static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null) {
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null) {
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
/* Create DynamicData using TypeCode from Shapes.cxx
* If you are NOT using a type generated with rtiddsgen, you
* need to create this TypeCode from scratch.
*/
DDS.TypeCode type_code = ShapeType.get_typecode();
if (type_code == null) {
shutdown(participant);
throw new ApplicationException("create_typecode error");
}
/* Create the Dynamic data type support object */
DDS.DynamicDataTypeSupport type_support =
new DDS.DynamicDataTypeSupport(type_code,
new DDS.DynamicDataTypeProperty_t());
if (type_support == null) {
shutdown(participant);
throw new ApplicationException("create_type_support error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = EXAMPLE_TYPE_NAME;
try {
type_support.register_type(participant, EXAMPLE_TYPE_NAME);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* Make sure both publisher and subscriber share the same topic name.
* In the Shapes example: we are subscribing to a Square, wich is the
* topic name. If you want to publish other shapes (Triangle or Circle),
* you just need to update the topic name.
*/
DDS.Topic topic = participant.create_topic(
"Square",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null) {
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* Create a data reader listener */
ShapeTypeListener reader_listener =
new ShapeTypeListener();
/* First, we create a generic DataReader for our topic */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null) {
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count=0;
(sample_count == 0) || (count < sample_count);
++count) {
Console.WriteLine(
"ShapeType subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
/* Create DynamicData using TypeCode from Shapes.cxx
* If you are NOT using a type generated with rtiddsgen, you
* need to create this TypeCode from scratch.
*/
DDS.TypeCode type_code = ShapeType.get_typecode();
if (type_code == null)
{
shutdown(participant);
throw new ApplicationException("create_typecode error");
}
/* Create the Dynamic data type support object */
DDS.DynamicDataTypeSupport type_support =
new DDS.DynamicDataTypeSupport(type_code,
new DDS.DynamicDataTypeProperty_t());
if (type_support == null)
{
shutdown(participant);
throw new ApplicationException("create_type_support error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = EXAMPLE_TYPE_NAME;
try {
type_support.register_type(participant, EXAMPLE_TYPE_NAME);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* Make sure both publisher and subscriber share the same topic name.
* In the Shapes example: we are subscribing to a Square, wich is the
* topic name. If you want to publish other shapes (Triangle or Circle),
* you just need to update the topic name.
*/
DDS.Topic topic = participant.create_topic(
"Square",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* Create a data reader listener */
ShapeTypeListener reader_listener =
new ShapeTypeListener();
/* First, we create a generic DataReader for our topic */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine(
"ShapeType subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
