static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = ChatObjectTypeSupport.get_type_name();
try {
ChatObjectTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
My.CHAT_TOPIC_NAME.VALUE, /*>>><<<*/
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
ChatObjectDataWriter ChatObject_writer =
(ChatObjectDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
ChatObject instance = ChatObjectTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"ChatObjectTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
/* >>> */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
instance.user = "******";
// instance_handle = ChatObject_writer.register_instance(instance);
/* <<< */
/* Main loop */
const System.Int32 send_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing ChatObject, count {0}", count);
/* Modify the data to be sent here */
/* >>> */
instance.msg = "Hello " + count;
/* <<< */
try {
ChatObject_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* ChatObject_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
ChatObjectTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"ChatObjectTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Register userGenerated datatype ---
DDS.DomainParticipantFactory.get_instance().
register_type_support(
ChatObjectTypeSupport.get_instance(),
"My::Type::Chat::Obj");
// --- Create participant --- //
/* To customize the participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().
create_participant_from_config(
"MyParticipant_Library::MyPublicationParticipant");
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Lookup writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = participant.lookup_datawriter_by_name(
"MyPublisher::ChatObjectWriter");
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("lookup_datawriter error");
}
ChatObjectDataWriter ChatObject_writer =
(ChatObjectDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
ChatObject instance = ChatObjectTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"ChatObjectTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
/* >>> */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
instance.user = "******";
// instance_handle = ChatObject_writer.register_instance(instance);
/* <<< */
/* Main loop */
const System.Int32 send_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing ChatObject, count {0}", count);
/* Modify the data to be sent here */
/* >>> */
instance.msg = "Hello " + count;
/* <<< */
try {
ChatObject_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* ChatObject_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
ChatObjectTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"ChatObjectTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
