static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the 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 subscriber --- //
/* To customize the subscriber QoS, use
the configuration file USER_QOS_PROFILES.xml */
/* The listener has been modified */
/* Start changes for Ordered Presentation Example */
/* Note that the StatusKind is DATA_ON_READERS_STATUS in order
* to the incoming data can be read by the SubscriberListener
*/
ordered_groupSubscriberListener subscriber_listener =
new ordered_groupSubscriberListener();
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
subscriber_listener,
(DDS.StatusMask)DDS.StatusKind.DATA_ON_READERS_STATUS);
if (subscriber == null) {
shutdown(participant);
subscriber_listener = null;
throw new ApplicationException("create_subscriber error");
}
/* End changes for Ordered Presentation Example */
// --- Create topics --- //
/* Register the type before creating the topic */
System.String type_name = ordered_groupTypeSupport.get_type_name();
try {
ordered_groupTypeSupport.register_type(
participant, type_name);
}
catch(DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* Start changes for Ordered Presentation Example */
/* TOPICS */
/* To customize the topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic1 = participant.create_topic(
"Topic1",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic1 == null) {
shutdown(participant);
throw new ApplicationException("create_topic error");
}
DDS.Topic topic2 = participant.create_topic(
"Topic2",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic2 == null) {
shutdown(participant);
throw new ApplicationException("create_topic error");
}
DDS.Topic topic3 = participant.create_topic(
"Topic3",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic3 == null) {
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* DATAREADERS */
/* To customize the data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader1 = subscriber.create_datareader(
topic1,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader1 == null) {
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
DDS.DataReader reader2 = subscriber.create_datareader(
topic2,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader2 == null) {
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
DDS.DataReader reader3 = subscriber.create_datareader(
topic3,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader3 == null) {
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
/* End changes for Ordered Presentation Example */
// --- 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(
"ordered_group subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
subscriber_listener = null;
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the 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 subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
/* The listener has been modified */
/* Start changes for Ordered Presentation Example */
/* Note that the StatusKind is DATA_ON_READERS_STATUS in order
* to the incoming data can be read by the SubscriberListener
*/
ordered_groupSubscriberListener subscriber_listener =
new ordered_groupSubscriberListener();
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
subscriber_listener,
(DDS.StatusMask)DDS.StatusKind.DATA_ON_READERS_STATUS);
if (subscriber == null)
{
shutdown(participant);
subscriber_listener = null;
throw new ApplicationException("create_subscriber error");
}
/* End changes for Ordered Presentation Example */
// --- Create topics --- //
/* Register the type before creating the topic */
System.String type_name = ordered_groupTypeSupport.get_type_name();
try {
ordered_groupTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* Start changes for Ordered Presentation Example */
/* TOPICS */
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic1 = participant.create_topic(
"Topic1",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic1 == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
DDS.Topic topic2 = participant.create_topic(
"Topic2",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic2 == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
DDS.Topic topic3 = participant.create_topic(
"Topic3",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic3 == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* DATAREADERS */
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader1 = subscriber.create_datareader(
topic1,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader1 == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
DDS.DataReader reader2 = subscriber.create_datareader(
topic2,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader2 == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
DDS.DataReader reader3 = subscriber.create_datareader(
topic3,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader3 == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
/* End changes for Ordered Presentation Example */
// --- 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(
"ordered_group subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
subscriber_listener = null;
}
