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);
}
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);
}
