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 */
        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 topic --- //

        /* Register the type before creating the topic */
        System.String type_name =
            waitset_statuscondTypeSupport.get_type_name();
        try {
            waitset_statuscondTypeSupport.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 waitset_statuscond",
            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 --- //



        /* To customize the data reader QoS, use
         * the configuration file USER_QOS_PROFILES.xml */
        DDS.DataReader reader = subscriber.create_datareader(
            topic,
            DDS.Subscriber.DATAREADER_QOS_DEFAULT,
            null,
            DDS.StatusMask.STATUS_MASK_ALL);
        if (reader == null)
        {
            shutdown(participant);
            throw new ApplicationException("create_datareader error");
        }

        // Get narrowed datareader
        waitset_statuscondDataReader waitset_reader =
            (waitset_statuscondDataReader)reader;

        /* Get status conditions
         * ---------------------
         * Each entity may have an attached Status Condition. To modify the
         * statuses we need to get the reader's Status Conditions first.
         */
        DDS.StatusCondition status_condition = reader.get_statuscondition();

        /* Set enabled statuses
         * --------------------
         * Now that we have the Status Condition, we are going to enable the
         * status we are interested in: knowing that data is available
         */
        try
        {
            status_condition.set_enabled_statuses(
                (DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS);
        }
        catch (DDS.Exception e)
        {
            shutdown(participant);
            throw new ApplicationException("set_enabled_statuses error {0}",
                                           e);
        }

        /* Create and attach conditions to the WaitSet
         * -------------------------------------------
         * Finally, we create the WaitSet and attach both the Read Conditions
         * and the Status Condition to it.
         */
        DDS.WaitSet waitset = new DDS.WaitSet();


        /* Attach Status Conditions */
        try
        {
            waitset.attach_condition(status_condition);
        }
        catch (DDS.Exception e)
        {
            shutdown(participant);
            throw new ApplicationException("set_enabled_statuses error {0}",
                                           e);
        }
        // --- Wait for data --- //
        int count = 0;

        DDS.Duration_t timeout;
        timeout.nanosec = (uint)500000000;
        timeout.sec     = 1;

        /* Main loop */
        while (sample_count == 0 || count < sample_count)
        {
            DDS.ConditionSeq active_conditions = new DDS.ConditionSeq();

            // The triggered condition(s) will be placed in active_conditions
            try
            {
                waitset.wait(active_conditions, timeout);
                Console.WriteLine("got {0} active conditions", active_conditions.length);

                for (int i = 0; i < active_conditions.length; ++i)
                {
                    /* In this case, we have only a single condition, but
                     *          if we had multiple, we would need to iterate over
                     *          them and check which one is true.  Leaving the logic
                     *          for the more complex case. */
                    if (active_conditions.get_at(i) == status_condition)
                    {
                        DDS.StatusMask triggeredmask =
                            waitset_reader.get_status_changes();

                        if ((triggeredmask &
                             (DDS.StatusMask)
                             DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0)
                        {
                            /* Current conditions match our conditions to read data, so
                             * we can read data just like we would do in any other
                             * example. */
                            waitset_statuscondSeq data_seq
                                = new waitset_statuscondSeq();
                            DDS.SampleInfoSeq info_seq
                                = new DDS.SampleInfoSeq();

                            try
                            {
                                /* Access data using read(), take(), etc.  If
                                 * you fail to do this the condition will
                                 * remain true, and the WaitSet will wake up
                                 * immediately - causing high CPU usage when it
                                 * does not sleep in the loop */
                                waitset_reader.take(
                                    data_seq,
                                    info_seq,
                                    DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
                                    DDS.SampleStateKind.ANY_SAMPLE_STATE,
                                    DDS.ViewStateKind.ANY_VIEW_STATE,
                                    DDS.InstanceStateKind.ANY_INSTANCE_STATE);
                            }
                            catch (DDS.Retcode_NoData e)
                            {
                                shutdown(participant);
                                throw e;
                            }
                            catch (DDS.Exception e)
                            {
                                shutdown(participant);
                                throw e;
                            }

                            /* Iterate over returned data.  Print the data
                             * values if it is not metadata.
                             */
                            System.Int32 data_length = data_seq.length;
                            for (int j = 0; i < data_length; ++i)
                            {
                                if (!info_seq.get_at(j).valid_data)
                                {
                                    Console.WriteLine("Got metadata");
                                    continue;
                                }
                                waitset_statuscondTypeSupport.print_data(data_seq.get_at(j));
                            }

                            try
                            {
                                /* Return the loaned data */
                                waitset_reader.return_loan(data_seq, info_seq);
                            }
                            catch (DDS.Exception e)
                            {
                                Console.WriteLine("return loan error {0}", e);
                            }
                        }
                    }
                }
            }
            catch (DDS.Retcode_Timeout)
            {
                Console.WriteLine("wait timed out");
                count += 2;
                continue;
            }
        }
        // --- Shutdown --- //

        /* Delete all entities */
        shutdown(participant);
    }
    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 */
        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 topic --- //

        /* Register the type before creating the topic */
        System.String type_name =
            waitset_statuscondTypeSupport.get_type_name();
        try {
            waitset_statuscondTypeSupport.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 waitset_statuscond",
            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 --- //

        /* To customize the data reader QoS, use
           the configuration file USER_QOS_PROFILES.xml */
        DDS.DataReader reader = subscriber.create_datareader(
            topic,
            DDS.Subscriber.DATAREADER_QOS_DEFAULT,
            null,
            DDS.StatusMask.STATUS_MASK_ALL);
        if (reader == null) {
            shutdown(participant);
            throw new ApplicationException("create_datareader error");
        }

        // Get narrowed datareader
        waitset_statuscondDataReader waitset_reader =
            (waitset_statuscondDataReader)reader;

        /* Get status conditions
         * ---------------------
         * Each entity may have an attached Status Condition. To modify the
         * statuses we need to get the reader's Status Conditions first.
         */
        DDS.StatusCondition status_condition = reader.get_statuscondition();

        /* Set enabled statuses
         * --------------------
         * Now that we have the Status Condition, we are going to enable the
         * status we are interested in: knowing that data is available
         */
        try
        {
            status_condition.set_enabled_statuses(
                (DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS);
        }
        catch (DDS.Exception e)
        {
            shutdown(participant);
            throw new ApplicationException("set_enabled_statuses error {0}",
                e);
        }

        /* Create and attach conditions to the WaitSet
         * -------------------------------------------
         * Finally, we create the WaitSet and attach both the Read Conditions
         * and the Status Condition to it.
         */
        DDS.WaitSet waitset = new DDS.WaitSet();

        /* Attach Status Conditions */
        try
        {
            waitset.attach_condition(status_condition);
        }
        catch (DDS.Exception e)
        {
            shutdown(participant);
            throw new ApplicationException("set_enabled_statuses error {0}",
                e);

        }
        // --- Wait for data --- //
        int count = 0;
        DDS.Duration_t timeout;
        timeout.nanosec = (uint)500000000;
        timeout.sec = 1;

        /* Main loop */
        while (sample_count == 0 || count < sample_count)
        {
            DDS.ConditionSeq active_conditions = new DDS.ConditionSeq();

            // The triggered condition(s) will be placed in active_conditions
            try
            {
                waitset.wait(active_conditions, timeout);
                Console.WriteLine("got {0} active conditions", active_conditions.length);

                for (int i = 0; i < active_conditions.length; ++i)
                {
                    /* In this case, we have only a single condition, but
                    if we had multiple, we would need to iterate over
                    them and check which one is true.  Leaving the logic
                    for the more complex case. */
                    if (active_conditions.get_at(i) == status_condition)
                    {
                        DDS.StatusMask triggeredmask =
                            waitset_reader.get_status_changes();

                        if ((triggeredmask &
                            (DDS.StatusMask)
                            DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0)
                        {
                            /* Current conditions match our conditions to read data, so
                             * we can read data just like we would do in any other
                             * example. */
                            waitset_statuscondSeq data_seq
                                = new waitset_statuscondSeq();
                            DDS.SampleInfoSeq info_seq
                                = new DDS.SampleInfoSeq();

                            try
                            {
                                /* Access data using read(), take(), etc.  If
                                 * you fail to do this the condition will
                                 * remain true, and the WaitSet will wake up
                                 * immediately - causing high CPU usage when it
                                 * does not sleep in the loop */
                                waitset_reader.take(
                                    data_seq,
                                    info_seq,
                                    DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
                                    DDS.SampleStateKind.ANY_SAMPLE_STATE,
                                    DDS.ViewStateKind.ANY_VIEW_STATE,
                                    DDS.InstanceStateKind.ANY_INSTANCE_STATE);

                            }
                            catch (DDS.Retcode_NoData e)
                            {
                                shutdown(participant);
                                throw e;
                            }
                            catch (DDS.Exception e)
                            {
                                shutdown(participant);
                                throw e;
                            }

                            /* Iterate over returned data.  Print the data
                             * values if it is not metadata.
                             */
                            System.Int32 data_length = data_seq.length;
                            for (int j = 0; i < data_length; ++i)
                            {
                                if (!info_seq.get_at(j).valid_data)
                                {
                                    Console.WriteLine("Got metadata");
                                    continue;
                                }
                                waitset_statuscondTypeSupport.print_data(data_seq.get_at(j));
                            }

                            try
                            {
                                /* Return the loaned data */
                                waitset_reader.return_loan(data_seq, info_seq);
                            }
                            catch (DDS.Exception e)
                            {
                                Console.WriteLine("return loan error {0}", e);
                            }

                        }
                    }
                }
            }
            catch (DDS.Retcode_Timeout)
            {
                Console.WriteLine("wait timed out");
                count += 2;
                continue;
            }
        }
        // --- Shutdown --- //

        /* Delete all entities */
        shutdown(participant);
    }