private ShapeWaitSet CreateTriangleReader()
{
DataReaderQos qos = GetDataReaderQos();
ITopicDescription topic = null;
if (_config.ReaderFilterConfig.Enabled)
{
string filter = _config.ReaderFilterConfig.FilterKind == FilterKind.Inside ? FILTER_INSIDE : FILTER_OUTSIDE;
topic = _participant.CreateContentFilteredTopic("CFTriangle" + (++_cfTriangleCount),
_triangleTopic, filter,
_config.ReaderFilterConfig.X0.ToString(),
_config.ReaderFilterConfig.X1.ToString(),
_config.ReaderFilterConfig.Y0.ToString(),
_config.ReaderFilterConfig.Y1.ToString());
}
else
{
topic = _triangleTopic;
}
DataReader reader = _subscriber.CreateDataReader(topic, qos);
if (reader == null)
{
throw new Exception("Could not create triangle data reader");
}
ShapeTypeDataReader triangleDataReader = new ShapeTypeDataReader(reader);
return(new ShapeWaitSet(triangleDataReader, TriangleTopicDataAvailable));
}
private void TriangleTopicDataAvailable(ShapeTypeDataReader dr)
{
List <ShapeType> samples = new List <ShapeType>();
List <SampleInfo> infos = new List <SampleInfo>();
ReturnCode error = dr.Take(samples, infos);
if (error == ReturnCode.Ok)
{
for (int i = 0; i < samples.Count; i++)
{
SampleInfo info = infos[i];
ShapeType sample = samples[i];
if (info.ValidData)
{
int x = Convert.ToInt32((sample.x - (sample.shapesize / 2)) * _factorX);
int y = Convert.ToInt32((sample.y - (sample.shapesize / 2)) * _factorY);
TriangleType square = new TriangleType
{
Color = sample.color,
X = x,
Y = y,
Size = sample.shapesize,
PublicationHandle = info.PublicationHandle
};
TriangleUpdated?.Invoke(this, square);
}
}
}
}
public ShapeWaitSet(ShapeTypeDataReader dataReader, Action <ShapeTypeDataReader> dataAvailableFunc)
{
_dataAvailableFunc = dataAvailableFunc;
_dataReader = dataReader;
_waitSet = new WaitSet();
_thread = new Thread(DoThreadActivity)
{
IsBackground = true
};
_cancelCondition = new GuardCondition();
_statusCondition = dataReader.StatusCondition;
_waitSet.AttachCondition(_statusCondition);
_waitSet.AttachCondition(_cancelCondition);
_statusCondition.EnabledStatuses = StatusKind.DataAvailableStatus;
_thread.Start();
}
