static void subscribe(int domain_id, int sample_count, int sel_cft)
{
// --- 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 = cftTypeSupport.get_type_name();
try {
cftTypeSupport.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 cft",
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");
}
/* Sequence of parameters for the content filter expression */
DDS.StringSeq parameters = new DDS.StringSeq(2);
/* The default parameter list that we will include in the
* sequence of parameters will be "1","4" (i.e., 1 <= x <= 4). */
DDS.StringWrapper[] param_list = new DDS.StringWrapper[2] {
"1", "4"
};
parameters.from_array(param_list);
/* Create the content filtered topic in case sel_cft
* is true.
* The Content Filter Expresion has two parameters:
* - %0 -- x must be greater or equal than %0.
* - %1 -- x must be less or equal than %1.
*/
DDS.ContentFilteredTopic cft = null;
if (sel_cft != 0)
{
cft = participant.create_contentfilteredtopic(
"ContentFilteredTopic", topic, "(x >= %0 and x <= %1)",
parameters);
if (cft == null)
{
shutdown(participant);
throw new ApplicationException(
"create_contentfilteredtopic error");
}
}
// --- Create reader --- //
/* Create a data reader listener */
cftListener reader_listener =
new cftListener();
/* Here we create the reader either using a Content Filtered Topic or
* a normal topic */
DDS.DataReader reader = null;
if (sel_cft != 0)
{
Console.WriteLine("Using ContentFiltered Topic");
reader = subscriber.create_datareader(cft,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener, DDS.StatusMask.STATUS_MASK_ALL);
}
else
{
Console.WriteLine("Using Normal Topic");
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");
}
/* If you want to set the reliability and history QoS settings
* programmatically rather than using the XML, you will need to add
* the following lines to your code and comment out the
* create_datareader calls 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.reliability.kind =
* DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* datareader_qos.durability.kind =
* DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS;
* datareader_qos.history.kind =
* DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
* datareader_qos.history.depth = 20;
*
* if (sel_cft != 0) {
* Console.WriteLine("Using ContentFiltered Topic");
* reader = subscriber.create_datareader(cft,
* datareader_qos, reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
* } else {
* Console.WriteLine("Using Normal Topic");
* reader = subscriber.create_datareader(topic,
* datareader_qos, reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
* }
*
* if (reader == null) {
* shutdown(participant);
* reader_listener = null;
* throw new ApplicationException("create_datareader error");
* }
*
*/
if (sel_cft != 0)
{
Console.WriteLine("\n==========================");
Console.WriteLine("Using CFT\nFilter: 1 <= x <= 4");
Console.WriteLine("==========================");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine(
"cft subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
if (sel_cft == 0)
{
continue;
}
if (count == 10)
{
Console.WriteLine("\n==========================");
Console.WriteLine("Changing filter parameters");
Console.WriteLine("Filter: 5 <= x <= 9");
Console.WriteLine("===========================");
parameters.set_at(0, "5");
parameters.set_at(1, "9");
try {
cft.set_expression_parameters(parameters);
} catch (DDS.Exception e) {
Console.WriteLine("set_expression_parameters error {0}", e);
shutdown(participant);
throw e;
}
}
else if (count == 20)
{
Console.WriteLine("\n==========================");
Console.WriteLine("Changing filter parameters");
Console.WriteLine("Filter: 3 <= x <= 9");
Console.WriteLine("===========================");
DDS.StringSeq oldParameters = new DDS.StringSeq();
cft.get_expression_parameters(oldParameters);
oldParameters.set_at(0, "3");
try {
cft.set_expression_parameters(oldParameters);
} catch (DDS.Exception e) {
Console.WriteLine("set_expression_parameters error {0}", e);
shutdown(participant);
throw e;
}
}
}
// --- 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");
}
// --- 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 = deadline_contentfilterTypeSupport.get_type_name();
try {
deadline_contentfilterTypeSupport.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 deadline_contentfilter",
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 --- //
//// Start changes for Deadline
// Set up content filtered topic to show interaction with deadline
DDS.StringSeq parameters = new DDS.StringSeq(1);
// need to specify length otherwise create_contentfilteredtopic will
// throw an unhandled exception error!
if (parameters.ensure_length(1, 1) == false)
{
Console.WriteLine("ensure_length error\n");
}
parameters.set_at(0, "2");
DDS.ContentFilteredTopic cft = participant.create_contentfilteredtopic(
"ContentFilteredTopic", topic, "code < %0", parameters);
/* Create a data reader listener */
deadline_contentfilterListener reader_listener =
new deadline_contentfilterListener();
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
cft,
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");
}
/* 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 set the deadline period to 2 seconds to trigger
* a deadline if the DataWriter does not update often enough, or if
* the content-filter filters out data so there is no data available
* with 2 seconds.
*/
/*
* DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
* subscriber.get_default_datareader_qos(datareader_qos);
* if (datareader_qos == null)
* {
* shutdown(participant);
* reader_listener = null;
* throw new ApplicationException("get_default_datareader_qos error");
* }
*
* // Set deadline QoS to be 2 sec
* datareader_qos.deadline.period.sec = 2;
* datareader_qos.deadline.period.nanosec = 0;
*
* DDS.DataReader reader = subscriber.create_datareader(
* topic,
* datareader_qos, //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)
{
// After 10 seconds, change content filter to accept only
// instance 0
if (count == 10)
{
Console.WriteLine("Starting to filter out instance1\n");
parameters.set_at(0, "1");
cft.set_expression_parameters(parameters);
}
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");
}
// --- 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 = 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 the 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 ContentFiltered Topic */
DDS.StringWrapper[] cft_param_list = new DDS.StringWrapper[] { "'Rajive'", "'Shannon'", "'Jaromy'" };
DDS.StringSeq cft_parameters = new DDS.StringSeq(3);
cft_parameters.from_array(cft_param_list);
DDS.ContentFilteredTopic cft = participant.create_contentfilteredtopic("Chat/filtered",
topic, "(id = %0 OR id = %1 OR id = %2)",
cft_parameters);
if (cft == null)
{
Console.WriteLine("create_contentfilteredtopic error\n");
shutdown(participant);
throw new ApplicationException("create_contentfilteredtopic error");
}
/* <<< */
// --- Create reader --- //
/* Create a data reader listener */
ChatObjectListener reader_listener =
new ChatObjectListener();
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
cft, /*>>><<<*/
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null, /*>>><<<*/
DDS.StatusMask.STATUS_MASK_NONE); /*>>><<<*/
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
/* >>> Setup StatusCondition */
DDS.StatusCondition status_condition = reader.get_statuscondition();
if (status_condition.Equals(null))
{
Console.WriteLine("get_statuscondition error\n");
shutdown(participant);
throw new ApplicationException("get_statuscondition error");
}
try {
status_condition.set_enabled_statuses((DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS);
}
catch {
Console.WriteLine("set_enabled_statuses error\n");
shutdown(participant);
throw new ApplicationException("set_enabled_statuses error");
}
/* <<< */
/* >>> Setup WaitSet */
DDS.WaitSet waitset = new DDS.WaitSet();
try {
waitset.attach_condition(status_condition);
}
catch {
// ... error
waitset.Dispose(); waitset = null;
shutdown(participant);
reader_listener.Dispose(); reader_listener = null;
return;
}
// holder for active conditions
DDS.ConditionSeq active_conditions = new DDS.ConditionSeq();
/* <<< */
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine(
"ChatObject subscriber sleeping ...",
receive_period / 1000);
/* >>> Wait */
/* Wait for condition to trigger */
try {
waitset.wait(active_conditions, DDS.Duration_t.DURATION_INFINITE);
reader_listener.on_data_available(reader);
}
catch {
}
/* <<< */
// System.Threading.Thread.Sleep(receive_period); /*>>><<<*/
}
// --- Shutdown --- //
/* Delete all entities */
waitset.Dispose(); waitset = null; /*>>><<<*/
shutdown(participant);
reader_listener = null;
}