public DataReaderListener(ISubject <T, T> subject, IScheduler scheduler)
{
_subject = subject;
_scheduler = scheduler;
_dataSeq = new DDS.UserRefSequence <T>();
_infoSeq = new DDS.SampleInfoSeq();
}
public asyncListener()
{
data_seq = new asyncSeq();
info_seq = new DDS.SampleInfoSeq();
timer.Elapsed += new ElapsedEventHandler(OnTimer);
timer.Interval = 10; // every 10 ms
timer.Enabled = true;
timer.Start();
}
public keysListener()
{
data_seq = new keysSeq();
info_seq = new DDS.SampleInfoSeq();
/* Initialize instance states */
states = new Instance_State[] {
Instance_State.inactive,
Instance_State.inactive,
Instance_State.inactive
};
}
/* Start changes for Ordered_Presentation*/
/* No listener is needed; we poll readers in this function */
private static void poll_data(DDS.DataReader[] reader, int numreaders)
{
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
orderedSeq data_seq = new orderedSeq();
for (int r = 0; r < numreaders; ++r)
{
try {
((orderedDataReader)(reader[r])).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) {
// Not an error
return;
} catch (DDS.Exception e) {
// Is an error
Console.WriteLine("take error {0}", e);
return;
}
System.Int32 data_length = data_seq.length;
for (int i = 0; i < data_length; ++i)
{
if (!info_seq.get_at(i).valid_data)
{
continue;
}
// Make things a bit easier to read.
int ident = r;
while (ident-- != 0)
{
Console.Write("\t");
}
Console.WriteLine("Reader {0}: Instance{1}->value = {2}", r,
data_seq.get_at(i).id, data_seq.get_at(i).value);
}
try {
((orderedDataReader)(reader[r])).return_loan(data_seq,
info_seq);
} catch (DDS.Exception e) {
Console.WriteLine("return loan error {0}", e);
}
info_seq.ensure_length(0, 0);
data_seq.ensure_length(0, 0);
}
}
public InstanceDataReaderListener(IObserver <IGroupedObservable <TKey, T> > observer,
Dictionary <TKey, DDSKeyedSubject <TKey, T> > dict,
Func <T, TKey> keySelector,
IEqualityComparer <TKey> comparer,
Dictionary <DDS.InstanceHandle_t, TKey> handleKeyDict,
IScheduler sched,
bool externalSubDict)
{
_externalSubDict = externalSubDict;
_observer = observer;
_scheduler = sched;
_keyedSubDict = dict;
_keySelector = keySelector;
_comparer = comparer;
_handleKeyDict = handleKeyDict;
_dataSeq = new DDS.UserRefSequence <T>();
_infoSeq = new DDS.SampleInfoSeq();
}
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 = queryconditionTypeSupport.get_type_name();
try {
queryconditionTypeSupport.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 querycondition",
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");
}
/* If you want to change datareader_qos.history programmatically rather
* than using the XML file, you will need to add the following lines to your
* code and comment out the create_datareader call above. */
/*DDS.DataReaderQos reader_qos = new DDS.DataReaderQos();
subscriber.get_default_datareader_qos(reader_qos);
reader_qos.history.kind = DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
reader_qos.history.depth = 6;
DDS.DataReader reader = subscriber.create_datareader(
topic,
reader_qos,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
} */
// --- Wait for data --- //
/* NOTE: There must be single-quotes in the query parameters around
* any strings! The single-quotes do NOT go in the query condition
* itself.
*/
DDS.QueryCondition query_for_guid2;
DDS.StringSeq query_parameters = new DDS.StringSeq();
query_parameters.ensure_length(1, 1);
query_parameters.set_at(0, "'GUID2'");
queryconditionDataReader querycondition_reader =
(queryconditionDataReader)reader;
query_for_guid2 = querycondition_reader.create_querycondition(
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ALIVE_INSTANCE_STATE,
"id MATCH %0",
query_parameters);
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count=0;
(sample_count == 0) || (count < sample_count);
++count) {
System.Threading.Thread.Sleep(receive_period);
queryconditionSeq data_seq = new queryconditionSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
try
{
querycondition_reader.read_w_condition(
data_seq,
info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
query_for_guid2);
}
catch (DDS.Retcode_NoData e)
{
continue;
}
catch (DDS.Exception e)
{
shutdown(participant);
throw e;
}
int len = 0;
double sum = 0;
/* Iterate through the samples read using the read_w_condition() method,
* accessing only the samples of GUID2. Then, show the number of samples
* received and, adding the value of x on each of them to calculate the
* average afterwards. */
for (int i = 0; i < data_seq.length; ++i)
{
if (!info_seq.get_at(i).valid_data)
continue;
len++;
sum += data_seq.get_at(i).value;
Console.WriteLine("Guid = {0}\n", data_seq.get_at(i).id);
}
if (len > 0)
{
Console.WriteLine("Got {0} samples. Avg = {1}\n", len, sum / len);
}
try
{
querycondition_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
// --- 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 = waitsetsTypeSupport.get_type_name();
try {
waitsetsTypeSupport.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 waitsets",
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");
}
/* If you want to change the DataReader's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_datareader call above.
*
* In this case, we reduce the liveliness timeout period to trigger the
* StatusCondition DDS.StatusKind.LIVELINESS_CHANGED_STATUS
*/
/*
DDS.DataReaderQos datawriter_qos = new DDS.DataReaderQos();
try {
subscriber.get_default_datareader_qos(datawriter_qos);
} catch (DDS.Exception e) {
Console.WriteLine("get_default_datareader_qos error {0}", e);
shutdown(participant);
throw e;
}
datawriter_qos.liveliness.lease_duration.sec = 2;
datawriter_qos.liveliness.lease_duration.nanosec = 0;
reader = subscriber.create_datareader(topic, datawriter_qos,
null, DDS.StatusMask.STATUS_MASK_NONE);
if (reader == null) {
shutdown(participant);
throw new ApplicationException("create_datawriter_qos error");
}
*/
/* Create read condition
* ---------------------
* Note that the Read Conditions are dependent on both incoming
* data as well as sample state. Thus, this method has more
* overhead than adding a DDS.StatusKind.DATA_AVAILABLE_STATUS
* StatusCondition. We show it here purely for reference
*/
DDS.ReadCondition read_condition = reader.create_readcondition(
DDS.SampleStateKind.NOT_READ_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
if (read_condition == null) {
shutdown(participant);
throw new ApplicationException("create_readcondition error");
}
/* 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();
if (status_condition.get_entity() == null) {
shutdown(participant);
throw new ApplicationException("get_statuscondition error");
}
/* Set enabled statuses
* --------------------
* Now that we have the Status Condition, we are going to enable the
* statuses we are interested in:
* DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS
* and DDS.StatusKind.LIVELINESS_CHANGED_STATUS.
*/
try {
status_condition.set_enabled_statuses(
DDS.StatusMask.STATUS_MASK_NONE |
(DDS.StatusMask)DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS |
(DDS.StatusMask)DDS.StatusKind.LIVELINESS_CHANGED_STATUS);
} catch (DDS.Exception e) {
Console.WriteLine("set_enabled_statuses error {0}", e);
shutdown(participant);
throw 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 Read Conditions */
try {
waitset.attach_condition(read_condition);
} catch (DDS.Exception e) {
Console.WriteLine("attach_read_condition error {0}", e);
shutdown(participant);
throw e;
}
/* Attach Status Conditions */
try {
waitset.attach_condition(status_condition);
} catch (DDS.Exception e) {
Console.WriteLine("attach_status_condition error {0}", e);
shutdown(participant);
throw e;
}
/* Narrow the reader into your specific data type */
waitsetsDataReader waitsets_reader =
(waitsetsDataReader)reader;
/* Main loop */
for (int count = 0; (sample_count == 0) || (count < sample_count);
++count) {
DDS.ConditionSeq active_conditions_seq = new DDS.ConditionSeq();
DDS.Duration_t timeout;
timeout.nanosec = (uint)500000000;
timeout.sec = 1;
/* wait() blocks execution of the thread until one or more attached
* Conditions become true, or until a user-specified timeout expires
*/
try {
waitset.wait(active_conditions_seq, timeout);
} catch (DDS.Retcode_Timeout) {
Console.WriteLine("Wait timed out!! No conditions were " +
"triggered.");
continue;
} catch (DDS.Exception e) {
Console.WriteLine("wait error {0}", e);
break;
}
/* Get the number of active conditions */
int active_conditions = active_conditions_seq.length;
Console.WriteLine("Got {0} active conditions", active_conditions);
for (int i = 0; i < active_conditions; i++) {
/* Now we compare the current condition with the Status
* Conditions and the Read Conditions previously defined. If
* they match, we print the condition that was triggered.*/
/* Compare with Status Conditions */
if (active_conditions_seq.get_at(i) == status_condition) {
/* Get the status changes so we can check which status
* condition triggered. */
DDS.StatusMask triggeredmask =
waitsets_reader.get_status_changes();
/* Liveliness changed */
DDS.StatusMask test = triggeredmask &
(DDS.StatusMask)DDS.StatusKind.
LIVELINESS_CHANGED_STATUS;
if (test != DDS.StatusMask.STATUS_MASK_NONE) {
DDS.LivelinessChangedStatus st =
new DDS.LivelinessChangedStatus();
waitsets_reader.get_liveliness_changed_status(ref st);
Console.WriteLine("Liveliness changed => " +
"Active writers = {0}", st.alive_count);
}
/* Subscription matched */
test = triggeredmask &
(DDS.StatusMask)DDS.StatusKind.
SUBSCRIPTION_MATCHED_STATUS;
if (test != DDS.StatusMask.STATUS_MASK_NONE) {
DDS.SubscriptionMatchedStatus st =
new DDS.SubscriptionMatchedStatus();
waitsets_reader.get_subscription_matched_status(ref st);
Console.WriteLine("Subscription matched => " +
"Cumulative matches = {0}", st.total_count);
}
}
/* Compare with Read Conditions */
else if (active_conditions_seq.get_at(i) == read_condition) {
/* Current conditions match our conditions to read data, so
* we can read data just like we would do in any other
* example. */
waitsetsSeq data_seq = new waitsetsSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
/* You may want to call take_w_condition() or
* read_w_condition() on the Data Reader. This way you will
* use the same status masks that were set on the Read
* Condition.
* This is just a suggestion, you can always use
* read() or take() like in any other example.
*/
try {
waitsets_reader.take_w_condition(
data_seq, info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
read_condition);
} catch (DDS.Exception e) {
Console.WriteLine("take error {0}", e);
break;
}
for (int j = 0; j < data_seq.length; ++j) {
if (!info_seq.get_at(j).valid_data) {
Console.WriteLine("Got metadata");
continue;
}
waitsetsTypeSupport.print_data(data_seq.get_at(i));
}
waitsets_reader.return_loan(data_seq, info_seq);
}
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
public sequencesListener()
{
data_seq = new sequencesSeq();
info_seq = new DDS.SampleInfoSeq();
}
public BuiltinPublicationListener()
{
data_seq = new DDS.PublicationBuiltinTopicDataSeq();
info_seq = new DDS.SampleInfoSeq();
}
public keysListener()
{
data_seq = new keysSeq();
info_seq = new DDS.SampleInfoSeq();
/* Initialize instance states */
states = new Instance_State[] {
Instance_State.inactive,
Instance_State.inactive,
Instance_State.inactive};
}
public ccfListener()
{
data_seq = new ccfSeq();
info_seq = new DDS.SampleInfoSeq();
}
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 = pollTypeSupport.get_type_name();
try {
pollTypeSupport.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 poll",
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_NONE);
if (reader == null) {
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
/* If you want to change datareader_qos.history.kind programmatically rather
* than using the XML file, you will need to add the following lines to your
* code and comment out the create_datareader call above. */
/*DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
try
{
subscriber.get_default_datareader_qos(datareader_qos);
}
catch (DDS.Exception e)
{
Console.WriteLine("get_default_datareader_qos error {0}", e);
shutdown(participant);
throw e;
}
datareader_qos.history.kind =
DDS.HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;
DDS.DataReader reader = subscriber.create_datareader(
topic, datareader_qos, null,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null) {
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
*/
pollDataReader poll_reader =
(pollDataReader)reader;
// --- Wait for data --- //
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
pollSeq data_seq = new pollSeq();
/* Main loop */
const System.Int32 receive_period = 5000; // milliseconds
for (int count=0;
(sample_count == 0) || (count < sample_count);
++count) {
Console.WriteLine(
"poll subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
// --- Polling for data --- ///
/* Check for new data calling the DataReader's take() method */
try
{
poll_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)
{
// Not an error
return;
}
catch (DDS.Exception e)
{
Console.WriteLine("take error {0}", e);
return;
}
int len = 0;
double sum = 0;
/* Iterate through the samples read using the take() method, getting
* the number of samples got and, adding the value of x on each of
* them to calculate the average afterwards. */
for (int i = 0; i < data_seq.length; ++i)
{
if (!info_seq.get_at(i).valid_data)
continue;
len++;
sum += data_seq.get_at(i).x;
}
if (len > 0)
{
Console.WriteLine("Got {0} samples. Avg = {1}", len, sum / len);
}
try
{
poll_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
public partitionsListener()
{
data_seq = new partitionsSeq();
info_seq = new DDS.SampleInfoSeq();
}
public cftListener()
{
data_seq = new cftSeq();
info_seq = new DDS.SampleInfoSeq();
}
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 = pollTypeSupport.get_type_name();
try {
pollTypeSupport.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 poll",
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_NONE);
if (reader == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
/* If you want to change datareader_qos.history.kind programmatically rather
* than using the XML file, you will need to add the following lines to your
* code and comment out the create_datareader call above. */
/*DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
*
* try
* {
* subscriber.get_default_datareader_qos(datareader_qos);
* }
* catch (DDS.Exception e)
* {
* Console.WriteLine("get_default_datareader_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
*
* datareader_qos.history.kind =
* DDS.HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;
*
* DDS.DataReader reader = subscriber.create_datareader(
* topic, datareader_qos, null,
* DDS.StatusMask.STATUS_MASK_ALL);
* if (reader == null) {
* shutdown(participant);
* throw new ApplicationException("create_datareader error");
* }
*/
pollDataReader poll_reader =
(pollDataReader)reader;
// --- Wait for data --- //
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
pollSeq data_seq = new pollSeq();
/* Main loop */
const System.Int32 receive_period = 5000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine(
"poll subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
// --- Polling for data --- ///
/* Check for new data calling the DataReader's take() method */
try
{
poll_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)
{
// Not an error
return;
}
catch (DDS.Exception e)
{
Console.WriteLine("take error {0}", e);
return;
}
int len = 0;
double sum = 0;
/* Iterate through the samples read using the take() method, getting
* the number of samples got and, adding the value of x on each of
* them to calculate the average afterwards. */
for (int i = 0; i < data_seq.length; ++i)
{
if (!info_seq.get_at(i).valid_data)
{
continue;
}
len++;
sum += data_seq.get_at(i).x;
}
if (len > 0)
{
Console.WriteLine("Got {0} samples. Avg = {1}", len, sum / len);
}
try
{
poll_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
public profilesListener()
{
data_seq = new profilesSeq();
info_seq = new DDS.SampleInfoSeq();
}
public partitionsListener()
{
data_seq = new partitionsSeq();
info_seq = new DDS.SampleInfoSeq();
}
public deadline_contentfilterListener()
{
data_seq = new deadline_contentfilterSeq();
info_seq = new DDS.SampleInfoSeq();
}
public numbersListener()
{
data_seq = new numbersSeq();
info_seq = new DDS.SampleInfoSeq();
}
public msgListener()
{
data_seq = new msgSeq();
info_seq = new DDS.SampleInfoSeq();
}
public deadline_contentfilterListener()
{
data_seq = new deadline_contentfilterSeq();
info_seq = new DDS.SampleInfoSeq();
}
public cfcListener()
{
data_seq = new cfcSeq();
info_seq = new DDS.SampleInfoSeq();
timer.Elapsed += new ElapsedEventHandler(OnTimer);
timer.Interval = 10; // every 10 ms
timer.Enabled = true;
timer.Start();
}
public coherentListener()
{
data_seq = new coherentSeq();
info_seq = new DDS.SampleInfoSeq();
}
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 = queryconditionTypeSupport.get_type_name();
try {
queryconditionTypeSupport.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 querycondition",
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");
}
/* If you want to change datareader_qos.history programmatically rather
* than using the XML file, you will need to add the following lines to your
* code and comment out the create_datareader call above. */
/*DDS.DataReaderQos reader_qos = new DDS.DataReaderQos();
* subscriber.get_default_datareader_qos(reader_qos);
*
* reader_qos.history.kind = DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
* reader_qos.history.depth = 6;
*
* DDS.DataReader reader = subscriber.create_datareader(
* topic,
* reader_qos,
* reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
* if (reader == null)
* {
* shutdown(participant);
* reader_listener = null;
* throw new ApplicationException("create_datareader error");
* } */
// --- Wait for data --- //
/* NOTE: There must be single-quotes in the query parameters around
* any strings! The single-quotes do NOT go in the query condition
* itself.
*/
DDS.QueryCondition query_for_guid2;
DDS.StringSeq query_parameters = new DDS.StringSeq();
query_parameters.ensure_length(1, 1);
query_parameters.set_at(0, "'GUID2'");
queryconditionDataReader querycondition_reader =
(queryconditionDataReader)reader;
query_for_guid2 = querycondition_reader.create_querycondition(
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ALIVE_INSTANCE_STATE,
"id MATCH %0",
query_parameters);
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
System.Threading.Thread.Sleep(receive_period);
queryconditionSeq data_seq = new queryconditionSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
try
{
querycondition_reader.read_w_condition(
data_seq,
info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
query_for_guid2);
}
catch (DDS.Retcode_NoData e)
{
continue;
}
catch (DDS.Exception e)
{
shutdown(participant);
throw e;
}
int len = 0;
double sum = 0;
/* Iterate through the samples read using the read_w_condition() method,
* accessing only the samples of GUID2. Then, show the number of samples
* received and, adding the value of x on each of them to calculate the
* average afterwards. */
for (int i = 0; i < data_seq.length; ++i)
{
if (!info_seq.get_at(i).valid_data)
{
continue;
}
len++;
sum += data_seq.get_at(i).value;
Console.WriteLine("Guid = {0}\n", data_seq.get_at(i).id);
}
if (len > 0)
{
Console.WriteLine("Got {0} samples. Avg = {1}\n", len, sum / len);
}
try
{
querycondition_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
public ReaderListener()
{
data_seq = new listenersSeq();
info_seq = new DDS.SampleInfoSeq();
}
public keysListener()
{
data_seq = new keysSeq();
info_seq = new DDS.SampleInfoSeq();
}
static void subscribe(int domain_id, int sample_count)
{
/* Auxiliary variables */
String odd_string = "'ODD'";
String even_string = "'EVEN'";
// --- 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_query_condTypeSupport.get_type_name();
try {
waitset_query_condTypeSupport.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_query_cond",
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_NONE);
if (reader == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
waitset_query_condDataReader waitset_query_cond_reader =
(waitset_query_condDataReader)reader;
/* Create query condition */
DDS.StringSeq query_parameters = new DDS.StringSeq(1);
query_parameters.ensure_length(1, 1);
/* The initial value of the parameters is EVEN string */
query_parameters.set_at(0, even_string);
String query_expression = "name MATCH %0";
DDS.QueryCondition query_condition =
waitset_query_cond_reader.create_querycondition(
DDS.SampleStateKind.NOT_READ_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE,
query_expression,
query_parameters);
if (query_condition == null)
{
shutdown(participant);
throw new ApplicationException("create_querycondition error");
}
DDS.WaitSet waitset = new DDS.WaitSet();
if (waitset == null)
{
shutdown(participant);
throw new ApplicationException("create waitset error");
}
/* Attach Query Conditions */
try {
waitset.attach_condition((DDS.Condition)query_condition);
} catch (DDS.Exception e) {
Console.WriteLine("attach_condition error {0}", e);
shutdown(participant);
throw e;
}
DDS.Duration_t wait_timeout;
wait_timeout.nanosec = (uint)500000000;
wait_timeout.sec = 1;
Console.WriteLine("\n>>>Timeout: {0} sec",
wait_timeout.sec, wait_timeout.nanosec);
Console.WriteLine(">>> Query conditions: name MATCH %0");
Console.WriteLine("\t%0 = {0}", query_parameters.get_at(0));
Console.WriteLine("---------------------------------\n");
// --- Wait for data --- //
/* Main loop */
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
DDS.ConditionSeq active_conditions_seq = new DDS.ConditionSeq();
/* We set a new parameter in the Query Condition after 7 secs */
if (count == 7)
{
query_parameters.set_at(0, odd_string);
Console.WriteLine("CHANGING THE QUERY CONDITION");
Console.WriteLine("\n>>> Query conditions: name MATCH %0");
Console.WriteLine("\t%0 = {0}", query_parameters.get_at(0));
Console.WriteLine(">>> We keep one sample in the history");
Console.WriteLine("-------------------------------------\n");
query_condition.set_query_parameters(query_parameters);
}
/* wait() blocks execution of the thread until one or more attached
* Conditions become true, or until a user-specified timeout
* expires.
*/
try {
waitset.wait(active_conditions_seq, wait_timeout);
} catch (DDS.Retcode_Timeout) {
Console.WriteLine("Wait timed out!! No conditions were " +
"triggered.");
continue;
} catch (DDS.Exception e) {
Console.WriteLine("wait error {0}", e);
break;
}
waitset_query_condSeq data_seq = new waitset_query_condSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
bool follow = true;
while (follow)
{
try {
waitset_query_cond_reader.take_w_condition(
data_seq, info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
query_condition);
for (int i = 0; i < data_seq.length; ++i)
{
if (!info_seq.get_at(i).valid_data)
{
Console.WriteLine("Got metadata");
continue;
}
waitset_query_condTypeSupport.print_data(
data_seq.get_at(i));
}
} catch (DDS.Retcode_NoData) {
/* When there isn't data, the subscriber stop to
* take samples
*/
follow = false;
} finally {
waitset_query_cond_reader.return_loan(data_seq, info_seq);
}
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
public keysListener()
{
data_seq = new keysSeq();
info_seq = new DDS.SampleInfoSeq();
}
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);
}
private static void Subscribe(int domainId, int sampleCount)
{
// --- Create participant --- //
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domainId,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
Shutdown(participant);
throw new Exception("create_participant error");
}
// --- Create subscriber --- //
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.
string typeName = FlightTypeSupport.get_type_name();
try {
FlightTypeSupport.register_type(participant, typeName);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
Shutdown(participant);
throw e;
}
DDS.Topic topic = participant.create_topic(
"Example Flight",
typeName,
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 --- //
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");
}
FlightDataReader flightReader = (FlightDataReader)reader;
// Query for company named 'CompanyA' and for flights in cruise
// (about 30,000ft). The company parameter will be changed in
// run-time. NOTE: There must be single-quotes in the query
// parameters around-any strings! The single-quote do NOT go in the
// query condition itself.
DDS.StringSeq queryParameters = new DDS.StringSeq();
queryParameters.ensure_length(2, 2);
queryParameters.set_at(0, "'CompanyA'");
queryParameters.set_at(1, "30000");
Console.WriteLine(
"Setting parameters to company: {0} and altitude >= {1}\n",
queryParameters.get_at(0), queryParameters.get_at(1));
// Create the query condition with an expession to MATCH the id
// field in the structure and a numeric comparison.
DDS.QueryCondition queryCondition =
reader.create_querycondition(
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ALIVE_INSTANCE_STATE,
"company MATCH %0 AND altitude >= %1",
queryParameters);
// --- Wait for data --- //
const int receivePeriod = 1000; // Milliseconds
bool update = false;
for (int count = 0;
(sampleCount == 0) || (count < sampleCount);
count++)
{
// Poll for new samples every second.
System.Threading.Thread.Sleep(receivePeriod);
// Change the filter parameter after 5 seconds.
if ((count + 1) % 10 == 5)
{
queryParameters.set_at(0, "'CompanyB'");
update = true;
}
else if ((count + 1) % 10 == 0)
{
queryParameters.set_at(0, "'CompanyA'");
update = true;
}
// Set new parameters.
if (update)
{
Console.WriteLine("Changing parameter to {0}",
queryParameters.get_at(0));
queryCondition.set_query_parameters(queryParameters);
update = false;
}
// Iterate through the samples using read_w_condition.
FlightSeq dataSeq = new FlightSeq();
DDS.SampleInfoSeq infoSeq = new DDS.SampleInfoSeq();
try {
flightReader.read_w_condition(
dataSeq,
infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
queryCondition);
} catch (DDS.Retcode_NoData) {
continue;
} catch (DDS.Exception e) {
Shutdown(participant);
throw e;
}
for (int i = 0; i < dataSeq.length; i++)
{
DDS.SampleInfo info = (DDS.SampleInfo)infoSeq.get_at(i);
if (info.valid_data)
{
Flight flight_info = (Flight)dataSeq.get_at(i);
Console.WriteLine(
"\t[trackId: {0}, company: {1}, altitude: {2}]\n",
flight_info.trackId,
flight_info.company,
flight_info.altitude);
}
}
try {
flightReader.return_loan(dataSeq, infoSeq);
} catch (DDS.Exception e) {
Console.WriteLine("return loan error {0}", e);
}
}
// Delete all entities
Shutdown(participant);
}
public AccidentListener()
{
adata_seq = new AccidentSeq();
pdata_seq = new PositionSeq();
info_seq = new DDS.SampleInfoSeq();
}
public profilesListener()
{
data_seq = new profilesSeq();
info_seq = new DDS.SampleInfoSeq();
}
public market_dataListener()
{
data_seq = new market_dataSeq();
info_seq = new DDS.SampleInfoSeq();
}
public profilesListener(string name)
{
data_seq = new profilesSeq();
info_seq = new DDS.SampleInfoSeq();
_listener_name = name;
}
public profilesListener(string name)
{
data_seq = new profilesSeq();
info_seq = new DDS.SampleInfoSeq();
_listener_name = name;
}
public hello_worldListener()
{
data_seq = new hello_worldSeq();
info_seq = new DDS.SampleInfoSeq();
}
/* Start changes for Ordered_Presentation*/
/* No listener is needed; we poll readers in this function */
private static void poll_data(DDS.DataReader[] reader, int numreaders)
{
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
orderedSeq data_seq = new orderedSeq();
for (int r = 0; r < numreaders; ++r) {
try {
((orderedDataReader)(reader[r])).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) {
// Not an error
return;
} catch (DDS.Exception e) {
// Is an error
Console.WriteLine("take error {0}", e);
return;
}
System.Int32 data_length = data_seq.length;
for (int i = 0; i < data_length; ++i) {
if (!info_seq.get_at(i).valid_data) {
continue;
}
// Make things a bit easier to read.
int ident = r;
while (ident-- != 0) {
Console.Write("\t");
}
Console.WriteLine("Reader {0}: Instance{1}->value = {2}", r,
data_seq.get_at(i).id, data_seq.get_at(i).value);
}
try {
((orderedDataReader)(reader[r])).return_loan(data_seq,
info_seq);
} catch (DDS.Exception e) {
Console.WriteLine("return loan error {0}", e);
}
info_seq.ensure_length(0, 0);
data_seq.ensure_length(0, 0);
}
}
public hello_worldListener()
{
data_seq = new hello_worldSeq();
info_seq = new DDS.SampleInfoSeq();
}
public tbfListener()
{
data_seq = new tbfSeq();
info_seq = new DDS.SampleInfoSeq();
}
public DataReaderListener(Demultiplexer <T> demux)
{
demultiplexer = demux;
dataSeq = new DDS.UserRefSequence <T>();
infoSeq = new DDS.SampleInfoSeq();
}
public msgListener()
{
data_seq = new msgSeq();
info_seq = new DDS.SampleInfoSeq();
}
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 = waitsetsTypeSupport.get_type_name();
try {
waitsetsTypeSupport.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 waitsets",
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");
}
/* If you want to change the DataReader's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_datareader call above.
*
* In this case, we reduce the liveliness timeout period to trigger the
* StatusCondition DDS.StatusKind.LIVELINESS_CHANGED_STATUS
*/
/*
* DDS.DataReaderQos datawriter_qos = new DDS.DataReaderQos();
* try {
* subscriber.get_default_datareader_qos(datawriter_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_datareader_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
* datawriter_qos.liveliness.lease_duration.sec = 2;
* datawriter_qos.liveliness.lease_duration.nanosec = 0;
*
* reader = subscriber.create_datareader(topic, datawriter_qos,
* null, DDS.StatusMask.STATUS_MASK_NONE);
* if (reader == null) {
* shutdown(participant);
* throw new ApplicationException("create_datawriter_qos error");
* }
*/
/* Create read condition
* ---------------------
* Note that the Read Conditions are dependent on both incoming
* data as well as sample state. Thus, this method has more
* overhead than adding a DDS.StatusKind.DATA_AVAILABLE_STATUS
* StatusCondition. We show it here purely for reference
*/
DDS.ReadCondition read_condition = reader.create_readcondition(
DDS.SampleStateKind.NOT_READ_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
if (read_condition == null)
{
shutdown(participant);
throw new ApplicationException("create_readcondition error");
}
/* 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();
if (status_condition.get_entity() == null)
{
shutdown(participant);
throw new ApplicationException("get_statuscondition error");
}
/* Set enabled statuses
* --------------------
* Now that we have the Status Condition, we are going to enable the
* statuses we are interested in:
* DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS
* and DDS.StatusKind.LIVELINESS_CHANGED_STATUS.
*/
try {
status_condition.set_enabled_statuses(
DDS.StatusMask.STATUS_MASK_NONE |
(DDS.StatusMask)DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS |
(DDS.StatusMask)DDS.StatusKind.LIVELINESS_CHANGED_STATUS);
} catch (DDS.Exception e) {
Console.WriteLine("set_enabled_statuses error {0}", e);
shutdown(participant);
throw 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 Read Conditions */
try {
waitset.attach_condition(read_condition);
} catch (DDS.Exception e) {
Console.WriteLine("attach_read_condition error {0}", e);
shutdown(participant);
throw e;
}
/* Attach Status Conditions */
try {
waitset.attach_condition(status_condition);
} catch (DDS.Exception e) {
Console.WriteLine("attach_status_condition error {0}", e);
shutdown(participant);
throw e;
}
/* Narrow the reader into your specific data type */
waitsetsDataReader waitsets_reader =
(waitsetsDataReader)reader;
/* Main loop */
for (int count = 0; (sample_count == 0) || (count < sample_count);
++count)
{
DDS.ConditionSeq active_conditions_seq = new DDS.ConditionSeq();
DDS.Duration_t timeout;
timeout.nanosec = (uint)500000000;
timeout.sec = 1;
/* wait() blocks execution of the thread until one or more attached
* Conditions become true, or until a user-specified timeout expires
*/
try {
waitset.wait(active_conditions_seq, timeout);
} catch (DDS.Retcode_Timeout) {
Console.WriteLine("Wait timed out!! No conditions were " +
"triggered.");
continue;
} catch (DDS.Exception e) {
Console.WriteLine("wait error {0}", e);
break;
}
/* Get the number of active conditions */
int active_conditions = active_conditions_seq.length;
Console.WriteLine("Got {0} active conditions", active_conditions);
for (int i = 0; i < active_conditions; i++)
{
/* Now we compare the current condition with the Status
* Conditions and the Read Conditions previously defined. If
* they match, we print the condition that was triggered.*/
/* Compare with Status Conditions */
if (active_conditions_seq.get_at(i) == status_condition)
{
/* Get the status changes so we can check which status
* condition triggered. */
DDS.StatusMask triggeredmask =
waitsets_reader.get_status_changes();
/* Liveliness changed */
DDS.StatusMask test = triggeredmask &
(DDS.StatusMask)DDS.StatusKind.
LIVELINESS_CHANGED_STATUS;
if (test != DDS.StatusMask.STATUS_MASK_NONE)
{
DDS.LivelinessChangedStatus st =
new DDS.LivelinessChangedStatus();
waitsets_reader.get_liveliness_changed_status(ref st);
Console.WriteLine("Liveliness changed => " +
"Active writers = {0}", st.alive_count);
}
/* Subscription matched */
test = triggeredmask &
(DDS.StatusMask)DDS.StatusKind.
SUBSCRIPTION_MATCHED_STATUS;
if (test != DDS.StatusMask.STATUS_MASK_NONE)
{
DDS.SubscriptionMatchedStatus st =
new DDS.SubscriptionMatchedStatus();
waitsets_reader.get_subscription_matched_status(ref st);
Console.WriteLine("Subscription matched => " +
"Cumulative matches = {0}", st.total_count);
}
}
/* Compare with Read Conditions */
else if (active_conditions_seq.get_at(i) == read_condition)
{
/* Current conditions match our conditions to read data, so
* we can read data just like we would do in any other
* example. */
waitsetsSeq data_seq = new waitsetsSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
/* You may want to call take_w_condition() or
* read_w_condition() on the Data Reader. This way you will
* use the same status masks that were set on the Read
* Condition.
* This is just a suggestion, you can always use
* read() or take() like in any other example.
*/
bool follow = true;
while (follow)
{
try {
waitsets_reader.take_w_condition(
data_seq, info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
read_condition);
for (int j = 0; j < data_seq.length; ++j)
{
if (!info_seq.get_at(j).valid_data)
{
Console.WriteLine("Got metadata");
continue;
}
waitsetsTypeSupport.print_data(
data_seq.get_at(j));
}
} catch (DDS.Retcode_NoData) {
/* When there isn't data, the subscriber stop to
* take samples
*/
follow = false;
} finally {
waitsets_reader.return_loan(data_seq, info_seq);
}
}
}
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
public ChatObjectListener()
{
data_seq = new ChatObjectSeq();
info_seq = new DDS.SampleInfoSeq();
}
public coherentListener()
{
data_seq = new coherentSeq();
info_seq = new DDS.SampleInfoSeq();
}
public batch_dataListener()
{
data_seq = new batch_dataSeq();
info_seq = new DDS.SampleInfoSeq();
}
public BuiltinPublicationListener()
{
data_seq = new DDS.PublicationBuiltinTopicDataSeq();
info_seq = new DDS.SampleInfoSeq();
}
public market_dataListener()
{
data_seq = new market_dataSeq();
info_seq = new DDS.SampleInfoSeq();
}
public ReaderListener()
{
data_seq = new listenersSeq();
info_seq = new DDS.SampleInfoSeq();
}
private static void Subscribe(int domainId, int sampleCount)
{
// --- Create participant --- //
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domainId,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null) {
Shutdown(participant);
throw new Exception("create_participant error");
}
// --- Create subscriber --- //
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.
string typeName = FlightTypeSupport.get_type_name();
try {
FlightTypeSupport.register_type(participant, typeName);
}
catch(DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
Shutdown(participant);
throw e;
}
DDS.Topic topic = participant.create_topic(
"Example Flight",
typeName,
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 --- //
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");
}
FlightDataReader flightReader = (FlightDataReader)reader;
// Query for company named 'CompanyA' and for flights in cruise
// (about 30,000ft). The company parameter will be changed in
// run-time. NOTE: There must be single-quotes in the query
// parameters around-any strings! The single-quote do NOT go in the
// query condition itself.
DDS.StringSeq queryParameters = new DDS.StringSeq();
queryParameters.ensure_length(2, 2);
queryParameters.set_at(0, "'CompanyA'");
queryParameters.set_at(1, "30000");
Console.WriteLine(
"Setting parameters to company: {0} and altitude >= {1}\n",
queryParameters.get_at(0), queryParameters.get_at(1));
// Create the query condition with an expession to MATCH the id
// field in the structure and a numeric comparison.
DDS.QueryCondition queryCondition =
reader.create_querycondition(
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ALIVE_INSTANCE_STATE,
"company MATCH %0 AND altitude >= %1",
queryParameters);
// --- Wait for data --- //
const int receivePeriod = 1000; // Milliseconds
bool update = false;
for (int count = 0;
(sampleCount == 0) || (count < sampleCount);
count++)
{
// Poll for new samples every second.
System.Threading.Thread.Sleep(receivePeriod);
// Change the filter parameter after 5 seconds.
if ((count + 1) % 10 == 5) {
queryParameters.set_at(0, "'CompanyB'");
update = true;
} else if ((count + 1) % 10 == 0) {
queryParameters.set_at(0, "'CompanyA'");
update = true;
}
// Set new parameters.
if (update) {
Console.WriteLine("Changing parameter to {0}",
queryParameters.get_at(0));
queryCondition.set_query_parameters(queryParameters);
update = false;
}
// Iterate through the samples using read_w_condition.
FlightSeq dataSeq = new FlightSeq();
DDS.SampleInfoSeq infoSeq = new DDS.SampleInfoSeq();
try {
flightReader.read_w_condition(
dataSeq,
infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
queryCondition);
} catch (DDS.Retcode_NoData) {
continue;
} catch (DDS.Exception e) {
Shutdown(participant);
throw e;
}
for (int i = 0; i < dataSeq.length; i++) {
DDS.SampleInfo info = (DDS.SampleInfo)infoSeq.get_at(i);
if (info.valid_data) {
Flight flight_info = (Flight)dataSeq.get_at(i);
Console.WriteLine(
"\t[trackId: {0}, company: {1}, altitude: {2}]\n",
flight_info.trackId,
flight_info.company,
flight_info.altitude);
}
}
try {
flightReader.return_loan(dataSeq, infoSeq);
} catch (DDS.Exception e) {
Console.WriteLine("return loan error {0}", e);
}
}
// Delete all entities
Shutdown(participant);
}
public sequencesListener()
{
data_seq = new sequencesSeq();
info_seq = new DDS.SampleInfoSeq();
}
public numbersListener()
{
data_seq = new numbersSeq();
info_seq = new DDS.SampleInfoSeq();
}
public ShapeTypeListener()
{
data_seq = new DDS.DynamicDataSeq();
info_seq = new DDS.SampleInfoSeq();
}
public ShapeTypeListener()
{
data_seq = new DDS.DynamicDataSeq();
info_seq = new DDS.SampleInfoSeq();
}
public tbfListener()
{
data_seq = new tbfSeq();
info_seq = new DDS.SampleInfoSeq();
}
static void subscribe(int domain_id, int sample_count)
{
/* Auxiliary variables */
String odd_string = "'ODD'";
String even_string = "'EVEN'";
// --- 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_query_condTypeSupport.get_type_name();
try {
waitset_query_condTypeSupport.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_query_cond",
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_NONE);
if (reader == null) {
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
waitset_query_condDataReader waitset_query_cond_reader =
(waitset_query_condDataReader)reader;
/* Create query condition */
DDS.StringSeq query_parameters = new DDS.StringSeq(1);
query_parameters.ensure_length(1, 1);
/* The initial value of the parameters is EVEN string */
query_parameters.set_at(0, even_string);
String query_expression = "name MATCH %0";
DDS.QueryCondition query_condition =
waitset_query_cond_reader.create_querycondition(
DDS.SampleStateKind.NOT_READ_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE,
query_expression,
query_parameters);
if (query_condition == null) {
shutdown(participant);
throw new ApplicationException("create_querycondition error");
}
DDS.WaitSet waitset = new DDS.WaitSet();
if (waitset == null) {
shutdown(participant);
throw new ApplicationException("create waitset error");
}
/* Attach Query Conditions */
try {
waitset.attach_condition((DDS.Condition)query_condition);
} catch (DDS.Exception e) {
Console.WriteLine("attach_condition error {0}", e);
shutdown(participant);
throw e;
}
DDS.Duration_t wait_timeout;
wait_timeout.nanosec = (uint)500000000;
wait_timeout.sec = 1;
Console.WriteLine("\n>>>Timeout: {0} sec",
wait_timeout.sec, wait_timeout.nanosec);
Console.WriteLine(">>> Query conditions: name MATCH %0");
Console.WriteLine("\t%0 = {0}", query_parameters.get_at(0));
Console.WriteLine("---------------------------------\n");
// --- Wait for data --- //
/* Main loop */
for (int count=0;
(sample_count == 0) || (count < sample_count);
++count) {
DDS.ConditionSeq active_conditions_seq = new DDS.ConditionSeq();
/* We set a new parameter in the Query Condition after 7 secs */
if (count == 7) {
query_parameters.set_at(0,odd_string);
Console.WriteLine("CHANGING THE QUERY CONDITION");
Console.WriteLine("\n>>> Query conditions: name MATCH %0");
Console.WriteLine("\t%0 = {0}", query_parameters.get_at(0));
Console.WriteLine(">>> We keep one sample in the history");
Console.WriteLine("-------------------------------------\n");
query_condition.set_query_parameters(query_parameters);
}
/* wait() blocks execution of the thread until one or more attached
* Conditions become true, or until a user-specified timeout
* expires.
*/
try {
waitset.wait(active_conditions_seq, wait_timeout);
} catch (DDS.Retcode_Timeout) {
Console.WriteLine("Wait timed out!! No conditions were " +
"triggered.");
continue;
} catch (DDS.Exception e) {
Console.WriteLine("wait error {0}", e);
break;
}
waitset_query_condSeq data_seq = new waitset_query_condSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
bool follow = true;
while (follow) {
try {
waitset_query_cond_reader.take_w_condition(
data_seq, info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
query_condition);
for (int i = 0; i < data_seq.length; ++i) {
if (!info_seq.get_at(i).valid_data) {
Console.WriteLine("Got metadata");
continue;
}
waitset_query_condTypeSupport.print_data(
data_seq.get_at(i));
}
} catch (DDS.Retcode_NoData) {
/* When there isn't data, the subscriber stop to
* take samples
*/
follow = false;
} finally {
waitset_query_cond_reader.return_loan(data_seq, info_seq);
}
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
