static void subscribe(int domain_id, int sample_count, int turbo_mode_on) { System.String profile_name = null; System.String library_name = "batching_Library"; /* We pick the profile name if the turbo_mode is selected or not. * If Turbo_mode is not selected, the batching profile will be used. */ if (turbo_mode_on == 1) { profile_name = "turbo_mode_profile"; Console.WriteLine("Turbo Mode enable"); } else { profile_name = "batch_profile"; Console.WriteLine("Manual batching enable"); } // --- Create participant --- // /* To customize the participant QoS, use the configuration file USER_QOS_PROFILES.xml */ DDS.DomainParticipant participant = DDS.DomainParticipantFactory.get_instance(). create_participant_with_profile( domain_id, library_name, profile_name, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (participant == null) { shutdown(participant); throw new ApplicationException("create_participant error"); } // --- Create subscriber --- // /* To customize the subscriber QoS, use the configuration file USER_QOS_PROFILES.xml */ DDS.Subscriber subscriber = participant.create_subscriber_with_profile( library_name, profile_name, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (subscriber == null) { shutdown(participant); throw new ApplicationException("create_subscriber error"); } // --- Create topic --- // /* Register the type before creating the topic */ System.String type_name = batch_dataTypeSupport.get_type_name(); try { batch_dataTypeSupport.register_type( participant, type_name); } catch(DDS.Exception e) { Console.WriteLine("register_type error {0}", e); shutdown(participant); throw e; } /* To customize the topic QoS, use the configuration file USER_QOS_PROFILES.xml */ DDS.Topic topic = participant.create_topic( "Example batch_data", 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 */ batch_dataListener reader_listener = new batch_dataListener(); /* To customize the data reader QoS, use the configuration file USER_QOS_PROFILES.xml */ DDS.DataReader reader = subscriber.create_datareader_with_profile( topic, library_name, profile_name, 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( "batch_data 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, int turbo_mode_on) { System.String profile_name = null; System.String library_name = "batching_Library"; /* We pick the profile name if the turbo_mode is selected or not. * If Turbo_mode is not selected, the batching profile will be used. */ if (turbo_mode_on == 1) { profile_name = "turbo_mode_profile"; Console.WriteLine("Turbo Mode enable"); } else { profile_name = "batch_profile"; Console.WriteLine("Manual batching enable"); } // --- Create participant --- // /* To customize the participant QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.DomainParticipant participant = DDS.DomainParticipantFactory.get_instance(). create_participant_with_profile( domain_id, library_name, profile_name, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (participant == null) { shutdown(participant); throw new ApplicationException("create_participant error"); } // --- Create subscriber --- // /* To customize the subscriber QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.Subscriber subscriber = participant.create_subscriber_with_profile( library_name, profile_name, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (subscriber == null) { shutdown(participant); throw new ApplicationException("create_subscriber error"); } // --- Create topic --- // /* Register the type before creating the topic */ System.String type_name = batch_dataTypeSupport.get_type_name(); try { batch_dataTypeSupport.register_type( participant, type_name); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); shutdown(participant); throw e; } /* To customize the topic QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.Topic topic = participant.create_topic( "Example batch_data", 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 */ batch_dataListener reader_listener = new batch_dataListener(); /* To customize the data reader QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.DataReader reader = subscriber.create_datareader_with_profile( topic, library_name, profile_name, 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( "batch_data subscriber sleeping for {0} sec...", receive_period / 1000); System.Threading.Thread.Sleep(receive_period); } // --- Shutdown --- // /* Delete all entities */ shutdown(participant); reader_listener = null; }