private void RunExample(int domainId, string stationKind)
{
if (!Enum.TryParse <StationKind>(stationKind, out var currentStation))
{
throw new ArgumentException("Invalid station");
}
// A DomainParticipant allows an application to begin communicating in
// a DDS domain. Typically there is one DomainParticipant per application.
// Uses TemperingApplication QoS profile to set participant name.
var qosProvider = new QosProvider("./qos_profiles.xml");
// By specifying a default library, we can later refer to the
// profiles without the library name
qosProvider.DefaultLibrary = "ChocolateFactoryLibrary";
DomainParticipant participant = DomainParticipantFactory.Instance
.CreateParticipant(
domainId,
qosProvider.GetDomainParticipantQos("IngredientApplication"));
Topic <Temperature> temperatureTopic =
participant.CreateTopic <Temperature>("ChocolateTemperature");
Topic <ChocolateLotState> lotStateTopic =
participant.CreateTopic <ChocolateLotState>("ChocolateLotState");
ContentFilteredTopic <ChocolateLotState> filteredLotStateTopic =
participant.CreateContentFilteredTopic(
name: "FilteredLot",
relatedTopic: lotStateTopic,
filter: new Filter(
expression: "next_station = %0",
parameters: new string[] { $"'{stationKind}'" }));
Publisher publisher = participant.CreatePublisher();
// Create DataWriter of Topic "ChocolateLotState"
// using ChocolateLotStateProfile QoS profile for State Data
DataWriter <ChocolateLotState> lotStateWriter = publisher.CreateDataWriter(
lotStateTopic,
qosProvider.GetDataWriterQos("ChocolateLotStateProfile"));
Subscriber subscriber = participant.CreateSubscriber();
// Create DataReader of Topic "ChocolateLotState", filtered by
// next_station, and using ChocolateLotStateProfile QoS profile for
// State Data.
DataReader <ChocolateLotState> lotStateReader = subscriber.CreateDataReader(
filteredLotStateTopic,
qosProvider.GetDataReaderQos("ChocolateLotStateProfile"));
// Monitor the DataAvailable status
StatusCondition statusCondition = lotStateReader.StatusCondition;
statusCondition.EnabledStatuses = StatusMask.DataAvailable;
statusCondition.Triggered +=
_ => ProcessLot(currentStation, lotStateReader, lotStateWriter);
var waitset = new WaitSet();
waitset.AttachCondition(statusCondition);
while (!shutdownRequested)
{
// Wait for ChocolateLotState
Console.WriteLine("Waiting for lot");
waitset.Dispatch(Duration.FromSeconds(10));
}
}
private DataWriterQos GetWriterQos(string topicName)
{
string qosProfile = parameters.QosLibrary + "::" + GetQoSProfileName(topicName);
var qosProvider = new QosProvider(parameters.QosFile);
DataWriterQos dataWriterQos = qosProvider.GetDataWriterQos(qosProfile);
if (parameters.NoPositiveAcks &&
(qosProfile == "PerftestQosLibrary::ThroughputQos" ||
qosProfile == "PerftestQosLibrary::LatencyQos"))
{
dataWriterQos = dataWriterQos.WithProtocol(policy =>
{
policy.DisablePositiveAcks = true;
if (parameters.KeepDurationUsec != -1)
{
policy.RtpsReliableWriter.DisablePositiveAcksMinSampleKeepDuration =
Duration.FromMilliseconds((ulong)parameters.KeepDurationUsec / 1000);
}
});
}
if (isLargeData || parameters.Asynchronous)
{
dataWriterQos = dataWriterQos.WithPublishMode(policy =>
{
policy.Kind = PublishModeKind.Asynchronous;
if (!parameters.FlowController.StartsWith("default", true, null))
{
policy.FlowControllerName = "dds.flow_controller.token_bucket." + parameters.FlowController;
}
});
}
// only force reliability on throughput/latency topics
if (topicName != ANNOUNCEMENT_TOPIC_NAME.Value)
{
if (!parameters.BestEffort)
{
// default: use the setting specified in the qos profile
dataWriterQos = dataWriterQos.WithReliability(policy =>
policy.Kind = ReliabilityKind.Reliable);
}
else
{
// override to best-effort
dataWriterQos = dataWriterQos.WithReliability(policy =>
policy.Kind = ReliabilityKind.BestEffort);
}
}
// These Qos settings are only set for the Throughput datawriter
if (topicName == THROUGHPUT_TOPIC_NAME.Value)
{
if (transport.UseMulticast)
{
dataWriterQos = dataWriterQos.WithProtocol(policy =>
policy.RtpsReliableWriter.EnableMulticastPeriodicHeartbeat = true);
}
if (parameters.BatchSize > 0)
{
dataWriterQos = dataWriterQos.WithBatch(policy =>
{
policy.Enable = true;
policy.MaxDataBytes = parameters.BatchSize;
});
dataWriterQos = dataWriterQos.WithResourceLimits(policy =>
policy.MaxSamples = LengthUnlimited.Value);
dataWriterQos = dataWriterQos.WithWriterResourceLimits(policy =>
policy.MaxBatches = (int)parameters.SendQueueSize);
}
else
{
dataWriterQos = dataWriterQos.WithResourceLimits(policy =>
policy.MaxSamples = (int)parameters.SendQueueSize);
}
if (parameters.EnableAutoThrottle)
{
dataWriterQos = dataWriterQos.WithProperty(policy =>
policy.Add("dds.data_writer.auto_throttle.enable", "true"));
}
if (parameters.EnableTurboMode)
{
dataWriterQos = dataWriterQos.WithProperty(policy =>
policy.Add("dds.data_writer.enable_turbo_mode", "true"));
dataWriterQos = dataWriterQos.WithBatch(policy =>
policy.Enable = false);
dataWriterQos = dataWriterQos.WithWriterResourceLimits(policy =>
policy.MaxBatches = (int)parameters.SendQueueSize);
dataWriterQos = dataWriterQos.WithResourceLimits(policy =>
policy.MaxSamples = AllocationSettings.Unlimited);
}
}
return(dataWriterQos);
}
private void RunExample(int domainId, string sensorId)
{
// A DomainParticipant allows an application to begin communicating in
// a DDS domain. Typically there is one DomainParticipant per application.
// Uses TemperingApplication QoS profile to set participant name.
var qosProvider = new QosProvider("./qos_profiles.xml");
var participantQos = qosProvider.GetDomainParticipantQos(
"ChocolateFactoryLibrary::TemperingApplication");
DomainParticipant participant = DomainParticipantFactory.Instance
.CreateParticipant(domainId, participantQos);
// Create the topics
Topic <Temperature> temperatureTopic =
participant.CreateTopic <Temperature>("ChocolateTemperature");
Topic <ChocolateLotState> lotStateTopic =
participant.CreateTopic <ChocolateLotState>("ChocolateLotState");
// Exercise #1.1: Create a Content-Filtered Topic that filters out
// chocolate lot state unless the next_station = TEMPERING_CONTROLLER
// A Publisher allows an application to create one or more DataWriters
// Create Publisher with default QoS.
Publisher publisher = participant.CreatePublisher();
// Create DataWriter of Topic "ChocolateTemperature"
// using ChocolateTemperatureProfile QoS profile for Streaming Data
DataWriter <Temperature> temperatureWriter = publisher.CreateDataWriter(
temperatureTopic,
qos: qosProvider.GetDataWriterQos("ChocolateFactoryLibrary::ChocolateTemperatureProfile"));
// Create DataWriter of Topic "ChocolateLotState"
// using ChocolateLotStateProfile QoS profile for State Data
DataWriter <ChocolateLotState> lotStateWriter = publisher.CreateDataWriter(
lotStateTopic,
qos: qosProvider.GetDataWriterQos("ChocolateFactoryLibrary::ChocolateLotStateProfile"));
// A Subscriber allows an application to create one or more DataReaders
Subscriber subscriber = participant.CreateSubscriber();
// Create DataReader of Topic "ChocolateLotState".
// using ChocolateLotStateProfile QoS profile for State Data
// Exercise #1.2: Change the DataReader's Topic to use a
// Content-Filtered Topic
DataReader <ChocolateLotState> lotStateReader = subscriber.CreateDataReader(
lotStateTopic,
qos: qosProvider.GetDataReaderQos("ChocolateFactoryLibrary::ChocolateLotStateProfile"),
preEnableAction: reader => reader.RequestedIncompatibleQos += OnRequestedIncompatibleQos);
// Obtain the DataReader's Status Condition
StatusCondition statusCondition = lotStateReader.StatusCondition;
// Enable the 'data available' status.
statusCondition.EnabledStatuses = StatusMask.DataAvailable;
// Associate an event handler with the status condition.
// This will run when the condition is triggered, in the context of
// the dispatch call (see below)
statusCondition.Triggered +=
_ => ProcessLot(lotStateReader, lotStateWriter);
// Create a WaitSet and attach the StatusCondition
var waitset = new WaitSet();
waitset.AttachCondition(statusCondition);
// Create a thread to periodically publish the temperature
Console.WriteLine($"ChocolateTemperature Sensor with ID: {sensorId} starting");
var temperatureTask = Task.Run(
() => PublishTemperature(temperatureWriter, sensorId));
while (!shutdownRequested)
{
// Wait for ChocolateLotState
Console.WriteLine("Waiting for lot");
waitset.Dispatch(Duration.FromSeconds(10));
}
temperatureTask.Wait();
}
private void RunExample(
int domainId = 0,
uint lotsToProcess = 10)
{
// Loads the QoS from the qos_profiles.xml file.
var qosProvider = new QosProvider("./qos_profiles.xml");
// A DomainParticipant allows an application to begin communicating in
// a DDS domain. Typically there is one DomainParticipant per application.
// Load DomainParticipant QoS profile
var participantQos = qosProvider.GetDomainParticipantQos(
"ChocolateFactoryLibrary::MonitoringControlApplication");
DomainParticipant participant = DomainParticipantFactory.Instance
.CreateParticipant(domainId, participantQos);
// A Topic has a name and a datatype. Create a Topic with type
// ChocolateLotState. Topic name is a constant defined in the IDL file.
Topic <ChocolateLotState> lotStateTopic =
participant.CreateTopic <ChocolateLotState>("ChocolateLotState");
// Add a Topic for Temperature to this application
Topic <Temperature> temperatureTopic =
participant.CreateTopic <Temperature>("ChocolateTemperature");
ContentFilteredTopic <Temperature> filteredTemperatureTopic =
participant.CreateContentFilteredTopic(
name: "FilteredTemperature",
relatedTopic: temperatureTopic,
filter: new Filter(
expression: "degrees > %0 or degrees < %1",
parameters: new string[] { "32", "30" }));
// A Publisher allows an application to create one or more DataWriters
// Publisher QoS is configured in USER_QOS_PROFILES.xml
Publisher publisher = participant.CreatePublisher();
// This DataWriter writes data on Topic "ChocolateLotState"
var writerQos = qosProvider.GetDataWriterQos(
"ChocolateFactoryLibrary::ChocolateLotStateProfile");
DataWriter <ChocolateLotState> lotStateWriter =
publisher.CreateDataWriter(lotStateTopic, writerQos);
// A Subscriber allows an application to create one or more DataReaders
// Subscriber QoS is configured in USER_QOS_PROFILES.xml
Subscriber subscriber = participant.CreateSubscriber();
// Create DataReader of Topic "ChocolateLotState".
// DataReader QoS is configured in USER_QOS_PROFILES.xml
var readerQos = qosProvider.GetDataReaderQos(
"ChocolateFactoryLibrary::ChocolateLotStateProfile");
DataReader <ChocolateLotState> lotStateReader =
subscriber.CreateDataReader(lotStateTopic, readerQos);
// Add a DataReader for Temperature to this application
readerQos = qosProvider.GetDataReaderQos(
"ChocolateFactoryLibrary::ChocolateTemperatureProfile");
DataReader <Temperature> temperatureReader =
subscriber.CreateDataReader(filteredTemperatureTopic, readerQos);
// Obtain the DataReader's Status Condition
StatusCondition temperatureStatusCondition = temperatureReader.StatusCondition;
temperatureStatusCondition.EnabledStatuses = StatusMask.DataAvailable;
// Associate a handler with the status condition. This will run when the
// condition is triggered, in the context of the dispatch call (see below)
temperatureStatusCondition.Triggered +=
_ => MonitorTemperature(temperatureReader);
// Do the same with the lotStateReader's StatusCondition
StatusCondition lotStateStatusCondition = lotStateReader.StatusCondition;
lotStateStatusCondition.EnabledStatuses = StatusMask.DataAvailable;
int lotsProcessed = 0;
lotStateStatusCondition.Triggered +=
_ => lotsProcessed += MonitorLotState(lotStateReader);
// Create a WaitSet and attach the StatusCondition
var waitset = new WaitSet();
waitset.AttachCondition(lotStateStatusCondition);
// Add the new DataReader's StatusCondition to the Waitset
waitset.AttachCondition(temperatureStatusCondition);
// Start publishing in a separate thread
var startLotTask = Task.Run(() => PublishStartLot(lotStateWriter, lotsToProcess));
while (!shutdownRequested && lotsProcessed < lotsToProcess)
{
waitset.Dispatch(Duration.FromSeconds(4));
}
startLotTask.Wait();
}
private void RunExample(int domainId, string sensorId)
{
// A DomainParticipant allows an application to begin communicating in
// a DDS domain. Typically there is one DomainParticipant per application.
// Uses TemperingApplication QoS profile to set participant name.
var qosProvider = new QosProvider("./qos_profiles.xml");
var participantQos = qosProvider.GetDomainParticipantQos(
"ChocolateFactoryLibrary::TemperingApplication");
DomainParticipant participant = DomainParticipantFactory.Instance
.CreateParticipant(domainId, participantQos);
// A Topic has a name and a datatype.
Topic <Temperature> temperatureTopic = participant.CreateTopic <Temperature>(
CHOCOLATE_TEMPERATURE_TOPIC.Value);
Topic <ChocolateLotState> lotStateTopic = participant.CreateTopic <ChocolateLotState>(
CHOCOLATE_LOT_STATE_TOPIC.Value);
// A Publisher allows an application to create one or more DataWriters
// Create Publisher with default QoS.
Publisher publisher = participant.CreatePublisher();
// Create DataWriter of Topic "ChocolateTemperature"
// using ChocolateTemperatureProfile QoS profile for Streaming Data
DataWriter <Temperature> temperatureWriter = publisher.CreateDataWriter(
temperatureTopic,
qos: qosProvider.GetDataWriterQos("ChocolateFactoryLibrary::ChocolateTemperatureProfile"));
// Create DataWriter of Topic "ChocolateLotState"
// using ChocolateLotStateProfile QoS profile for State Data
DataWriter <ChocolateLotState> lotStateWriter = publisher.CreateDataWriter(
lotStateTopic,
qos: qosProvider.GetDataWriterQos("ChocolateFactoryLibrary::ChocolateLotStateProfile"));
// A Subscriber allows an application to create one or more DataReaders
Subscriber subscriber = participant.CreateSubscriber();
// This DataReader reads data of type Temperature on Topic
// "ChocolateTemperature" using ChocolateLotStateProfile QoS
// profile for State Data.
//
// We will handle the "requested incompatible qos" event. By doing
// it as a preEnableAction, we avoid a race condition in which
// the event could trigger right after the reader creation but
// right before adding the event handler.
DataReader <ChocolateLotState> lotStateReader = subscriber.CreateDataReader(
lotStateTopic,
qos: qosProvider.GetDataReaderQos("ChocolateFactoryLibrary::ChocolateLotStateProfile"),
preEnableAction: reader => reader.RequestedIncompatibleQos += OnRequestedIncompatibleQos);
// Obtain the DataReader's Status Condition
StatusCondition statusCondition = lotStateReader.StatusCondition;
// Enable the 'data available' status.
statusCondition.EnabledStatuses = StatusMask.DataAvailable;
// Associate an event handler with the status condition.
// This will run when the condition is triggered, in the context of
// the dispatch call (see below)
statusCondition.Triggered +=
_ => ProcessLot(lotStateReader, lotStateWriter);
// Create a WaitSet and attach the StatusCondition
var waitset = new WaitSet();
waitset.AttachCondition(statusCondition);
// Create a thread to periodically publish the temperature
Console.WriteLine($"ChocolateTemperature Sensor with ID: {sensorId} starting");
var temperatureTask = Task.Run(
() => PublishTemperature(temperatureWriter, sensorId));
while (!shutdownRequested)
{
// Wait for ChocolateLotState
Console.WriteLine("Waiting for lot");
waitset.Dispatch(Duration.FromSeconds(4));
}
temperatureTask.Wait();
}