherQos();
qos.EntityFactory.AutoenableCreatedEntities = false;
qos.GroupData.Value = new List <byte> {
0x42
};
qos.Partition.Name = new List <string> {
"TestPartition"
};
result = publisher.SetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
qos = new PublisherQos();
result = publisher.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
Assert.IsNotNull(qos.EntityFactory);
Assert.IsNotNull(qos.GroupData);
Assert.IsNotNull(qos.Partition);
Assert.IsNotNull(qos.Presentation);
Assert.IsFalse(qos.EntityFactory.AutoenableCreatedEntities);
Assert.IsNotNull(qos.GroupData.Value);
Assert.AreEqual(1, qos.GroupData.Value.Count());
Assert.AreEqual(0x42, qos.GroupData.Value.First());
Assert.IsNotNull(qos.Partition.Name);
Assert.AreEqual(1, qos.Partition.Name.Count());
Assert.AreEqual("TestPartition", qos.Partition.Name.First());
Assert.IsFalse(qos.Presentation.CoherentAccess);
Assert.IsFalse(qos.Presentation.OrderedAccess);
Assert.AreEqual(PresentationQosPolicyAccessScopeKind.InstancePresentationQos, qos.Presentation.AccessScope);
// Try to set immutable QoS properties before enable the publisher
DomainParticipantQos pQos = new DomainParticipantQos();
pQos.EntityFactory.AutoenableCreatedEntities = false;
result = _participant.SetQos(pQos);
Assert.AreEqual(ReturnCode.Ok, result);
Publisher otherPublisher = _participant.CreatePublisher();
qos = new PublisherQos();
qos.EntityFactory.AutoenableCreatedEntities = false;
qos.GroupData.Value = new List <byte> {
0x42
};
qos.Partition.Name = new List <string> {
"TestPartition"
};
qos.Presentation.CoherentAccess = true;
qos.Presentation.OrderedAccess = true;
qos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.GroupPresentationQos;
result = otherPublisher.SetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
qos = new PublisherQos();
result = otherPublisher.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
Assert.IsNotNull(qos.EntityFactory);
Assert.IsNotNull(qos.GroupData);
Assert.IsNotNull(qos.Partition);
Assert.IsNotNull(qos.Presentation);
Assert.IsFalse(qos.EntityFactory.AutoenableCreatedEntities);
Assert.IsNotNull(qos.GroupData.Value);
Assert.AreEqual(1, qos.GroupData.Value.Count());
Assert.AreEqual(0x42, qos.GroupData.Value.First());
Assert.IsNotNull(qos.Partition.Name);
Assert.AreEqual(1, qos.Partition.Name.Count());
Assert.AreEqual("TestPartition", qos.Partition.Name.First());
Assert.IsTrue(qos.Presentation.CoherentAccess);
Assert.IsTrue(qos.Presentation.OrderedAccess);
Assert.AreEqual(PresentationQosPolicyAccessScopeKind.GroupPresentationQos, qos.Presentation.AccessScope);
// Test with null parameter
result = publisher.SetQos(null);
Assert.AreEqual(ReturnCode.BadParameter, result);
}
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();
}
static void Main(string[] args)
{
int ownID = 1;
string chatterName = null;
int domain = DDS.DomainId.Default;
string partitionName = "ChatRoom";
/* Options: Chatter [ownID [name]] */
if (args.Length > 0)
{
ownID = int.Parse(args[0]);
if (args.Length > 1)
{
chatterName = args[1];
}
}
/* Create a DomainParticipantFactory and a DomainParticipant
* (using Default QoS settings. */
DomainParticipantFactory dpf = DomainParticipantFactory.Instance;
ErrorHandler.checkHandle(dpf, "DDS.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();
string nameServiceTypeName = nameServiceTS.TypeName;
status = nameServiceTS.RegisterType(
participant, nameServiceTypeName);
ErrorHandler.checkStatus(
status, "Chat.NameServiceTypeSupport.RegisterType");
/* Initialise Qos variables */
TopicQos reliableTopicQos = new TopicQos();
TopicQos settingTopicQos = new TopicQos();
PublisherQos pubQos = new PublisherQos();
DataWriterQos dwQos = new DataWriterQos();
DataWriterQos nsDwQos = new DataWriterQos();
/* Set the ReliabilityQosPolicy to RELIABLE. */
status = participant.GetDefaultTopicQos(ref reliableTopicQos);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.GetDefaultTopicQos");
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. */
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 (NameService)");
/* Adapt the default PublisherQos to write into the
* "ChatRoom" Partition. */
status = participant.GetDefaultPublisherQos(ref pubQos);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.GetDefaultPublisherQos");
pubQos.Partition.Name = new string[1];
pubQos.Partition.Name[0] = partitionName;
/* Create a Publisher for the chatter application. */
IPublisher chatPublisher = participant.CreatePublisher(pubQos);
ErrorHandler.checkHandle(
chatPublisher, "DDS.DomainParticipant.CreatePublisher");
/* Create a DataWriter for the ChatMessage Topic
* (using the appropriate QoS). */
chatPublisher.GetDefaultDataWriterQos(ref dwQos);
status = chatPublisher.CopyFromTopicQos(ref dwQos, reliableTopicQos);
ErrorHandler.checkStatus(status, "DDS.Publisher.CopyFromTopicQos");
IDataWriter parentWriter = chatPublisher.CreateDataWriter(chatMessageTopic, dwQos);
ErrorHandler.checkHandle(
parentWriter, "DDS.Publisher.CreateDatawriter (chatMessage)");
/* Narrow the abstract parent into its typed representative. */
ChatMessageDataWriter talker = parentWriter as ChatMessageDataWriter;
ErrorHandler.checkHandle(
talker, "Chat.ChatMessageDataWriter");
/* Create a DataWriter for the NameService Topic
* (using the appropriate QoS). */
status = chatPublisher.GetDefaultDataWriterQos(ref nsDwQos);
ErrorHandler.checkStatus(
status, "DDS.Publisher.GetDefaultDatawriterQos");
status = chatPublisher.CopyFromTopicQos(ref nsDwQos, settingTopicQos);
ErrorHandler.checkStatus(status, "DDS.Publisher.CopyFromTopicQos");
WriterDataLifecycleQosPolicy writerDataLifecycle = nsDwQos.WriterDataLifecycle;
writerDataLifecycle.AutodisposeUnregisteredInstances = false;
IDataWriter nsParentWriter = chatPublisher.CreateDataWriter(nameServiceTopic, nsDwQos);
ErrorHandler.checkHandle(
nsParentWriter, "DDS.Publisher.CreateDatawriter (NameService)");
/* Narrow the abstract parent into its typed representative. */
NameServiceDataWriter nameServer = nsParentWriter as NameServiceDataWriter;
ErrorHandler.checkHandle(
nameServer, "Chat.NameServiceDataWriterHelper");
/* Initialize the NameServer attributes. */
NameService ns = new NameService();
ns.userID = ownID;
if (chatterName != null)
{
ns.name = chatterName;
}
else
{
ns.name = "Chatter " + ownID;
}
/* Write the user-information into the system
* (registering the instance implicitly). */
status = nameServer.Write(ns);
ErrorHandler.checkStatus(status, "Chat.ChatMessageDataWriter.Write");
/* Initialize the chat messages. */
ChatMessage msg = new ChatMessage();
msg.userID = ownID;
msg.index = 0;
if (ownID == TERMINATION_MESSAGE)
{
msg.content = "Termination message.";
}
else
{
msg.content = "Hi there, I will send you " +
NUM_MSG + " more messages.";
}
System.Console.WriteLine("Writing message: \"" + msg.content + "\"");
/* Register a chat message for this user
* (pre-allocating resources for it!!) */
InstanceHandle userHandle = talker.RegisterInstance(msg);
/* Write a message using the pre-generated instance handle. */
status = talker.Write(msg, userHandle);
ErrorHandler.checkStatus(status, "Chat.ChatMessageDataWriter.Write");
Thread.Sleep(1000);
/* Write any number of messages . */
for (int i = 1; i <= NUM_MSG && ownID != TERMINATION_MESSAGE; i++)
{
msg.index = i;
msg.content = "Message no. " + i;
Console.WriteLine("Writing message: \"" + msg.content + "\"");
status = talker.Write(msg, userHandle);
ErrorHandler.checkStatus(status, "Chat.ChatMessageDataWriter.Write");
Thread.Sleep(1000); /* do not run so fast! */
}
/* Leave the room by disposing and unregistering the message instance */
status = talker.Dispose(msg, userHandle);
ErrorHandler.checkStatus(
status, "Chat.ChatMessageDataWriter.Dispose");
status = talker.UnregisterInstance(msg, userHandle);
ErrorHandler.checkStatus(
status, "Chat.ChatMessageDataWriter.unregister_instance");
/* Also unregister our name. */
status = nameServer.UnregisterInstance(ns, InstanceHandle.Nil);
ErrorHandler.checkStatus(
status, "Chat.NameServiceDataWriter.unregister_instance");
/* Remove the DataWriters */
status = chatPublisher.DeleteDataWriter(talker);
ErrorHandler.checkStatus(
status, "DDS.Publisher.DeleteDatawriter (talker)");
status = chatPublisher.DeleteDataWriter(nameServer);
ErrorHandler.checkStatus(status,
"DDS.Publisher.DeleteDatawriter (nameServer)");
/* Remove the Publisher. */
status = participant.DeletePublisher(chatPublisher);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.DeletePublisher");
/* Remove the Topics. */
status = participant.DeleteTopic(nameServiceTopic);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.DeleteTopic (nameServiceTopic)");
status = participant.DeleteTopic(chatMessageTopic);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipant.DeleteTopic (chatMessageTopic)");
/* Remove the DomainParticipant. */
status = dpf.DeleteParticipant(participant);
ErrorHandler.checkStatus(
status, "DDS.DomainParticipantFactory.DeleteParticipant");
}
public IPublisher CreatePublisher(PublisherQos qos)
{
return CreatePublisher(qos, null, 0);
}