static void publish(int domain_id, int sample_count) { // --- Create participant --- // /* To customize participant QoS, use * the configuration file USER_QOS_PROFILES.xml */ 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 publisher --- // /* To customize publisher QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.Publisher publisher = participant.create_publisher( DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (publisher == null) { shutdown(participant); throw new ApplicationException("create_publisher error"); } /* Create ande Delete Inconsistent Topic * --------------------------------------------------------------- * Here we create an inconsistent topic to trigger the subscriber * application's callback. * The inconsistent topic is created with the topic name used in * the Subscriber application, but with a different data type -- * the msg data type defined in partitions.idl. * Once it is created, we sleep to ensure the applications discover * each other and delete the Data Writer and Topic. */ /* First we register the msg type -- we name it * inconsistent_topic_type_name to avoid confusion. */ Console.WriteLine("Creating Inconsistent Topic..."); System.String inconsistent_type_name = msgTypeSupport.get_type_name(); try { msgTypeSupport.register_type(participant, inconsistent_type_name); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); shutdown(participant); throw e; } DDS.Topic inconsistent_topic = participant.create_topic( "Example listeners", inconsistent_type_name, DDS.DomainParticipant.TOPIC_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (inconsistent_topic == null) { shutdown(participant); throw new ApplicationException("create_topic error"); } /* We have to associate a writer to the topic, as Topic information is not * actually propagated until the creation of an associated writer. */ DDS.DataWriter inconsistent_writer = publisher.create_datawriter( inconsistent_topic, DDS.Publisher.DATAWRITER_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (inconsistent_writer == null) { shutdown(participant); throw new ApplicationException("create_datawriter error"); } msgDataWriter msg_writer = (msgDataWriter)inconsistent_writer; // Sleep to leave time for applications to discover each other const System.Int32 sleep_period = 2000; //millseconds System.Threading.Thread.Sleep(sleep_period); try { publisher.delete_datawriter(ref inconsistent_writer); } catch (DDS.Exception e) { Console.WriteLine("delete_datawriter error {0}", e); shutdown(participant); return; } try { participant.delete_topic(ref inconsistent_topic); } catch (DDS.Exception e) { Console.WriteLine("delete_topic error {0}", e); shutdown(participant); return; } Console.WriteLine("... Deleted Inconsistent Topic\n"); /* Create Consistent Topic * ----------------------------------------------------------------- * Once we have created the inconsistent topic with the wrong type, * we create a topic with the right type name -- listeners -- that we * will use to publish data. */ /* Register type before creating topic */ System.String type_name = listenersTypeSupport.get_type_name(); try { listenersTypeSupport.register_type( participant, type_name); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); shutdown(participant); throw e; } /* To customize topic QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.Topic topic = participant.create_topic( "Example listeners", 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"); } /* We will use the Data Writer Listener defined above to print * a message when some of events are triggered in the DataWriter. * To do that, first we have to pass the writer_listener and then * we have to enable all status in the status mask. */ DataWriterListener writer_listener = new DataWriterListener(); DDS.DataWriter writer = publisher.create_datawriter( topic, DDS.Publisher.DATAWRITER_QOS_DEFAULT, writer_listener /* listener */, DDS.StatusMask.STATUS_MASK_ALL /* get all statuses */); if (writer == null) { shutdown(participant); writer_listener = null; throw new ApplicationException("create_datawriter error"); } listenersDataWriter listeners_writer = (listenersDataWriter)writer; // --- Write --- // /* Create data sample for writing */ listeners instance = listenersTypeSupport.create_data(); if (instance == null) { shutdown(participant); writer_listener = null; throw new ApplicationException( "listenersTypeSupport.create_data error"); } /* For a data type that has a key, if the same instance is going to be * written multiple times, initialize the key here * and register the keyed instance prior to writing */ DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL; /* * instance_handle = listeners_writer.register_instance(instance); */ /* Main loop */ const System.Int32 send_period = 1000; // milliseconds for (int count = 0; (sample_count == 0) || (count < sample_count); ++count) { Console.WriteLine("Writing listeners, count {0}", count); /* Modify the data to be sent here */ instance.x = (short)count; try { listeners_writer.write(instance, ref instance_handle); } catch (DDS.Exception e) { Console.WriteLine("write error {0}", e); } System.Threading.Thread.Sleep(send_period); } /* * try { * listeners_writer.unregister_instance( * instance, ref instance_handle); * } catch(DDS.Exception e) { * Console.WriteLine("unregister instance error: {0}", e); * } */ // --- Shutdown --- // /* Delete data sample */ try { listenersTypeSupport.delete_data(instance); } catch (DDS.Exception e) { Console.WriteLine( "listenersTypeSupport.delete_data error: {0}", e); } /* Delete all entities */ shutdown(participant); writer_listener = null; }
static void publish(int domain_id, int sample_count) { // --- Create participant --- // /* To customize participant QoS, use * the configuration file USER_QOS_PROFILES.xml */ 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"); } /* If you want to change the type_code_max_serialized_length * programmatically (e.g., to 3070) rather than using the XML file, you * will need to add the following lines to your code and comment out the * create_participant call above. */ /* * DDS.DomainParticipantQos participant_qos = * new DDS.DomainParticipantQos(); * try { * DDS.DomainParticipantFactory.get_instance(). * get_default_participant_qos(participant_qos); * * } catch (DDS.Exception) { * Console.WriteLine("error in participant_qos"); * } * * participant_qos.resource_limits.type_code_max_serialized_length = 3070; * * try { * DDS.DomainParticipantFactory.get_instance().delete_participant( * ref participant); * } * catch (DDS.Exception) { * Console.WriteLine("error deleting participant"); * } * * participant = * DDS.DomainParticipantFactory.get_instance().create_participant( * domain_id, participant_qos, null, DDS.StatusMask.STATUS_MASK_NONE); */ // --- Create publisher --- // /* To customize publisher QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.Publisher publisher = participant.create_publisher( DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (publisher == null) { shutdown(participant); throw new ApplicationException("create_publisher error"); } // --- Create topic --- // /* Register type before creating topic */ System.String type_name = msgTypeSupport.get_type_name(); try { msgTypeSupport.register_type( participant, type_name); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); shutdown(participant); throw e; } /* To customize topic QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.Topic topic = participant.create_topic( "Example msg", 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 writer --- // /* To customize data writer QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.DataWriter writer = publisher.create_datawriter( topic, DDS.Publisher.DATAWRITER_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (writer == null) { shutdown(participant); throw new ApplicationException("create_datawriter error"); } msgDataWriter msg_writer = (msgDataWriter)writer; // --- Write --- // /* Create data sample for writing */ msg instance = msgTypeSupport.create_data(); if (instance == null) { shutdown(participant); throw new ApplicationException( "msgTypeSupport.create_data error"); } /* For a data type that has a key, if the same instance is going to be * written multiple times, initialize the key here * and register the keyed instance prior to writing */ DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL; /* * instance_handle = msg_writer.register_instance(instance); */ /* Main loop */ const System.Int32 send_period = 4000; // milliseconds for (int count = 0; (sample_count == 0) || (count < sample_count); ++count) { Console.WriteLine("Writing msg, count {0}", count); /* Modify the data to be sent here */ instance.count = count; try { msg_writer.write(instance, ref instance_handle); } catch (DDS.Exception e) { Console.WriteLine("write error {0}", e); } System.Threading.Thread.Sleep(send_period); } /* * try { * msg_writer.unregister_instance( * instance, ref instance_handle); * } catch(DDS.Exception e) { * Console.WriteLine("unregister instance error: {0}", e); * } */ // --- Shutdown --- // /* Delete data sample */ try { msgTypeSupport.delete_data(instance); } catch (DDS.Exception e) { Console.WriteLine( "msgTypeSupport.delete_data error: {0}", e); } /* Delete all entities */ shutdown(participant); }
static void publish(int domain_id, int sample_count) { // --- Create participant --- // /* Start changes for Builtin_Topics */ /* If you want to change the Factory's QoS programmatically rather * than using the XML file, you will need to add the following lines to * your code and comment out the participant call above. */ /* By default, the participant is enabled upon construction. * At that time our listeners for the builtin topics have not * been installed, so we disable the participant until we * set up the listeners. */ /* * DDS.DomainParticipantFactoryQos factory_qos = * new DDS.DomainParticipantFactoryQos(); * DDS.DomainParticipantFactory.get_instance().get_qos(factory_qos); * factory_qos.entity_factory.autoenable_created_entities = false; * DDS.DomainParticipantFactory.get_instance().set_qos(factory_qos); * */ // If you want to change the Participant's QoS programmatically // rather than using the XML file, you will need to uncomment the // following lines and replace in create_participant the argument // DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT with // participant_qos //DDS.DomainParticipantQos participant_qos = // new DDS.DomainParticipantQos(); //DDS.DomainParticipantFactory.get_instance(). // get_default_participant_qos(participant_qos); //participant_qos.resource_limits.participant_user_data_max_length = 1024; /* To customize participant QoS, use * the configuration file USER_QOS_PROFILES.xml */ 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 Exception("create_participant error"); } // Installing listeners for the builting topics requires several steps // First get the builting subscriber DDS.Subscriber builtin_subscriber = participant.get_builtin_subscriber(); if (builtin_subscriber == null) { shutdown(participant); throw new Exception("create_builtin_subscriber error"); } /* Then get builtin subscriber's datareader for participants * The type name is a bit hairy, but can be read right to left: * DDS.ParticipantBuiltinTopicDataDataReader is a * DataReader for BuiltinTopicData concerning a discovered * Participant */ DDS.ParticipantBuiltinTopicDataDataReader builtin_participant_datareader = (DDS.ParticipantBuiltinTopicDataDataReader) builtin_subscriber.lookup_datareader( DDS.ParticipantBuiltinTopicDataTypeSupport. PARTICIPANT_TOPIC_NAME); // Install our listener BuiltinParticipantListener builtin_participant_listener = new BuiltinParticipantListener(); try { builtin_participant_datareader.set_listener( builtin_participant_listener, (DDS.StatusMask.STATUS_MASK_NONE | (DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS)); } catch (DDS.Exception e) { shutdown(participant); Console.WriteLine("set_listener error: {0}", e); } // Get builtin subscriber's datareader for subscribers DDS.SubscriptionBuiltinTopicDataDataReader builtin_subscription_datareader = (DDS.SubscriptionBuiltinTopicDataDataReader) builtin_subscriber.lookup_datareader( DDS.SubscriptionBuiltinTopicDataTypeSupport. SUBSCRIPTION_TOPIC_NAME); if (builtin_participant_datareader == null) { shutdown(participant); throw new Exception("lookup_datareader error"); } // Install our listener BuiltinSubscriberListener builtin_subscriber_listener = new BuiltinSubscriberListener(); builtin_subscription_datareader.set_listener( builtin_subscriber_listener, (DDS.StatusMask.STATUS_MASK_NONE | (DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS)); /* Done! All the listeners are installed, so we can enable the * participant now. */ participant.enable(); /* End changes for Builtin_Topics */ // --- Create publisher --- // /* To customize publisher QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.Publisher publisher = participant.create_publisher( DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (publisher == null) { shutdown(participant); throw new Exception("create_publisher error"); } // --- Create topic --- // /* Register type before creating topic */ string type_name = msgTypeSupport.get_type_name(); try { msgTypeSupport.register_type(participant, type_name); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); shutdown(participant); throw e; } /* To customize topic QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.Topic topic = participant.create_topic( "Example msg", type_name, DDS.DomainParticipant.TOPIC_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (topic == null) { shutdown(participant); throw new Exception("create_topic error"); } // --- Create writer --- // /* To customize data writer QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.DataWriter writer = publisher.create_datawriter( topic, DDS.Publisher.DATAWRITER_QOS_DEFAULT, null, DDS.StatusMask.STATUS_MASK_NONE); if (writer == null) { shutdown(participant); throw new Exception("create_datawriter error"); } msgDataWriter msg_writer = (msgDataWriter)writer; // --- Write --- // /* Create data sample for writing */ msg instance = msgTypeSupport.create_data(); if (instance == null) { shutdown(participant); throw new Exception("msgTypeSupport.create_data error"); } /* For a data type that has a key, if the same instance is going to be * written multiple times, initialize the key here * and register the keyed instance prior to writing */ DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL; /* * instance_handle = msg_writer.register_instance(instance); */ /* Main loop */ const int send_period = 1000; // milliseconds /* Changes for Builtin_Topics */ for (short count = 0; (sample_count == 0) || (count < sample_count); ++count) { System.Threading.Thread.Sleep(send_period); Console.WriteLine("Writing msg, count {0}", count); /* Modify the data to be sent here */ /* Changes for Builtin_Topics */ instance.x = count; try { msg_writer.write(instance, ref instance_handle); } catch (DDS.Exception e) { Console.WriteLine("write error {0}", e); } } /* * try { * msg_writer.unregister_instance( * instance, ref instance_handle); * } catch(DDS.Exception e) { * Console.WriteLine("unregister instance error: {0}", e); * } */ // --- Shutdown --- // /* Delete data sample */ try { msgTypeSupport.delete_data(instance); } catch (DDS.Exception e) { Console.WriteLine("msgTypeSupport.delete_data error: {0}", e); } /* Delete all entities */ shutdown(participant); }