static void publish(int domain_id, int sample_count)
{
/* There are several different approaches for loading QoS profiles from
* XML files (see Configuring QoS with XML chapter in the RTI Connext
* Core Libraries and Utilities User's Manual). In this example we
* illustrate two of them:
*
* 1) Creating a file named USER_QOS_PROFILES.xml, which is loaded,
* automatically by the DomainParticipantFactory. In this case, the file
* defines a QoS profile named volatile_profile that configures reliable,
* volatile DataWriters and DataReaders.
*
* 2) Adding XML documents to the DomainParticipantFactory using its
* Profile QoSPolicy (DDS Extension). In this case, we add
* my_custom_qos_profiles.xml to the url_profile sequence, which stores
* the URLs of all the XML documents with QoS policies that are loaded
* by the DomainParticipantFactory aside from the ones that are
* automatically loaded.
* my_custom_qos_profiles.xml defines a QoS profile named
* transient_local_profile that configures reliable, transient local
* DataWriters and DataReaders.
*/
/* To load my_custom_qos_profiles.xml, as explained above, we need to
* modify the DDSTheParticipantFactory Profile QoSPolicy */
DDS.DomainParticipantFactoryQos factory_qos =
new DDS.DomainParticipantFactoryQos();
DDS.DomainParticipantFactory.get_instance().get_qos(factory_qos);
/* We are only going to add one XML file to the url_profile sequence,
* so we ensure a length of 1,1. */
factory_qos.profile.url_profile.ensure_length(1, 1);
/* The XML file will be loaded from the working directory. That means,
* you need to run the example like this:
* ./objs/<architecture>/profiles_publisher
* (see README.txt for more information on how to run the example).
*
* Note that you can specify the absolute path of the XML QoS file to
* avoid this problem.
*/
factory_qos.profile.url_profile.set_at(0,
"file://my_custom_qos_profiles.xml");
DDS.DomainParticipantFactory.get_instance().set_qos(factory_qos);
// --- Create participant --- //
/* Our default Qos profile, volatile_profile, sets the participant name.
* This is the only participant_qos policy that we change in our
* example. As this is done in the default QoS profile, we don't need
* to specify its name, so we can create the participant using the
* create_participant() method rather than using
* create_participant_with_profile(). */
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 --- //
/* We haven't changed the publisher_qos in any of QoS profiles we use in
* this example, so we can just use the create_publisher() method. If
* you want to load an specific profile in which you may have changed
* the publisher_qos, use the create_publisher_with_profile() method. */
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 = profilesTypeSupport.get_type_name();
try {
profilesTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* We haven't changed the topic_qos in any of QoS profiles we use in
* this example, so we can just use the create_topic() method. If you
* want to load an specific profile in which you may have changed the
* topic_qos, use the create_topic_with_profile() method. */
DDS.Topic topic = participant.create_topic(
"Example profiles",
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 writers --- //
/* Volatile writer -- As volatile_profile is the default qos profile
* we don't need to specify the profile we are going to use, we can
* just call create_datawriter passing DDS_DATAWRITER_QOS_DEFAULT. */
DDS.DataWriter writer_volatile = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer_volatile == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
/* Transient Local writer -- In this case we use
* create_datawriter_with_profile, because we have to use a profile
* other than the default one. This profile has been defined in
* my_custom_qos_profiles.xml, but since we already loaded the XML file
* we don't need to specify anything else. */
DDS.DataWriter writer_transient_local = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer_transient_local == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
profilesDataWriter profiles_writer_volatile =
(profilesDataWriter)writer_volatile;
profilesDataWriter profiles_writer_transient_local =
(profilesDataWriter)writer_transient_local;
// --- Write --- //
/* Create data sample for writing */
profiles instance = profilesTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"profilesTypeSupport.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_handle = profiles_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing profiles, count {0}", count);
/* Modify the data to be sent here */
instance.profile_name = "volatile_profile";
instance.x = count;
Console.WriteLine("Writing profile_name = " + instance.profile_name
+ "\t x = " + instance.x);
try {
profiles_writer_volatile.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write volatile error {0}", e);
}
instance.profile_name = "transient_local_profile";
instance.x = count;
Console.WriteLine("Writing profile_name = " + instance.profile_name
+ "\t x = " + instance.x + "\n");
try
{
profiles_writer_transient_local.write(instance,
ref instance_handle);
}
catch (DDS.Exception e)
{
Console.WriteLine("write transient local error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* profiles_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
profilesTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"profilesTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void subscribe(int domain_id, int sample_count)
{
/* There are several different approaches for loading QoS profiles from
* XML files (see Configuring QoS with XML chapter in the RTI Connext
* Core Libraries and Utilities User's Manual). In this example we
* illustrate two of them:
*
* 1) Creating a file named USER_QOS_PROFILES.xml, which is loaded,
* automatically by the DomainParticipantFactory. In this case, the file
* defines a QoS profile named volatile_profile that configures reliable,
* volatile DataWriters and DataReaders.
*
* 2) Adding XML documents to the DomainParticipantFactory using its
* Profile QoSPolicy (DDS Extension). In this case, we add
* my_custom_qos_profiles.xml to the url_profile sequence, which stores
* the URLs of all the XML documents with QoS policies that are loaded
* by the DomainParticipantFactory aside from the ones that are
* automatically loaded.
* my_custom_qos_profiles.xml defines a QoS profile named
* transient_local_profile that configures reliable, transient local
* DataWriters and DataReaders.
*/
/* To load my_custom_qos_profiles.xml, as explained above, we need to
* modify the DDSTheParticipantFactory Profile QoSPolicy
*/
DDS.DomainParticipantFactoryQos factory_qos =
new DDS.DomainParticipantFactoryQos();
DDS.DomainParticipantFactory.get_instance().get_qos(factory_qos);
/* We are only going to add one XML file to the url_profile sequence, so
* we ensure a length of 1,1.
*/
factory_qos.profile.url_profile.ensure_length(1, 1);
/* The XML file will be loaded from the working directory. That means,
* you need to run the example like this:
* ./objs/<architecture>/profiles_publisher
* (see README.txt for more information on how to run the example).
*
* Note that you can specify the absolute path of the XML QoS file to
* avoid this problem.
*/
factory_qos.profile.url_profile.set_at(0,
"file://my_custom_qos_profiles.xml");
DDS.DomainParticipantFactory.get_instance().set_qos(factory_qos);
// --- Create participant --- //
/* Our default Qos profile, volatile_profile, sets the participant name.
* This is the only participant_qos policy that we change in our
* example. As this is done in the default QoS profile, we don't need
* to specify its name, so we can create the participant using the
* create_participant() method rather than using
* create_participant_with_profile().
*/
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 --- //
/* We haven't changed the subscriber_qos in any of QoS profiles we use
* in this example, so we can just use the create_topic() method. If you
* want to load an specific profile in which you may have changed the
* publisher_qos, use the create_publisher_with_profile() method.
*/
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 = profilesTypeSupport.get_type_name();
try {
profilesTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* We haven't changed the topic_qos in any of QoS profiles we use in
* this example, so we can just use the create_topic() method. If you
* want to load an specific profile in which you may have changed the
* topic_qos, use the create_topic_with_profile() method.
*/
DDS.Topic topic = participant.create_topic(
"Example profiles",
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 */
profilesListener reader_volatile_listener =
new profilesListener("volatile_profile");
profilesListener reader_transient_local_listener =
new profilesListener("transient_local_profile");
/* Volatile reader -- As volatile_profile is the default qos profile
* we don't need to specify the profile we are going to use, we can
* just call create_datareader passing DDS_DATAWRITER_QOS_DEFAULT.
*/
DDS.DataReader reader_volatile = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_volatile_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader_volatile == null)
{
shutdown(participant);
reader_volatile = null;
throw new ApplicationException("create_datareader_volatile error");
}
/* Transient Local writer -- In this case we use
* create_datareader_with_profile, because we have to use a profile
* other than the default one. This profile has been defined in
* my_custom_qos_profiles.xml, but since we already loaded the XML file
* we don't need to specify anything else.
*/
DDS.DataReader reader_transient_local =
subscriber.create_datareader_with_profile(
topic,
"profiles_Library",
"transient_local_profile",
reader_transient_local_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader_transient_local == null)
{
shutdown(participant);
reader_transient_local = null;
throw new ApplicationException("create_datareader_transient_local" +
"error");
}
Console.WriteLine("Created reader_transient_local");
// --- 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(
"profiles subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_volatile_listener = null;
reader_transient_local_listener = null;
}
static void subscribe(int domain_id, int sample_count)
{
/* There are several different approaches for loading QoS profiles from
* XML files (see Configuring QoS with XML chapter in the RTI Connext
* Core Libraries and Utilities User's Manual). In this example we
* illustrate two of them:
*
* 1) Creating a file named USER_QOS_PROFILES.xml, which is loaded,
* automatically by the DomainParticipantFactory. In this case, the file
* defines a QoS profile named volatile_profile that configures reliable,
* volatile DataWriters and DataReaders.
*
* 2) Adding XML documents to the DomainParticipantFactory using its
* Profile QoSPolicy (DDS Extension). In this case, we add
* my_custom_qos_profiles.xml to the url_profile sequence, which stores
* the URLs of all the XML documents with QoS policies that are loaded
* by the DomainParticipantFactory aside from the ones that are
* automatically loaded.
* my_custom_qos_profiles.xml defines a QoS profile named
* transient_local_profile that configures reliable, transient local
* DataWriters and DataReaders.
*/
/* To load my_custom_qos_profiles.xml, as explained above, we need to
* modify the DDSTheParticipantFactory Profile QoSPolicy
*/
DDS.DomainParticipantFactoryQos factory_qos =
new DDS.DomainParticipantFactoryQos();
DDS.DomainParticipantFactory.get_instance().get_qos(factory_qos);
/* We are only going to add one XML file to the url_profile sequence, so
* we ensure a length of 1,1.
*/
factory_qos.profile.url_profile.ensure_length(1, 1);
/* The XML file will be loaded from the working directory. That means,
* you need to run the example like this:
* ./objs/<architecture>/profiles_publisher
* (see README.txt for more information on how to run the example).
*
* Note that you can specify the absolute path of the XML QoS file to
* avoid this problem.
*/
factory_qos.profile.url_profile.set_at(0,
"file://my_custom_qos_profiles.xml");
DDS.DomainParticipantFactory.get_instance().set_qos(factory_qos);
// --- Create participant --- //
/* Our default Qos profile, volatile_profile, sets the participant name.
* This is the only participant_qos policy that we change in our
* example. As this is done in the default QoS profile, we don't need
* to specify its name, so we can create the participant using the
* create_participant() method rather than using
* create_participant_with_profile().
*/
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 --- //
/* We haven't changed the subscriber_qos in any of QoS profiles we use
* in this example, so we can just use the create_topic() method. If you
* want to load an specific profile in which you may have changed the
* publisher_qos, use the create_publisher_with_profile() method.
*/
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 = profilesTypeSupport.get_type_name();
try {
profilesTypeSupport.register_type(
participant, type_name);
}
catch(DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* We haven't changed the topic_qos in any of QoS profiles we use in
* this example, so we can just use the create_topic() method. If you
* want to load an specific profile in which you may have changed the
* topic_qos, use the create_topic_with_profile() method.
*/
DDS.Topic topic = participant.create_topic(
"Example profiles",
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 */
profilesListener reader_volatile_listener =
new profilesListener("volatile_profile");
profilesListener reader_transient_local_listener =
new profilesListener("transient_local_profile");
/* Volatile reader -- As volatile_profile is the default qos profile
* we don't need to specify the profile we are going to use, we can
* just call create_datareader passing DDS_DATAWRITER_QOS_DEFAULT.
*/
DDS.DataReader reader_volatile = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_volatile_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader_volatile == null) {
shutdown(participant);
reader_volatile = null;
throw new ApplicationException("create_datareader_volatile error");
}
/* Transient Local writer -- In this case we use
* create_datareader_with_profile, because we have to use a profile
* other than the default one. This profile has been defined in
* my_custom_qos_profiles.xml, but since we already loaded the XML file
* we don't need to specify anything else.
*/
DDS.DataReader reader_transient_local =
subscriber.create_datareader_with_profile(
topic,
"profiles_Library",
"transient_local_profile",
reader_transient_local_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader_transient_local == null)
{
shutdown(participant);
reader_transient_local = null;
throw new ApplicationException("create_datareader_transient_local" +
"error");
}
Console.WriteLine("Created reader_transient_local");
// --- 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(
"profiles subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_volatile_listener = null;
reader_transient_local_listener = null;
}
static void publish(int domain_id, int sample_count)
{
/* There are several different approaches for loading QoS profiles from
* XML files (see Configuring QoS with XML chapter in the RTI Connext
* Core Libraries and Utilities User's Manual). In this example we
* illustrate two of them:
*
* 1) Creating a file named USER_QOS_PROFILES.xml, which is loaded,
* automatically by the DomainParticipantFactory. In this case, the file
* defines a QoS profile named volatile_profile that configures reliable,
* volatile DataWriters and DataReaders.
*
* 2) Adding XML documents to the DomainParticipantFactory using its
* Profile QoSPolicy (DDS Extension). In this case, we add
* my_custom_qos_profiles.xml to the url_profile sequence, which stores
* the URLs of all the XML documents with QoS policies that are loaded
* by the DomainParticipantFactory aside from the ones that are
* automatically loaded.
* my_custom_qos_profiles.xml defines a QoS profile named
* transient_local_profile that configures reliable, transient local
* DataWriters and DataReaders.
*/
/* To load my_custom_qos_profiles.xml, as explained above, we need to
* modify the DDSTheParticipantFactory Profile QoSPolicy */
DDS.DomainParticipantFactoryQos factory_qos =
new DDS.DomainParticipantFactoryQos();
DDS.DomainParticipantFactory.get_instance().get_qos(factory_qos);
/* We are only going to add one XML file to the url_profile sequence,
* so we ensure a length of 1,1. */
factory_qos.profile.url_profile.ensure_length(1, 1);
/* The XML file will be loaded from the working directory. That means,
* you need to run the example like this:
* ./objs/<architecture>/profiles_publisher
* (see README.txt for more information on how to run the example).
*
* Note that you can specify the absolute path of the XML QoS file to
* avoid this problem.
*/
factory_qos.profile.url_profile.set_at(0,
"file://my_custom_qos_profiles.xml");
DDS.DomainParticipantFactory.get_instance().set_qos(factory_qos);
// --- Create participant --- //
/* Our default Qos profile, volatile_profile, sets the participant name.
* This is the only participant_qos policy that we change in our
* example. As this is done in the default QoS profile, we don't need
* to specify its name, so we can create the participant using the
* create_participant() method rather than using
* create_participant_with_profile(). */
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 --- //
/* We haven't changed the publisher_qos in any of QoS profiles we use in
* this example, so we can just use the create_publisher() method. If
* you want to load an specific profile in which you may have changed
* the publisher_qos, use the create_publisher_with_profile() method. */
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 = profilesTypeSupport.get_type_name();
try {
profilesTypeSupport.register_type(
participant, type_name);
}
catch(DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* We haven't changed the topic_qos in any of QoS profiles we use in
* this example, so we can just use the create_topic() method. If you
* want to load an specific profile in which you may have changed the
* topic_qos, use the create_topic_with_profile() method. */
DDS.Topic topic = participant.create_topic(
"Example profiles",
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 writers --- //
/* Volatile writer -- As volatile_profile is the default qos profile
* we don't need to specify the profile we are going to use, we can
* just call create_datawriter passing DDS_DATAWRITER_QOS_DEFAULT. */
DDS.DataWriter writer_volatile = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer_volatile == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
/* Transient Local writer -- In this case we use
* create_datawriter_with_profile, because we have to use a profile
* other than the default one. This profile has been defined in
* my_custom_qos_profiles.xml, but since we already loaded the XML file
* we don't need to specify anything else. */
DDS.DataWriter writer_transient_local = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer_transient_local == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
profilesDataWriter profiles_writer_volatile =
(profilesDataWriter)writer_volatile;
profilesDataWriter profiles_writer_transient_local =
(profilesDataWriter)writer_transient_local;
// --- Write --- //
/* Create data sample for writing */
profiles instance = profilesTypeSupport.create_data();
if (instance == null) {
shutdown(participant);
throw new ApplicationException(
"profilesTypeSupport.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_handle = profiles_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count=0;
(sample_count == 0) || (count < sample_count);
++count) {
Console.WriteLine("Writing profiles, count {0}", count);
/* Modify the data to be sent here */
instance.profile_name = "volatile_profile";
instance.x = count;
Console.WriteLine("Writing profile_name = " + instance.profile_name
+ "\t x = " + instance.x);
try {
profiles_writer_volatile.write(instance, ref instance_handle);
}
catch(DDS.Exception e) {
Console.WriteLine("write volatile error {0}", e);
}
instance.profile_name = "transient_local_profile";
instance.x = count;
Console.WriteLine("Writing profile_name = " + instance.profile_name
+ "\t x = " + instance.x + "\n");
try
{
profiles_writer_transient_local.write(instance,
ref instance_handle);
}
catch (DDS.Exception e)
{
Console.WriteLine("write transient local error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
try {
profiles_writer.unregister_instance(
instance, ref instance_handle);
} catch(DDS.Exception e) {
Console.WriteLine("unregister instance error: {0}", e);
}
*/
// --- Shutdown --- //
/* Delete data sample */
try {
profilesTypeSupport.delete_data(instance);
} catch(DDS.Exception e) {
Console.WriteLine(
"profilesTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
