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");
}
/* If you want to change the Participant'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_participant call above.
*/
/* By default, discovery will communicate via shared memory for
* platforms that support it. Because we disable shared memory on the
* publishing side, we do so here to ensure the reader and writer
* discover each other.
*/
/* Get default participant QoS to customize */
/*
DDS.DomainParticipantQos participant_qos =
new DDS.DomainParticipantQos();
try {
DDS.DomainParticipantFactory.get_instance().
get_default_participant_qos(participant_qos);
} catch (DDS.Exception e) {
Console.WriteLine("get_default_participant_qos error {0}", e);
throw e;
}
// By default, data will be sent via shared memory _and_ UDPv4. Because
// the flowcontroller limits writes across all interfaces, this halves
// the effective send rate. To avoid this, we enable only the UDPv4
// transport
participant_qos.transport_builtin.mask =
(int) DDS.TransportBuiltinKind.TRANSPORTBUILTIN_UDPv4;
// To create participant with default QoS, use
// DDS_PARTICIPANT_QOS_DEFAULT instead of participant_qos
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
participant_qos,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null) {
shutdown(participant);
throw new ApplicationException("create_participant error");
}
*/
/* End changes for custom_flowcontroller */
// --- 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 = cfcTypeSupport.get_type_name();
try {
cfcTypeSupport.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 cfc",
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 --- //
/* Create a data reader listener */
cfcListener reader_listener =
new cfcListener();
/* 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,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null) {
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count=0;
(sample_count == 0) || (count < sample_count);
++count) {
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
/* If you want to change the Participant'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_participant call above.
*/
/* By default, discovery will communicate via shared memory for
* platforms that support it. Because we disable shared memory on the
* publishing side, we do so here to ensure the reader and writer
* discover each other.
*/
/* Get default participant QoS to customize */
/*
* DDS.DomainParticipantQos participant_qos =
* new DDS.DomainParticipantQos();
* try {
* DDS.DomainParticipantFactory.get_instance().
* get_default_participant_qos(participant_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_participant_qos error {0}", e);
* throw e;
* }
*
* // By default, data will be sent via shared memory _and_ UDPv4. Because
* // the flowcontroller limits writes across all interfaces, this halves
* // the effective send rate. To avoid this, we enable only the UDPv4
* // transport
*
* participant_qos.transport_builtin.mask =
* (int) DDS.TransportBuiltinKind.TRANSPORTBUILTIN_UDPv4;
*
* // To create participant with default QoS, use
* // DDS_PARTICIPANT_QOS_DEFAULT instead of participant_qos
*
* DDS.DomainParticipant participant =
* DDS.DomainParticipantFactory.get_instance().create_participant(
* domain_id,
* participant_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
* if (participant == null) {
* shutdown(participant);
* throw new ApplicationException("create_participant error");
* }
*/
/* End changes for custom_flowcontroller */
// --- 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 = cfcTypeSupport.get_type_name();
try {
cfcTypeSupport.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 cfc",
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 --- //
/* Create a data reader listener */
cfcListener reader_listener =
new cfcListener();
/* 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,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}