public void TestInsert()
{
// Test successfully insert
TransportConfig config = TransportRegistry.Instance.CreateConfig(nameof(TestInsert));
Assert.IsNotNull(config);
TransportInst inst = TransportRegistry.Instance.CreateInst(nameof(TestInsert), "shmem");
config.Insert(inst);
Assert.IsNotNull(inst);
Assert.IsNotNull(config.Transports);
Assert.AreEqual(1, config.Transports.Count);
Assert.AreEqual(inst.Name, config.Transports.First().Name);
Assert.AreEqual(inst.TransportType, "shmem");
// Test parameter guard
bool exception = false;
try
{
config.Insert(null);
}
catch (Exception ex)
{
exception = true;
Assert.IsTrue(ex.GetType() == typeof(ArgumentNullException));
}
Assert.IsTrue(exception);
TransportRegistry.Instance.RemoveConfig(config);
}
private static void BindRtpsUdpTransportConfig(DomainParticipant participant)
{
long ticks = DateTime.Now.Ticks;
string configName = "openddsharp_rtps_interop_" + ticks.ToString();
string instName = "internal_openddsharp_rtps_transport_" + ticks.ToString();
TransportConfig config = TransportRegistry.Instance.CreateConfig(configName);
TransportInst inst = TransportRegistry.Instance.CreateInst(instName, "rtps_udp");
RtpsUdpInst rui = new RtpsUdpInst(inst);
config.Insert(inst);
TransportRegistry.Instance.BindConfig(configName, participant);
}
public static void BindTcpTransportConfig(this Entity entity)
{
long ticks = DateTime.Now.Ticks;
string configName = "openddsharp_tcp_" + ticks.ToString();
string instName = "internal_openddsharp_tcp_transport_" + ticks.ToString();
TransportConfig config = TransportRegistry.Instance.CreateConfig(configName);
TransportInst inst = TransportRegistry.Instance.CreateInst(instName, "tcp");
TcpInst tcpi = new TcpInst(inst);
config.Insert(inst);
TransportRegistry.Instance.BindConfig(config, entity);
}
public static void BindTcpTransportConfig(this Entity entity)
{
string guid = Guid.NewGuid().ToString("N");
string configName = "openddsharp_tcp_" + guid;
string instName = "internal_openddsharp_tcp_transport_" + guid;
TransportConfig config = TransportRegistry.Instance.CreateConfig(configName);
TransportInst inst = TransportRegistry.Instance.CreateInst(instName, "tcp");
TcpInst tcpi = new TcpInst(inst);
config.Insert(inst);
TransportRegistry.Instance.BindConfig(config, entity);
}
public static void BindRtpsUdpTransportConfig(this Entity entity)
{
string guid = Guid.NewGuid().ToString("N");
string configName = "openddsharp_rtps_interop_" + guid;
string instName = "internal_openddsharp_rtps_transport_" + guid;
TransportConfig config = TransportRegistry.Instance.CreateConfig(configName);
TransportInst inst = TransportRegistry.Instance.CreateInst(instName, "rtps_udp");
RtpsUdpInst rui = new RtpsUdpInst(inst);
config.Insert(inst);
TransportRegistry.Instance.BindConfig(configName, entity);
}
private static void BindRtpsUdpTransportConfig(DomainParticipant participant)
{
string guid = Guid.NewGuid().ToString("N", CultureInfo.InvariantCulture);
string configName = "openddsharp_rtps_interop_" + guid;
string instName = "internal_openddsharp_rtps_transport_" + guid;
TransportConfig config = TransportRegistry.Instance.CreateConfig(configName);
TransportInst inst = TransportRegistry.Instance.CreateInst(instName, "rtps_udp");
RtpsUdpInst rui = new RtpsUdpInst(inst);
config.Insert(rui);
TransportRegistry.Instance.BindConfig(configName, participant);
}
public void TestNonDefaultValue()
{
TransportConfig config = TransportRegistry.Instance.CreateConfig(nameof(TestNonDefaultValue));
Assert.IsNotNull(config);
config.SwapBytes = true;
config.PassiveConnectDuration = 30000u;
TransportInst inst = TransportRegistry.Instance.CreateInst(nameof(TestNonDefaultValue), "shmem");
Assert.IsNotNull(inst);
config.Insert(inst);
Assert.IsNotNull(config);
Assert.AreEqual(nameof(TestNonDefaultValue), config.Name);
Assert.AreEqual(30000u, config.PassiveConnectDuration);
Assert.IsTrue(config.SwapBytes);
Assert.IsNotNull(config.Transports);
Assert.AreEqual(1, config.Transports.Count);
Assert.AreEqual(inst.Name, config.Transports.First().Name);
TransportRegistry.Instance.RemoveConfig(config);
}
public OpenDDSharpService()
{
_config = ServiceLocator.Current.GetInstance <IConfigurationService>();
_disc = new RtpsDiscovery(RTPS_DISCOVERY)
{
ResendPeriod = new TimeValue {
Seconds = 1
},
SedpMulticast = true
};
ParticipantService.Instance.AddDiscovery(_disc);
ParticipantService.Instance.DefaultDiscovery = RTPS_DISCOVERY;
long ticks = DateTime.Now.Ticks;
string configName = "openddsharp_rtps_interop_" + ticks.ToString();;
string instName = "internal_openddsharp_rtps_transport_" + ticks.ToString();;
_tConfig = TransportRegistry.Instance.CreateConfig(configName);
_inst = TransportRegistry.Instance.CreateInst(instName, "rtps_udp");
_rui = new RtpsUdpInst(_inst);
_tConfig.Insert(_inst);
TransportRegistry.Instance.GlobalConfig = _tConfig;
ParticipantService.Instance.SetRepoDomain(0, RTPS_DISCOVERY);
_domainFactory = ParticipantService.Instance.GetDomainParticipantFactory("-DCPSDebugLevel", "10", "-ORBLogFile", "LogFile.log", "-ORBDebugLevel", "10");
_participant = _domainFactory.CreateParticipant(0);
if (_participant == null)
{
throw new Exception("Could not create the participant");
}
ShapeTypeTypeSupport support = new ShapeTypeTypeSupport();
ReturnCode result = support.RegisterType(_participant, TYPE_NAME);
if (result != ReturnCode.Ok)
{
throw new Exception("Could not register type: " + result.ToString());
}
_squareTopic = _participant.CreateTopic(SQUARE_TOPIC_NAME, TYPE_NAME);
if (_squareTopic == null)
{
throw new Exception("Could not create square topic");
}
_circleTopic = _participant.CreateTopic(CIRCLE_TOPIC_NAME, TYPE_NAME);
if (_circleTopic == null)
{
throw new Exception("Could not create circle topic");
}
_triangleTopic = _participant.CreateTopic(TRIANGLE_TOPIC_NAME, TYPE_NAME);
if (_triangleTopic == null)
{
throw new Exception("Could not create triangle topic");
}
_publisher = _participant.CreatePublisher();
if (_publisher == null)
{
throw new Exception("Could not create publisher");
}
_subscriber = _participant.CreateSubscriber();
if (_subscriber == null)
{
throw new Exception("Could not create subscriber");
}
_shapeWaitSets = new List <ShapeWaitSet>();
_shapeDynamics = new List <ShapeDynamic>();
_cfCircleCount = 0;
_cfSquareCount = 0;
_cfTriangleCount = 0;
}
