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 --- //
DDS.PublisherQos publisher_qos = new DDS.PublisherQos();
participant.get_default_publisher_qos(publisher_qos);
/* If you want to change the Partition name programmatically rather than
* using the XML, you will need to add the following lines to your code
* and comment out the create_publisher() call bellow.
*/
/*
* String[] partitions = { "ABC", "foo" };
*
* publisher_qos.partition.name.ensure_length(2, 2);
* publisher_qos.partition.name.from_array(partitions);
* DDS.Publisher publisher = participant.create_publisher(
* publisher_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
*
*/
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = partitionsTypeSupport.get_type_name();
try
{
partitionsTypeSupport.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 partitions",
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 --- //
/* In this example we set a Reliable datawriter, with Transient Local
* durability. By default we set up these QoS settings via XML. If you
* want to to it programmatically, use the following code, and comment out
* the create_datawriter call bellow.
*/
/*
* DDS.DataWriterQos writerQos = new DDS.DataWriterQos();
* publisher.get_default_datawriter_qos(writerQos);
*
* writerQos.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* writerQos.history.depth = 3;
* writerQos.history.kind = DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
* writerQos.durability.kind = DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS;
*
* DDS.DataWriter writer = publisher.create_datawriter(
* topic,
* writerQos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
*/
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 ApplicationException("create_datawriter error");
}
partitionsDataWriter partitions_writer =
(partitionsDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
partitions instance = partitionsTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"partitionsTypeSupport.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 = partitions_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // 1 second
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing partitions, count {0}", count);
/* Modify the data to be sent here */
instance.x = count;
try
{
partitions_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
if ((count + 1) % 25 == 0)
{
// Matches "ABC" -- name[1] here can match name[0] there,
// as long as there is some overlapping name
publisher_qos.partition.name.set_at(0, "zzz");
publisher_qos.partition.name.set_at(1, "A*C");
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
publisher.set_qos(publisher_qos);
}
else if ((count + 1) % 20 == 0)
{
// Strings that are regular expressions aren't tested for
// literal matches, so this won't match "X*Z"
publisher_qos.partition.name.set_at(0, "X*Z");
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
publisher.set_qos(publisher_qos);
}
else if ((count + 1) % 15 == 0)
{
// Matches "ABC"
publisher_qos.partition.name.set_at(0, "A?C");
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
publisher.set_qos(publisher_qos);
}
else if ((count + 1) % 10 == 0)
{
// Matches "ABC"
publisher_qos.partition.name.set_at(0, "A*");
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
publisher.set_qos(publisher_qos);
}
else if ((count + 1) % 5 == 0)
{
// No literal match for "bar"
publisher_qos.partition.name.set_at(0, "bar");
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
publisher.set_qos(publisher_qos);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* partitions_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try
{
partitionsTypeSupport.delete_data(instance);
}
catch (DDS.Exception e)
{
Console.WriteLine(
"partitionsTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
