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 --- //
DDS.SubscriberQos subscriber_qos = new DDS.SubscriberQos();
participant.get_default_subscriber_qos(subscriber_qos);
/* If you want to change the Partition name programmatically rather than
* using the XML, you will need to add the following lines to your code
* and comment out the create_subscriber() call bellow.
*/
/*
* String[] partitions = { "ABC", "X*Z" };
*
* subscriber_qos.partition.name.ensure_length(2, 2);
* subscriber_qos.partition.name.from_array(partitions);
*
* DDS.Subscriber subscriber = participant.create_subscriber(
* subscriber_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
*/
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 = partitionsTypeSupport.get_type_name();
try
{
partitionsTypeSupport.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 partitions",
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 */
partitionsListener reader_listener =
new partitionsListener();
/* If you want to change the Datareader QoS programmatically rather than
* using the XML, you will need to add the following lines to your code
* and comment out the create_datareader() call bellow.
*/
/*
* DDS.DataReaderQos readerQos = new DDS.DataReaderQos();
* subscriber.get_default_datareader_qos(readerQos);
*
* readerQos.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* readerQos.history.kind = DDS.HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;
* readerQos.durability.kind = DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS;
* DDS.DataReader reader = subscriber.create_datareader(
* topic,
* readerQos,
* reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
*/
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 = 4000; // 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;
}